CN114435388A - Safety control system, method, device and equipment of vehicle and vehicle - Google Patents
Safety control system, method, device and equipment of vehicle and vehicle Download PDFInfo
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- CN114435388A CN114435388A CN202210167680.0A CN202210167680A CN114435388A CN 114435388 A CN114435388 A CN 114435388A CN 202210167680 A CN202210167680 A CN 202210167680A CN 114435388 A CN114435388 A CN 114435388A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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Abstract
The invention discloses a safety control system, a method, a device, equipment and a vehicle of the vehicle. The method comprises the following steps: the system comprises a front-view camera, a far infrared camera, a millimeter wave radar, an environment sensor, a high-precision map module and an early warning controller; the forward-looking camera is used for detecting a key target; the far infrared camera is used for detecting a heat source target; the millimeter wave radar is used for detecting vehicle running information; the environment sensor is used for detecting environment information around the vehicle; wherein the environmental information comprises atmospheric temperature, illumination and rainfall; the high-precision map module is used for acquiring map information; the early warning controller is used for carrying out early warning control on the vehicle according to the key target, the heat source target, the vehicle running information, the map information and the environment information. The safety control system of the vehicle provided by the embodiment of the invention can accurately detect the environment around the vehicle, thereby accurately controlling the vehicle and improving the driving safety of the vehicle.
Description
Technical Field
The embodiment of the invention relates to the technical field of intelligent vehicles, in particular to a safety control system, a method, a device, equipment and a storage medium of a vehicle.
Background
With the rapid development of intelligent driving technology, collision safety control systems for vehicle targets gradually tend to be mature and stable, but the collision safety of pedestrian targets with higher accident hazard, higher accident mortality and worse social influence is not effectively solved, and the problem becomes the pain point of road traffic and transportation safety. However, pedestrians have various shapes and strong randomness of running tracks, and are an industrial problem of sensor identification and intelligent control decision.
Disclosure of Invention
The embodiment of the invention provides a safety control system, a method, a device, equipment and a storage medium of a vehicle, which can accurately detect the environment around the vehicle, thereby accurately controlling the vehicle and improving the driving safety of the vehicle.
In a first aspect, an embodiment of the present invention provides a safety control system for a vehicle, including: the system comprises a front-view camera, a far infrared camera, a millimeter wave radar, an environment sensor and an early warning controller;
the forward-looking camera is used for detecting a key target; wherein the key targets include lane lines, pedestrians, vehicles, vehicle light states, traffic lights, and zebra crossings;
the far infrared camera is used for detecting a heat source target; wherein the heat source targets include pedestrians and vehicles;
the millimeter wave radar is used for detecting vehicle running information; the vehicle driving information comprises a distance, an angle and a speed;
the environment sensor is used for detecting environment information around the vehicle; wherein the environmental information comprises atmospheric temperature, illumination and rainfall;
and the early warning controller is used for carrying out early warning control on the vehicle according to the key target, the heat source target, the vehicle running information and the environment information.
In a second aspect, an embodiment of the present invention further provides a safety control method for a vehicle, including:
when the current vehicle runs to the intersection, judging whether the traffic light at the current intersection is in a first color or not;
if so, judging whether the current vehicle meets the following conditions: detecting that a pedestrian is in front of the vehicle and the distance from the pedestrian is less than a first threshold value;
and if so, controlling the current vehicle to brake.
In a third aspect, an embodiment of the present invention further provides a safety control device for a vehicle, including:
the traffic light color judging module is used for judging whether the traffic light at the current intersection is in a first color or not when the current vehicle runs to the intersection;
the judging module is used for judging whether the current vehicle meets the following conditions if the first color is obtained: detecting that a pedestrian is in front of the vehicle and the distance from the pedestrian is less than a first threshold value;
and the brake control module is used for controlling the current vehicle to brake when the vehicle meets the condition.
In a fourth aspect, an embodiment of the present invention further provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the processor implements the safety control method for a vehicle according to an embodiment of the present invention.
In a fifth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processing device, implements a safety control method for a vehicle according to the embodiment of the present invention.
The embodiment of the invention discloses a safety control system, a method, a device and equipment of a vehicle and the vehicle. The system comprises a front-view camera, a far infrared camera, a millimeter wave radar, an environment sensor and an early warning controller; the forward-looking camera is used for detecting a key target; wherein the key targets comprise lane lines, pedestrians, vehicles, vehicle lamp states, traffic lights and zebra crossings; the far infrared camera is used for detecting a heat source target; wherein the heat source targets include pedestrians and vehicles; the millimeter wave radar is used for detecting vehicle running information; the vehicle driving information comprises a distance, an angle and a speed; the environment sensor is used for detecting environment information around the vehicle; wherein the environmental information comprises atmospheric temperature, illumination and rainfall; the early warning controller is used for carrying out early warning control on the vehicle according to the key target, the heat source target, the vehicle running information and the environment information. The safety control system of the vehicle provided by the embodiment of the invention can accurately detect the environment around the vehicle, thereby accurately controlling the vehicle and improving the driving safety of the vehicle.
Drawings
Fig. 1 is a schematic structural diagram of a safety control system of a vehicle according to a first embodiment of the present invention;
fig. 2 is a flowchart of a safety control method for a vehicle according to a second embodiment of the present invention;
FIG. 3 is a diagram illustrating an example of a current vehicle according to a second embodiment of the present invention;
fig. 4 is an exemplary diagram of a vehicle safety control scenario in a second embodiment of the invention;
fig. 5 is an exemplary diagram of a vehicle safety control scenario in a second embodiment of the invention;
fig. 6 is a schematic structural diagram of a safety control device of a vehicle in a third embodiment of the invention;
fig. 7 is a schematic structural diagram of a computer device in the fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic structural diagram of a safety control system of a vehicle according to an embodiment of the present invention, and as shown in fig. 1, the system includes: the system comprises a front-view camera, a far infrared camera, a millimeter wave radar, an environment sensor, a high-precision map module and an early warning controller; the forward-looking camera is used for detecting a key target; the far infrared camera is used for detecting a heat source target; the millimeter wave radar is used for detecting vehicle running information; the environment sensor is used for detecting environmental information around the vehicle; wherein the environmental information comprises atmospheric temperature, illumination and rainfall; the high-precision map module is used for acquiring map information; the early warning controller is used for carrying out early warning control on the vehicle according to the key target, the heat source target, the vehicle driving information, the map information and the environment information.
The key targets include lane lines, pedestrians, vehicles, vehicle light states, traffic lights, and zebra crossings. The heat source targets include pedestrians and vehicles. The vehicle travel information includes distance, angle, and speed. In this embodiment, the far infrared camera is used for making up the camera night detection ability not enough.
The millimeter wave Radar is poor in detection accuracy of pedestrian targets and limited by the limitation of Radar detection principle, classification is mainly carried out depending on Radar Cross Section (RCS) reflection parameters of the targets, false alarm interference of a plurality of non-risk targets can be caused after the targets with weak reflection capacity such as pedestrians are separated, in the embodiment, the system control safety is greatly protected, the pedestrian targets are detected through heat radiation in combination with a far infrared camera, the detection accuracy of the pedestrian targets and static pedestrian targets at night is improved in combination with information such as an ambient light source and background characteristics and thermal imaging and image recognition processing, and therefore the safety risk of collision at night with high traffic accident rate can be reduced.
According to the technical scheme of the embodiment, the system comprises a front-view camera, a far infrared camera, a millimeter wave radar, an environment sensor and an early warning controller; the forward-looking camera is used for detecting a key target; wherein the key targets comprise lane lines, pedestrians, vehicles, vehicle lamp states, traffic lights and zebra crossings; the far infrared camera is used for detecting a heat source target; wherein the heat source targets include pedestrians and vehicles; the millimeter wave radar is used for detecting vehicle running information; the vehicle running information comprises a distance, an angle and a speed; the environment sensor is used for detecting environment information around the vehicle; wherein the environmental information comprises atmospheric temperature, illumination and rainfall; the early warning controller is used for carrying out early warning control on the vehicle according to the key target, the heat source target, the vehicle running information and the environment information. The safety control system of the vehicle provided by the embodiment of the invention can accurately detect the environment around the vehicle, thereby accurately controlling the vehicle and improving the driving safety of the vehicle.
Example two
Fig. 2 is a flowchart of a safety control method for a vehicle according to a second embodiment of the present invention. As shown in fig. 2, the method comprises the steps of:
s110, when the current vehicle runs to the intersection, judging whether the traffic light at the current intersection is the first color, if so, executing the step 120.
Wherein, the crossing can be the crossing of installing the traffic light, and first colour is the colour that the suggestion can be current pass, if: green in color. Specifically, the current vehicle shoots an object in front of the vehicle through the front-view camera, and the shot image is analyzed to determine the color of the traffic lights at the intersection. If the traffic light is green, the current vehicle can pass through the current intersection according to the traffic rules, but the current vehicle needs to continue the following operations for traffic safety.
S120, judging whether the current vehicle meets the following conditions: detecting that a pedestrian exists in front of the vehicle, wherein the distance between the pedestrian and the vehicle is less than a first threshold value; if yes, go to step 130.
If the current time is day, whether the front has a pedestrian can be judged through the image collected by the front-view camera, and if the current time is night, whether the front has a pedestrian can be judged through the image collected by the infrared camera. For example, fig. 3 is an exemplary view of a scene where the current vehicle is located in the embodiment, as shown in fig. 3, the current vehicle is located in front of a sidewalk, a pedestrian passes through the sidewalk, and the traffic light is green.
And S130, controlling the current vehicle to brake.
Specifically, when the traffic light is green, if it is detected that there is a pedestrian in the front and the distance from the pedestrian is less than a first threshold value, the current vehicle is controlled to brake, so that the current vehicle stops, and the collision with the pedestrian in the front of the vehicle is avoided.
Optionally, after the traffic light is in the first color, the method further includes the following steps: if the current vehicle detects that the brake lamp of the vehicle in front is lightened, judging whether the current vehicle meets the following conditions: the distance between the vehicle and the vehicle right ahead is smaller than a second threshold value, the distance between the vehicle and the sidewalk is larger than a first set value, and any one of the following items: the relative collision time with the vehicle in front is less than a first set time or the absolute collision time with the vehicle in front is less than a second set time; if the engine oil is satisfied, controlling the current vehicle to execute the operations of engine oil cut, brake pre-decompression and alarm.
Wherein, the first set value may be 0. The calculation formula of the relative collision time with the vehicle directly in front is: (s2-s1)/(v2-v1), and the absolute collision time with the vehicle directly in front is calculated as: (s2-s1)/v 2. Where s1 is the distance between the vehicle right ahead and the sidewalk, s2 is the distance between the current vehicle and the sidewalk, v1 is the running speed of the vehicle right ahead, and v2 is the form speed of the current vehicle. Wherein, the mode of reporting to the police includes: if the current time is daytime, performing acoustic alarm; and if the current time is night, performing optical alarm. The acoustic alarm may trigger an external speaker and the optical alarm may illuminate a flash.
In this embodiment, if the brake lamp of the vehicle in front is turned on, it indicates that the vehicle in front starts braking, and if the current vehicle satisfies the following condition: s2-s1< m2 and s2>0 and { (s2-s1)/(v2-v1) < t1 or (s2-s1)/v2< t2}, controlling the current vehicle to perform the operations of engine oil cut, brake pre-decompression and alarm. Wherein m2 is the second threshold, t1 is the first set time duration, and t2 is the second set time duration. For example, fig. 4 is an exemplary diagram of a vehicle safety control scenario in the present embodiment. As shown in fig. 4, the vehicle 2 is a current vehicle, the vehicle 1 is located right in front of the vehicle 2, and when the vehicle 2 detects that the brake lamp of the vehicle 1 is turned on, the vehicle 2 needs to determine whether the following conditions are satisfied: s2-s1< m2 and s2>0 and { (s2-s1)/(v2-v1) < t1 or (s2-s1)/v2< t2}, controlling the vehicle 2 to perform the operations of engine fuel cut, brake pre-decompression and alarm.
After the current vehicle is controlled to execute the operations of engine oil cut, brake pre-decompression and alarm, the method also comprises the following steps: calculating a first current collision time of a current vehicle; and if the first current collision time is less than the fourth set time length, controlling the vehicle to execute sound-light alarm and partial brake operation.
Wherein, the calculation formula of the first current collision time is as follows:
where v1 is the running speed of the vehicle directly in front, a1 is the acceleration of the vehicle directly in front, v2 is the form speed of the current vehicle, and a2 is the acceleration of the current vehicle.
Optionally, after controlling the vehicle to perform the operation of sound-light alarm and partial braking, the method further comprises the following steps: calculating a second current collision time of the current vehicle; and if the second current collision time is less than the fifth set time length, controlling the vehicle to execute the emergency braking operation.
And the fifth set time length is less than the fourth set time length. The calculation formula of the second current collision time is the same as the calculation formula of the first current collision time.
Optionally, after the traffic light is in the first color, the method further includes the following steps: if no vehicle is in front of the current vehicle and the brake lamp of the vehicle in front of the side is detected to be turned on, judging whether the current vehicle meets the following conditions: the distance from the sidewalk is less than a third threshold value, and the time for the vehicle to reach the sidewalk is less than a third set time length; if the engine oil is satisfied, controlling the current vehicle to execute the operations of engine oil cut, brake pre-decompression and alarm.
Here, a side-front vehicle may be understood as a vehicle in front of an adjacent lane. The formula for calculating the time of arrival of the vehicle on the sidewalk is as follows: s3/v3, where v3 is the current vehicle speed and s3 is the current vehicle distance from the sidewalk.
Specifically, if the brake lamp of the right side vehicle is turned on, it indicates that the front side vehicle starts braking, and if the current vehicle satisfies the following conditions: s3< m3 and s3/v3< t3, controlling the current vehicle to execute the operations of engine oil cut, brake pre-decompression and alarm. Illustratively, fig. 5 is an exemplary diagram of a vehicle safety control scenario in an embodiment of the present invention. As shown in fig. 5, the vehicle 3 is the current vehicle, the vehicle 1 is in the front side of the vehicle 3, and when the vehicle 3 detects that the brake lamp of the vehicle 1 is turned on, the vehicle 3 needs to determine whether the following conditions are satisfied: s3< m3 and s3/v3< t3, the vehicle 2 is controlled to perform the operations of engine fuel cut, brake pre-decompression and warning.
Optionally, after controlling the current vehicle to perform the operations of engine oil cut, brake pre-decompression and alarm, the method further comprises the following steps: calculating a first current collision time of a current vehicle; and if the first current collision time is less than the fourth set time length, controlling the vehicle to execute sound-light alarm and partial brake operation.
And if no vehicle is in front of the current vehicle and the brake lamp of the vehicle in front of the side is detected to be turned on, the first current collision time is the collision time between the current vehicle and the pedestrian in front.
Optionally, after controlling the vehicle to perform the operation of sound-light alarm and partial braking, the method further comprises the following steps: calculating a second current collision time of the current vehicle; and if the second current collision time is less than the fifth set time length, controlling the vehicle to execute the emergency braking operation.
And if no vehicle is in front of the current vehicle and the brake lamp of the vehicle in front of the side is detected to be turned on, the second current collision time is the collision time between the current vehicle and the pedestrian in front.
According to the calculation scheme of the embodiment, when the current vehicle runs to the intersection, whether the traffic light at the current intersection is the first color is judged; if the color is the first color, judging whether the current vehicle meets the following conditions: detecting that a pedestrian exists in front of the vehicle, wherein the distance between the pedestrian and the vehicle is less than a first threshold value; and if so, controlling the current vehicle to brake. The vehicle can be accurately controlled, and the running safety of the vehicle is improved.
EXAMPLE III
Fig. 6 is a schematic structural diagram of a safety control device of a vehicle according to a third embodiment of the present invention. As shown in fig. 6, the apparatus includes:
the traffic light color judging module 610 is configured to judge whether a traffic light at a current intersection is a first color when a current vehicle travels to the intersection;
the determining module 620 is configured to, if the color is the first color, determine whether the current vehicle meets the following conditions: detecting that a pedestrian exists in front of the vehicle, wherein the distance between the pedestrian and the vehicle is less than a first threshold value;
and a braking control module 630, configured to control the current vehicle to brake when the vehicle meets the condition.
Optionally, the method further includes: a first vehicle control module to:
if the current vehicle detects that the brake lamp of the vehicle in front is lightened, judging whether the current vehicle meets the following conditions: the distance between the vehicle and the vehicle right ahead is smaller than a second threshold value, the distance between the vehicle and the sidewalk is larger than a first set value, and any one of the following items: the relative collision time with the vehicle in front is less than a first set time or the absolute collision time with the vehicle in front is less than a second set time;
if the engine oil is satisfied, controlling the current vehicle to execute the operations of engine oil cut, brake pre-decompression and alarm.
Optionally, the method further includes: a second vehicle control module to:
if no vehicle is in front of the current vehicle and the brake lamp of the vehicle in front of the side is detected to be turned on, judging whether the current vehicle meets the following conditions: the distance from the sidewalk is less than a third threshold value, and the time for the vehicle to reach the sidewalk is less than a third set time length;
if the engine oil is satisfied, controlling the current vehicle to execute the operations of engine oil cut, brake pre-decompression and alarm.
Optionally, the alarm mode includes: if the current time is daytime, performing acoustic alarm; and if the current time is night, performing optical alarm.
Optionally, the method further includes: a first current time-to-collision calculation module to:
calculating a first current collision time of a current vehicle;
and if the first current collision time is less than the fourth set time length, controlling the vehicle to execute sound-light alarm and partial brake operation.
Optionally, the method further includes: a second current time-to-collision calculation module to:
calculating a second current collision time of the current vehicle;
and if the second current collision time is less than the fifth set time length, controlling the vehicle to execute the emergency braking operation.
The device can execute the methods provided by all the embodiments of the invention, and has corresponding functional modules and beneficial effects for executing the methods. For details not described in detail in this embodiment, reference may be made to the methods provided in all the foregoing embodiments of the present invention.
Example four
Fig. 7 is a schematic structural diagram of a computer device according to a third embodiment of the present invention. FIG. 7 illustrates a block diagram of a computer device 312 suitable for use in implementing embodiments of the present invention. The computer device 312 shown in FIG. 7 is only an example and should not bring any limitations to the functionality or scope of use of embodiments of the present invention. The device 312 is a computing device for a safety control function of a typical vehicle.
As shown in FIG. 7, computer device 312 is in the form of a general purpose computing device. The components of computer device 312 may include, but are not limited to: one or more processors 316, a storage device 328, and a bus 318 that couples the various system components including the storage device 328 and the processors 316.
The computer device 312 may also communicate with one or more external devices 314 (e.g., keyboard, pointing device, camera, display 324, etc.), with one or more devices that enable a user to interact with the computer device 312, and/or with any devices (e.g., network card, modem, etc.) that enable the computer device 312 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 322. Also, computer device 312 may communicate with one or more networks (e.g., a Local Area Network (LAN), Wide Area Network (WAN), etc.) and/or a public Network, such as the internet, via Network adapter 320. As shown, network adapter 320 communicates with the other modules of computer device 312 via bus 318. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the computer device 312, including but not limited to: microcode, device drivers, Redundant processing units, external disk drive Arrays, disk array (RAID) systems, tape drives, and data backup storage systems, to name a few.
The processor 316 executes various functional applications and data processing by executing programs stored in the storage device 328, for example, to implement the safety control method of the vehicle provided in the above-described embodiment of the present invention.
EXAMPLE five
An embodiment of the present invention provides a computer-readable storage medium. The computer readable medium of the present invention described above may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: when the current vehicle runs to the intersection, judging whether the traffic light at the current intersection is in a first color or not; if so, judging whether the current vehicle meets the following conditions: detecting that a pedestrian exists in front of the vehicle, wherein the distance between the pedestrian and the vehicle is less than a first threshold value; and if so, controlling the current vehicle to brake.
Computer program code for carrying out operations for the present disclosure may be written in any combination of one or more programming languages, including but not limited to an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of an element does not in some cases constitute a limitation on the element itself.
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), systems on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), and the like.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A safety control system of a vehicle, characterized by comprising: the system comprises a front-view camera, a far infrared camera, a millimeter wave radar, an environment sensor, a high-precision map module and an early warning controller;
the forward-looking camera is used for detecting a key target; wherein the key targets include lane lines, pedestrians, vehicles, vehicle light states, traffic lights, and zebra crossings;
the far infrared camera is used for detecting a heat source target; wherein the heat source targets include pedestrians and vehicles;
the millimeter wave radar is used for detecting vehicle running information; the vehicle driving information comprises a distance, an angle and a speed;
the environment sensor is used for detecting environment information around the vehicle; wherein the environmental information comprises atmospheric temperature, illumination and rainfall;
the high-precision map module is used for acquiring map information;
the early warning controller is used for carrying out early warning control on the vehicle according to the key target, the heat source target, the vehicle running information, the map information and the environment information.
2. A safety control method of a vehicle, characterized by comprising:
when the current vehicle runs to the intersection, judging whether the traffic light at the current intersection is in a first color or not;
if so, judging whether the current vehicle meets the following conditions: detecting that a pedestrian is in front of the vehicle and the distance from the pedestrian is less than a first threshold value;
and if so, controlling the current vehicle to brake.
3. The method of claim 2, further comprising, after the traffic light is the first color:
if the current vehicle detects that a brake lamp of a vehicle right in front is turned on, judging whether the current vehicle meets the following conditions: the distance between the vehicle and the vehicle in front of the vehicle is smaller than a second threshold value, the distance between the vehicle and the sidewalk is larger than a first set value, and any one of the following items: the relative collision time with the vehicle in front is less than a first set time period or the absolute collision time with the vehicle in front is less than a second set time period;
and if so, controlling the current vehicle to execute the operations of engine oil cut, brake pre-decompression and alarm.
4. The method of claim 2, further comprising, after the traffic light is the first color:
if no vehicle is in front of the current vehicle and the brake lamp of the vehicle in front of the side is detected to be turned on, judging whether the current vehicle meets the following conditions: the distance from the sidewalk is less than a third threshold value, and the time for the vehicle to reach the sidewalk is less than a third set time length;
and if so, controlling the current vehicle to execute the operations of engine oil cut, brake pre-decompression and alarm.
5. The method of claim 3 or 4, wherein the manner of alerting comprises: if the current time is daytime, performing acoustic alarm; and if the current moment is night, performing optical alarm.
6. The method according to claim 3 or 4, characterized by, after controlling the current vehicle to perform engine fuel cut, brake pre-decompression and warning operations, further comprising:
calculating a first current time-to-collision for the current vehicle;
and if the first current collision time is less than a fourth set time length, controlling the vehicle to execute sound-light alarm and partial brake operation.
7. The method according to claim 6, wherein after controlling the vehicle to perform the operation of sound and light alarm and partial braking, the method further comprises the following steps:
calculating a second current collision time of the current vehicle;
and if the second current collision time is less than a fifth set time length, controlling the vehicle to execute emergency braking operation.
8. A safety control apparatus of a vehicle, characterized by comprising:
the traffic light color judging module is used for judging whether the traffic light at the current intersection is in a first color or not when the current vehicle runs to the intersection;
the judging module is used for judging whether the current vehicle meets the following conditions if the first color is obtained: detecting that a pedestrian is in front of the vehicle and the distance from the pedestrian is less than a first threshold value;
and the brake control module is used for controlling the current vehicle to brake when the vehicle meets the condition.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements a safety control method of a vehicle according to any one of claims 2-7 when executing the program.
10. A computer-readable storage medium on which a computer program is stored, characterized in that the program, when executed by a processing device, implements a safety control method of a vehicle according to any one of claims 2-7.
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| CN202210167680.0A CN114435388B (en) | 2022-02-23 | 2022-02-23 | Safety control system, method, device and equipment for vehicle and vehicle |
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| WO2023221118A1 (en) * | 2022-05-20 | 2023-11-23 | 北京小米移动软件有限公司 | Information processing methods and apparatus, electronic device, and storage medium |
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