CN210391111U - Control system for actively relieving pedestrian collision of passenger car - Google Patents
Control system for actively relieving pedestrian collision of passenger car Download PDFInfo
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- CN210391111U CN210391111U CN201921074290.9U CN201921074290U CN210391111U CN 210391111 U CN210391111 U CN 210391111U CN 201921074290 U CN201921074290 U CN 201921074290U CN 210391111 U CN210391111 U CN 210391111U
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Abstract
The utility model discloses a passenger train initiative is alleviated pedestrian's collision's control system, including wireless communication module, real-time dynamic positioning device, image detection module, high accuracy map module, supplementary driving controller and vehicle execution module, wherein, wireless communication module is used for acquireing current time and weather condition, real-time dynamic positioning device is used for real-time reception vehicle position, the information of travelling speed and direction of travel, image detection module is used for gathering the image information in vehicle the place ahead, high accuracy map module is used for providing current road information, supplementary driving controller respectively with this wireless communication module, real-time dynamic positioning device, image detection module, high accuracy map module and vehicle execution module are controlled the connection mutually. The utility model discloses can assist the driver in the zebra foresees the road condition in advance, realize automatic deceleration, give the gift the pedestrian or the control operation that the braking was parkked, effectual reduction zebra crossing traffic accident's emergence reduces accident personnel's casualty quantity.
Description
Technical Field
The utility model relates to a passenger train intelligence control system field, the more specifically passenger train initiative is alleviated control system of pedestrian's collision that says so.
Background
According to statistics of traffic administration of the ministry of public security, 1.4 thousands of traffic accidents of motor vehicles and pedestrians occur on zebra crossings in the country in the last three years of 2017, so that 3898 people die, wherein accidents caused by driving of the motor vehicles which are not in accordance with the regulations account for 90% of the total amount. With the application and popularization of intelligent driving vehicles, zebra crossing accidents also occur in the automatically driven vehicles, and professionals in the industry analyze and consider that the pedestrian recognition system of the automatically driven vehicles has the problems that pedestrians cross the road from the dark and shaded positions because the light and shade contrast of the light lines on the two sides of the zebra crossing is too large, the pedestrian recognition system of the automatically driven vehicles cannot recognize the passing result of the pedestrians in time, and further effective braking is not adopted, so that traffic accidents are caused. In the prior art, the performance of the vehicle identification technology is easily influenced by weather and external illumination conditions in the actual application process.
The Chinese patent application publication numbers are: CN 108609001A (the design method of pedestrian's anticollision of initiative braking), this utility model through the integration of preceding infrared camera and millimeter wave radar handle, can make the system judge that the distance and the position of pedestrian for the vehicle are more accurate. But this utility model has neglected an actual conditions, when adjacent lane traffic flow is great, can shelter from by other vehicles at zebra crossing and pedestrian, has the blind area.
Therefore, the pedestrian collision mitigation system and method in the field of auxiliary driving are provided, the pedestrian specification of the motor vehicle of the national road traffic safety law is met, the zebra crossing region is identified without a blind area under the weather conditions with low visibility such as foggy days and nights and when the traffic flow is large, the overspeed driving is avoided, the pedestrian is rapidly judged and identified, the obvious pedestrian collision mitigation effect is further achieved, the system and method have good advancement, and the system and method have very high value for the technical application and popularization in the field.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a passenger train initiative is alleviated pedestrian's collision's control system, its main aim at overcome the above-mentioned not enough and shortcoming that prior art exists.
The utility model adopts the technical scheme as follows:
the utility model provides a passenger train initiative is alleviated pedestrian's collision's control system, includes wireless communication module, real-time dynamic positioning device, image detection module, high accuracy map module, auxiliary driving controller and vehicle execution module, wherein, wireless communication module is used for acquireing current time and weather condition, real-time dynamic positioning device is used for receiving vehicle position, moving speed and the information of direction of travel in real time, image detection module is used for gathering the image information in vehicle the place ahead, high accuracy map module is used for providing current road information, auxiliary driving controller controls the connection with this wireless communication module, real-time dynamic positioning appearance, image detection module, high accuracy map module and vehicle execution module phase respectively.
Furthermore, the vehicle execution module comprises a vehicle lamp controller, a vehicle speed sensor and a brake control system, and the auxiliary driving controller is respectively connected with the vehicle lamp controller, the vehicle speed sensor and the brake control system in a control mode.
A use method of a passenger car active pedestrian collision mitigation control system comprises the following specific steps:
(1) controlling the vehicle lamp: starting a wireless communication module, inquiring the current time and weather conditions, assisting a driving controller to control the running of a vehicle lamp system, starting a fog lamp in a foggy day, and starting a dipped headlight at night;
(2) positioning the vehicle: acquiring the position information and the speed information of the current vehicle through a real-time dynamic positioning device;
(3) inquiring the position of the zebra crossing: inquiring the position information of the zebra crossing near the current position of the vehicle in real time through a high-precision map module;
(4) calculating the distance between the vehicle and the zebra crossing: calculating the distance S between the current position of the vehicle and the current zebra crossing according to the current position of the vehicle obtained in the step (1) and the zebra crossing position obtained in the step (2);
(5) controlling the vehicle speed: when the distance S in the step (4) is less than 50 meters, controlling the vehicle speed by the auxiliary driving controller to be not more than 30 km/h;
(6) detecting and collecting image information: when the distance S in the step (4) is less than 50 meters, starting an image detection module, identifying and creating a dangerous area of a road ahead, executing a step (7), and controlling the running of a vehicle entering the dangerous area;
(7) identifying the integrity of the zebra crossing region: when the zebra crossing area of the dangerous area is complete, the auxiliary driving controller controls the vehicle to pass by no more than 30 Km/h; when the zebra crossing area of the danger area is incomplete, the auxiliary driving controller controls the vehicle to pass by no more than 10Km/h, and when the pedestrian is confirmed to enter the danger area, the vehicle is decelerated until the vehicle stops through the braking system.
Further, the specific steps of identifying and creating the danger zone of the road ahead in step (6) are as follows:
(a) the image recognition module detects a lane line of a lane where the vehicle is located, an intersection point of the lane line on the left side and the upper edge and the lower edge of the zebra crossing is defined as B, F, and an intersection point of the lane line on the right side and the upper edge and the lower edge of the zebra crossing is defined as C, G;
(b) respectively extending the line segments BC and FG to two sides in a direction perpendicular to the lane line, so that AB is BC and EF is FG and GH;
(c) the quadrilateral A-D-H-E is defined as the hazard zone.
Still further, the hazard zone includes a hazard zone
Danger area
And a danger zone
Wherein the quadrangle A-B-F-E is defined as the danger area
The quadrilateral B-C-G-F is defined as a danger zone
The quadrilateral C-D-H-G is defined as a danger zone
。
Further, when the image recognition module recognizes a complete danger in the danger area
Danger area
And a danger zone
When the zebra crossing is complete, the zebra crossing area is complete; when the image recognition module recognizes a danger
Danger area
And a danger zone
When any one or more of them are incomplete, the zebra crossing region is incomplete.
Through the above-mentioned right the utility model discloses a description compares with prior art, the advantage of the utility model lies in:
the technical scheme includes that firstly, real-time high-precision positioning information of a vehicle is obtained through a real-time dynamic positioning device, then lane information where the vehicle is located and information of nearby zebra crossings are inquired through a high-precision map, the distance between the current vehicle and the zebra crossings in front of the driving direction is calculated, and the vehicle is controlled to approach the zebra crossings at a low speed; meanwhile, according to the technical scheme, a dangerous area which is possible to collide is created and divided according to the lane width on the basis of the zebra crossing, when a pedestrian enters the dangerous area or the dangerous area cannot be completely identified due to the fact that the vehicle shields the dangerous area, the auxiliary driving controller controls the vehicle to decelerate until the vehicle is braked in front of the zebra crossing, and the collision mitigation effect with the pedestrian is achieved.
According to the technical scheme, the image recognition module is used for judging the relative positions of the pedestrians and the lane lines (zebra crossings) and the integrity of the lane lines (zebra crossing areas) to judge and control the vehicles to run through, the whole mode and the algorithm process are novel and practical, the space complexity and the time complexity are low, and the method for directly measuring the distance between the vehicles and the pedestrians through the sensors and recognizing the pedestrians on the zebra crossings in the traditional passenger car technology is changed. Meanwhile, the limitation that the recognition accuracy of the sensor is reduced due to the fact that blind areas cannot be recognized and visibility is low in foggy days, nights and the like in the traditional technology is overcome, the problem that vehicles are controlled to run through zebra crossings in the prior art is better solved, and safety of pedestrians and drivers is better protected.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic view of the working process of the present invention.
Fig. 3 is a schematic structural view of a dangerous area without a blind area in the present invention.
Fig. 4 is a schematic structural view of a dangerous area with a blind area in the present invention.
Fig. 5 is a schematic structural diagram of a dangerous area without zebra stripes on two sides of the middle lane.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings.
As shown in fig. 1 and 2, a control system for actively relieving pedestrian collision of a passenger car comprises a wireless communication module, a real-time dynamic positioning device, an image detection module, a high-precision map module, a driving assistance controller and a vehicle execution module, wherein the wireless communication module is used for acquiring current time and weather conditions, the real-time dynamic positioning device is used for receiving information of vehicle position, moving speed and driving direction in real time, the image detection module is used for collecting image information in front of the vehicle, the high-precision map module is used for providing current road information, and the driving assistance controller is respectively in control connection with the wireless communication module, the real-time dynamic positioning device, the image detection module, the high-precision map module and the vehicle execution module.
Furthermore, the vehicle execution module comprises a vehicle lamp controller, a vehicle speed sensor and a brake control system, and the auxiliary driving controller is respectively connected with the vehicle lamp controller, the vehicle speed sensor and the brake control system in a control mode.
A use method of a passenger car active pedestrian collision mitigation control system comprises the following specific steps:
(1) controlling the vehicle lamp: starting a wireless communication module, inquiring the current time and weather conditions, and assisting a driving controller to control the running of a vehicle lamp system;
(2) positioning the vehicle: acquiring the position information and the speed information of the current vehicle through a real-time dynamic positioning device;
(3) inquiring the position of the zebra crossing: inquiring the position information of the zebra crossing near the current position of the vehicle in real time through a high-precision map module;
(4) calculating the distance between the vehicle and the zebra crossing: calculating the distance S between the current position of the vehicle and the current zebra crossing according to the current position of the vehicle obtained in the step (1) and the zebra crossing position obtained in the step (2);
(5) controlling the vehicle speed: when the distance S in the step (4) is less than 50 meters, controlling the vehicle speed by the auxiliary driving controller to be not more than 30 km/h;
(6) detecting and collecting image information: when the distance S in the step (4) is less than 50 meters, starting an image detection module, identifying and creating a dangerous area of a road ahead, executing a step (7), and controlling the running of a vehicle entering the dangerous area;
(7) identifying the integrity of the zebra crossing region: when the zebra crossing area of the dangerous area is complete, the auxiliary driving controller controls the vehicle to pass by no more than 30 Km/h; when the zebra crossing area of the danger area is incomplete, the auxiliary driving controller controls the vehicle to pass by no more than 10Km/h, and when the pedestrian is confirmed to enter the danger area, the vehicle is decelerated until the vehicle stops through the braking system.
Further, as shown in fig. 3, the specific steps of identifying and creating the danger zone of the road ahead in step (6) are as follows:
(a) the image recognition module detects a lane line of a lane where the vehicle is located, an intersection point of the lane line on the left side and the upper edge and the lower edge of the zebra crossing is defined as B, F, and an intersection point of the lane line on the right side and the upper edge and the lower edge of the zebra crossing is defined as C, G;
(b) respectively extending the line segments BC and FG to two sides in a direction perpendicular to the lane line, so that AB is BC and EF is FG and GH;
(c) the quadrilateral A-D-H-E is defined as the hazard zone.
Still further, the hazard zone includes a hazard zone
Danger area
And a danger zone
Wherein the quadrangle A-B-F-E is defined as the danger area
The quadrilateral B-C-G-F is defined as a danger zone
The quadrilateral C-D-H-G is defined as a danger zone
。
Further, when the image recognition module recognizes a complete danger in the danger area
Danger area
And a danger zone
When the zebra crossing is complete, the zebra crossing area is complete; when the image recognition module recognizes a danger
Danger area
And a danger zone
When any one or more of them are incomplete, the zebra crossing region is incomplete. While the incompleteness of the hazard zone includes the following: as shown in fig. 3, if a pedestrian enters a certain area in the danger area, it is determined that the danger area is incomplete; as shown in fig. 4, when the traffic flow is large, the passing vehicle blocks the recognition direction of the image recognition module, so that the system judges that the danger area is incomplete; as shown in fig. 5, zebra stripes are not arranged on two sides of a lane where a vehicle is located, and the image recognition module cannot recognize the zebra stripes, so that the system judges that a danger area is incomplete.
Through the above-mentioned right the utility model discloses a description compares with prior art, the advantage of the utility model lies in:
the technical scheme includes that firstly, real-time high-precision positioning information of a vehicle is obtained through a real-time dynamic positioning device, then lane information where the vehicle is located and information of nearby zebra crossings are inquired through a high-precision map, the distance between the current vehicle and the zebra crossings in front of the driving direction is calculated, and the vehicle is controlled to approach the zebra crossings at a low speed; meanwhile, according to the technical scheme, a dangerous area which is possible to collide is created and divided according to the lane width on the basis of the zebra crossing, when a pedestrian enters the dangerous area or the dangerous area cannot be completely identified due to the fact that the vehicle shields the dangerous area, the auxiliary driving controller controls the vehicle to decelerate until the vehicle is braked in front of the zebra crossing, and the collision mitigation effect with the pedestrian is achieved.
According to the technical scheme, the image recognition module is used for judging the relative positions of the pedestrians and the lane lines (zebra crossings) and the integrity of the lane lines (zebra crossing areas) to judge and control the vehicles to run through, the whole mode and the algorithm process are novel and practical, the space complexity and the time complexity are low, and the method for directly measuring the distance between the vehicles and the pedestrians through the sensors and recognizing the pedestrians on the zebra crossings in the traditional passenger car technology is changed. Meanwhile, the limitation that the recognition accuracy of the sensor is reduced due to the fact that blind areas cannot be recognized and visibility is low in foggy days, nights and the like in the traditional technology is overcome, the problem that vehicles are controlled to run through zebra crossings in the prior art is better solved, and safety of pedestrians and drivers is better protected.
The above is only the concrete implementation of the present invention, but the design concept of the present invention is not limited to this, and all the design concepts are to be utilized to improve the present invention insubstantially, and all the behaviors belonging to the infringement of the protection scope of the present invention should be considered.
Claims (1)
1. A control system for actively relieving pedestrian collision of a passenger car is characterized in that: the intelligent driving system comprises a wireless communication module, a real-time dynamic positioning device, an image detection module, a high-precision map module, an auxiliary driving controller and a vehicle execution module, wherein the wireless communication module is used for acquiring current time and weather conditions, the real-time dynamic positioning device is used for receiving information of a vehicle position, a moving speed and a driving direction in real time, the image detection module is used for collecting image information in front of a vehicle, the high-precision map module is used for providing current road information, and the auxiliary driving controller is in control connection with the wireless communication module, the real-time dynamic positioning device, the image detection module, the high-precision map module and the vehicle execution module respectively;
the vehicle execution module comprises a vehicle lamp controller, a vehicle speed sensor and a brake control system, and the auxiliary driving controller is respectively connected with the vehicle lamp controller, the vehicle speed sensor and the brake control system in a control mode.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921074290.9U CN210391111U (en) | 2019-07-10 | 2019-07-10 | Control system for actively relieving pedestrian collision of passenger car |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110304055A (en) * | 2019-07-10 | 2019-10-08 | 厦门金龙联合汽车工业有限公司 | A kind of car actively alleviates the control system and its application method of pedestrian impact |
| CN113954826A (en) * | 2021-12-16 | 2022-01-21 | 深圳佑驾创新科技有限公司 | Vehicle control method and system for vehicle blind area and vehicle |
| CN114679573A (en) * | 2022-05-27 | 2022-06-28 | 广州市伟粤通讯设备有限公司 | Public safety video monitoring system based on face recognition |
-
2019
- 2019-07-10 CN CN201921074290.9U patent/CN210391111U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110304055A (en) * | 2019-07-10 | 2019-10-08 | 厦门金龙联合汽车工业有限公司 | A kind of car actively alleviates the control system and its application method of pedestrian impact |
| CN110304055B (en) * | 2019-07-10 | 2024-03-22 | 厦门金龙联合汽车工业有限公司 | Control system for actively relieving pedestrian collision of passenger car and application method thereof |
| CN113954826A (en) * | 2021-12-16 | 2022-01-21 | 深圳佑驾创新科技有限公司 | Vehicle control method and system for vehicle blind area and vehicle |
| CN114679573A (en) * | 2022-05-27 | 2022-06-28 | 广州市伟粤通讯设备有限公司 | Public safety video monitoring system based on face recognition |
| CN114679573B (en) * | 2022-05-27 | 2022-09-09 | 广州市伟粤通讯设备有限公司 | Public safety video monitoring system based on face recognition |
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