CN209962424U - Traffic light-free road section pedestrian crosswalk automobile auxiliary reminding system - Google Patents
Traffic light-free road section pedestrian crosswalk automobile auxiliary reminding system Download PDFInfo
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- CN209962424U CN209962424U CN201920930233.XU CN201920930233U CN209962424U CN 209962424 U CN209962424 U CN 209962424U CN 201920930233 U CN201920930233 U CN 201920930233U CN 209962424 U CN209962424 U CN 209962424U
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Abstract
The utility model discloses a no traffic lights highway section pedestrian crosses supplementary warning system of zebra crossing car, the warning system is including information acquisition unit, the central controller, braking execution unit and reminding device, information acquisition unit, braking execution unit and reminding device all link to each other with the central controller, the central controller is used for receiving, handling and sending data, the information that the information acquisition unit was gathered is received to the central controller, the central controller calculates, fuses the information that receives, make corresponding judgement, the central controller sends the order to braking execution unit and reminding device; the method comprises the following steps: step one, information acquisition and processing; step two, early warning judgment; step three, braking is executed; and step four, the pedestrian passes through. Has the advantages that: the safety and smoothness of the passage of the pedestrian lane are guaranteed, and the communication between the vehicles and the pedestrians is realized; when the vehicle is parked in front of the zebra crossing, the vehicle is still in a braking state, and the vehicle is prevented from being started by misoperation of a driver.
Description
Technical Field
The utility model relates to a supplementary warning system of zebra crossing car is crossed to pedestrian, in particular to no traffic lights highway section pedestrian crosses supplementary warning system of zebra crossing car.
Background
At present, with the wide popularization of vehicles, the problem of road traffic safety is increasingly serious. Especially, the sidewalk without traffic lights is easy to have road traffic safety accidents because people, vehicles and roads can not interact in time. According to data issued by relevant departments, from 30817 car-to-person traffic accidents occur at sidewalks for several years, wherein 90% of accidents occur because cars are not allowed to pass by as specified, and the safety of pedestrians passing through sidewalks is urgently needed to be improved.
The traffic law of China stipulates: when the motor vehicle passes through the pedestrian crossing line, the motor vehicle should be decelerated to run; when a pedestrian passes through the pedestrian crossing line, the vehicle should be stopped to give way. However, only a few drivers can give full gift to pedestrians at sidewalks without traffic lights, and most drivers compete with pedestrians for priority right of passage with self as the center, so that accidents are easily caused.
The invention discloses a method for identifying zebra stripes and measuring the zebra stripe distance by progressive scanning in Chinese patent application with publication number CN102509089A, which utilizes a wavelet template to identify the zebra stripes by progressive scanning of an image, and has the advantages of strong capacity of identifying the zebra stripes, high identification precision and high identification speed.
Chinese patent application CN108944857A, entitled "forced deceleration or parking device for vehicle near zebra crossing" proposes a forced deceleration or parking device for vehicle near zebra crossing. The device can effectively realize the fusion of multiple exposure images and improve the identification capability of the zebra crossing images. And finally evaluating the wavelet image fusion algorithm. The speed sensor can directly obtain speed information by using the pulse generated by the encoder, namely, the photoelectric encoder is coaxially connected with the measuring object, and when the measuring object rotates, the photoelectric encoder is driven to generate a pulse signal which is transmitted to the single chip microcomputer control system to be processed, so that the speed is measured.
Foreign reminding mechanisms are mature in application to vehicles, and comprise various forms such as bells and flashing lights, but mainly aiming at drivers, and reminding mechanisms aiming at pedestrians are not widely researched. The invention patents of warning mechanisms for pedestrians exist in China, but the use efficiency is low, the system function implementation mode is not concise enough, the practicability is not strong, detailed research is not deep, and the system is mostly difficult to be widely used. At present, a plurality of methods for assisting the reminding of the passing of the zebra crossing by the vehicle exist, most of the methods are based on distance, vehicle speed and acceleration for decision and control, the methods do not consider the intention of the pedestrian to pass through the zebra crossing, and therefore the accuracy of the methods is not high.
Disclosure of Invention
The utility model aims at effectively avoiding vehicle and pedestrian to strive for priority right of way, guarantee the current safety of people's lane and unobstructed and a no traffic lights highway section pedestrian crosses supplementary warning system of zebra crossing car that provides.
The utility model provides a no traffic lights highway section pedestrian crosses zebra crossing car auxiliary reminding system includes information acquisition unit, central controller, braking execution unit and reminding device, information acquisition unit, braking execution unit and reminding device all link to each other with central controller, central controller is used for receiving, processing and sending data, central controller receives the information that information acquisition unit gathered, central controller calculates the information that receives, fuses, make corresponding judgement, central controller sends the order to braking execution unit and reminding device, information acquisition unit is used for gathering the information of going road, pedestrian's information and vehicle self-traveling, information acquisition unit transmits the information after handling to central controller, braking execution unit is used for the driver not taking the braking measure when being close to safe distance, central controller sends the order to it, corresponding braking is performed on the vehicle.
The information acquisition unit comprises a camera, a laser radar and a vehicle self information acquisition system, the camera adopts a basler camera, the specification is scA1300-32gm/gc, the information acquisition unit is used for acquiring the image information of the zebra crossing and finally transmitting the information to the central controller, the laser radar adopts an ibeo four-wire laser radar and is used for acquiring the distance and the pedestrian information, and the vehicle self information acquisition system is used for acquiring the running speed and the acceleration of the vehicle.
The model of the central controller is MicroAutoBox II, and the central controller can also be other controllers meeting the functions of the system.
The brake execution unit adopts an electronic mechanical brake power-assisted system as an execution mechanism, can be suitable for the traditional fuel vehicles and new energy vehicles, is convenient for the control of a central controller, and can brake in time.
The reminding device comprises a buzzer, running water vehicle lamps and a driver thereof, wherein the buzzer adopts a YMD1095 active electromagnetic buzzer, the running water vehicle lamps are 5050RGB3T-2811-12V in model, the driver of the running water vehicle lamps adopts an LED lamp power adapter, a central controller sends information commands to control the running water vehicle lamps and the buzzer, the pedestrian crossing of the zebra crossing is guided, a driver is reminded that the pedestrian is about to cross the zebra crossing, the LED lamps on the running water vehicle lamps are sequentially lightened, the direction of the LED lamps is consistent with the advancing direction of the pedestrian, the pedestrian is guided, and if the pedestrian advances in different directions, the left and right vehicle lamps are respectively lightened one by one along the left direction and the right direction to guide the pedestrian; the buzzer sends out dripping sound to remind a driver that a pedestrian exists in the road section in front of the driver, so that the driver can stop at a reduced speed. The flowing water car light is tailor, the welding is convenient free, and each group LED all can constitute the return circuit, can cut wantonly and weld along the tangent line above, satisfies the demand to various length, fixes it near two indicator lights in the locomotive, and the pedestrian of being convenient for watches, if this vehicle has installed flowing water indicator light then need not install again, can directly control it.
The utility model provides a no traffic lights highway section pedestrian crosses supplementary warning method of zebra crossing car, its method is as follows:
step one, information acquisition and processing, which specifically comprises the following steps:
1) the camera in the information acquisition unit is used for acquiring the information of the zebra crossing of the sidewalk;
2) collecting distance and pedestrian information through a radar system in the information collection unit;
3) the vehicle self information acquisition system is used for acquiring the running speed and the acceleration of the vehicle;
4) integrating the obtained pedestrian information and distance information through a central controller, calculating the relative distance, speed and acceleration of the pedestrian and the vehicle in the direction perpendicular to the driving direction of the vehicle according to the change of time and distance, and calibrating the distance between an image formed by an imaging device and the imaging device in advance to realize the measurement of the zebra crossing distance;
step two, early warning judgment, which comprises the following steps:
1) when the zebra crossing is detected, judging whether the vehicle is in a high-speed or acceleration state or not and sending a reminding signal to a driver or not;
2) when pedestrians are detected on the zebra crossing, judging whether to send a reminding signal to a driver or not based on the intention of the pedestrians;
3) detecting that the vehicle starts to decelerate, calculating that the vehicle is reduced below a specified safe running speed or is stopped before passing through the zebra crossing according to the current state, and further judging whether to send a reminding signal to a driver;
step three, executing braking, specifically as follows:
1) sending a reminding signal to a driver and pre-braking the vehicle at the same time;
2) after the driver sends out the reminding signal, the driver does not take braking measures or the braking force is insufficient, the central controller sends a command to the braking execution unit, so that the vehicle can be reduced below the specified safe driving speed or stopped before passing through the zebra crossing;
step four, the pedestrians pass through the system, and the method comprises the following specific steps:
1) after the vehicle is stopped, the vehicle keeps a braking state continuously, and the condition that the safety of pedestrians is threatened by misoperation of a driver is prevented;
2) after the vehicle is parked, the LED lamps on the running water vehicle lamps are sequentially turned on to guide the direction of pedestrians;
3) and detecting that the pedestrians pass safely, releasing the brake, and enabling the vehicle to continue to run.
The pedestrian intention identification strategy in the second step is as follows:
firstly, establishing a direction and a coordinate system:
a. establishing a speed coordinate system of the automobile: the mass center of the automobile is taken as an original point o, the middle axis of the automobile is taken as a y axis, and the advancing direction of the automobile is the positive direction of the y axis; the direction perpendicular to the y axis is the x axis, the advancing direction of the automobile is the positive direction of the x axis towards the left, and the direction perpendicular to the road surface is the positive direction of the z axis upwards;
b. establishing an orientation coordinate system: the stipulation uses the car axis as the datum line, and the car advancing direction is set as 0 degrees, clockwise is positive, and it is w to set the car width, and the car barycenter is h with zebra stripes in the shortest distance of y direction, and the car barycenter is l with zebra stripes left and right edges in the shortest distance of x direction, divides the zebra stripes identified into three blocks: a middle region, namely: frontal area:
front left region
And the right front zone
According to the detection and identification accuracy of the camera and the radar, the strategy is executed in consideration of the distance between the automobile and the zebra crossing being 30 meters, the longitudinal speed of the pedestrian, namely the speed in the y direction is not considered, the decision is made only according to the transverse speed and the acceleration of the pedestrian, the sampling period is △ t1, the values of △ t2 k △ t1 and △ t2 are determined according to the accuracy of the device, and the values can be 0.7 s;
in the first case: if the pedestrian is not on the zebra crossing, the pedestrian is considered not to have the intention of crossing the zebra crossing, no courtesy is needed, and no reminding signal is sent to the driver;
in the second case: the pedestrian is on the zebra crossing, and the details are as follows:
a. the pedestrian keeps the transverse speed in △ t2, namely the speed in the x direction is zero or keeps zero in the later stage of △ t2, and the time ratio of keeping zero is more than 80%, the pedestrian is considered to have the intention of crossing the zebra crossing and needs to give a gift, and a reminding signal is sent to a driver;
b. the pedestrian does not meet the conditions listed in the condition a at △ t2, the pedestrian is considered to be in a state with transverse speed, and the angle curve image is input to judge whether the pedestrian crosses the zone;
b.1, the pedestrian has a cross-region phenomenon in △ t2, which is specifically as follows:
b.1.1, if the pedestrian crosses into the middle area from the front left area or the front right area, the pedestrian is considered to have the intention of crossing the zebra crossing and needs to give a gift, and a reminding signal is sent to a driver;
b.1.2, if the pedestrian crosses into the front left area or the front right area from the middle area, the pedestrian is considered to have gone through the zebra crossing, no courtesy is needed, and no reminding signal is sent to the driver;
b.2, the pedestrian has no cross-region phenomenon in △ t2, and the method comprises the following specific steps:
b.2.1, the pedestrian is in the middle area, no matter how fast, think the pedestrian has the intention of crossing the zebra crossing, need to give a gift, send out the warning signal to the driver;
b.2.2, pedestrian in left or right anterior region:
b.2.2.1, the speed of the pedestrian does not fluctuate greatly in △ t2, or the pedestrian fluctuates in the early stage and is stable in the later stage;
b.2.2.1.1, if the speed of the pedestrian is positive in the left front area or negative in the right front area, the pedestrian is considered to walk across the zebra crossing without giving a gift and does not send a reminding signal to the driver;
b.2.2.1.2, if the pedestrian is in the left front area and the speed is negative, or if the pedestrian is in the right front area and the speed is positive, the pedestrian is considered to have the intention of crossing the zebra crossing and needs to give a gift, and a reminding signal is sent to a driver;
b.2.2.2, if the speed of the pedestrian is in large concentration fluctuation in △ t2, the pedestrian is considered to be hesitant and needs to give a courtesy signal to the driver.
The utility model discloses a theory of operation:
in the first case, no pedestrian is present on the zebra crossing;
when the information acquisition unit acquires the zebra crossing and no pedestrian passes through, the central controller judges according to the current vehicle running speed, the acceleration and the distance between the vehicle and the zebra crossing:
a. the current vehicle speed is higher than the specified safe driving vehicle speed and the driver starts to decelerate, whether the vehicle can be reduced to the specified safe driving vehicle speed before passing through the zebra crossing is calculated according to the vehicle speed, the acceleration and the distance between the vehicle and the zebra crossing, if the vehicle can not pass through the zebra crossing, a reminding signal is sent to the driver to perform pre-braking, and if the braking force of the driver is still insufficient after the reminding signal is sent to the driver, the central controller sends a command to the braking execution unit to enable the vehicle to be reduced to be lower than the specified safe driving vehicle speed before passing through the zebra crossing;
b. the current vehicle speed is higher than the specified safe driving vehicle speed and the driver does not decelerate, if the current vehicle speed is not higher than the specified safe driving vehicle speed, a reminding signal is sent to the driver to carry out pre-braking, and if the driver does not take braking measures or the braking force is insufficient after the reminding signal is sent to the driver, the central controller sends a command to the braking execution unit to enable the vehicle to be reduced to be lower than the specified safe driving vehicle speed through the zebra crossing.
In the second situation, pedestrians exist on the zebra crossing, the transverse speed of the pedestrians is not zero, and a cross-region phenomenon exists;
when the information acquisition unit acquires the zebra crossing and has pedestrians, the transverse speed of the pedestrians is judged to be not zero and a cross-region phenomenon exists, and then the pedestrians are judged to perform the cross-region behavior:
a. when a pedestrian crosses into the middle zone from the front left zone or the front right zone, the pedestrian is considered to have the intention of crossing the zebra crossing and needs to give a gift, and if the driver already brakes and can stop the vehicle before passing the zebra crossing, a reminding signal is not sent to the driver; otherwise, a reminding signal is sent to the driver, pre-braking is carried out, if the driver does not take braking measures or the braking force is insufficient after the reminding signal is sent to the driver, the central controller sends a command to the braking execution unit, and the vehicle is stopped before passing through the zebra crossing. The vehicle parks the back before the zebra crossing, and the LED lamp on the running water car light lights in proper order, for the pedestrian guides the direction, reminds the pedestrian to pass through, removes through the back braking when detecting the pedestrian, and the vehicle can continue to travel.
b. When the pedestrian crosses into the left front area or the right front area from the middle area, the pedestrian is considered to have gone through the zebra crossing, no courtesy is needed, and no reminding signal is sent to the driver. And if the driver does not take braking measures or the braking force is insufficient after the reminding signal is sent to the driver, the central controller sends a command to the braking execution unit to enable the vehicle to be reduced to be below the specified safe driving speed before passing through the zebra crossing.
In the third situation, pedestrians exist on the zebra crossing, the transverse speed of the pedestrians is not zero, and the cross-region phenomenon does not exist;
when the zebra crossing is collected and a pedestrian is present by the information acquisition unit, the transverse speed of the pedestrian is judged to be not zero and the cross-region phenomenon does not exist, and then the pedestrian is judged to be in which region:
a. when the pedestrian is in the middle area, the pedestrian is considered to have the intention of crossing the zebra crossing, a courtesy is needed, and if the driver takes braking and can stop the vehicle before passing the zebra crossing, a reminding signal is not sent to the driver; otherwise, a reminding signal is sent to the driver, pre-braking is carried out, if the driver does not take braking measures or the braking force is insufficient after the reminding signal is sent to the driver, the central controller sends a command to the braking execution unit, and the vehicle is stopped before passing through the zebra crossing. The vehicle parks the back before the zebra crossing, and the LED lamp on the running water car light lights in proper order, for the pedestrian guides the direction, reminds the pedestrian to pass through, removes through the back braking when detecting the pedestrian, and the vehicle can continue to travel.
b. When the pedestrian is in the front left area or the front right area, whether the speed of the pedestrian has large fluctuation is further judged:
b.1, if the speed of the pedestrian fluctuates greatly, the pedestrian is considered to have the intention of crossing the zebra crossing, a courtesy is needed, and if the driver brakes and can stop the vehicle before passing the zebra crossing, a reminding signal is not sent to the driver; otherwise, a reminding signal is sent to the driver, pre-braking is carried out, if the driver does not take braking measures or the braking force is insufficient after the reminding signal is sent to the driver, the central controller sends a command to the braking execution unit, and the vehicle is stopped before passing through the zebra crossing. The vehicle parks the back before the zebra crossing, and the LED lamp on the running water car light lights in proper order, for the pedestrian guides the direction, reminds the pedestrian to pass through, removes through the back braking when detecting the pedestrian, and the vehicle can continue to travel.
And b.2, if the speed of the pedestrian does not fluctuate greatly, the pedestrian is considered to have gone through the zebra crossing, no courtesy is needed, and no reminding signal is sent to the driver. And if the driver does not take braking measures or the braking force is insufficient after the reminding signal is sent to the driver, the central controller sends a command to the braking execution unit to enable the vehicle to be reduced below the specified safe running speed before passing through the zebra crossing.
The utility model has the advantages that:
the utility model provides a traffic lights-free section pedestrian crosses zebra crossing car and assists warning system and method is based on pedestrian's intention discernment and makes the tactics, satisfies multiple operating mode, can realize under different operating modes to pedestrian and driver's accurate warning, safe and reliable; the vehicle is pre-braked while a reminding signal is sent to a driver, so that the reaction time of the driver and the time for eliminating the clearance of a brake are eliminated, the braking distance is shortened, and the safety is improved; when the vehicle is parked in front of the zebra crossing, the LED lamps on the running water vehicle lamps are sequentially turned on to guide the direction of pedestrians, so that the pedestrians can safely and quickly pass through the running water vehicle, the safety and smoothness of the passing of sidewalks are ensured, and the communication between the vehicles and the pedestrians is realized; when the vehicle is parked in front of the zebra crossing, the vehicle is still in a braking state, and the vehicle is prevented from being started by misoperation of a driver.
Drawings
Fig. 1 is a schematic diagram of the system framework structure of the present invention.
Fig. 2 is a schematic diagram of the structure of the information collecting unit of the present invention.
Fig. 3 is a schematic structural view of the reminding device of the present invention.
Fig. 4 is a region distribution diagram of pedestrians on the zebra crossing in the pedestrian intention identification strategy of the present invention.
Fig. 5 is a schematic diagram illustrating a flow of a pedestrian intention recognition strategy according to the present invention.
The labels in the above figures are as follows:
1. the system comprises an information acquisition unit 2, a central controller 3, a brake execution unit 4, a reminding device 5, a camera 6, a laser radar 7, a vehicle self information acquisition system 8, a buzzer 9, a running water vehicle lamp 10, a driver 11, a left front area 12, a middle area 13 and a right front area.
Detailed Description
Please refer to fig. 1 to 5:
the utility model provides a no traffic lights highway section pedestrian crosses zebra crossing car auxiliary reminding system includes information acquisition unit 1, central controller 2, braking execution unit 3 and reminding device 4, information acquisition unit 1, braking execution unit 3 and reminding device 4 all link to each other with central controller 2, central controller 2 is used for receiving, processing and sending data, central controller 2 receives the information that information acquisition unit 1 gathered, central controller 2 calculates, fuses the information received, make corresponding judgement, central controller 2 sends the order to braking execution unit 3 and reminding device 4, information acquisition unit 1 is used for gathering the information of road of going, pedestrian's information and the information that the vehicle self traveles, information acquisition unit 1 transmits the information after handling to central controller 2, braking execution unit 3 is used for the driver not taking the braking measure when being close to safe distance, the central controller 2 sends commands to it, performing the corresponding braking of the vehicle.
The information acquisition unit 1 comprises a camera 5, a laser radar 6 and a vehicle self information acquisition system 7, wherein the camera 5 adopts a basler camera, the specification is scA1300-32gm/gc, the information acquisition unit is used for acquiring the image information of the zebra crossing and finally transmitting the information to the central controller 2, the laser radar 6 adopts an ibeo four-wire laser radar and is used for acquiring the distance and the pedestrian information, and the vehicle self information acquisition system 7 is used for acquiring the running speed and the acceleration of the vehicle.
The central controller 2 is of a type of MicroAutoBox ii, and can also be other controllers meeting the system functions.
The brake execution unit 3 adopts an electronic mechanical brake power-assisted system as an execution mechanism, can be suitable for the traditional fuel vehicles and new energy vehicles, is convenient for the central controller 2 to control, and can brake in time.
The reminding device 4 comprises a buzzer 8, running water vehicle lamps 9 and a driver 10 thereof, wherein the buzzer 8 adopts a YMD1095 type active electromagnetic buzzer, the running water vehicle lamps 9 are 5050RGB3T-2811-12V in model, the driver 10 of the running water vehicle lamps 9 adopts an LED lamp power adapter, the central controller 2 sends information commands to control the running water vehicle lamps 9 and the buzzer 8 so as to guide pedestrians to cross a zebra crossing, and remind a driver that the pedestrians are about to cross the zebra crossing, the LED lamps on the running water vehicle lamps 9 are sequentially lighted up, the direction is consistent with the advancing direction of the pedestrians, the running water vehicle lamps are used for guiding the directions of the pedestrians, and if the pedestrians are advanced in different directions, the left vehicle lamps are respectively flashed one by one in the left direction and the right direction to guide the; the buzzer 8 sends out dripping sound to remind the driver that a pedestrian exists in the road section in front of the driver, so that the driver can stop at a reduced speed. The flowing water car light 9 is tailor, the welding is convenient free, and each LED of group all can constitute the return circuit, can cut and weld wantonly along the tangent line of above-mentioned, satisfies the demand to various length, fixes it near two indicator lights in the locomotive, and the pedestrian of being convenient for watches, if this vehicle has installed flowing water indicator light then need not install again, can directly control it.
The utility model provides a no traffic lights highway section pedestrian crosses supplementary warning method of zebra crossing car, its method is as follows:
step one, information acquisition and processing, which specifically comprises the following steps:
1) the camera 5 in the information acquisition unit 1 is used for acquiring the information of the zebra crossing of the sidewalk;
2) the distance and pedestrian information are collected through a radar system in the information collection unit 1;
3) the vehicle self information acquisition system 7 is used for acquiring the running speed and the acceleration of the vehicle;
4) integrating the obtained pedestrian information and distance information through the central controller 2, calculating the relative distance, speed and acceleration of the pedestrian and the vehicle in the direction perpendicular to the driving direction of the vehicle according to the change of time and distance, and calibrating the distance between the image formed by the imaging equipment and the imaging equipment in advance to realize the measurement of the zebra crossing distance;
step two, early warning judgment, which comprises the following steps:
1) when the zebra crossing is detected, judging whether the vehicle is in a high-speed or acceleration state or not and sending a reminding signal to a driver or not;
2) when pedestrians are detected on the zebra crossing, judging whether to send a reminding signal to a driver or not based on the intention of the pedestrians;
3) detecting that the vehicle starts to decelerate, calculating that the vehicle is reduced below a specified safe running speed or is stopped before passing through the zebra crossing according to the current state, and further judging whether to send a reminding signal to a driver;
step three, executing braking, specifically as follows:
1) sending a reminding signal to a driver and pre-braking the vehicle at the same time;
2) after the driver sends out the reminding signal, the driver does not take braking measures or the braking force is insufficient, the central controller 2 sends a command to the braking execution unit 3, so that the vehicle can be reduced below the specified safe driving speed or stopped before passing through the zebra crossing;
step four, the pedestrians pass through the system, and the method comprises the following specific steps:
1) after the vehicle is stopped, the vehicle keeps a braking state continuously, and the condition that the safety of pedestrians is threatened by misoperation of a driver is prevented;
2) after the vehicle stops, the LED lamps on the running water vehicle lamp 9 are sequentially turned on to guide the direction of the pedestrian;
3) and detecting that the pedestrians pass safely, releasing the brake, and enabling the vehicle to continue to run.
The pedestrian intention identification strategy in the second step is as follows:
firstly, establishing a direction and a coordinate system:
a. establishing a speed coordinate system of the automobile: the mass center of the automobile is taken as an original point o, the middle axis of the automobile is taken as a y axis, and the advancing direction of the automobile is the positive direction of the y axis; the direction perpendicular to the y axis is the x axis, the advancing direction of the automobile is the positive direction of the x axis towards the left, and the direction perpendicular to the road surface is the positive direction of the z axis upwards;
b. establishing an orientation coordinate system: the stipulation uses the car axis as the datum line, and the car advancing direction is set as 0 degrees, clockwise is positive, and it is w to set the car width, and the car barycenter is h with zebra stripes in the shortest distance of y direction, and the car barycenter is l with zebra stripes left and right edges in the shortest distance of x direction, divides the zebra stripes identified into three blocks: the middle region 12, namely: frontal area:
front left region 11And a right front area 13
Secondly, the strategy is established, wherein the strategy is executed from the time when the automobile is 30 meters away from the zebra crossing according to the detection and identification precision of the camera 5 and the radar, the longitudinal speed of the pedestrian, namely the speed in the y direction, is not considered, the decision is made only according to the transverse speed and the acceleration of the pedestrian, the sampling period is △ t1, the values of △ t2 k △ t1 and △ t2 are determined according to the precision of the device, and the sampling period can be 0.7 s;
in the first case: if the pedestrian is not on the zebra crossing, the pedestrian is considered not to have the intention of crossing the zebra crossing, no courtesy is needed, and no reminding signal is sent to the driver;
in the second case: the pedestrian is on the zebra crossing, and the details are as follows:
a. the pedestrian keeps the transverse speed in △ t2, namely the speed in the x direction is zero or keeps zero in the later stage of △ t2, and the time ratio of keeping zero is more than 80%, the pedestrian is considered to have the intention of crossing the zebra crossing and needs to give a gift, and a reminding signal is sent to a driver;
b. the pedestrian does not meet the conditions listed in the condition a at △ t2, the pedestrian is considered to be in a state with transverse speed, and the angle curve image is input to judge whether the pedestrian crosses the zone;
b.1, the pedestrian has a cross-region phenomenon in △ t2, which is specifically as follows:
b.1.1, if the pedestrian crosses into the middle area 12 from the front left area or the front right area, the pedestrian is considered to have the intention of crossing the zebra crossing and needs to give a gift, and a reminding signal is sent to a driver;
b.1.2, if the pedestrian straddles the front left area or the front right area 13 from the middle area 12, the pedestrian is considered to have gone through the zebra crossing, no courtesy is needed, and no reminding signal is sent to the driver;
b.2, the pedestrian has no cross-region phenomenon in △ t2, and the method comprises the following specific steps:
b.2.1, the pedestrian is in the middle area 12, no matter how fast, think the pedestrian has the intention of crossing the zebra crossing, need to give a gift, send out the warning signal to the driver;
b.2.2, pedestrian in left front region 11 or right front region 13:
b.2.2.1, the speed of the pedestrian does not fluctuate greatly in △ t2, or the pedestrian fluctuates in the early stage and is stable in the later stage;
b.2.2.1.1, if the speed of the pedestrian is positive in the left front area 11 or the speed of the pedestrian is negative in the right front area 13, the pedestrian is considered to be about to walk across the zebra crossing, no courtesy is needed, and no reminding signal is sent to the driver;
b.2.2.1.2 if the speed of the pedestrian is negative in the left front area 11 or the speed of the pedestrian is positive in the right front area 13, the pedestrian is considered to have the intention of crossing the zebra crossing and needs to give a gift, and a reminding signal is sent to the driver;
b.2.2.2, if the speed of the pedestrian is in large concentration fluctuation in △ t2, the pedestrian is considered to be hesitant and needs to give a courtesy signal to the driver.
The utility model discloses a theory of operation:
in the first case, no pedestrian is present on the zebra crossing;
when the information acquisition unit 1 acquires the zebra crossing and no pedestrian passes through, the central controller 2 judges according to the current vehicle running speed, the acceleration and the distance between the vehicle and the zebra crossing:
a. the current vehicle speed is higher than the specified safe driving vehicle speed and the driver starts to decelerate, whether the vehicle can be reduced to the specified safe driving vehicle speed before passing through the zebra crossing is calculated according to the vehicle speed, the acceleration and the distance between the vehicle and the zebra crossing, if the vehicle can not pass through the zebra crossing, a reminding signal is sent to the driver to carry out pre-braking, and if the braking force of the driver is still insufficient after the reminding signal is sent to the driver, the central controller 2 sends a command to the braking execution unit 3 to enable the vehicle to pass through the zebra crossing and be reduced to be below the specified safe driving vehicle speed;
b. the current vehicle speed is higher than the specified safe driving vehicle speed and the driver does not decelerate, if the current vehicle speed is not higher than the specified safe driving vehicle speed, a reminding signal is sent to the driver to carry out pre-braking, and if the driver does not take braking measures or the braking force is insufficient after the reminding signal is sent to the driver, the central controller 2 sends a command to the braking execution unit 3 to enable the vehicle to be reduced to be lower than the specified safe driving vehicle speed through the zebra crossing.
In the second situation, pedestrians exist on the zebra crossing, the transverse speed of the pedestrians is not zero, and a cross-region phenomenon exists;
when the information acquisition unit 1 acquires the zebra crossing and has pedestrians, the transverse speed of the pedestrians is judged to be not zero and the cross-region phenomenon exists, and then the pedestrians are judged to perform the cross-region behavior:
a. when a pedestrian crosses the middle area 12 from the left front area 11 or the right front area 13, the pedestrian is considered to have the intention of crossing the zebra crossing, and a courtesy is needed, and if the driver takes braking and can stop the vehicle before passing the zebra crossing, a reminding signal is not sent to the driver; otherwise, a reminding signal is sent to the driver to carry out pre-braking, if the driver does not take braking measures or the braking force is insufficient after the reminding signal is sent to the driver, the central controller 2 sends a command to the braking execution unit 3 to stop the vehicle before passing through the zebra crossing. The vehicle parks the back before the zebra crossing, and the LED lamp on running water car light 9 lights in proper order, for the pedestrian guides the direction, reminds the pedestrian to pass through, removes when detecting the pedestrian through the back braking, and the vehicle can continue to travel.
b. When the pedestrian crosses the left front area 11 or the right front area 13 from the middle area 12, the pedestrian is considered to have gone through the zebra crossing, no courtesy is needed, and no reminding signal is sent to the driver. And at the moment, judging whether the vehicle can be reduced to be below the specified safe driving vehicle speed before passing through the zebra crossing, if not, sending a reminding signal to the driver to perform pre-braking, and if the driver does not take braking measures or the braking force is insufficient after sending the reminding signal to the driver, sending a command to a braking execution unit 3 by a central controller 2 to ensure that the vehicle can be reduced to be below the specified safe driving vehicle speed before passing through the zebra crossing.
In the third situation, pedestrians exist on the zebra crossing, the transverse speed of the pedestrians is not zero, and the cross-region phenomenon does not exist;
when the information acquisition unit 1 acquires the zebra crossing and has pedestrians, the transverse speed of the pedestrians is judged to be not zero and the cross-region phenomenon does not exist, and then the pedestrians are judged to be in which region:
a. when the pedestrian is in the middle area 12, the pedestrian is considered to have the intention of crossing the zebra crossing, a courtesy is needed, and if the driver takes braking and can stop the vehicle before passing the zebra crossing, a reminding signal is not sent to the driver; otherwise, a reminding signal is sent to the driver to carry out pre-braking, if the driver does not take braking measures or the braking force is insufficient after the reminding signal is sent to the driver, the central controller 2 sends a command to the braking execution unit 3 to stop the vehicle before passing through the zebra crossing. The vehicle parks the back before the zebra crossing, and the LED lamp on running water car light 9 lights in proper order, for the pedestrian guides the direction, reminds the pedestrian to pass through, removes when detecting the pedestrian through the back braking, and the vehicle can continue to travel.
b. When the pedestrian is in the left front region 11 or the right front region 13, whether the pedestrian speed has large fluctuation is further judged:
b.1, if the speed of the pedestrian fluctuates greatly, the pedestrian is considered to have the intention of crossing the zebra crossing, a courtesy is needed, and if the driver brakes and can stop the vehicle before passing the zebra crossing, a reminding signal is not sent to the driver; otherwise, a reminding signal is sent to the driver to carry out pre-braking, if the driver does not take braking measures or the braking force is insufficient after the reminding signal is sent to the driver, the central controller 2 sends a command to the braking execution unit 3 to stop the vehicle before passing through the zebra crossing. The vehicle parks the back before the zebra crossing, and the LED lamp on running water car light 9 lights in proper order, for the pedestrian guides the direction, reminds the pedestrian to pass through, removes when detecting the pedestrian through the back braking, and the vehicle can continue to travel.
And b.2, if the speed of the pedestrian does not fluctuate greatly, the pedestrian is considered to have gone through the zebra crossing, no courtesy is needed, and no reminding signal is sent to the driver. At the moment, whether the vehicle speed can be reduced below the specified safe running vehicle speed before the vehicle passes through the zebra crossing is judged, if the vehicle speed cannot be reduced below the specified safe running vehicle speed, a reminding signal is sent to the driver to carry out pre-braking, and if the driver does not take braking measures or the braking force is insufficient after the reminding signal is sent to the driver, the central controller 2 sends a command to the braking execution unit 3 to enable the vehicle to be reduced below the specified safe running vehicle speed before the vehicle passes through the zebra crossing.
Claims (2)
1. An auxiliary reminding system for pedestrians crossing zebra crossing in traffic light-free road sections comprises an information acquisition unit, a central controller, a brake execution unit and a reminding device, wherein the information acquisition unit, the brake execution unit and the reminding device are all connected with the central controller, the central controller is used for receiving, processing and sending data, the central controller receives information acquired by the information acquisition unit, the central controller calculates and fuses the received information to make corresponding judgment, the central controller sends a command to the brake execution unit and the reminding device, the information acquisition unit is used for acquiring information of driving roads, pedestrian information and information of driving of vehicles, the information acquisition unit transmits the processed information to the central controller, the brake execution unit is used for enabling a driver to take no braking measure when the distance is close to a safe distance, and the central controller sends the command to the central controller, -performing a corresponding braking of the vehicle, characterized in that: the information acquisition unit include camera, laser radar and vehicle self information acquisition system, the camera adopts the basler camera, and the specification is scA1300-32gm/gc for gather the image information of zebra crossing, finally transmit information for central controller, laser radar adopts ibeo four-wire laser radar, is used for gathering distance and pedestrian information, vehicle self information acquisition system is used for gathering the speed and the acceleration of vehicle.
2. The assistant reminding system for pedestrians to pass through zebra crossing in traffic-light-free road section according to claim 1, wherein: the reminding device comprises a buzzer, the running water vehicle lamp and a driver of the running water vehicle lamp, wherein the buzzer adopts a YMD1095 type active electromagnetic buzzer, the running water vehicle lamp is 5050RGB3T-2811-12V in model, and the driver of the running water vehicle lamp adopts an LED lamp power adapter.
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| CN110136485A (en) * | 2019-06-20 | 2019-08-16 | 吉林大学 | No traffic lights section pedestrian crosses zebra stripes automobile auxiliary prompting system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110136485A (en) * | 2019-06-20 | 2019-08-16 | 吉林大学 | No traffic lights section pedestrian crosses zebra stripes automobile auxiliary prompting system and method |
| CN110136485B (en) * | 2019-06-20 | 2024-01-26 | 吉林大学 | Auxiliary reminding system and method for pedestrians passing through zebra crossings in road section without traffic light |
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