CN114435388B - Safety control system, method, device and equipment for vehicle and vehicle - Google Patents
Safety control system, method, device and equipment for vehicle and vehicle Download PDFInfo
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- CN114435388B CN114435388B CN202210167680.0A CN202210167680A CN114435388B CN 114435388 B CN114435388 B CN 114435388B CN 202210167680 A CN202210167680 A CN 202210167680A CN 114435388 B CN114435388 B CN 114435388B
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- 238000005286 illumination Methods 0.000 claims abstract description 6
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- 238000004590 computer program Methods 0.000 claims description 6
- 241000283070 Equus zebra Species 0.000 claims description 5
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Classifications
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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 or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B60W2420/408—
Abstract
The invention discloses a safety control system, a safety control method, safety control device and safety control equipment for a vehicle and the vehicle. Comprising the following steps: the system comprises a forward-looking camera, a far infrared camera, a millimeter wave radar, an environment sensor, a high-precision map module and an early warning controller; the front-view 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 running 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 safety control method, a safety control device, safety control equipment and a safety control storage medium of a vehicle.
Background
With the rapid development of intelligent driving technology, a collision safety control system for a vehicle target gradually tends to be mature and stable, but the collision safety of pedestrian targets with larger accident harm, higher accident death rate and more severe social influence is not effectively solved, and the problem of pain points of road traffic transportation safety is solved. However, the pedestrian has various forms and strong randomness of the running track, and is 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 for a vehicle, which can accurately detect the environment around the vehicle, thereby accurately controlling the vehicle and improving the running 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 forward-looking camera, a far infrared camera, a millimeter wave radar, an environment sensor and an early warning controller;
the front-view camera is used for detecting a key target; the key targets comprise lane lines, pedestrians, vehicles, car light states, traffic lights and zebra crossings;
the far infrared camera is used for detecting a heat source target; wherein the heat source target comprises a pedestrian and a vehicle;
the millimeter wave radar is used for detecting vehicle running information; wherein, the vehicle running information comprises distance, angle and 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.
In a second aspect, an embodiment of the present invention further provides a safety control method for a vehicle, including:
when a current vehicle runs to an intersection, judging whether a traffic light at the current intersection is of a first color or not;
if the color is the first color, judging whether the current vehicle meets the following conditions: detecting that a pedestrian is in front of and the distance from the pedestrian is less than a first threshold;
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 of the current intersection is of 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 current vehicle is the first color: detecting that a pedestrian is in front of and the distance from the pedestrian is less than a first threshold;
and the braking control module is used for controlling the current vehicle to brake when the vehicle meets the conditions.
In a fourth aspect, an embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor executes the program to implement a method for controlling safety of a vehicle according to the embodiment of the present invention.
In a fifth aspect, an embodiment of the present invention further provides a computer-readable storage medium having stored thereon a computer program that, when executed by a processing device, implements a safety control method for a vehicle according to an embodiment of the present invention.
The embodiment of the invention discloses a safety control system, a safety control method, a safety control device, safety control equipment and a safety control vehicle. The system comprises a forward-looking camera, a far infrared camera, a millimeter wave radar, an environment sensor and an early warning controller; the front-view camera is used for detecting a key target; the key targets comprise lane lines, pedestrians, vehicles, car 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; wherein, the vehicle running information comprises distance, angle and speed; the environment sensor is used for detecting environment information around the vehicle; the environment 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 running safety of the vehicle.
Drawings
Fig. 1 is a schematic structural view of a safety control system of a vehicle in accordance with a first embodiment of the present invention;
fig. 2 is a flowchart of a safety control method of a vehicle in a second embodiment of the invention;
FIG. 3 is an exemplary diagram of a scene in which a current vehicle is located in 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 present invention;
fig. 5 is an exemplary diagram of a vehicle safety control scenario in a second embodiment of the present invention;
fig. 6 is a schematic structural view of a safety control device for a vehicle in accordance with a third embodiment of the present invention;
fig. 7 is a schematic structural diagram of a computer device in a fourth embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1 is a schematic structural diagram of a safety control system for a vehicle according to a first embodiment of the present invention, as shown in fig. 1, the system includes: the system comprises a forward-looking camera, a far infrared camera, a millimeter wave radar, an environment sensor, a high-precision map module and an early warning controller; the front-view 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; the environment 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 key targets comprise lane lines, pedestrians, vehicles, car light states, traffic lights and zebra crossings. The heat source target includes 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 deficiency of the night detection capability of the camera.
The millimeter wave radar has poor detection accuracy on pedestrian targets, is limited by radar detection principle, is mainly classified by radar cross-sectional area (Radar Cross Section, RCS) reflection parameters of the targets, and can lead to false alarm interference of a plurality of non-risky targets after the targets with weaker reflection capability such as pedestrians are separated.
According to the technical scheme, the front-view camera, the far-infrared camera, the millimeter wave radar, the environment sensor and the early warning controller are arranged; the front-view camera is used for detecting a key target; the key targets comprise lane lines, pedestrians, vehicles, car 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; wherein, the vehicle running information comprises distance, angle and speed; the environment sensor is used for detecting environment information around the vehicle; the environment 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 running 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 of the current intersection is of a first color, and if so, executing step 120.
The first color is a color prompting that the traffic light can pass currently, such as: green. Specifically, the current vehicle shoots an object in front of the vehicle through a front-view camera, analyzes the shot image, and determines the color of traffic lights at the intersection. If the traffic light is green, the current vehicle can pass through the current intersection according to the traffic rule, but the current vehicle needs to continue the following operation for traffic safety.
S120, 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 smaller than a first threshold value; if so, step 130 is performed.
If the current time is daytime, whether a pedestrian exists in front can be judged through the images acquired by the front-view camera, and if the current time is night, whether the pedestrian exists in front can be judged through the images acquired by the infrared camera. Fig. 3 is an exemplary diagram of a scene where a current vehicle is located in the present embodiment, as shown in fig. 3, the current vehicle is located in front of a sidewalk, pedestrians pass on the sidewalk, and traffic lights are green.
And S130, controlling the current vehicle to brake.
Specifically, when the traffic light is green, if a pedestrian in front is detected and the distance from the pedestrian is smaller than a first threshold value, the current vehicle is controlled to brake, so that the current vehicle is stopped, and the pedestrian in front of the vehicle is prevented from being collided.
Optionally, after the traffic light is of the first color, the method further comprises 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 in front of the vehicle is smaller than a second threshold value, and the distance between the vehicle and the sidewalk is larger than a first set value, and any one of the following conditions is adopted: the relative collision time with the vehicle in front is smaller than the first set time period or the absolute collision time with the vehicle in front is smaller than the second set time period; if yes, controlling the current vehicle to execute the operations of engine fuel cut, braking pre-decompression and alarming.
Wherein the first set value may be 0. The calculation formula of the relative collision time with the vehicle in front is: the calculation formula of the absolute collision time with the vehicle in front of (s 2-s 1)/(v 2-v 1) is as follows: (s 2-s 1)/v 2. Where s1 is the distance between the vehicle in front and the sidewalk, s2 is the distance between the current vehicle and the sidewalk, v1 is the running speed of the vehicle in front, and v2 is the formal speed of the current vehicle. The alarming mode comprises the following steps: if the current moment is daytime, carrying out acoustic alarm; and if the current moment is night, performing optical alarm. The acoustic alarm may be triggering an external speaker and the optical alarm may illuminate a flash.
In this embodiment, if the brake light 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 conditions: s2-s1< m2 and s2>0 and { (s 2-s 1)/(v 2-v 1) < t1 or (s 2-s 1)/v 2< t2}, the current vehicle is controlled to perform engine fuel cut, brake pre-decompression and warning operations. Wherein m2 is a second threshold, t1 is a first set duration, and t2 is a second set duration. Fig. 4 is an exemplary diagram of a vehicle safety control scene in the present embodiment. As shown in fig. 4, the vehicle 2 is the current vehicle, the vehicle 1 is in front of the vehicle 2, and when the vehicle 2 detects that the brake light of the vehicle 1 is on, the vehicle 2 needs to determine whether the following condition is satisfied: s2-s1< m2 and s2>0 and { (s 2-s 1)/(v 2-v 1) < t1 or (s 2-s 1)/v 2< t2}, the vehicle 2 is controlled to perform operations of engine fuel cut, brake pre-decompression and warning.
After controlling the current vehicle to execute the operations of engine fuel cut, brake pre-decompression and alarm, the method further comprises the following steps: calculating a first current collision time of the current vehicle; and if the first current collision time is smaller than the fourth set time length, controlling the vehicle to execute the operations of audible and visual alarm and partial braking.
The calculation formula of the first current collision time is as follows:wherein v1 isThe running speed of the vehicle ahead, a1 is the acceleration of the vehicle ahead, v2 is the formal speed of the current vehicle, and a2 is the acceleration of the current vehicle.
Optionally, after the operation of controlling the vehicle to perform the audible and visual alarm and the 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 smaller than the fifth set duration, controlling the vehicle to execute the emergency braking operation.
The fifth set duration is smaller than the fourth set duration. 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 of the first color, the method further comprises the following steps: if no vehicle is in front of the current vehicle and the brake lamp of the side front vehicle is detected to be lighted, judging whether the current vehicle meets the following conditions: the distance from the sidewalk is smaller than a third threshold value, and the time for the vehicle to reach the sidewalk is smaller than a third set duration; if yes, controlling the current vehicle to execute the operations of engine fuel cut, braking pre-decompression and alarming.
A side-forward vehicle is understood to mean a vehicle in front of an adjacent lane. The calculation formula of the time for the vehicle to reach the sidewalk is as follows: s3/v3, wherein v3 is the running speed of the current vehicle, and s3 is the distance between the current vehicle and the sidewalk.
Specifically, if the brake light of the positive side vehicle is on, it indicates that the side front vehicle starts braking, and if the current vehicle satisfies the following conditions: s3< m3 and s3/v3< t3, the current vehicle is controlled to execute the operations of engine oil break, brake pre-decompression and alarm. Exemplary, as shown in 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 front of the side of the vehicle 3, and when the vehicle 3 detects that the brake light of the vehicle 1 is on, the vehicle 3 needs to determine whether the following condition is satisfied: s3< m3 and s3/v3< t3, the vehicle 2 is controlled to perform engine fuel cut, brake pre-decompression and warning operations.
Optionally, after controlling the current vehicle to execute the operations of engine fuel cut, brake pre-decompression and alarm, the method further comprises the following steps: calculating a first current collision time of the current vehicle; and if the first current collision time is smaller than the fourth set time length, controlling the vehicle to execute the operations of audible and visual alarm and partial braking.
If no vehicle is right in front of the current vehicle and the brake lamp of the side front vehicle is detected to be lighted, the first current collision time is the collision time between the current vehicle and the front pedestrian.
Optionally, after the operation of controlling the vehicle to perform the audible and visual alarm and the 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 smaller than the fifth set duration, controlling the vehicle to execute the emergency braking operation.
If no vehicle is right in front of the current vehicle and the brake lamp of the side front vehicle is detected to be lighted, the second current collision time is the collision time between the current vehicle and the front pedestrian.
According to the calculation scheme of the embodiment, when the current vehicle runs to the intersection, whether the traffic light of the current intersection is of 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 is in front of the vehicle and the distance from the pedestrian is smaller 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 for 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 judging module 620 is configured to judge whether the current vehicle satisfies the following conditions if the current vehicle is of the first color: detecting that a pedestrian is in front of the vehicle and the distance from the pedestrian is smaller than a first threshold value;
and a brake control module 630 for controlling the current vehicle to brake when the vehicle satisfies the condition.
Optionally, the method further comprises: a first vehicle control module for:
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 in front of the vehicle is smaller than a second threshold value, and the distance between the vehicle and the sidewalk is larger than a first set value, and any one of the following conditions is adopted: the relative collision time with the vehicle in front is smaller than the first set time period or the absolute collision time with the vehicle in front is smaller than the second set time period;
if yes, controlling the current vehicle to execute the operations of engine fuel cut, braking pre-decompression and alarming.
Optionally, the method further comprises: a second vehicle control module for:
if no vehicle is in front of the current vehicle and the brake lamp of the side front vehicle is detected to be lighted, judging whether the current vehicle meets the following conditions: the distance from the sidewalk is smaller than a third threshold value, and the time for the vehicle to reach the sidewalk is smaller than a third set duration;
if yes, controlling the current vehicle to execute the operations of engine fuel cut, braking pre-decompression and alarming.
Optionally, the alarming mode comprises: if the current moment is daytime, carrying out acoustic alarm; and if the current moment is night, performing optical alarm.
Optionally, the method further comprises: a first current collision time calculation module, configured to:
calculating a first current collision time of the current vehicle;
and if the first current collision time is smaller than the fourth set time length, controlling the vehicle to execute the operations of audible and visual alarm and partial braking.
Optionally, the method further comprises: a second current collision time calculation module, configured to:
calculating a second current collision time of the current vehicle;
and if the second current collision time is smaller than the fifth set duration, controlling the vehicle to execute the emergency braking operation.
The device can execute the method provided by all the embodiments of the invention, and has the corresponding functional modules and beneficial effects of executing the method. Technical details not described in detail in this embodiment can be found in the methods provided in all the foregoing embodiments of the invention.
Example IV
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 merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention. Device 312 is a computing device for the safety control functions of a typical vehicle.
As shown in FIG. 7, the computer device 312 is in the form of a general purpose computing device. 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 connects the different system components (including the storage device 328 and the processor 316).
Bus 318 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include industry standard architecture (Industry Standard Architecture, ISA) bus, micro channel architecture (Micro Channel Architecture, MCA) bus, enhanced ISA bus, video electronics standards association (Video Electronics Standards Association, VESA) local bus, and peripheral component interconnect (Peripheral Component Interconnect, PCI) bus.
Computer device 312 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by computer device 312 and includes both volatile and nonvolatile media, removable and non-removable media.
The storage 328 may include computer system-readable media in the form of volatile memory, such as random access memory (Random Access Memory, RAM) 330 and/or cache memory 332. The computer device 312 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 334 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 7, commonly referred to as a "hard disk drive"). Although not shown in fig. 7, a disk drive for reading from and writing to a removable nonvolatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from and writing to a removable nonvolatile optical disk (e.g., a Compact Disc-Read Only Memory (CD-ROM), digital versatile Disc (Digital Video Disc-Read Only Memory, DVD-ROM), or other optical media) may be provided. In such cases, each drive may be coupled to bus 318 through one or more data medium interfaces. Storage 328 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of embodiments of the invention.
Programs 336 having a set (at least one) of program modules 326 may be stored, for example, in storage 328, such program modules 326 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 326 generally perform the functions and/or methods in the described embodiments of the invention.
The computer device 312 may also communicate with one or more external devices 314 (e.g., keyboard, pointing device, camera, display 324, etc.), one or more devices that enable a user to interact with the computer device 312, and/or 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 through an input/output (I/O) interface 322. Moreover, the computer device 312 may also communicate with one or more networks such as a local area network (Local Area Network, LAN), a wide area network Wide Area Network, a WAN) and/or a public network such as the internet via the network adapter 320. As shown, network adapter 320 communicates with other modules of computer device 312 via bus 318. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with computer device 312, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, disk array (Redundant Arrays of Independent Disks, RAID) systems, tape drives, data backup storage systems, and the like.
The processor 316 executes various functional applications and data processing by running programs stored in the storage 328, for example, to implement the safety control method of the vehicle provided by the above-described embodiment of the present invention.
Example five
Embodiments of the present invention provide 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. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any 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 context of this 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 the present disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. 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, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
In some implementations, 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 networks.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated 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 a current vehicle runs to an intersection, judging whether a traffic light at the current intersection is of a first color or not; if the color is the first color, judging whether the current vehicle meets the following conditions: detecting that a pedestrian is in front of and the distance from the pedestrian is less than a first threshold; and if so, controlling the current vehicle to brake.
Computer program code for carrying out operations of the present disclosure may be written in 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 kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts 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 involved in the embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.
The functions described above herein 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: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), 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. The 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.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. 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, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (9)
1. A safety control system for a vehicle, comprising: the system comprises a forward-looking camera, a far infrared camera, a millimeter wave radar, an environment sensor, a high-precision map module and an early warning controller;
the front-view camera is used for detecting a key target; the key targets comprise lane lines, pedestrians, vehicles, car light states, traffic lights and zebra crossings;
the far infrared camera is used for detecting a heat source target; wherein the heat source target comprises a pedestrian and a vehicle;
the millimeter wave radar is used for detecting vehicle running information; wherein, the vehicle running information comprises distance, angle and 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;
the method for performing 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 comprises the following steps:
when a current vehicle runs to an intersection, judging whether a traffic light at the current intersection is of a first color or not;
if the color is the first color, judging whether the current vehicle meets the following conditions: detecting that a pedestrian is in front of and the distance from the pedestrian is less than a first threshold;
if yes, controlling the current vehicle to brake;
after the traffic light is the first color, further comprising:
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 in front of the vehicle is smaller than a second threshold value, and the distance between the vehicle and the pavement is larger than a first set value, and any one of the following is adopted: the relative collision time with the vehicle in front is smaller than a first set time period or the absolute collision time with the vehicle in front is smaller than a second set time period;
and if so, controlling the current vehicle to execute the operations of engine fuel cut, braking pre-decompression and alarming.
2. A safety control method of a vehicle, characterized by comprising:
when a current vehicle runs to an intersection, judging whether a traffic light at the current intersection is of a first color or not;
if the color is the first color, judging whether the current vehicle meets the following conditions: detecting that a pedestrian is in front of and the distance from the pedestrian is less than a first threshold;
if yes, controlling the current vehicle to brake;
wherein after the traffic light is of the first color, further comprising:
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 in front of the vehicle is smaller than a second threshold value, and the distance between the vehicle and the pavement is larger than a first set value, and any one of the following is adopted: the relative collision time with the vehicle in front is smaller than a first set time period or the absolute collision time with the vehicle in front is smaller than a second set time period;
and if so, controlling the current vehicle to execute the operations of engine fuel cut, braking pre-decompression and alarming.
3. The method of claim 2, further comprising, after the traffic lamp is the first color:
if no vehicle is in front of the current vehicle and the brake lamp of the side front vehicle is detected to be lighted, judging whether the current vehicle meets the following conditions: the distance from the sidewalk is smaller than a third threshold value, and the time for the vehicle to reach the sidewalk is smaller than a third set duration;
and if so, controlling the current vehicle to execute the operations of engine fuel cut, braking pre-decompression and alarming.
4. A method according to claim 2 or 3, characterized in that the means of alerting comprises: if the current moment is daytime, carrying out acoustic alarm; and if the current moment is night, performing optical alarm.
5. A method according to claim 2 or 3, further comprising, after controlling the current vehicle to perform engine fuel cut, brake pre-decompression and warning operations:
calculating a first current collision time of the current vehicle;
and if the first current collision time is smaller than the fourth set time length, controlling the vehicle to execute the operations of audible and visual alarm and partial braking.
6. The method of claim 5, wherein after controlling the vehicle to perform the audible and visual alarm and the partial braking operation, further comprising:
calculating a second current collision time of the current vehicle;
and if the second current collision time is smaller than the fifth set duration, controlling the vehicle to execute emergency braking operation.
7. A safety control device for a vehicle, comprising:
the traffic light color judging module is used for judging whether the traffic light of the current intersection is of 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 current vehicle is the first color: detecting that a pedestrian is in front of and the distance from the pedestrian is less than a first threshold;
wherein, the judging module includes:
and the brake lamp judging unit is used for judging whether the traffic lamp is of the first color or not, and further comprises: 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 in front of the vehicle is smaller than a second threshold value, and the distance between the vehicle and the pavement is larger than a first set value, and any one of the following is adopted: the relative collision time with the vehicle in front is smaller than a first set time period or the absolute collision time with the vehicle in front is smaller than a second set time period;
if yes, controlling the current vehicle to execute the operations of engine oil break, braking pre-decompression and alarming;
and the braking control module is used for controlling the current vehicle to brake when the vehicle meets the conditions.
8. 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 for a vehicle according to any one of claims 2-6 when executing the program.
9. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processing device, implements the safety control method of a vehicle as claimed in any one of claims 2-6.
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| CN117441350A (en) * | 2022-05-20 | 2024-01-23 | 北京小米移动软件有限公司 | Information processing method and device, electronic equipment and storage medium |
| CN114919519A (en) * | 2022-05-27 | 2022-08-19 | 东风柳州汽车有限公司 | Vehicle safety monitoring method, device, equipment and storage medium |
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