CN215117776U - Anti-rear-end collision early warning system for roadside vehicle during pedestrian avoidance - Google Patents
Anti-rear-end collision early warning system for roadside vehicle during pedestrian avoidance Download PDFInfo
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- CN215117776U CN215117776U CN202120752255.9U CN202120752255U CN215117776U CN 215117776 U CN215117776 U CN 215117776U CN 202120752255 U CN202120752255 U CN 202120752255U CN 215117776 U CN215117776 U CN 215117776U
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Abstract
The utility model belongs to the field of motor vehicle driving safety, and discloses a rear-end collision prevention early warning system for roadside vehicles to avoid pedestrians, which comprises a pedestrian detection millimeter wave radar and a vehicle detection millimeter wave radar which are respectively electrically connected with the signal input end of a controller, and a LED warning lamp and a voice device which are respectively electrically connected with the signal output end of the controller; this early warning system can confirm the collision risk of preceding car and pedestrian and the risk of knocking into the back of preceding car and rear vehicle according to the parameter information that pedestrian detection millimeter wave radar and vehicle detection millimeter wave radar acquireed and the information that sets up in advance in the controller to carry out hierarchical early warning to pedestrian and rear vehicle driver through trackside LED warning light and speech device, solved the problem that pedestrian collided and the risk of knocking into the back and appeared simultaneously, the security is high, the strong reliability.
Description
Technical Field
The utility model relates to a motor vehicle safety field of traveling, concretely relates to trackside vehicle prevents knocking into the back and collides early warning system when dodging the pedestrian.
Background
The phenomenon that pedestrians suddenly cross a road at a pedestrian crossing or an unmanned crossing is very common, and if a driver fails to find the pedestrians in time, emergency braking measures are taken, so that the pedestrians are often rear-ended by a rear vehicle.
The existing prevention and control means for the pedestrian collision risk and the rear-end collision risk are various, and the method mainly focuses on vehicle-mounted risk prevention and control research. Wherein pedestrian collision prevention and control installs pedestrian collision absorber additional on the vehicle and reduces the injury of collision to the pedestrian, or through installing the various sensors on the vehicle, utilize the parameter that the sensor obtained to judge whether the place ahead has the pedestrian and whether have pedestrian's collision risk, if there is the risk, carry out the early warning to the driver in advance or carry out emergency brake through vehicle auxiliary system. The rear-end collision prevention and control mainly comprises a rear-end collision energy-absorbing seat for reducing the injury of the collision to passengers or acquiring parameters such as speed, distance and the like of surrounding vehicles through a sensor arranged on the vehicle, so that whether rear-end collision risks exist or not is judged, and if yes, a driver of the vehicle or a driver of the vehicle on the other side is reminded by sound or light.
At present, most researches are carried out on prevention and control researches aiming at one collision risk, the scenes when two conditions occur simultaneously are rarely considered, and particularly, rear-end collision accidents of rear vehicles are caused due to the fact that front vehicles decelerate when pedestrians are avoided. And sometimes the collision risk between the front vehicle and the pedestrian is not serious, and when the rear vehicle has the rear-end collision risk, the driver can also brake emergently to cause the rear-end collision of the rear vehicle so as to cause unnecessary property loss. At present, passive or active prevention and control are mainly carried out in a vehicle-mounted mode for pedestrian collision and rear-end collision, collision risks are rarely reduced through roadside early warning, however, the risk prevention and control cost is high in the vehicle-mounted mode, and great difficulty exists if the vehicle-mounted mode is popularized in a large range. Therefore, the utility model discloses the mode of considering through the trackside early warning when considering pedestrian's collision and the collision of knocking into the back simultaneously, provides a trackside vehicle and prevents knocking into the back collision early warning system when dodging the pedestrian, for the driver in time provides necessary information, reduces the probability that the driver takes place to knock into the back when dodging the pedestrian.
SUMMERY OF THE UTILITY MODEL
To the problem that exists among the prior art, the utility model aims to provide a trackside vehicle prevents knocking into the back and collides early warning system when dodging the pedestrian, can confirm preceding car and pedestrian's collision risk and the risk of knocking into the back of preceding car and rear vehicle according to the parameter information that pedestrian detected millimeter wave radar and vehicle detection millimeter wave radar acquireed and the information that sets up in advance in the controller to carry out hierarchical early warning to pedestrian and rear vehicle driver through trackside LED warning light and speech device, the problem of pedestrian collision and the risk of knocking into the back and appearing simultaneously has been solved, the security is high, high reliability.
In order to achieve the above purpose, the present invention adopts the following technical solution.
(one) a roadside vehicle prevents knocking into the back and collides early warning system when dodging the pedestrian, includes: the system comprises a pedestrian detection millimeter wave radar, a vehicle detection millimeter wave radar, a controller, an LED warning lamp and a voice device; the signal output ends of the pedestrian detection millimeter wave radar and the vehicle detection millimeter wave radar are respectively electrically connected with the signal input end of the controller, and the signal output end of the controller is respectively electrically connected with the LED warning lamp and the signal input end of the voice device.
Preferably, the pedestrian detection millimeter wave radar is installed at the side of a pedestrian crosswalk and used for detecting the position, the driving direction and the transverse driving speed of a pedestrian, as well as the distance from the pedestrian to the boundary of the danger area and the distance from the pedestrian to the boundary of the danger area;
the vehicle detection millimeter wave radar is arranged at a first preset distance in front of the pedestrian crossing and used for detecting the speed of a front vehicle, the speed of a rear vehicle, the longitudinal distance between the front vehicle and the rear vehicle, the length and the width of the front vehicle and the position of the rear vehicle;
the controller is installed at the side of a pedestrian road and used for presetting the transverse safety distance and the longitudinal safety distance of pedestrians, processing the information detected by the pedestrian detection millimeter wave radar and the vehicle detection millimeter wave radar and the preset information and determining corresponding collision risk information; wherein the collision risk information includes a pedestrian collision risk and a rear-end collision risk;
the LED warning lamp is installed in the center of a second preset distance of a road behind the pedestrian crossing, is away from the ground by a third preset distance, and is used for carrying out light warning on a driver in the front vehicle according to the collision risk information determined by the controller.
The voice device is installed at the side of a pedestrian crosswalk and used for carrying out voice reminding on pedestrians according to the collision risk information determined by the controller.
Preferably, the first preset distance is 30-80 meters.
Preferably, the second preset distance is 30-80 meters.
Preferably, the third preset distance is 3-6 meters.
(II) a method for early warning of rear-end collision prevention when a roadside vehicle concedes a pedestrian, comprising the following steps:
step 1, detecting the position, the driving direction and the transverse driving speed v of the pedestrian by a pedestrian detection millimeter wave radarp(ii) a Vehicle detection millimeter wave radar detects front vehicle speed v and rear vehicle speed vbDistance L between front and rear vehiclesbThe length L and the width D of the front vehicle, and the specific positions of the front vehicle and the rear vehicle; and calculating the longitudinal distance L between the front vehicle and the pedestrian according to the position information of the pedestrian and the vehiclef；
If the pedestrian detection millimeter wave radar detects that a pedestrian is about to enter the dangerous area, detecting the distance s of the pedestrian entering the boundary of the dangerous area; if the pedestrian is in the dangerous area, detecting the distance j of the pedestrian out of the boundary of the dangerous area;
step 2, transmitting parameter information acquired by the pedestrian detection millimeter wave radar and the vehicle detection millimeter wave radar to the controller, and presetting a pedestrian transverse safety distance e and a longitudinal safety distance b by the controller; the controller evaluates the pedestrian collision risk and the rear-end collision risk according to the acquired parameter information and preset parameter information;
and 3, determining corresponding early warning information of the LED warning lamp and the voice device by the controller according to the evaluated pedestrian collision risk and rear-end collision risk.
Preferably, in step 2, the method for evaluating the pedestrian collision risk includes:
(a) if the pedestrian is detected to be about to enter the dangerous area, calculating the time for the pedestrian to enter the dangerous area
And the time when the pedestrian leaves the dangerous area B after entering the dangerous area
If the pedestrian can pass through the danger zone before entering the danger zone, i.e. v x tA1＞L+Lf+2b, or the front vehicle entering the danger zone when the pedestrian leaves the danger zone, i.e. v x tA2＜LfThe pedestrian has no collision risk;
if v is tA1≤L+Lf+2b and v × tA2≤LfThe pedestrian can have collision risk;
(b) if the pedestrian is detected to be in the dangerous area, calculating the time for the pedestrian to leave the dangerous area
Calculating a risk value
If R is more than or equal to 0, the pedestrian has collision risk; if R is<0, there is no collision risk;
(c) if it is detected that the pedestrian is not in the danger zone and is walking away from the danger zone, the pedestrian is not at risk of collision.
Preferably, in step 2, the method for evaluating the risk of rear-end collision includes:
establishing a rear-end collision risk model by adopting a PATH algorithm, determining a risk value omega according to the rear-end collision risk model, and if omega is greater than 1, indicating that no rear-end collision risk exists; if omega is less than or equal to 1, the risk of rear-end collision exists.
Further preferably, in the rear-end collision risk model, the safe distance formula is as follows:
wherein d is0Distance compensation, vrelIs the relative speed of the front vehicle and the rear vehicle, a is the maximum deceleration of the two vehicles, and tau is the sum of the system delay time and the driving reaction time;
value of risk
Wherein d isbrAt a critical braking distance, i.e.
Preferably, step 3 specifically comprises:
if the pedestrian collides with the vehicle, the LED warning lamp is turned on to remind the driver of decelerating and stopping the vehicle, and meanwhile, the voice device sends out sound to remind the pedestrian of paying attention to the vehicle;
if the pedestrian has no risk of collision, when the rear-end collision has no risk, the LED warning lamp turns on a yellow lamp to remind the driver of decelerating to run; when the rear-end collision has the rear-end collision risk, the LED warning light is turned on to remind the driver of the front vehicle to directly pass through, and meanwhile, the voice device sends out sound to remind the pedestrian of paying attention to the vehicle.
Compared with the prior art, the beneficial effects of the utility model are that:
(1) the utility model discloses an among the trackside vehicle dodges pedestrian's man-hour collision early warning system of preventing knocking into the back, utilize pedestrian detection millimeter wave radar and vehicle detection millimeter wave radar to acquire parameter information, through the information that the controller set up in advance in to the information of acquireing and the controller handle and confirm pedestrian collision risk and the collision risk information of knocking into the back, pass through the LED warning light at last, speech device carries out hierarchical early warning to pedestrian and rear vehicle driver, this early warning system simple structure, the early warning mode is comprehensive, the safety of traveling when trackside vehicle dodges the pedestrian has been improved.
(2) The utility model discloses a trackside vehicle prevents knocking into the back collision early warning method when dodging the pedestrian has solved the problem that pedestrian collision and the collision risk of knocking into the back appear simultaneously, and the security is high, and the reliability is strong; and the evaluation methods of the pedestrian collision risk and the rear-end collision risk are determined, and the comprehensive consideration is given.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic diagram of a rear-end collision prevention early warning system for roadside vehicles to avoid pedestrians;
FIG. 2 is a schematic connection diagram of a rear-end collision avoidance early warning system for roadside vehicles to avoid pedestrians;
FIG. 3 is a diagram of an early warning mode of a rear-end collision avoidance early warning system for roadside vehicles to avoid pedestrians;
in fig. 1, 1 rear vehicle; 2, front vehicle; 3 vehicle detection millimeter wave radar; 4, a voice device; 5, detecting the millimeter wave radar by the pedestrian; 6, a controller; 7LED warning light.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to examples, but those skilled in the art will understand that the following examples are only for illustrating the present invention and should not be construed as limiting the scope of the present invention.
Referring to fig. 1-2, a roadside vehicle collision avoidance man-hour rear-end collision prevention early warning system includes: the system comprises a pedestrian detection millimeter wave radar 5, a vehicle detection millimeter wave radar 3, a controller 6, an LED warning lamp 7 and a voice device 4; wherein, pedestrian detection millimeter wave radar 5 and vehicle detection millimeter wave radar 3's signal output part respectively with the signal input part electricity of controller 6 is connected, the signal output part of controller 6 respectively with LED warning light 7 with the signal input part electricity of speech device 4 is connected.
Specifically, the pedestrian detection millimeter wave radar 5 is installed at the pedestrian crosswalk side for detecting the pedestrian position, the traveling direction, and the lateral traveling speed, as well as the distance at which the pedestrian enters the boundary of the danger area and the distance at which the pedestrian exits the boundary of the danger area.
The vehicle detection millimeter wave radar 3 is arranged at the position 50 meters ahead of the crosswalk and is used for detecting the speed of the front vehicle 2, the speed of the rear vehicle 1, the longitudinal distance between the front vehicle 2 and the rear vehicle 1, the length and the width of the front vehicle 2 and the position of the front vehicle 2 and the rear vehicle 1.
The controller 6 is installed at the side of a pedestrian road, one end of the controller is electrically connected with the pedestrian detection and vehicle detection millimeter wave radar 3 through a data interface, and the other end of the controller is electrically connected with the LED warning lamp 7 and the voice device 4 through an output data interface. The controller 6 is used for presetting transverse safety distance and longitudinal safety distance of pedestrians, processing information detected by the pedestrian detection millimeter wave radar 5 and the vehicle detection millimeter wave radar 3 and preset information, and determining corresponding collision risk information; wherein the collision risk information includes a pedestrian collision risk and a rear-end collision risk.
The LED warning lamp 7 is installed in the center of a road 50 meters behind the pedestrian crossing, is 4 meters away from the ground, and is used for carrying out light warning on a driver of the front vehicle 2 according to collision risk information determined by the controller 6.
The voice device 4 is installed at the side of the pedestrian crossing road and used for carrying out voice reminding on pedestrians according to the collision risk information determined by the controller 6.
(II) a method for early warning of rear-end collision prevention when a roadside vehicle concedes a pedestrian, comprising the following steps:
step 1, a pedestrian detection millimeter wave radar 5 detects the position, the driving direction and the transverse driving speed v of a pedestrianp. Vehicle detection millimeter wave radar 3 detects speed v of front vehicle 2 and speed v of rear vehicle 1bThe longitudinal distance L between the front vehicle 2 and the rear vehicle 1 (namely the distance between the front vehicle 1 and the rear vehicle)bThe length L and the width D of the front vehicle 2, and the specific position of the front vehicle 1 and the rear vehicle 1. Calculating the longitudinal distance L between the front vehicle 2 and the pedestrian according to the position information of the pedestrian and the vehiclef。
Dividing a pedestrian collision dangerous area B, and dividing and judging the area where the pedestrian is located according to the driving direction, wherein the area comprises an area A, a dangerous area B and an area C; the area A is a partial area where pedestrians are about to enter the dangerous area B; the area C is a partial area where the pedestrian is outside the dangerous area B and is leaving the dangerous area B. And if the pedestrian is detected to be about to enter the dangerous area B, calculating the distance s of the pedestrian entering the boundary of the dangerous area B, and if the pedestrian is in the dangerous area B, detecting the distance j of the pedestrian out of the boundary of the dangerous area B.
Step 2, parameter information obtained by the pedestrian detection millimeter wave radar 5 and the vehicle detection millimeter wave radar 3 is transmitted to the controller 6, and meanwhile, the controller 6 presets a pedestrian transverse safety distance e and a longitudinal safety distance b; the controller 6 evaluates the pedestrian collision risk X and the rear-end collision risk Y according to the acquired parameter information and preset parameter information, as follows:
(a) pedestrian impact risk assessment
Referring to fig. 1, if it is detected that a pedestrian is about to enter a dangerous area B from an area a, the time when the pedestrian is about to enter the dangerous area B is calculated
And the time when the pedestrian leaves the dangerous area B after entering the dangerous area B
If the leading vehicle 2 can pass through the danger zone B before the pedestrian enters the danger zone B, i.e. v x tA1＞L+Lf+2B, or the front vehicle 2 entering the danger zone B when the pedestrian leaves the danger zone B, i.e. v x tA2＜LfThen the pedestrian has no collision risk; if v is tA1≤L+Lf+2b and v × tA2≤LfThe pedestrian is at risk of collision.
If the pedestrian is detected to be in the dangerous area B, calculating the time for the pedestrian to leave the dangerous area B
Calculating a risk value
If R is more than or equal to 0, the pedestrian has collision risk; if R is<0, there is no collision risk.
If it is detected that the pedestrian is not in the danger zone B and is walking away from the danger zone B, i.e. when the pedestrian is in the zone C, the pedestrian is not at risk of collision.
(b) Rear-end collision risk assessment
The collision risk of rear-end collision 2 speed reductions of the main consideration front truck to rear truck 1, the utility model discloses a rear-end collision risk model adopts the PATH algorithm to establish, and the safe distance formula is:
wherein d is0Distance compensation, vrelIs the relative speed of the front vehicle 2 and the rear vehicle 1, a is the maximum deceleration of both vehicles, and τ is the sum of the system delay time and the driving reaction time.
According to the established rear-end collision risk model, the risk value is calculated
Wherein d isbrAt a critical braking distance, i.e.
If omega>1, no rear-end collision risk exists; if omega is less than or equal to 1, the risk of rear-end collision exists.
according to the early warning mode diagram of fig. 3, if the pedestrian collides (X) at risk, the LED warning light 7 lights up a red light to remind the driver to stop at a reduced speed, and the voice device 4 sends out a sound to remind the pedestrian to pay attention to the vehicle.
If the pedestrian collision (X) has no risk, and when the rear-end collision (Y) has no risk, the LED warning lamp 7 lights a yellow lamp to remind the driver of decelerating to run; when the rear-end collision (Y) has the rear-end collision risk, the LED warning lamp 7 is turned on to remind the driver of the front vehicle 2 to directly pass through, and meanwhile, the voice device 4 sends out sound to remind the pedestrian of paying attention to the vehicle.
Although the invention has been described in detail in this specification with reference to specific embodiments and illustrative embodiments, it will be apparent to those skilled in the art that certain changes and modifications can be made therein without departing from the scope of the invention. Therefore, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (6)
1. The utility model provides a trackside vehicle prevents knocking into the back and collides early warning system when dodging the pedestrian, its characterized in that includes: the system comprises a pedestrian detection millimeter wave radar, a vehicle detection millimeter wave radar, a controller, an LED warning lamp and a voice device; the signal output ends of the pedestrian detection millimeter wave radar and the vehicle detection millimeter wave radar are respectively electrically connected with the signal input end of the controller, and the signal output end of the controller is respectively electrically connected with the LED warning lamp and the signal input end of the voice device.
2. The system of claim 1, wherein the pedestrian detection millimeter wave radar is installed at the roadside of the pedestrian crossing for detecting the position, the driving direction and the transverse driving speed of the pedestrian, as well as the distance of the pedestrian entering the boundary of the danger area and the distance of the pedestrian exiting the boundary of the danger area;
the vehicle detection millimeter wave radar is arranged at a first preset distance in front of the pedestrian crossing and used for detecting the speed of a front vehicle, the speed of a rear vehicle, the longitudinal distance between the front vehicle and the rear vehicle, the length and the width of the front vehicle and the position of the rear vehicle;
the controller is installed at the side of a pedestrian road and used for presetting the transverse safety distance and the longitudinal safety distance of pedestrians, processing the information detected by the pedestrian detection millimeter wave radar and the vehicle detection millimeter wave radar and the preset information and determining corresponding collision risk information; wherein the collision risk information includes a pedestrian collision risk and a rear-end collision risk;
the LED warning lamp is arranged in the center of a second preset distance of a road behind the pedestrian crossing and is a third preset distance away from the ground, and the LED warning lamp is used for carrying out light warning on a driver in the front vehicle according to the collision risk information determined by the controller;
the voice device is installed at the side of a pedestrian crosswalk and used for carrying out voice reminding on pedestrians according to the collision risk information determined by the controller.
3. The roadside vehicle as claimed in claim 2, wherein the first preset distance is 30-80 meters.
4. The roadside vehicle as claimed in claim 2, wherein the second preset distance is 30-80 meters.
5. The roadside vehicle as claimed in claim 2, wherein the third predetermined distance is 3-6 meters.
6. The system of claim 2, wherein when the controller determines that a pedestrian is at risk for collision, the LED warning light is illuminated to remind the driver to stop at a reduced speed, and the voice device emits a sound to remind the pedestrian of paying attention to the vehicle;
when the controller determines that the pedestrian is not in risk of collision and when the rear-end collision is not in risk, the LED warning lamp turns on a yellow lamp for reminding the driver to decelerate; when the rear-end collision has the rear-end collision risk, the LED warning light is turned on green for reminding the driver of the front vehicle to directly pass through, and meanwhile, the voice device sends out sound to remind the pedestrian to notice the vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120752255.9U CN215117776U (en) | 2021-04-13 | 2021-04-13 | Anti-rear-end collision early warning system for roadside vehicle during pedestrian avoidance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120752255.9U CN215117776U (en) | 2021-04-13 | 2021-04-13 | Anti-rear-end collision early warning system for roadside vehicle during pedestrian avoidance |
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| Publication Number | Publication Date |
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| CN215117776U true CN215117776U (en) | 2021-12-10 |
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| CN202120752255.9U Expired - Fee Related CN215117776U (en) | 2021-04-13 | 2021-04-13 | Anti-rear-end collision early warning system for roadside vehicle during pedestrian avoidance |
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| CN (1) | CN215117776U (en) |
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2021
- 2021-04-13 CN CN202120752255.9U patent/CN215117776U/en not_active Expired - Fee Related
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Granted publication date: 20211210 |