CN114724406A - Security protection method, device and storage medium - Google Patents
Security protection method, device and storage medium Download PDFInfo
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- CN114724406A CN114724406A CN202210288661.3A CN202210288661A CN114724406A CN 114724406 A CN114724406 A CN 114724406A CN 202210288661 A CN202210288661 A CN 202210288661A CN 114724406 A CN114724406 A CN 114724406A
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- vulnerable road
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
Abstract
The safety protection method is applied to a safety protection device of a user on a weak road, and comprises the following steps: acquiring motion data and position information of a vehicle driven by a user on a weak road, and transmitting the motion data and the position information to an automobile in an Internet of vehicles through V2X communication; receiving motion data and position information of the automobile; determining a spatial motion relationship between a vehicle driven by a vulnerable road user and an automobile according to the received motion data and position information of the automobile and the motion data and position information of the vehicle driven by the vulnerable road user; judging whether the vulnerable road user is in an automobile door opening protection scene or not according to the space motion relation; and adopting corresponding early warning protection measures when the vulnerable road user is in the automobile door opening protection scene. The scheme of this paper can promote the security when the weak road user drives the vehicle.
Description
Technical Field
The embodiment of the application relates to the technical field of auxiliary driving, in particular to a safety protection method, a safety protection device and a storage medium.
Background
In the Accident case of CIDAS (China In-Depth Accident student, China traffic Accident deep research) since 2011-2018, the percentage of VRU (vulnerable road users) accidents is 80.28%, and the percentage of secondary and tertiary vehicle accidents is up to 63.87%. The VRU may be a non-motorized road user such as a pedestrian, a cyclist, a motorcyclist, a disabled person or a person with impaired mobility and orientation.
The data show that the accident rate between the electric two-wheeled vehicle, the motorcycle and the automobile is high, and the accident reason is often in the aspects of view blind areas, risk not identified in advance and the like.
Disclosure of Invention
The embodiment of the application provides a safety protection method, which is applied to a safety protection device of a user on a weak road, and comprises the following steps:
acquiring motion data and position information of a vehicle driven by a user on a weak road, and sending the motion data and the position information to an automobile in an automobile internet through communication of an automobile internet universal object V2X; receiving motion data and position information of the automobile;
determining a spatial motion relationship between a vehicle driven by a vulnerable road user and an automobile according to the received motion data and position information of the automobile and the motion data and position information of the vehicle driven by the vulnerable road user; judging whether the vulnerable road user is in an automobile door opening protection scene or not according to the space motion relation;
and adopting corresponding early warning protection measures when the vulnerable road user is in the automobile door opening protection scene.
The embodiment of the application provides a safety protection method, which is applied to a safety protection device of an automobile and comprises the following steps:
the method comprises the steps of obtaining motion data and position information of an automobile, and sending the motion data and the position information to a safety protection device of a vulnerable road user in an automobile internet through communication of an automobile internet universal object V2X; receiving motion data and position information of a vehicle driven by the vulnerable road user;
determining a spatial motion relation between a vehicle driven by a vulnerable road user and an automobile according to the received motion data and position information of the vehicle driven by the vulnerable road user and the received motion data and position information of the automobile; judging whether the vulnerable road user is in an automobile door opening protection scene or not according to the space motion relation;
when the user of the vulnerable road is in an automobile door opening protection scene, monitoring the opening and closing state of an automobile door in real time, calculating the collision time TTC when a vehicle driven by the user of the vulnerable road collides with the automobile door, and taking corresponding early warning protection measures according to the collision time and the opening and closing state of the automobile door.
The embodiment of the application provides a safety device, includes: the safety protection method comprises a memory and a processor, wherein the memory stores a computer program, and the computer program realizes the steps of the safety protection method when being executed by the processor.
An embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the steps of the security protection method.
According to the safety protection method and the safety protection device provided by the embodiment of the application, the safety protection device of the vulnerable road user and the safety protection device of the automobile mutually transmit the motion data and the position information, the two devices determine the space motion relationship according to the motion data and the position information, and judge whether the vulnerable road user is in the automobile door opening protection scene according to the space motion relationship; when the vulnerable road user is in an automobile door opening protection scene, calculating the collision time TTC when a vehicle driven by the vulnerable road user collides with an automobile door in real time, adopting a corresponding early warning protection measure by the safety protection device of the vulnerable road user according to the collision time, monitoring the opening and closing state of the automobile door by the safety protection device of the automobile in real time, and adopting a corresponding early warning protection measure according to the collision time and the opening and closing state of the automobile door. The technical scheme of the embodiment of the application can improve the safety of the weak road user when driving the vehicle.
Other aspects will be apparent upon reading and understanding the attached drawings and detailed description.
Drawings
The accompanying drawings are included to provide an understanding of the present disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the examples serve to explain the principles of the disclosure and not to limit the disclosure.
Fig. 1 is a schematic flow chart of a safety protection method (safety protection device for vulnerable road users) according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a safety protection method (safety protection device of an automobile) according to an embodiment of the present application;
FIG. 3 is a schematic structural view of a safety shield apparatus according to an embodiment of the present disclosure (safety shield apparatus for vulnerable road users);
FIG. 4 is a schematic structural view of a safety shield apparatus (safety shield apparatus for a vehicle) according to an embodiment of the present disclosure;
FIG. 5 is a scene schematic diagram of a roadside parking door opening danger scene according to an embodiment of the present application;
FIG. 6 is a flow chart of a method of securing a smart helmet to a rider of a two-wheeled vehicle in accordance with an embodiment of the present application;
FIG. 7 is a flowchart illustrating a safety protection method of a safety protection device of an automobile according to an embodiment of the present application;
fig. 8 is a schematic diagram of an early warning prompt in a dangerous side-by-side opening scene of a display device on an automobile according to an embodiment of the present application.
Detailed Description
The present application describes embodiments, but the description is illustrative rather than limiting and it will be apparent to those of ordinary skill in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are possible. Any feature or element of any embodiment may be used in combination with, or instead of, any other feature or element in any other embodiment, unless expressly limited otherwise.
The present application includes and contemplates combinations of features and elements known to those of ordinary skill in the art. The embodiments, features and elements disclosed in the present application may also be combined with any conventional features or elements to form a unique inventive concept as defined by the appended claims. Any feature or element of any embodiment may also be combined with features or elements from other inventive aspects to form yet another unique inventive aspect, as defined by the appended claims. Thus, it should be understood that any of the features shown and/or discussed in this application may be implemented alone or in any suitable combination. Accordingly, the embodiments are not limited except as by the appended claims and their equivalents. Further, various modifications and changes may be made within the scope of the appended claims.
The embodiment of the application provides a safety protection method. As shown in fig. 1, a safety protection method applied to a weak road user includes:
step S10, acquiring motion data and position information of a Vehicle driven by a user on a weak road, and sending the motion data and the position information to an automobile in the Internet of vehicles through communication of a Vehicle-to-electric Vehicle-connected object V2X (Vehicle-to-electric); receiving motion data and position information of the automobile;
step S20, determining the space motion relation between the vehicle driven by the vulnerable road user and the automobile according to the received motion data and position information of the automobile and the motion data and position information of the vehicle driven by the vulnerable road user; judging whether the vulnerable road user is in an automobile door opening protection scene or not according to the space motion relation;
and step S30, taking corresponding early warning protective measures when the vulnerable road user is in the automobile door opening protective scene.
According to the safety protection method provided by the embodiment of the application, the safety protection device of the weak road user acquires the motion data and the position information of a vehicle driven by the weak road user, and the motion data and the position information are sent to the automobile in the Internet of vehicles through V2X communication; receiving motion data and position information of the automobile; determining a spatial motion relationship between a vehicle driven by a vulnerable road user and an automobile according to the received motion data and position information of the automobile and the motion data and position information of the vehicle driven by the vulnerable road user; judging whether the vulnerable road user is in an automobile door opening protection scene or not according to the space motion relation; and adopting corresponding early warning protection measures when the vulnerable road user is in the automobile door opening protection scene. The technical scheme of the embodiment of the application can improve the driving safety of the user on the weak road.
The Vulnerable Road Users (VRU) may be non-motorised road users such as pedestrians, cyclists, motorcyclists, disabled persons or persons with impaired mobility and orientation.
In some exemplary embodiments, a vehicle driven by a vulnerable road user includes: two-wheeled electric vehicles, motorcycles, or three-wheeled electric vehicles.
In some exemplary embodiments, the road users in the Internet are interconnected through a PC5 communication protocol. In other embodiments, the road users in the Internet of vehicles may be interconnected via other types of wireless communication protocols. Information can be interacted between road users in the vehicle interconnection network in real time, such as position information, motion data and the like periodically at a certain frequency.
In some exemplary embodiments, the motion data includes at least one of: speed, acceleration, and heading angle. In other embodiments, the motion data may also include other information.
In some exemplary embodiments, the location information includes: latitude and longitude information.
In some exemplary embodiments, the spatial motion relationship between the automobile and the vehicle driven by the vulnerable road user comprises: relative distance, relative speed and the included angle between the two driving directions.
In some exemplary embodiments, the determining whether the vulnerable road user is in an automobile door opening protection scene according to the spatial motion relationship includes:
determining whether the automobile is located in front of a vehicle driven by the vulnerable road user;
determining a lateral distance between the vehicle and the vulnerable road user when the vehicle is located in front of the vehicle;
and judging whether the transverse distance is smaller than or equal to a safety distance threshold value, if so, judging that the vulnerable road user is in an automobile door opening protection scene, otherwise, judging that the vulnerable road user is not in the automobile door opening protection scene.
The safe distance threshold may be an experimentally or empirically set distance value.
In some exemplary embodiments, the vulnerable road user's safety device interacts with the vehicle periodically with a frequency of movement data and location information.
In some exemplary embodiments, the TTC is the relative distance between the vehicle and the vulnerable road user divided by the relative speed.
In some exemplary embodiments, when the vulnerable road user is in an automobile door opening protection scene, corresponding early warning protection measures are taken, including:
calculating the collision time TTC when a vehicle driven by the user on the weak road collides with the door of the automobile in real time; and when the TTC is less than or equal to the first time threshold and is greater than 0 and/or first early warning prompt information sent by the automobile is received, sending a first early warning to the vulnerable road user to prompt the vulnerable road user that the risk of colliding with the door of the automobile exists.
The first time threshold may be a length of time set according to safety standards, experimentation, or experience.
In some exemplary embodiments, the issuing of the first warning to the vulnerable road user includes: and sending a prompt signal through a loudspeaker and/or an indicator lamp to remind the weak road user to avoid the front vehicle door. In other embodiments, other types of warnings may be used, for example, when the safety device of the road user is a smart helmet, the warning may be made by emitting light and sound. When the safety protection device of the weak road user is a portable device or a vehicle-mounted device, the early warning can be given by sending a signal through a display and/or a loudspeaker.
In some exemplary embodiments, when the vulnerable road user is in an automobile door opening protection scene, corresponding early warning protection measures are taken, including:
calculating the collision time TTC when a vehicle driven by the user on the weak road collides with the door of the automobile in real time; when the TTC is smaller than or equal to the second time threshold and larger than the third time threshold and/or second early warning prompt information sent by the automobile is received, sending a second early warning to the vulnerable road user to prompt the vulnerable road user to have the risk of colliding with the automobile door for the first time; when the TTC is less than or equal to a third time threshold and is greater than 0 and/or third early warning prompt information sent by the automobile is received, sending a third early warning to the vulnerable road user to prompt the vulnerable road user to have the risk of colliding with the door of the automobile for the second time; wherein the third time threshold is less than the second time threshold.
Through two-stage early warning, the user of the weak road can obtain more sufficient prompt and alarm, and therefore an effective obstacle avoidance means is adopted.
The second and third time thresholds may be lengths of time set according to safety standards, experimentation, or experience.
The embodiment of the application provides a safety protection method. As shown in fig. 2, a safety protection method applied to a safety protection device of an automobile includes:
step S10, acquiring motion data and position information of the automobile, and sending the motion data and the position information to a safety protection device of a vulnerable road user in the Internet of vehicles through communication of the Internet of vehicles V2X; receiving motion data and position information of a vehicle driven by the vulnerable road user;
step S20, determining the space motion relation between the vehicle driven by the vulnerable road user and the automobile according to the received motion data and position information of the vehicle driven by the vulnerable road user and the motion data and position information of the automobile; judging whether the vulnerable road user is in an automobile door opening protection scene or not according to the space motion relation;
and step S30, when the user of the vulnerable road is in the automobile door opening protection scene, monitoring the opening and closing state of the automobile door in real time, calculating the collision time TTC when the vehicle driven by the user of the vulnerable road collides with the automobile door, and taking corresponding early warning protection measures according to the collision time and the opening and closing state of the automobile door.
According to the safety protection method provided by the embodiment of the application, the safety protection device of the automobile acquires the motion data and the position information of the automobile, and the motion data and the position information are sent to the safety protection device of a vulnerable road user in the Internet of vehicles through the communication of the Internet of vehicles V2X; receiving motion data and position information of a vehicle driven by the vulnerable road user; determining a spatial motion relation between a vehicle driven by a vulnerable road user and an automobile according to the received motion data and position information of the vehicle driven by the vulnerable road user and the received motion data and position information of the automobile; judging whether the vulnerable road user is in an automobile door opening protection scene or not according to the space motion relation; when the user of the vulnerable road is in an automobile door opening protection scene, monitoring the opening and closing state of an automobile door in real time, calculating the collision time TTC when a vehicle driven by the user of the vulnerable road collides with the automobile door, and taking corresponding early warning protection measures according to the collision time and the opening and closing state of the automobile door. The technical scheme of the embodiment of the application can improve the safety of the weak road user when driving the vehicle.
In some exemplary embodiments, the safety shield apparatus of an automobile includes: an in-vehicle control apparatus. The vehicle-mounted control device is capable of detecting a running state of an automobile and opening and closing information of a door.
In some exemplary embodiments, the road users in the Internet are interconnected through a PC5 communication protocol. In other embodiments, the road users in the Internet of vehicles may be interconnected via other types of wireless communication protocols. Information can be interacted between road users in the vehicle interconnection network in real time, such as position information, motion data and the like periodically at a certain frequency.
In some exemplary embodiments, the motion data includes at least one of: speed, acceleration, and heading angle. In other embodiments, the motion data may also include other information.
In some exemplary embodiments, the location information includes: latitude and longitude information.
In some exemplary embodiments, the spatial motion relationship between the automobile and the vehicle driven by the vulnerable road user comprises: relative distance, relative speed and the angle between the two directions of travel.
In some exemplary embodiments, the determining whether the vulnerable road user is in an automobile door opening protection scene according to the spatial motion relationship between the vulnerable road user and the automobile includes:
judging whether the automobile is positioned in front of the user on the weak road;
the step of judging whether the vulnerable road user is in an automobile door opening protection scene according to the space motion relation comprises the following steps:
determining whether the automobile is located in front of a vehicle driven by the vulnerable road user;
determining a lateral distance between the vehicle and the vulnerable road user when the vehicle is located in front of the vehicle;
and judging whether the transverse distance between the two is smaller than or equal to a safety distance threshold value, if so, judging that the vulnerable road user is in an automobile door opening protection scene, otherwise, judging that the vulnerable road user is not in the automobile door opening protection scene.
Under the protection scene of opening the door of the automobile, if the automobile opens the door, the weak road user has the risk of colliding with the automobile door.
The safe distance threshold may be an experimentally or empirically set distance value.
In some exemplary embodiments, the vulnerable road user's safety device interacts with the vehicle's safety device with movement data and location information periodically at a certain frequency.
In some exemplary embodiments, the TTC is the relative distance between the vehicle and the vulnerable road user divided by the relative speed.
In some exemplary embodiments, taking corresponding pre-warning protective measures according to the collision time and the opening and closing state of the vehicle door comprises:
and taking corresponding early warning protective measures according to the collision time and the opening and closing state of the vehicle door, wherein the early warning protective measures comprise the following steps: when the TTC is smaller than or equal to the first time threshold and larger than 0, a first collision early warning is sent to the automobile to remind people in the automobile that an automobile comes behind the automobile and first early warning prompt information is sent to a safety protection device of a user on the vulnerable road to remind the user on the vulnerable road of the risk of colliding with the automobile door.
In some exemplary embodiments, taking corresponding early warning protective measures according to the collision time and the opening and closing state of the vehicle door comprises:
when the TTC is smaller than or equal to the second time threshold and larger than the third time threshold, if the door opening and unlocking operation is detected in the automobile, sending a second collision early warning to the automobile to remind personnel in the automobile not to open the automobile door, and sending second early warning prompt information to a safety protection device of a weak road user to prompt the weak road user to have the risk of colliding with the automobile door for the first time;
when the TTC is smaller than or equal to a third time threshold and larger than 0, if door opening unlocking operation is detected in the automobile, a third collision early warning is sent to the automobile to remind people in the automobile of coming automobile behind and third early warning prompt information is sent to a safety protection device of a user on the vulnerable road to prompt the user on the vulnerable road for the second time that the risk of collision with the automobile door exists; wherein the third time threshold is less than the second time threshold. Two-stage early warning is sent to the users of the weak road through the automobile, so that the users of the weak road can obtain more sufficient prompt and warning, and an effective obstacle avoidance means is adopted.
The first time threshold, the second time threshold, and the third time threshold may be lengths of time set according to safety standards, experimentation, or experience.
In some exemplary embodiments, the issuing the first collision warning, the second collision warning, or the third collision warning to the automobile includes: a loudspeaker in the vehicle sends out a voice alarm prompt to remind people in the vehicle not to open the vehicle door; and/or displaying an alarm prompt through a display in the vehicle to remind people in the vehicle not to open the vehicle door. In other embodiments, other forms of pre-warning may be used.
The embodiment of the application provides a safety protection device. As shown in fig. 3, a safety protection device applied to a user side of a weak road comprises:
the information interaction module 10 is configured to acquire motion data and position information of a vehicle driven by a user on a weak road, and send the motion data and the position information to an automobile in the Internet of vehicles through communication of the Internet of vehicles V2X; receiving motion data and position information of the automobile;
the scene judging module 12 is configured to determine a spatial motion relationship between a vehicle driven by a vulnerable road user and an automobile according to the received motion data and position information of the automobile and the motion data and position information of the vehicle driven by the vulnerable road user; judging whether the vulnerable road user is in an automobile door opening protection scene or not according to the space motion relation;
and the collision detection and early warning module 14 is configured to take corresponding early warning protective measures when the vulnerable road user is in an automobile door opening protective scene.
The safety protection device for the vulnerable road user comprises an information interaction module, a scene judgment module and a collision detection and early warning module, wherein the information interaction module acquires motion data and position information of a vehicle driven by the vulnerable road user, and sends the motion data and the position information to an automobile in an automobile internet through communication of an automobile internet everything V2X; receiving motion data and position information of the automobile; the scene judging module determines the space motion relation between the vehicle driven by the vulnerable road user and the automobile according to the received motion data and position information of the automobile and the motion data and position information of the vehicle driven by the vulnerable road user; judging whether the vulnerable road user is in an automobile door opening protection scene or not according to the space motion relation; and the collision detection and early warning module takes corresponding early warning protection measures when the vulnerable road user is in an automobile door opening protection scene. The technical scheme of the embodiment of the application can improve the safety of the weak road users in driving the vehicles.
In some exemplary embodiments, the vulnerable road user safety device comprises: a wearable device, a portable electronic device, or an in-vehicle device. The wearable device includes: intelligent helmet. The portable electronic device is such as: mobile phones, tablet computers, and the like. The vehicle-mounted device is such as: vehicle-mounted navigator, etc.
In some exemplary embodiments, the scene determination module is configured to determine whether the vulnerable road user is in an automobile door opening protection scene according to the spatial motion relationship in the following manner: judging whether the automobile is positioned in front of a vehicle driven by the user of the vulnerable road; determining a lateral distance between the vehicle and the vulnerable road user when the vehicle is located in front of the vehicle being driven by the vulnerable road user; and judging whether the transverse distance is smaller than or equal to a safety distance threshold value, if so, judging that the vulnerable road user is in an automobile door opening protection scene, otherwise, judging that the vulnerable road user is not in the automobile door opening protection scene. Under the protection scene of opening the door of the automobile, if the automobile opens the door, the weak road user has the risk of colliding with the automobile door.
In some exemplary embodiments, the TTC is the relative distance between the vehicle and the vulnerable road user divided by the relative speed.
In some exemplary embodiments, the collision detection and early warning module is configured to take corresponding early warning protection measures when the vulnerable road user is in an automobile door opening protection scene in the following ways: calculating the collision time TTC when a vehicle driven by the user on the weak road collides with the door of the automobile in real time; and when the TTC is less than or equal to the first time threshold and is greater than 0 and/or first early warning prompt information sent by the automobile is received, sending a first early warning to the vulnerable road user to prompt the vulnerable road user that the risk of colliding with the door of the automobile exists.
In some exemplary embodiments, the collision detection and early warning module is configured to take corresponding early warning protection measures when the vulnerable road user is in an automobile door opening protection scene in the following ways: calculating the collision time TTC when a vehicle driven by the user on the weak road collides with the door of the automobile in real time; when the TTC is smaller than or equal to the second time threshold and larger than the third time threshold and/or second early warning prompt information sent by the automobile is received, sending a second early warning to the vulnerable road user to prompt the vulnerable road user to have the risk of colliding with the automobile door for the first time; when the TTC is less than or equal to a third time threshold and is greater than 0 and/or third early warning prompt information sent by the automobile is received, sending a third early warning to the vulnerable road user to prompt the vulnerable road user to have the risk of colliding with the door of the automobile for the second time; wherein the third time threshold is less than the second time threshold.
The embodiment of the application provides a safety protection device. As shown in fig. 4, a safety protection device for a vehicle includes:
the information interaction module 20 is configured to acquire motion data and position information of the automobile, and send the motion data and the position information to a safety protection device of a vulnerable road user in the Internet of vehicles through communication of the Internet of vehicles V2X; receiving motion data and position information of a vehicle driven by the vulnerable road user;
the scene judging module 22 is configured to determine a spatial motion relationship between the vehicle driven by the vulnerable road user and the automobile according to the received motion data and position information of the vehicle driven by the vulnerable road user and the received motion data and position information of the automobile; judging whether the vulnerable road user is in an automobile door opening protection scene or not according to the space motion relation;
and the collision detection and early warning module 24 is configured to monitor the opening and closing state of the automobile door in real time and calculate the collision time TTC when a vehicle driven by the vulnerable road user collides with the automobile door when the vulnerable road user is in the automobile door opening protection scene, and take corresponding early warning protection measures according to the collision time and the opening and closing state of the automobile door.
The safety protection device for the automobile comprises an information interaction module, a scene judgment module and a collision detection and early warning module, wherein the information interaction module acquires motion data and position information of the automobile and sends the motion data and the position information to a safety protection device of a vulnerable road user in an automobile internet through communication of all things in the automobile internet V2X; receiving motion data and position information of a vehicle driven by the vulnerable road user; the scene judging module determines the space motion relation between the vehicle driven by the vulnerable road user and the automobile according to the received motion data and position information of the vehicle driven by the vulnerable road user and the received motion data and position information of the automobile; judging whether the vulnerable road user is in an automobile door opening protection scene or not according to the space motion relation; and the collision detection and early warning module monitors the opening and closing state of the automobile door in real time and calculates the collision time TTC when a vehicle driven by the vulnerable road user collides with the automobile door when the vulnerable road user is in an automobile opening protection scene, and corresponding early warning protection measures are taken according to the collision time and the opening and closing state of the automobile door. The technical scheme of the embodiment of the application can improve the safety of the weak road users in driving the vehicles.
In some exemplary embodiments, the safety shield apparatus of an automobile includes: an in-vehicle control apparatus. The vehicle-mounted control device is capable of detecting a running state of the vehicle and opening and closing information of the door.
In some exemplary embodiments, the scene determination module is configured to determine whether the vulnerable road user is in an automobile door opening protection scene according to the spatial motion relationship in the following manner: determining whether the automobile is located in front of a vehicle driven by the vulnerable road user; determining a lateral distance between the vehicle and the vulnerable road user when the vehicle is located in front of the vehicle; and judging whether the transverse distance between the two is smaller than or equal to a safety distance threshold value, if so, judging that the vulnerable road user is in an automobile door opening protection scene, otherwise, judging that the vulnerable road user is not in the automobile door opening protection scene. Under the protection scene of opening the door of the automobile, if the automobile opens the door, the weak road user has the risk of colliding with the automobile door.
In some exemplary embodiments, the TTC is the relative distance between the vehicle and the vulnerable road user divided by the relative speed.
In some exemplary embodiments, the collision detection and early warning module is configured to take corresponding early warning protection measures according to the collision time and the opening and closing state of the vehicle door in the following ways:
and taking corresponding early warning protective measures according to the collision time and the opening and closing state of the vehicle door, wherein the early warning protective measures comprise the following steps: when the TTC is smaller than or equal to the first time threshold and larger than 0, a first collision early warning is sent to the automobile to remind people in the automobile that an automobile comes behind the automobile and first early warning prompt information is sent to a safety protection device of a user on the vulnerable road to remind the user on the vulnerable road of the risk of colliding with the automobile door.
In some exemplary embodiments, the collision detection and early warning module is configured to take corresponding early warning protection measures according to the collision time and the opening and closing state of the vehicle door in the following ways:
when the TTC is smaller than or equal to the second time threshold and larger than the third time threshold, if the door opening and unlocking operation is detected in the automobile, sending a second collision early warning to the automobile to remind personnel in the automobile not to open the automobile door, and sending second early warning prompt information to a safety protection device of a weak road user to prompt the weak road user to have the risk of colliding with the automobile door for the first time;
when the TTC is less than or equal to a third time threshold and is more than 0, if the door opening and unlocking operation is detected in the automobile, a third collision early warning is sent to the automobile to remind people in the automobile of coming automobile behind and third early warning prompt information is sent to a safety protection device of a weak road user to prompt the weak road user to have the risk of colliding the automobile door for the second time; wherein the third time threshold is less than the second time threshold.
The embodiment of the application provides a safety device, includes: the safety protection method comprises a memory and a processor, wherein the memory stores a computer program, and the computer program realizes the steps of the safety protection method when being executed by the processor.
An embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the steps of the security protection method.
The following description will be made of a roadside parking door opening danger scene as an example, to explain how a two-wheeled vehicle rider's intelligent helmet (safety protection device) and a vehicle safety protection device perform safety protection.
As shown in fig. 5, a vehicle a stops at the roadside on the right side in parallel with the traveling direction of the two-wheeled vehicle, and a vehicle B blocking a blind spot in the view angle of the front vehicle (vehicle a) stops right behind the vehicle a. The distance between the tail of the vehicle a and the head of the vehicle B is d1, the lateral distance between the vehicle a and the two-wheeled vehicle is d2, and the vehicle speed of the two-wheeled vehicle is v.
The intelligent helmet is worn by a two-wheeled vehicle rider, the steps of the safety protection method of the intelligent helmet are shown in fig. 6, and as shown in fig. 6, the safety protection method of the intelligent helmet can comprise the following steps:
step S1, the safety protection device of the automobile (vehicle A) is interconnected through a PC5 communication protocol;
the PC5 communication protocol is a terminal-to-terminal communication interface protocol. The PC5 protocol interface is a short-distance direct communication interface among vehicles, people and road infrastructures; the method is characterized in that: and the communication with low time delay, high capacity and high reliability is realized through the forms of direct connection, broadcasting and network scheduling.
Step S2, the motion data and the position information are mutually sent to the safety protection device of the automobile, and the motion data and the position information of the two-wheel vehicle and the automobile are processed to obtain the space motion relation between the two;
a Global Positioning System (GPS) suite in the intelligent helmet can acquire the longitude and latitude, the speed, the course angle and other information of the two-wheeled vehicle and send the information to an automobile end;
the intelligent helmet also receives the information of the longitude and latitude, the speed, the course angle and the like of the automobile sent by the GPS suite of the automobile.
The spatial motion relation between the two-wheeled vehicle and the automobile comprises information such as relative distance, relative speed, an included angle between the two vehicles in the driving direction and the like;
step S3, judging whether the transverse distance between the two-wheeled vehicle and the automobile is smaller than or equal to the safety distance threshold value, if so, executing step S4, otherwise, returning to step S2;
step S4, judging that the current scene is an automobile door opening protection scene;
step S5, calculating the collision time TTC when the two-wheel vehicle collides with the vehicle door in real time;
step S6, judging whether the time TTC is greater than 0, if yes, executing step S7, otherwise, ending;
step S7, judging whether the time TTC of the collision is less than or equal to a first time threshold value or receiving first early warning prompt information sent by the automobile, if so, executing step S8, otherwise, returning to step S5;
and step S8, a first early warning is sent to the rider of the two-wheel vehicle.
Wherein, the intelligent helmet can send out the early warning through the mode of sound or light.
Fig. 7 shows the processing steps of the safety protection method of the safety protection device of the automobile, and as shown in fig. 7, the safety protection method of the safety protection device of the automobile may include the following steps:
step S1, the intelligent helmet is interconnected with the intelligent helmet worn by the rider of the two-wheel vehicle through a PC5 communication protocol;
step S2, the intelligent helmet and the two-wheeled vehicle mutually send motion data and position information, and the motion data and the position information of the two-wheeled vehicle and the vehicle are processed to obtain a spatial motion relation between the two;
the GPS suite of the safety protection device of the automobile can acquire the longitude and latitude, the speed, the course angle and other information of the automobile and send the information to the intelligent helmet;
the safety protection device of the automobile also receives the longitude and latitude, the speed, the course angle and other information of the two-wheel vehicle sent by the GPS external member of the intelligent helmet.
The space motion relation between the two-wheel vehicle and the automobile comprises information such as relative distance, relative speed, an included angle between the two vehicles in the driving direction and the like;
step S3, judging whether the transverse distance between the two is less than or equal to the safety distance threshold value, if so, executing step S4, otherwise, returning to step S2;
step S4, judging that the current scene is an automobile door opening protection scene;
step S5, monitoring the opening and closing state of the automobile door in real time, and calculating the collision time TTC when the two-wheeled vehicle collides with the automobile door in real time;
step S6, judging whether the time TTC is less than or equal to the second time threshold and greater than the third time threshold and whether the door has the unlocking operation, if so, executing step S7, otherwise, returning to step S5;
step S7, sending a second collision early warning to the automobile to remind people in the automobile not to open the automobile door, and sending second early warning prompt information to the intelligent helmet to prompt a rider of the two-wheeled automobile to have the risk of colliding the automobile door for the first time;
step S8, monitoring the opening and closing state of the automobile door in real time, and calculating the collision time TTC when the two-wheeled vehicle collides with the automobile door in real time;
step S9, judging whether the time to collision TTC is greater than 0, if yes, executing step S10;
step S10, judging whether the time TTC is less than or equal to the third time threshold and whether the door has the unlocking operation, if so, executing step S11, otherwise, returning to step S8;
and step S11, sending a third collision early warning to the automobile to remind people in the automobile of coming automobile behind, and sending third early warning prompt information to the intelligent helmet to prompt a rider of the two-wheel automobile to avoid the front door.
Fig. 8 shows an early warning prompt in a dangerous side-by-side door scene by a display device on an automobile. As shown in fig. 8, the display device on the automobile can display the running state of the rider wearing the intelligent helmet distributed in the early warning range in real time, and can perform sound and light early warning on dangerous actions possibly caused by opening the door of a person in the automobile until the tail of the two-wheel vehicle passes through the position of the automobile door, so that the phenomenon that the rider outside the automobile is injured by collision due to opening the door is prevented.
It will be appreciated by a person skilled in the art that the functional modules/units in the apparatus disclosed above may be implemented as software, firmware, hardware and suitable combinations thereof. In a hardware implementation, the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed by several physical components in cooperation. Some or all of the components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
Claims (14)
1. A safety protection method is applied to a safety protection device of a user on a weak road, and comprises the following steps:
acquiring motion data and position information of a vehicle driven by a user on a weak road, and sending the motion data and the position information to an automobile in an automobile internet through communication of an automobile internet universal object V2X; receiving motion data and position information of the automobile;
determining a spatial motion relationship between a vehicle driven by a vulnerable road user and an automobile according to the received motion data and position information of the automobile and the motion data and position information of the vehicle driven by the vulnerable road user; judging whether the vulnerable road user is in an automobile door opening protection scene or not according to the space motion relation;
and when the vulnerable road user is in the automobile door opening protection scene, corresponding early warning protection measures are taken.
2. The method of claim 1, wherein:
the step of judging whether the vulnerable road user is in an automobile door opening protection scene according to the space motion relation comprises the following steps:
determining whether the automobile is located in front of a vehicle driven by the vulnerable road user;
determining a lateral distance between the vehicle and the vulnerable road user when the vehicle is located in front of the vehicle;
and judging whether the transverse distance is smaller than or equal to a safety distance threshold value, if so, judging that the vulnerable road user is in an automobile door opening protection scene, otherwise, judging that the vulnerable road user is not in the automobile door opening protection scene.
3. The method of claim 1, wherein:
the corresponding early warning protective measures are taken when the vulnerable road user is in the automobile door opening protective scene, and the method comprises the following steps:
calculating the collision time TTC of the vehicle driven by the user of the vulnerable road colliding with the door of the automobile in real time; and when the TTC is less than or equal to the first time threshold and is greater than 0 and/or first early warning prompt information sent by the automobile is received, sending a first early warning to the vulnerable road user to prompt the vulnerable road user that the risk of colliding with the door of the automobile exists.
4. The method of claim 1, wherein:
the vehicle driven by the vulnerable road user comprises: two-wheeled electric vehicles, motorcycles, or three-wheeled electric vehicles.
5. The method of claim 1, wherein:
the spatial motion relationship between a vehicle driven by a vulnerable road user and an automobile comprises: relative distance, relative speed and the angle between the two directions of travel.
6. The method of claim 1, wherein:
the motion data includes at least one of: speed, acceleration, and heading angle;
the location information includes: latitude and longitude information.
7. The method of claim 1, wherein:
the corresponding early warning protective measures are taken when the vulnerable road user is in the automobile door opening protective scene, and the method comprises the following steps:
calculating the collision time TTC of the vehicle driven by the user of the vulnerable road colliding with the door of the automobile in real time; when the TTC is smaller than or equal to the second time threshold and larger than the third time threshold and/or second early warning prompt information sent by the automobile is received, sending a second early warning to the vulnerable road user to prompt the vulnerable road user to have the risk of colliding with the automobile door for the first time; when the TTC is less than or equal to a third time threshold and is greater than 0 and/or third early warning prompt information sent by the automobile is received, sending a third early warning to the vulnerable road user to prompt the vulnerable road user to have the risk of colliding with the door of the automobile for the second time; wherein the third time threshold is less than the second time threshold.
8. A safety protection method is applied to a safety protection device of an automobile, and comprises the following steps:
the method comprises the steps of obtaining motion data and position information of an automobile, and sending the motion data and the position information to a safety protection device of a vulnerable road user in an automobile internet through communication of an automobile internet universal object V2X; receiving motion data and position information of a vehicle driven by the vulnerable road user;
determining a spatial motion relation between a vehicle driven by a vulnerable road user and an automobile according to the received motion data and position information of the vehicle driven by the vulnerable road user and the received motion data and position information of the automobile; judging whether the vulnerable road user is in an automobile door opening protection scene or not according to the space motion relation;
when the user of the vulnerable road is in an automobile door opening protection scene, monitoring the opening and closing state of an automobile door in real time, calculating the collision time TTC when a vehicle driven by the user of the vulnerable road collides with the automobile door, and taking corresponding early warning protection measures according to the collision time and the opening and closing state of the automobile door.
9. The method of claim 8, wherein:
the step of judging whether the vulnerable road user is in an automobile door opening protection scene according to the space motion relation comprises the following steps:
determining whether the automobile is located in front of a vehicle driven by the vulnerable road user;
determining a lateral distance between the vehicle and the vulnerable road user when the vehicle is located in front of the vehicle;
and judging whether the transverse distance between the two is smaller than or equal to a safety distance threshold value, if so, judging that the vulnerable road user is in an automobile door opening protection scene, otherwise, judging that the vulnerable road user is not in the automobile door opening protection scene.
10. The method of claim 8, wherein:
and taking corresponding early warning protective measures according to the collision time and the opening and closing state of the vehicle door, wherein the early warning protective measures comprise the following steps: when the TTC is smaller than or equal to the first time threshold and larger than 0, a first collision early warning is sent to the automobile to remind people in the automobile that an automobile comes behind the automobile and first early warning prompt information is sent to a safety protection device of a user on the vulnerable road to remind the user on the vulnerable road of the risk of colliding with the automobile door.
11. The method of claim 8, wherein:
the spatial motion relationship between the automobile and the vehicle driven by the vulnerable road user includes: relative distance, relative speed and the angle between the two directions of travel.
12. The method of claim 8, wherein:
and taking corresponding early warning protective measures according to the collision time and the opening and closing state of the vehicle door, wherein the early warning protective measures comprise the following steps:
when the TTC is smaller than or equal to the second time threshold and larger than the third time threshold, if the door opening and unlocking operation is detected in the automobile, sending a second collision early warning to the automobile to remind personnel in the automobile not to open the automobile door, and sending second early warning prompt information to a safety protection device of a weak road user to prompt the weak road user to have the risk of colliding with the automobile door for the first time;
when the TTC is less than or equal to a third time threshold and is more than 0, if the door opening and unlocking operation is detected in the automobile, a third collision early warning is sent to the automobile to remind people in the automobile of coming automobile behind and third early warning prompt information is sent to a safety protection device of a weak road user to prompt the weak road user to have the risk of colliding the automobile door for the second time; wherein the third time threshold is less than the second time threshold.
13. A safety shield apparatus, comprising: memory storing a computer program which, when executed by the processor, carries out the steps of the method of safeguarding according to any of the preceding claims 1 to 12, and a processor.
14. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the security method of any of the preceding claims 1 to 12.
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| CN202210288661.3A CN114724406A (en) | 2022-03-22 | 2022-03-22 | Security protection method, device and storage medium |
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