CN116872977A - Method and system for information interaction with a disadvantaged road user - Google Patents
Method and system for information interaction with a disadvantaged road user Download PDFInfo
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- CN116872977A CN116872977A CN202311057403.5A CN202311057403A CN116872977A CN 116872977 A CN116872977 A CN 116872977A CN 202311057403 A CN202311057403 A CN 202311057403A CN 116872977 A CN116872977 A CN 116872977A
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- 230000003993 interaction Effects 0.000 title claims abstract description 42
- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000001514 detection method Methods 0.000 claims description 7
- 230000003287 optical effect Effects 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 6
- 238000013527 convolutional neural network Methods 0.000 claims description 4
- 238000003703 image analysis method Methods 0.000 claims description 2
- 206010039203 Road traffic accident Diseases 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 11
- 230000004397 blinking Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0017—Planning or execution of driving tasks specially adapted for safety of other traffic participants
-
- 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
- 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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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
A method for information interaction with a wealthy road user, comprising: detecting surrounding information within a predetermined distance range in front of the vehicle, and judging whether or not there is a vulnerable road user approaching the vehicle based on the surrounding information (S1); if so, based on the gesture information of the vulnerable road user in the surrounding environment information, evaluating whether the attention of the vulnerable road user is focused on the vehicle (S2); if so, information interaction is performed with the vulnerable road user based at least in part on the gesture information thereof (S3). According to the invention, the user on the vulnerable road can accurately understand the driving intention of the vehicle, and the misjudgment of the user on the driving intention of the vehicle on the vulnerable road is eliminated, so that the passing efficiency of the vehicle running through the crosswalk is improved, the occurrence probability of traffic accidents is reduced, and the safety of the user on the vulnerable road is effectively improved.
Description
Technical Field
The present invention relates to the field of autopilot, in particular to a method for information interaction with a handicapped road user, a system for information interaction with a handicapped road user, a vehicle comprising a system according to the present invention, and a computer program product for at least assisted implementation of the steps of the method according to the present invention.
Background
An autonomous vehicle often encounters a driving scenario where a pedestrian crosses a crosswalk while traveling on a public road, where the autonomous vehicle performs a deceleration operation, but cannot accurately predict the subsequent behavior of the pedestrian, such as whether to stop in place, wait, or walk forward. At the same time, pedestrians cannot distinguish the driving intention of the autonomous vehicle, such as whether to wait for a stop or to drive down through a crosswalk. This not only reduces the efficiency of the autonomous vehicle traveling through the crosswalk, but also is prone to traffic accidents if the pedestrian misunderstands the driving intent of the vehicle.
Therefore, how to effectively and accurately implement information interaction between an autonomous vehicle and a pedestrian is a technical problem to be solved at present.
Disclosure of Invention
It is an object of the present invention to provide a method for information interaction with a handicapped road user, a system for information interaction with a handicapped road user, a vehicle comprising the system according to the present invention, and a computer program product to at least partly solve the problems of the prior art.
According to a first aspect of the present invention there is provided a method for information interaction with a handicapped road user, the method may comprise:
step S1: detecting surrounding environment information in a preset distance range in front of a vehicle, and judging whether a vulnerable road user approaching the vehicle exists or not based on the surrounding environment information;
s2, a step of S2; if there is a vulnerable road user approaching the vehicle, evaluating whether the attention of the vulnerable road user is focused on the vehicle based on the posture information of the vulnerable road user in the surrounding environment information; and
step S3: if the concentration of the wealth road user on the vehicle is at least partially based on the gesture information of the wealth road user, information interaction with the wealth road user is performed.
The core concept of the invention is as follows: estimating the attention of a vulnerable road user by identifying gesture information of the vulnerable road user approaching the vehicle, and carrying out information interaction with the vulnerable road user based on the gesture information at least in part when the attention of the vulnerable road user is focused on the vehicle. According to the invention, the user on the vulnerable road can accurately understand the driving intention of the vehicle, and the misjudgment of the user on the driving intention of the vehicle on the vulnerable road is eliminated, so that the passing efficiency of the vehicle running through the crosswalk is improved, the occurrence probability of traffic accidents is reduced, and the safety of the user on the vulnerable road is effectively improved.
According to an alternative embodiment of the present invention, if it is recognized that the line of sight of the vulnerable road user is directed toward the vehicle based on the gesture information of the vulnerable road user, the attention of the vulnerable road user is focused on the vehicle.
According to a further alternative embodiment of the present invention, the method may further comprise:
step S31: if the attention of the vulnerable road user is focused on the vehicle, it is recognized whether the body or the movement direction of the vulnerable road user is directed to the detected crosswalk based on the posture information of the vulnerable road user, and step S3 is entered in the case that the body or the movement direction of the vulnerable road user is directed to the detected crosswalk.
According to a further alternative embodiment of the invention, the gesture information of the vulnerable road user and/or the vulnerable road user approaching the vehicle is identified by image processing of the images acquired by the vehicle-mounted camera in relation to the surroundings within a predefined distance range in front of the vehicle, wherein the image analysis method comprises for example an object classifier and/or a convolutional neural network or the like.
According to a further alternative embodiment of the present invention, the method may further comprise:
step S4: judging whether the vulnerable road user is on a crosswalk or not based on the surrounding environment information if the attention of the vulnerable road user is not focused on the vehicle; and
step S5: if the weaknesses road user is not on a crosswalk, optical and/or acoustic notification information is sent to the weaknesses road user so that the weaknesses road user's attention is focused on the vehicle.
According to another alternative embodiment of the invention, the attention of the vulnerable road user is not focused on the vehicle if it is recognized based on the gesture information of the vulnerable road user that the line of sight of the vulnerable road user is not directed towards the vehicle and/or the mobile phone is being used or viewed.
According to another alternative embodiment of the invention, not only acoustic notification information and/or interaction information can be sent to the vulnerable road user via the vehicle-mounted horn device and/or external speaker etc., but also optical notification information and/or interaction information can be sent to the vulnerable road user via the front-mounted headlight and/or the vehicle turn signal etc.
According to a second aspect of the present invention, there is provided a system for information interaction with a handicapped road user, the system being for performing the method according to the present invention, wherein the system may comprise the following components:
-a detection module configured for detecting ambient information within a predetermined distance range in front of the vehicle;
-an attention assessment module configured for assessing the attention of a wealth road user based on the pose information of the wealth road user in the ambient environment information; and
-an information interaction module configured for information interaction with a handicapped road user.
According to a third aspect of the present invention there is provided a vehicle comprising a system according to the present invention.
According to a fourth aspect of the present invention, there is provided a computer program product, e.g. a computer-readable program carrier, containing or storing computer program instructions which, when executed by a processor, at least assist in carrying out the steps of the method according to the present invention.
Drawings
The principles, features and advantages of the present invention may be better understood by describing the present invention in more detail with reference to the drawings. The drawings show:
FIG. 1 illustrates a workflow diagram of a method for information interaction with a wealthy road user in accordance with an exemplary embodiment of the present invention;
FIG. 2 illustrates a workflow diagram of a method for information interaction with a wealthy road user in accordance with another exemplary embodiment of the present invention;
FIG. 3 illustrates a driving scenario diagram according to an exemplary embodiment of the present invention;
FIG. 4 illustrates a workflow diagram of a method for information interaction with a wealthy road user in accordance with another exemplary embodiment of the present invention; and
fig. 5 shows a block diagram of a system for information interaction with a weak road user according to an exemplary embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous technical effects to be solved by the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and a plurality of exemplary embodiments. It should be understood that the detailed description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Fig. 1 illustrates a workflow diagram of a method for information interaction with a weak road user according to an exemplary embodiment of the present invention. The following exemplary examples describe the method according to the invention in more detail.
The method may comprise steps S1 to S3. In step S1, ambient information within a predetermined distance range in front of the vehicle 1 is detected, and it is determined whether or not there is a vulnerable road user 2 approaching the vehicle 1 based on the ambient information. In the present exemplary embodiment of the invention, during the driving of the vehicle 1, in particular an autonomous vehicle and/or a vehicle with a high-level driving assistance function, ambient information in a predefined distance range in front of the vehicle 1 can be detected by a detection module 11 of the vehicle 1, which detection module 11 comprises, for example, an onboard camera, a millimeter-wave radar and/or a lidar, etc. In particular, images of the surroundings in a predetermined distance range in front of the vehicle 1 can be acquired by means of an onboard camera and the acquired images can be processed by means of an object classifier and/or a convolutional neural network, which has been trained beforehand by a sufficient number of suitable image sequences, in order to identify the vulnerable road users 2 who are approaching the vehicle 1. The vulnerable road users 2 in the sense of the present invention include, for example, pedestrians, cyclists and/or electric power assisted cyclists, etc.
As shown in an exemplary driving scenario diagram of fig. 3, considering that the detection module 11 can detect the surrounding information within a certain angle range in front of the vehicle 1, it can detect the first crosswalk 3 in front of the vehicle 1, and the second crosswalk 4 on the right-turn lane, and also can detect the vulnerable road user 2 that has not entered the crosswalk 3 or 4 and moved toward the vehicle 1 at a certain angle.
If there is a vulnerable road user 2 approaching the vehicle 1, in step S2, it is evaluated whether the attention of the vulnerable road user 2 is focused on the vehicle 1 based on the posture information of the vulnerable road user 2 in the surrounding environment information. In particular, the acquired images relating to the road user 2 can be processed, for example, by means of object classifiers and/or convolutional neural networks, in order to obtain the gesture information, for example the line of sight direction, hand movement and/or movement direction, etc., of the road user 2. The attention of the vulnerable road user 2 can be evaluated based on the posture information of the vulnerable road user 2. Illustratively, if it is recognized that the line of sight of the vulnerable road user 2 is directed toward the vehicle 1, i.e., the vulnerable road user 2 is facing the vehicle 1, the attention of the vulnerable road user 2 is concentrated on the vehicle 1.
On the contrary, if it is recognized based on the posture information of the vulnerable road user 2 that the line of sight direction of the vulnerable road user 2 is not directed toward the vehicle 1, for example, the hand or finger of the vulnerable road user 2 is directed in a direction different from the direction in which the vehicle 1 is located, or the body of the vulnerable road user 2 is not directed toward the vehicle 1, the attention of the vulnerable road user 2 is not focused on the vehicle 1. As another example, it is recognized that the vulnerable road user 2 is using or viewing the mobile phone based on the posture information of the vulnerable road user 2, for example, the vulnerable road user 2 is looking at the mobile phone with his head down, or the vulnerable road user 2 places the mobile phone at his ear, the attention of the vulnerable road user 2 is not focused on the vehicle 1. It should be noted that the above manner of evaluating the concentration of the vulnerable road user 2 is merely exemplary, and any other manner of effectively evaluating the concentration is applicable to the embodiments of the present invention.
If the attention of the vulnerable road user 2 is concentrated on the vehicle 1, information interaction with the vulnerable road user 2 is performed based at least in part on the posture information of the vulnerable road user 2 in step S3. The acoustic interaction information can be transmitted to the road user 2 via a vehicle-mounted loudspeaker device and/or an external loudspeaker or the like, and/or the optical notification information and/or interaction information can be transmitted to the road user 2 via a headlight or the like. For example, when the direction of the line of sight of the road user 2 is recognized toward the vehicle 1 and the movement is stopped before the detected crosswalk 3 or 4 (i.e., the yielding behavior of the road user 2 is recognized), an exemplary driving scene diagram as shown in fig. 3 may be projected on the road ahead by means of a headlight, and image information such as "good, thank you" may optionally be transmitted to the road user 2 by means of an external loudspeaker, while the vehicle 1 is controlled to travel at a lower speed through the corresponding crosswalk 3 or 4.
Fig. 2 shows a workflow diagram of a method for information interaction with a weak road user according to another exemplary embodiment of the present invention. Only the differences from the embodiment shown in fig. 1 are explained below, and the same steps are not repeated for the sake of brevity.
Optionally, the method may further comprise step S31. In step S31, if the attention of the vulnerable road user 2 is concentrated on the vehicle 1, it is possible to recognize whether the body or the movement direction of the vulnerable road user 2 is directed toward the detected crosswalk 3 or 4 based on the posture information of the vulnerable road user 2, and to proceed to step S3 in the case where the body or the movement direction of the vulnerable road user 2 is directed toward the detected crosswalk 3 or 4. When it is recognized that the line of sight of the vulnerable road user 2 is directed toward the vehicle 1 and the body or movement direction of the vulnerable road user 2 is directed toward the detected crosswalk 3,4, for example, image information such as "i park" may be projected on the front road by the front headlight in step S3, and the corresponding turn-around lamp may be turned on to indicate parking to the vulnerable road user 2, and optionally the corresponding acoustic interaction information may also be transmitted to the vulnerable road user 2 by the external speaker while controlling the vehicle 1 to park until the vulnerable road user 2 passes through the crosswalk 3 or 4.
According to the embodiment of the invention, the attention of the user on the weak road is evaluated by identifying the gesture information of the user on the weak road approaching the vehicle, and the user on the weak road carries out information interaction with the user on the basis of the gesture information under the condition that the attention of the user on the weak road is focused on the vehicle, so that the user on the weak road can accurately understand the driving intention of the vehicle, the misjudgment of the driving intention of the user on the vehicle by the user on the weak road is eliminated, the passing efficiency of the vehicle running through the crosswalk is improved, the occurrence probability of traffic accidents is reduced, and the safety of the user on the weak road is effectively improved.
Fig. 4 shows a workflow diagram of a method for information interaction with a weak road user according to another exemplary embodiment of the present invention. Only the differences from the embodiment shown in fig. 1 are explained below, and the same steps are not repeated for the sake of brevity.
Optionally, the method may further comprise steps S4 and S5. If the attention of the vulnerable road user 2 is not focused on the vehicle 1, it is judged in step S4 whether the vulnerable road user 2 is on a crosswalk 3 or 4 based on the surrounding environmental information. It will be appreciated that, according to traffic regulations, the vehicle 1 must give the weaknesses road user 2 on the crosswalk 3 or 4 a gift until the weaknesses road user 2 passes through the crosswalk 3 or 4 and is not allowed to sound a horn to the weaknesses road user 2 on the crosswalk 3 or 4, so that it is possible to control the vehicle 1 to park in front of the corresponding crosswalk 3 or 4 without having to perform information interaction with the wounded road user 2.
If the weaknesses road user 2 is not on a crosswalk 3 or 4, optical and/or acoustic notification information is sent to the weaknesses road user 2 in step S5 so that the weaknesses road user 2' S attention is focused on the vehicle 1. For example, acoustic notification information (e.g., a short horn sound) may be sent to the vulnerable road user 2 through the on-vehicle horn device, or optical notification information (e.g., a blinking screen) may be projected to the front of the vehicle through the front-facing headlight, whereby the attention of the vulnerable road user 2 may be attracted. After the attention of the vulnerable road user 2 is focused on the vehicle 1 (e.g., the line of sight is directed toward the vehicle 1), step S3 may be entered to perform information interaction between the vehicle 1 and the vulnerable road user 2.
In addition, it should be noted that the sequence numbers of the steps described herein do not necessarily represent a sequential order, but are merely a reference number, and the order may be changed according to circumstances as long as the technical object of the present invention can be achieved.
Fig. 5 shows a block diagram of a system for information interaction with a vulnerable road user according to an exemplary embodiment of the present invention.
As shown in fig. 5, the system 10 may include the following components:
a detection module 11 configured for detecting ambient information within a predefined distance range in front of the vehicle 1, wherein the detection module 11 comprises, for example, an onboard camera, millimeter wave radar, lidar, etc.;
an attention assessment module 12 configured to assess the attention of the weaknesses road user 2 based on the posture information of the weaknesses road user 2 in the surrounding environment information; and
an information interaction module 13 configured for information interaction with the road user 2, wherein said information interaction module 13 comprises, for example, a vehicle horn device, an external speaker, a front headlight and/or a vehicle turn signal, etc.
Although specific embodiments of the invention have been described in detail herein, they are presented for purposes of illustration only and are not to be construed as limiting the scope of the invention. Various alternatives and modifications can be devised without departing from the spirit and scope of the invention.
Claims (10)
1. A method for information interaction with a wealthy road user (2), the method comprising:
step S1: detecting ambient information within a predetermined distance range in front of a vehicle (1), and determining whether a vulnerable road user (2) approaching the vehicle (1) exists based on the ambient information;
s2, a step of S2; if there is a vulnerable road user (2) approaching the vehicle (1), evaluating whether the attention of the vulnerable road user (2) is focused on the vehicle (1) based on the posture information of the vulnerable road user (2) in the surrounding environment information; and
step S3: if the attention of the vulnerable road user (2) is focused on the vehicle (1), information interaction with the vulnerable road user (2) is performed based at least in part on the gesture information of the vulnerable road user (2).
2. The method of claim 1, wherein the method further comprises:
step S4: if the attention of the vulnerable road user (2) is not focused on the vehicle (1), judging whether the vulnerable road user (2) is on a crosswalk (3, 4) or not based on the surrounding environment information; and
step S5: if the weaknesses road user (2) is not on a crosswalk (3, 4), optical and/or acoustic notification information is sent to the weaknesses road user (2) such that the weaknesses road user's (2) attention is focused on the vehicle (1).
3. The method according to any one of the preceding claims, wherein the attention of the vulnerable road user (2) is focused on the vehicle (1) if it is recognized that the line of sight of the vulnerable road user (2) is directed towards the vehicle (1) based on the gesture information of the vulnerable road user (2).
4. The method according to any of the preceding claims, wherein the method further comprises:
step S31: if the attention of the vulnerable road user (2) is focused on the vehicle (1), it is recognized whether the body or the movement direction of the vulnerable road user (2) is directed toward the detected crosswalk (3, 4) based on the posture information of the vulnerable road user (2), and step S3 is entered in the case that the body or the movement direction of the vulnerable road user (2) is directed toward the detected crosswalk (3, 4).
5. The method according to any of the preceding claims, wherein the attention of the vulnerable road user (2) is not focused on the vehicle (1) if it is recognized based on the gesture information of the vulnerable road user (2) that the line of sight of the vulnerable road user (2) is not directed towards the vehicle (1) and/or a mobile phone is being used or viewed.
6. Method according to any of the preceding claims, wherein the pose information of a vulnerable road user (2) being close to the vehicle (1) and/or of the vulnerable road user (2) is identified by image processing of images acquired by an onboard camera in relation to the surrounding environment within a predefined distance range in front of the vehicle (1), wherein the image analysis method comprises an object classifier and/or a convolutional neural network.
7. The method according to any of the preceding claims, wherein acoustic notification information and/or interaction information is sent to the vulnerable road user (2) via an on-board horn device and/or an external speaker; and/or
Optical notification information and/or interaction information is transmitted to the vulnerable road user (2) via the front headlight and/or the vehicle steering light.
8. A system (10) for information interaction with a disadvantaged road user (2), the system (10) being for performing the method according to any of the preceding claims, wherein the system (10) comprises the following components:
a detection module (11) configured to detect ambient information within a predetermined distance range in front of the vehicle (1);
an attention assessment module (12) configured to assess the attention of a weaknesses road user (2) based on the posture information of the weaknesses road user (2) in the surrounding environment information; and
an information interaction module (13) configured for information interaction with the vulnerable road user (2).
9. A vehicle (1), the vehicle (1) comprising a system (10) according to claim 8.
10. A computer program product, such as a computer-readable program carrier, comprising or storing computer program instructions which, when executed by a processor, at least in addition, implement the steps of the method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311057403.5A CN116872977A (en) | 2023-08-21 | 2023-08-21 | Method and system for information interaction with a disadvantaged road user |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311057403.5A CN116872977A (en) | 2023-08-21 | 2023-08-21 | Method and system for information interaction with a disadvantaged road user |
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| Publication Number | Publication Date |
|---|---|
| CN116872977A true CN116872977A (en) | 2023-10-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311057403.5A Pending CN116872977A (en) | 2023-08-21 | 2023-08-21 | Method and system for information interaction with a disadvantaged road user |
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| Country | Link |
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| CN (1) | CN116872977A (en) |
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- 2023-08-21 CN CN202311057403.5A patent/CN116872977A/en active Pending
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