CN116001678A - Pedestrian protection system for carrying out man-machine interaction outside vehicle based on intelligent projection - Google Patents

Abstract

Aiming at the problem that the existing pedestrian protection system does not consider pedestrian protection in a blind area, the pedestrian protection system for carrying out man-machine interaction outside a vehicle based on intelligent projection is provided, and comprises an identification center, a control center, projection equipment and early warning display equipment; the recognition center is responsible for acquiring the surrounding environment information of the vehicle and detecting the motion state of a person or object in front, the control center is responsible for calculating a projection area according to the vehicle information and a calculation program, judging when to trigger the projection equipment or emergency braking, the projection equipment is responsible for projecting a warning sign to the ground according to the calculated projection area, and the early warning display equipment is responsible for displaying the projection area and the recognized pedestrian position on a cab display. Compared with the prior art, the invention has the beneficial effects that: the pedestrian is close to the dangerous vehicle in the warning blind area in a mode of projecting the vehicle to the front ground, so that the pedestrian can primarily grasp the general direction of the vehicle, avoid in time, and accordingly the pedestrian passing through the blind area can be protected to the greatest extent.

Description

A pedestrian protection system based on intelligent projection for human-computer interaction outside the vehicle

technical field

The invention relates to the technical field of vehicle safety, in particular to a pedestrian protection system for human-computer interaction outside the vehicle based on intelligent projection, including a pedestrian protection method and device.

Background technique

At present, the improvement of the economic level and the growth of the transportation field have made cars play an increasingly important role in people's daily life. With the vigorous development of cars and the increase in car ownership, people are paying more and more attention to driving safety.

Especially in a complex traffic environment, if a vehicle, building or other object parked on the roadside ahead blocks the driver's view, if a pedestrian suddenly "jumps out" from the blind spot, the vehicle will not be able to brake in time, which will easily cause traffic accidents. Accidents happen. According to incomplete statistics, traffic accidents in the blind zone account for 41.1% of the total accidents. It can be seen that the safety of driving in the blind zone is extremely poor, posing a threat to the safety of drivers and pedestrians. There are two main reasons for this. First, the driver’s vision is blocked, making it difficult to grasp the position and speed of pedestrians in the blind spot. It is too late when pedestrians are found. Second, some pedestrians do not pay attention to the driving status of surrounding vehicles when crossing the road. The view of pedestrians is also blocked, making it difficult to grasp the position and driving status of the vehicle.

Most of the existing pedestrian protection systems only control the braking of vehicles, or warn pedestrians in advance through warning methods such as horns and lights. However, when vehicles and pedestrians are in blind spots, simple methods such as horns and lights are no longer effective. To solve the problem, if pedestrians or vehicles can notice the movement state of the other party in the blind spot, the accident avoidance rate can be greatly improved.

Contents of the invention

Aiming at the problem that the existing achievements do not consider the pedestrian protection of human-computer interaction outside the vehicle in the blind area, the present invention proposes a pedestrian protection system for human-computer interaction outside the vehicle based on intelligent projection. The pedestrian protection system for human-computer interaction outside the vehicle based on intelligent projection protection system, including:

Recognition center, the recognition center is used to obtain the surrounding environment information of the vehicle, and detect in real time whether there are pedestrians suddenly appearing in the blind area after the vehicle enters the blind area, and monitor the movement status of people or objects;

A control center, the control center is connected to the identification center, and the control center is used to calculate the projection range according to the vehicle information and the stored computer program, to warn pedestrians crossing the road in the blind spot, and to judge when to trigger the projection device , when to trigger automatic emergency braking;

a projection device, the projection device is connected to the control center, and the projection device is used to project warning signs on the ground in front of the vehicle;

An early warning display device, the early warning display device is connected to the identification center and the control center, and the early warning display device is used to display the projected position, the projected area and the position of the identified person or object in the cab;

The steps of a pedestrian protection method based on intelligent projection for human-computer interaction outside the vehicle are as follows:

S1: The recognition center obtains the surrounding environment information of the vehicle. When the vehicle is detected to enter the blind spot environment, the control center obtains the driving information of the vehicle, calculates the projection area that needs to be projected in the current driving environment and triggers the projection device;

S2: The projection device adjusts the projection area according to the calculation results of the control center, and projects a rectangular projection warning sign of a certain length and width to the ground ahead through the light source lamp, baffle, and optical lens projection device, to warn pedestrians crossing the road in the blind spot;

S3: The recognition center continues to monitor the driving environment ahead. When pedestrians or other moving objects appear within the red danger projection range, the control center triggers the vehicle's automatic emergency braking system to completely brake the vehicle to avoid collisions.

Optionally, the recognition center includes a recognition module and a detection module, wherein the recognition module includes a monocular camera, a binocular camera, a millimeter-wave radar and a laser radar, which are used to recognize the surrounding environment during vehicle driving, and the detection module is used to Detect the location of people or objects in the environment, and send the detection results to the control center and the early warning display device. The control center decides whether to trigger the projection device and the automatic emergency braking system based on the detection results. The early warning display device will detect the location of the person or object Displayed on the cab display.

Optionally, the control center includes a calculation module, a vehicle information acquisition module and a memory, wherein the calculation module judges whether to trigger the projection device or emergency braking, and calculates the area to be projected according to the information acquired by the vehicle information acquisition module. The vehicle information acquisition module includes vehicle body information acquisition and motion information acquisition. The vehicle body information includes vehicle size, and motion information includes vehicle speed and acceleration. The memory is a computer-readable storage medium on which computer program instructions are stored for calculation The module is called directly.

Optionally, the projection device is CRT (Cathode Ray Tude, cathode ray tube), DLP (Digital Light Processing, digital light processing technology), LCOS (Liquid Crystal On Silicon, liquid crystal with silicon) projection device or laser projection device, according to the control center The command sent adjusts the size of the projection range, and then projects to the ground.

Optionally, the projection device is installed at the lower center of the two lighting headlights on the front side of the vehicle.

Optionally, the early warning display device includes a display arranged in the vehicle cab, displaying the projection area of the projection device and the position of the person or object detected by the detection module, including the size of the person or object, the direction relative to the vehicle and The distance is convenient for the driver to control the overall situation.

Optionally, the calculation method for storing and calculating the projected area in the memory is:

The projection width is:

D＝2D _v

The projection length is:

L＝vt _rp +d _v +C

Among them, D _v is the width of the vehicle body; v is the current speed of the vehicle; t _rp is the reaction time of pedestrians; d _v is the driving distance under the maximum braking of the vehicle; C is the psychological safety braking distance of pedestrians, taking 3-5m; t _lag is The braking time of the braking system; a _v is the maximum deceleration of the vehicle, which is taken as 0.8g;

The pedestrian reaction time includes pedestrian perception time, pedestrian recognition time and pedestrian decision time. The pedestrian perception time is 0.57s, the pedestrian recognition time is 0.3s, and the pedestrian decision time is 0.2s. The pedestrian psychological safety braking distance refers to The distance between the vehicle and the pedestrian after the vehicle stops completely can make the pedestrian feel safe and comfortable psychologically. The braking time of the braking system assumes that the braking system is ready after the vehicle enters the blind spot, so the braking system is ignored. braking time.

Optionally, the blind spot environment refers to an environment in which the driver's vision is partially blocked and the traffic situation cannot be fully seen. For example, the vehicle is driving normally in the lane, but the driver's vision is blocked due to other vehicles parked on the left or right lane, The driver cannot see whether there are pedestrians crossing the road on the sidewalk on the left or right side, or the buildings beside the road block part of the driver's vision, so that the driver cannot see the vehicles or pedestrians on the other side.

Optionally, the projection shape is a rectangle, and the projection angle is 45°.

Optionally, the projection pattern includes a red area and a blue area, which is convenient for pedestrians to understand the distance of the vehicle. If pedestrians can pass quickly in the blue projection area, they can safely avoid dangerous vehicles. The red projection area is the collision avoidable area. At this time, pedestrians should be reminded not to enter the red zone;

When the projected length (from the direction of the vehicle) is less than the vehicle's maximum braking distance and the safety distance, that is, 0≤L≤d _v +C, it is a red projection area, and a red pattern is projected. When the projected length is greater than the vehicle's maximum braking When the driving distance and safety distance are lower than the total length, that is, when d _v +C≤L≤vt _rp +d _v +C, it is a blue projection area and a blue pattern is projected.

Optionally, the projected signs projected by the projection device include graphics, symbols, characters indicating danger, or projections covering the dangerous area.

Optionally, the memory stores body information, including vehicle length, width, height, mass, wheelbase and other data information, for the vehicle information acquisition module to obtain the body information to retrieve data and further calculate the projection area.

Optionally, the motion information acquisition of the vehicle information acquisition module uses the vehicle speed sensor, brake pressure sensor, and brake system detector to obtain vehicle motion state information, and sends the required data to the calculation module for the calculation module to calculate the projection area.

Compared with the prior art, the beneficial effect of the technical solution of the present invention is that after the vehicle enters the blind spot, it can project a certain distance projection to the ground to warn pedestrians who are about to cross the road or are crossing the road that there are dangerous vehicles approaching in the blind spot, Pedestrians can preliminarily grasp the approximate location of the vehicle and avoid it in time, thereby maximizing the protection of pedestrians passing in the blind spot.

Description of drawings

Fig. 1 is a system block diagram of the present invention;

Fig. 2 is a schematic diagram of the present invention;

Wherein, the corresponding reference numerals are: 10-projection blue area, 20-projection red area, 30-projection angle.

Detailed ways

The accompanying drawings are for illustrative purposes only and cannot be construed as limiting the patent;

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

FIG. 1 is a schematic block diagram of a pedestrian protection system for human-computer interaction outside a vehicle based on intelligent projection according to an embodiment of the present invention.

FIG. 2 is a schematic diagram of a pedestrian protection system for man-machine interaction outside a vehicle based on intelligent projection according to an embodiment of the present invention.

As shown in FIG. 1 , the pedestrian protection system based on intelligent projection for human-computer interaction outside the vehicle according to the embodiment of the present invention includes an identification center 01 , a control center 02 , a projection device 03 , and an early warning display device 04 . Among them, the identification center 01 is used to obtain the surrounding environment information of the vehicle, and detect in real time whether there are pedestrians suddenly appearing in the blind area after the vehicle enters the blind area, and monitor the movement state of people or objects; the control center 02 is connected with the identification center 01, and uses Calculate the projection range according to the vehicle information and the stored computer program, to warn pedestrians crossing the road in the blind spot, and judge when to trigger the projection device and when to trigger automatic emergency braking; the projection device 03 is connected with the control center 02, using The warning sign is projected on the ground in front of the vehicle; the warning display device 04 is connected with the identification center 01 and the control center 02, and is used to display the projected position, projected area and the position of the identified person or object in the cab.

In one embodiment of the present invention, the control center 02 includes a calculation module, a vehicle information acquisition module and a memory, the calculation module judges whether to trigger the projection device or emergency braking, and calculates the area to be projected according to the information acquired by the vehicle information acquisition module The vehicle information acquisition module includes vehicle body information acquisition and motion information acquisition. The vehicle body information includes vehicle size, and the motion information includes vehicle speed and acceleration. The memory is a computer-readable storage medium on which computer program instructions are stored, and the vehicle body information is stored. Including the data information of the length, width, height, mass and wheelbase of the vehicle.

In one embodiment of the present invention, the projection device 03 is installed at the lower center of the two headlights on the front side of the vehicle, and the projection device is CRT (Cathode Ray Tude, cathode ray tube), DLP (Digital Light Processing, digital light processing technology) ), LCOS (Liquid Crystal On Silicon) projection equipment or laser projection equipment, adjust the projection range according to the instructions sent by the control center, and then project to the ground.

In one embodiment of the present invention, the early warning display device 04 includes a display arranged in the vehicle cab to display the projection area of the projection device and the position of the person or object detected by the detection module, including the size of the person or object, relative to the The direction and distance of the vehicle.

In one embodiment of the present invention, the motion information acquisition of the vehicle information acquisition module uses the vehicle speed sensor, the brake pressure sensor, and the brake system detector to obtain the vehicle motion state information.

In one embodiment of the present invention, the projected signs projected by the projection device 03 include graphics, symbols, characters indicating danger, or projections covering the dangerous area.

For a vehicle equipped with the said invention "a pedestrian protection system for human-computer interaction outside the vehicle based on intelligent projection", and enters a blind spot environment during a certain driving, the system protects pedestrians in the following ways:

S1: The recognition center obtains the surrounding environment information of the vehicle. When the recognition center detects that the vehicle enters the blind spot, the vehicle information acquisition module of the control center obtains the vehicle driving information, including body size, vehicle speed and acceleration, and sends the information to the calculation module. The stored computer program calculates the projection area that needs to be projected under the current driving environment and triggers the projection device. The calculation program in the memory is

The projection width is:

D＝2D _v

The projection length is:

L＝vt _rp +d _v +C

Among them, D _v is the width of the vehicle body; v is the current speed of the vehicle; t _rp is the pedestrian reaction time, including pedestrian perception time, pedestrian recognition time and pedestrian decision time. The pedestrian perception time is 0.57s, and the pedestrian recognition time is 0.3s. Pedestrian decision-making time is taken as 0.2s; d _v is the driving distance under the maximum braking of the vehicle; C is the psychological safety braking distance of pedestrians, which is taken as 3-5m; t _lag is the braking time of the braking system, assuming that the vehicle has already The braking system is ready, so the braking time of the braking system is ignored; a _v is the maximum deceleration of the vehicle, which is taken as 0.8g.

S2: The projection device adjusts the projection area according to the calculation results, and projects a rectangular projection warning sign with a certain length and width to the ground through the light source lamp, baffle, and optical lens projection device to warn pedestrians crossing the road in the blind area. The projection angle is 30 to 45 °, the projection pattern includes a red area 20 and a blue area 10, when the projection length (from the direction of the vehicle) is less than the vehicle's maximum braking distance and safety distance, that is, when 0≤L≤d _v +C, it is a red projection Area, projecting a red pattern, when the projection length is greater than the vehicle’s maximum braking distance and safety distance but less than the total length, that is, when d _v + C ≤ L ≤ vt _rp + d _v + C, it is a blue projection area, projection blue pattern.

S3: When the recognition center detects pedestrians or other moving objects within the red danger projection range, the control center triggers the vehicle's automatic emergency braking system to completely brake the vehicle to avoid collisions.

According to the pedestrian protection system for human-computer interaction outside the vehicle based on intelligent projection proposed by the embodiment of the present invention, the identification center obtains the surrounding environment information of the vehicle in real time and detects whether there are pedestrians in the dangerous area ahead; The computer program calculates the projection range and projection time, warns pedestrians crossing the road in the blind area, and judges when to trigger the projection device and when to trigger emergency braking; through the projection device, the warning sign is projected to the ground in the blind area, and the early warning display device is used when driving The projection position, the projection area and the identified pedestrian's position, direction and size are displayed on the monitor in the room. Therefore, after the vehicle enters the blind spot, it can project a certain distance projection to the ground to warn pedestrians who are about to cross the road or are crossing the road that there is a dangerous vehicle approaching in the blind spot, so that pedestrians can initially grasp the approximate position of the vehicle and carry out timely detection. Avoidance, according to which the pedestrians passing in the blind zone can be protected to the greatest extent.

Apparently, the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, rather than limiting the implementation of the present invention. For those of ordinary skill in the art, they can also Make other variations or changes. It is not necessary and impossible to exhaustively list all the implementation manners here. All modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the claims of the present invention.

Claims (7)

1. A pedestrian protection system based on intelligent projection for human-computer interaction outside the vehicle, characterized in that it includes: An identification center, the identification center is used to acquire the surrounding environment information of the vehicle, detect in real time whether there are pedestrians in the blind area after the vehicle enters the blind area, and monitor the movement status of people or objects; A control center, the control center is connected to the identification center, and the control center is used to calculate the projection range according to the vehicle information and the stored computer program, to warn pedestrians crossing the road in the blind spot, and to judge when to trigger the projection device , when to trigger the emergency brake; a projection device, the projection device is connected to the control center, and the projection device is used to project warning signs on the ground in front of the vehicle; An early warning display device, the early warning display device is connected to the identification center and the control center, and the early warning display device is used to display the projected position, the projected area and the position of the identified person or object in the cab; The steps of a pedestrian protection method based on intelligent projection for human-computer interaction outside the vehicle are as follows: S1: The recognition center obtains the surrounding environment information of the vehicle. When the vehicle is detected to enter the blind spot environment, the control center obtains the driving information of the vehicle, calculates the projection area that needs to be projected in the current driving environment and triggers the projection device; S2: The projection device adjusts the projection area according to the calculation results of the control center, and projects a rectangular projection warning sign of a certain length and width to the ground ahead through the light source lamp, baffle, and optical lens projection device, to warn pedestrians crossing the road in the blind spot; S3: The recognition center continues to monitor the driving environment ahead. When pedestrians or other moving objects appear within the red danger projection range, the control center triggers the vehicle's automatic emergency braking system to completely brake the vehicle to avoid collisions. 2. A pedestrian protection system based on intelligent projection for human-computer interaction outside the vehicle according to claim 1, wherein the identification center includes an identification module and a detection module, wherein the identification module includes a monocular camera, The binocular camera, millimeter-wave radar and lidar are used to identify the surrounding environment while the vehicle is driving, and the detection module is used to detect the location of people or objects in the environment, and send the detection results to the control center and early warning display equipment. 3. A pedestrian protection system based on intelligent projection for human-computer interaction outside the vehicle according to claim 1, wherein the control center includes a calculation module, a vehicle information acquisition module and a memory, wherein the calculation module judges Whether to trigger the projection device or the automatic emergency braking system, and calculate the area that needs to be projected according to the information obtained by the vehicle information acquisition module. The vehicle information acquisition module includes vehicle body information acquisition and motion information acquisition. The body information includes vehicle size, motion information Including vehicle speed and acceleration, the memory is a computer-readable storage medium on which computer program instructions are stored. 4. A pedestrian protection system based on intelligent projection for human-computer interaction outside the vehicle according to claim 1, wherein the projection device is a CRT, DLP, LCOS projection device or laser projection device, and the vehicle information acquisition The movement information acquisition of the module is completed by the vehicle speed sensor, brake pressure sensor and brake system detector. 5. A pedestrian protection system based on intelligent projection for human-computer interaction outside the vehicle according to claim 1, wherein the early warning display device includes a display arranged in the vehicle cab to display the projection area of the projection device The location of the person or object detected by the sum detection module includes the size, direction and distance of the person or object relative to the vehicle. 6. A pedestrian protection system based on intelligent projection for human-computer interaction outside the vehicle according to claim 1, wherein the calculation method for storing and calculating the projection area in the memory is: The projection width is: D＝2D _v The projection length is: L＝vt _rp +d _v +C

Among them, D _v is the width of the vehicle body; v is the current speed of the vehicle; t _rp is the reaction time of pedestrians; d _v is the driving distance under the maximum braking of the vehicle; C is the psychological safety braking distance of pedestrians, taking 3-5m; t _lag is The braking time of the braking system; a _v is the maximum deceleration of the vehicle, which is taken as 0.8g; The pedestrian reaction time includes pedestrian perception time, pedestrian recognition time and pedestrian decision time. The pedestrian perception time is 0.57s, the pedestrian recognition time is 0.3s, and the pedestrian decision time is 0.2s. 7. A pedestrian protection system based on intelligent projection for human-computer interaction outside the vehicle according to claim 1, wherein the projection pattern includes a red area and a blue area: When the projected length (from the direction of the vehicle) is less than the vehicle's maximum braking distance and the safety distance, that is, 0≤L≤d _v +C, it is a red projection area, and a red pattern is projected. When the projected length is greater than the vehicle's maximum braking When the driving distance and safety distance are lower than the total length, that is, when d _v +C≤L≤vt _rp +d _v +C, it is a blue projection area and a blue pattern is projected.

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