WO2020064012A1 - 车辆的控制方法、系统及车辆 - Google Patents

车辆的控制方法、系统及车辆 Download PDF

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Publication number
WO2020064012A1
WO2020064012A1 PCT/CN2019/109523 CN2019109523W WO2020064012A1 WO 2020064012 A1 WO2020064012 A1 WO 2020064012A1 CN 2019109523 W CN2019109523 W CN 2019109523W WO 2020064012 A1 WO2020064012 A1 WO 2020064012A1
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WO
WIPO (PCT)
Prior art keywords
pedestrian
vehicle
projection
projection mode
area
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/109523
Other languages
English (en)
French (fr)
Inventor
刘羽飞
李琦
李明
安淑苗
安旺
樊鹏宇
温浩
应世明
董志强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Great Wall Motor Co Ltd
Original Assignee
Great Wall Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201811166851.8A external-priority patent/CN110371021B/zh
Priority claimed from CN201811166844.8A external-priority patent/CN110371110B/zh
Application filed by Great Wall Motor Co Ltd filed Critical Great Wall Motor Co Ltd
Priority to AU2019348096A priority Critical patent/AU2019348096B2/en
Priority to RU2021108513A priority patent/RU2771535C1/ru
Publication of WO2020064012A1 publication Critical patent/WO2020064012A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences

Definitions

  • the present invention relates to the technical field of automobiles, and in particular, to a method, system, and vehicle for controlling a vehicle.
  • cameras and sensors such as millimeter-wave radar can be used to identify pedestrians and road information. For example, when a pedestrian is detected in front, the corresponding pedestrian guidance sign is projected according to the road conditions.
  • the guidance sign After the guidance sign is projected, it may be caused by the driver ’s mistaken operation, such as using the accelerator as a brake, and pedestrians seeing that the pedestrian guidance sign is passing in priority, which may cause a traffic accident.
  • the present invention aims to propose a method for controlling a vehicle.
  • the vehicle control method can project a pedestrian instruction line when it is detected that a pedestrian passes in front of the vehicle and meets the projection conditions to guide the pedestrian to preferentially pass the road, thereby improving the safety of the vehicle and the pedestrian.
  • a vehicle control method includes the following steps: detecting whether there is a pedestrian in front of the vehicle; if so, judging whether the projection conditions are met according to the state of the vehicle; and if so, projecting a pedestrian instruction line to the area where the pedestrian is located to guide Pedestrians have priority.
  • speed limit control is performed on the vehicle to prevent the vehicle from accelerating.
  • the judging whether the projection conditions are met according to the state of the vehicle includes: judging whether to avoid pedestrians based on the vehicle speed and the acceleration of the vehicle; if yes, determining that the projection conditions are met.
  • determining whether to avoid a pedestrian based on the vehicle speed and the vehicle acceleration includes: determining whether the vehicle speed is less than a predetermined vehicle speed; if so, further determining whether the vehicle is in a decelerating state based on the vehicle acceleration; and if so, determining to avoid the vehicle. pedestrian.
  • the method further includes: receiving a projection mode set by a user, wherein the projection mode includes a positive projection mode, a passive projection mode, an inquiry projection mode, and a forbidden projection mode, wherein the active projection mode and the negative projection mode are In the projection mode or the inquiry projection mode, a pedestrian indicating line is projected to the area where the pedestrian is located in a corresponding projection mode.
  • the projection mode is a prohibited type, the pedestrian indicating line is not projected to the area where the pedestrian is located.
  • it further comprises: detecting whether the pedestrian is in a detection area; if yes, determining that the pedestrian has failed, continuing to project a pedestrian instruction line to the area where the pedestrian is located, and performing speed limit control on the vehicle To avoid vehicle acceleration; if the pedestrian is not in the detection area, it is determined that the pedestrian has passed, and the projection of a pedestrian indication line to the area where the pedestrian is located is stopped.
  • the method further includes: if there is, further detecting the vehicle speed and the vehicle acceleration; determining whether to avoid the pedestrian according to the vehicle speed and the vehicle acceleration; and if so, projecting to the area where the pedestrian is located Pedestrian directions to guide pedestrians to prioritize traffic.
  • the step of projecting a pedestrian instruction line to an area where the pedestrian is located to guide pedestrians to pass through preferentially includes: determining whether the distance between the pedestrian and the vehicle is within the projection range; and if so, changing according to the position of the pedestrian , Projecting a pedestrian crossing line across the road surface directly in front of the pedestrian to guide the pedestrian to pass preferentially.
  • the method further includes: according to the projection mode set by the user Pedestrian instruction lines are projected to the area where the pedestrian is located, where, when it is a positive projection mode, projection is performed when it is determined to avoid pedestrians, and when it is a negative projection mode, it is determined to avoid pedestrians and the number of projections is less than Projection is performed a predetermined number of times.
  • projection is performed after it is determined to avoid pedestrians and a response from the driver is received.
  • it is a prohibition projection mode projection is prohibited.
  • the projecting the pedestrian instruction line to the area where the pedestrian is located includes controlling the projected pedestrian instruction line to blink.
  • the method for controlling a vehicle of the present invention can project a pedestrian instruction line when it is detected that a pedestrian passes in front of the vehicle and meets the projection conditions to guide the pedestrian to preferentially pass the road, thereby improving the safety of the vehicle and the pedestrian.
  • the method can also control the speed limit of the vehicle at the same time, effectively avoiding the acceleration behavior of the vehicle caused by the wrong operation of the driver, and avoiding collision with pedestrians, thereby improving the safety of the vehicle and pedestrians.
  • a second object of the present invention is to provide a control system for a vehicle.
  • the system can project a pedestrian instruction line to detect pedestrians passing in front of the vehicle and meet the projection conditions to guide pedestrians to cross the road preferentially, thereby improving the safety of vehicles and pedestrians.
  • a vehicle control system includes a detection module for detecting whether there is a pedestrian in front of the vehicle, and a projection module for determining whether the projection conditions are met according to the vehicle state when the detection module detects a pedestrian in front of the vehicle, and In the projection condition, a pedestrian instruction line is projected to an area where the pedestrian is located, so as to guide the pedestrian to preferentially pass.
  • control module configured to perform speed limit control on the vehicle while the projection module projects a pedestrian instruction line to an area where the pedestrian is located, so as to avoid vehicle acceleration.
  • the projection module is configured to: determine whether to avoid a pedestrian according to the vehicle speed and the vehicle acceleration; if yes, determine that the projection conditions are met.
  • the projection module is configured to: determine whether the vehicle speed is less than a predetermined vehicle speed; if so, determine whether the vehicle is in a decelerating state according to the vehicle acceleration; if so, determine to avoid a pedestrian.
  • control module is further configured to detect whether the pedestrian is in a detection area, and if so, determine that the pedestrian has failed, and continue to project a pedestrian instruction line to the area where the pedestrian is located through the projection module, Speed control is performed on the vehicle to avoid vehicle acceleration. If the pedestrian is not in the detection area, it is determined that the pedestrian has passed, and projection to the area where the pedestrian is located is stopped by the projection module. Pedestrian instruction line.
  • a driving intention judging module configured to determine whether to avoid a pedestrian based on the vehicle speed and the vehicle acceleration when the detection module detects a pedestrian in front of the vehicle
  • the projection module is further configured to judge that the driving intention judging module is an avoidance.
  • a pedestrian instruction line is projected to the area where the pedestrian is located to guide the pedestrian to pass through with priority.
  • the projection module is configured to, when the distance between the pedestrian and the vehicle is within a projection range, project a pedestrian indicating line across the road surface to the front of the pedestrian according to a change in the position of the pedestrian, so as to Guide pedestrians first.
  • the projection module is further configured to project a pedestrian indication line to an area where the pedestrian is located according to the projection mode set by the user, wherein the projection mode includes a positive projection mode, a negative projection mode, and an inquiry projection.
  • Mode and forbidden projection mode in which, when the active projection mode is determined to avoid pedestrians, projection is performed, and when the negative projection mode is used, projection is performed when it is determined to avoid pedestrians and the number of projections is less than a predetermined number of times
  • the projection mode is inquiring type, projection is performed after it is determined to avoid pedestrians and a response from the driver is received.
  • the projection mode is prohibited, projection is prohibited.
  • the control system of the vehicle has the same advantages as the above-mentioned control method of the vehicle over the prior art, and is not repeated here.
  • a third object of the present invention is to provide a vehicle that can project a pedestrian instruction line when detecting that a pedestrian passes in front of the vehicle and meets the projection conditions to guide the pedestrian to pass the road preferentially, thereby improving the safety of the vehicle and the pedestrian.
  • a vehicle is provided with the vehicle control system according to any one of the above embodiments.
  • the vehicle and the control system of the vehicle have the same advantages over the prior art, and are not repeated here.
  • An embodiment of the third to fourth aspects of the present application discloses a computer-readable storage medium on which a control program for a vehicle is stored.
  • the control program for the vehicle is executed by a processor, the control of the vehicle according to the first aspect is implemented. method.
  • FIG. 1 is a flowchart of a method for controlling a vehicle according to an embodiment of the present invention
  • FIG. 2 is a projection manner of an indicator line when a right pedestrian crosses a road according to an embodiment of the present invention
  • FIG. 3 is a projection mode of a left pedestrian's indicating line when crossing a road according to an embodiment of the present invention
  • FIG. 5 is a schematic diagram of a left pedestrian indicating line when crossing a road according to an embodiment of the present invention.
  • FIG. 6 is an instruction line projection control logic according to an embodiment of the present invention.
  • FIG. 7 is a structural block diagram of a vehicle control system according to an embodiment of the present invention.
  • FIG. 8 is a flowchart of a method for controlling a vehicle according to another embodiment of the present invention.
  • FIG. 1 is a flowchart of a method for controlling a vehicle according to an embodiment of the present invention. As shown in FIG. 1, a method for controlling a vehicle according to an embodiment of the present invention includes the following steps:
  • S101 Detect whether there is a pedestrian in front of the vehicle.
  • the sensors for detecting pedestrians and the distance sensors installed on the vehicle can be used to detect whether there is a pedestrian in front of the vehicle, the position of the pedestrian in front of the vehicle and the distance between the pedestrian and the vehicle can be calculated by the corresponding algorithm, and the front can be detected by the sensor Are there any existing guides such as road signs and zebra crossings?
  • sensors for detecting pedestrians include, but are not limited to, cameras, millimeter wave radars, and laser radars.
  • ultrasonic radar can also be used to detect pedestrians under certain conditions.
  • the vehicle speed and vehicle acceleration are further detected to determine whether to avoid the pedestrian, and if so, it is determined to meet the projection condition.
  • the vehicle speed can be obtained by converting the wheel speed detected by the wheel speed sensor.
  • the vehicle speed can also be detected directly by the speed sensor.
  • Vehicle acceleration can be calculated based on real-time vehicle speed.
  • Judging whether to avoid pedestrians based on vehicle speed and vehicle acceleration includes: judging whether the vehicle speed is less than a predetermined vehicle speed; if so, judging whether the vehicle is decelerating according to the vehicle acceleration; if so, judging to avoid pedestrians.
  • the vehicle will accelerate and decelerate. If the driver's speed is too high and there is no obvious deceleration operation, that is, the vehicle acceleration is positive, it means that the driver does not want to To avoid pedestrians, that is, do not meet the projection conditions; if the driver's speed is low, such as less than the predetermined speed, and the vehicle acceleration is negative, it means that the driver intends to show courtesy to pedestrians at this time, then it is determined to meet the projection conditions.
  • the predetermined vehicle speed can be set to about 20 km / h in advance, that is, when the vehicle speed is high, such as higher than the predetermined vehicle speed, even if the vehicle acceleration is negative, it is likely that the driver does not want to show courtesy to pedestrians, and It is appropriate to slow down. Therefore, only when the vehicle speed is low and the vehicle acceleration is negative, it is very likely that the driver intentionally courtesy pedestrians.
  • the driver will project a pedestrian indication line only if the driver intentionally courtesy the pedestrian. Therefore, in a specific example, after the vehicle determines that the driver intentionally politely meets the projection conditions, it can further determine whether the distance between the pedestrian and the vehicle is within the projection range, and if so, according to the change in the pedestrian's position, Directly forward the pedestrian crossing line across the road to guide pedestrians to give priority to traffic. That is, when the distance between the pedestrian and the vehicle is within the projection range (such as 10 meters), it means that the vehicle is relatively close to the pedestrian. Of course, 10 meters is only exemplary, and does not limit the protection scope of the present invention.
  • the projection of the indication line needs to project to the area where the pedestrian is located according to the projection mode set by the user.
  • the projection modes include active projection mode, passive projection mode, interrogation projection mode, and prohibited projection mode.
  • the projection mode is active In the passive projection mode or the query projection mode, the pedestrian indication line is projected to the area where the pedestrian is located in the corresponding projection mode.
  • the projection mode is prohibited, the pedestrian indication line is not projected to the area where the pedestrian is located.
  • projection is performed when the driver intends to avoid pedestrians, that is, the projection conditions are met
  • the driver performs projection when the driver intends to avoid pedestrians and the number of projections is less than a predetermined number of times.
  • Projection when in the inquiry type projection mode, performs projection after the driver intends to avoid pedestrians and receives a response from the driver to agree to projection, and when the projection mode is prohibited, the projection is prohibited.
  • the control logic of the indication line projection is as follows: when the driver sets the projection mode to active, as long as the function is turned on and the trigger condition is met, pedestrians will be guided by the indication line; when the projection mode is negative, the In this driving, from start to stop, even if the function is turned on, only a limited number of projections are performed when the trigger conditions are met, for example: set the predetermined number of projections to n and the first n times to meet the trigger conditions for projection , After the number of projections exceeds n times, this function is turned off; when the driver sets the projection mode to the inquiry type, each time it is determined that the trigger condition is met, the voice query or the question on the monitor is used to ask the driver whether to perform projection and The driver's answer is projected; when the projection mode is prohibited, neither projection nor inquiry is performed.
  • the triggering conditions are: the vehicle speed is lower than the predetermined speed and the vehicle is decelerating; a pedestrian is detected in front of the vehicle and the distance between the pedestrian and the vehicle is within the projection range; the projection mode set by the driver is not a prohibited type.
  • a pedestrian instruction line is projected to guide the pedestrian to preferentially pass the road, thereby improving the safety of the vehicle and the pedestrian.
  • the method may further include:
  • S104 While projecting the pedestrian indication line to the area where the pedestrian is located, perform speed limit control on the vehicle to prevent the vehicle from accelerating.
  • the indication line must also be adjusted accordingly to ensure that it is always in front of the pedestrian until the pedestrian leaves the projection range.
  • the specific control strategy according to the vehicle control method is as follows: As shown in Figure 2, when a pedestrian When P1 walks into the camera field of view of vehicle 2 from the right side, in order to avoid pedestrians decelerating and stopping, the driver makes the speed lower than the predetermined speed, for example, the predetermined speed is 20km / h. At this time, the vehicle is decelerated according to the vehicle acceleration, and the pixel is large. The lights L1 and L2 project the pedestrian guideline 3 to the front of the pedestrian and indicate the direction.
  • the pedestrian line 3 indicates the direction of the pedestrian P1 to the left, indicating that the vehicle is polite to the pedestrian at this time.
  • the driver's intention of the driver first is used as a kind of visual human-vehicle interaction. During this period, until the pedestrian safely passes the road ahead, speed limit control is performed on the vehicle to prevent the vehicle from accelerating; but if the driver's speed is not low at this time At the predetermined speed, or after the camera detects a pedestrian, the driver has no obvious deceleration operation, which means that the driver is not at this time. Let pedestrians driving intention, at this time is not in line with the projection conditions, the vehicle will not be projected.
  • the vehicle control method can project corresponding directions according to the travel directions of pedestrians on both sides of the road, projecting directions for pedestrians walking to the left on the right, and projecting directions for pedestrians on the left to the right.
  • Direction of walking directions In the future, this function can also be used to visualize the human-car interaction of autonomous vehicles.
  • the autonomous vehicle detects that a pedestrian is crossing the road in front of it. At this time, the autonomous vehicle decelerates to a stop and projects a pedestrian instruction line to inform pedestrians of the automatic movement at this time.
  • Driving a vehicle is polite to pedestrians, guiding pedestrians to cross the road in a timely manner, and simultaneously controlling the speed limit of the vehicle.
  • the projection method of the indication line is dynamic projection.
  • the indication lines are sequentially turned off in the order of 1 to 8, that is, the number 2 is about to go out at the same time as the number 2
  • the time interval between the order line lights up in sequence is, but not limited to, 0.5 seconds.
  • the order in which the lines are lit is: 2345678 ⁇ 1345678 ⁇ 1245678 ⁇ 1235678 ⁇ 1234678, that is, the pedestrian indicating line that controls the projection flashes.
  • the pedestrian instruction line is continuously projected to the area where the pedestrian is located, and the vehicle is subjected to speed limit control to avoid the vehicle. Accelerate; if the pedestrian is not in the detection area, it is determined that the pedestrian has passed, and at this time, the projection of the pedestrian indication line to the pedestrian's area is stopped.
  • the speed limit control of the vehicle can also be cancelled, that is, the vehicle can perform normal acceleration and deceleration operations.
  • a pedestrian instruction line is projected to guide the pedestrian to preferentially pass the road, and at the same time, the vehicle is limited in speed, which effectively avoids driver error
  • the acceleration behavior of the vehicle caused by the operation avoids collision with pedestrians, thereby improving the safety of the vehicle and pedestrians.
  • a method for controlling a vehicle includes the following steps:
  • S801 Detect whether there is a pedestrian in front of the vehicle.
  • the vehicle speed and vehicle acceleration are further detected.
  • the vehicle speed can be obtained by converting the wheel speed detected by the wheel speed sensor.
  • the vehicle speed can also be detected directly by the speed sensor.
  • Vehicle acceleration can be calculated based on real-time vehicle speed.
  • S803 Determine whether to avoid pedestrians based on vehicle speed and vehicle acceleration.
  • determining whether to avoid a pedestrian based on the vehicle speed and the vehicle acceleration includes: determining whether the vehicle speed is less than a predetermined vehicle speed; if so, further determining whether the vehicle is in a decelerating state based on the vehicle acceleration; if so, determining to avoid a pedestrian.
  • the vehicle will accelerate and decelerate. If the driver's speed is too high and there is no obvious deceleration operation, that is, the vehicle acceleration is positive, it means that the driver does not want to Avoid pedestrians; if the driver's speed is low, such as less than the predetermined speed, and the vehicle acceleration is negative, it means that the driver intends to be polite to pedestrians at this time.
  • the predetermined vehicle speed can be set to about 20 km / h in advance, that is, when the vehicle speed is high, such as higher than the predetermined vehicle speed, even if the vehicle acceleration is negative, it is likely that the driver does not want to show courtesy to pedestrians, and It is appropriate to slow down. Therefore, only when the vehicle speed is low and the vehicle acceleration is negative, it is very likely that the driver intentionally courtesy pedestrians.
  • the driver will project a pedestrian indication line only if the driver intentionally courtesy the pedestrian. Therefore, in a specific example, first determine whether the distance between the pedestrian and the vehicle is within the projection range; if so, according to the change of the pedestrian's position, project a pedestrian indicating line across the road to the front of the pedestrian to guide the pedestrian Priority. That is, when the distance between the pedestrian and the vehicle is within the projection range (such as 10 meters), it means that the vehicle is relatively close to the pedestrian. Of course, 10 meters is only exemplary and is not a limitation of the protection scope of the present invention.
  • the instruction line will be projected directly in front of the pedestrian.
  • the instruction will be given due to the movement of the vehicle.
  • the line will also be adjusted accordingly to ensure that it is always in front of the pedestrian until the pedestrian leaves the projection range.
  • the driver cannot artificially accelerate the vehicle. Unless the driver manually turns off this function, normal acceleration and deceleration can be performed. operating.
  • the projection of the indication line needs to project to the area where the pedestrian is located according to the projection mode set by the user.
  • the projection modes include a positive projection mode, a passive projection mode, an inquiry projection mode, and a forbidden projection mode.
  • the active type In the projection mode projection is performed when it is determined to avoid pedestrians.
  • it is a negative projection mode projection is performed when it is determined to avoid pedestrians and the number of projections is less than a predetermined number of times.
  • it is determined to be an inquiry projection mode it is determined to be Avoid pedestrians and perform projection after receiving the driver's response.
  • the projection mode is prohibited, projection is prohibited.
  • Figure 6 shows the control logic of the vehicle control method, that is, when the driver sets the projection mode to positive, as long as the function is turned on and the trigger condition is met, pedestrians will be guided by the instruction line; when the projection mode is negative, In this drive, from start to stop, even if the function is turned on, only a limited number of projections are performed when the trigger condition is met, for example: set the predetermined projection number to n times, and the first n times to meet the trigger conditions When projection is performed, the function will be turned off after the number of projections exceeds n.
  • the driver sets the projection mode to inquiring, each time it is determined that the trigger condition is met, the driver will be asked by voice or by a question on the monitor. Projection is performed according to the driver's answer; when the projection mode is prohibited, no projection or inquiry will be performed.
  • the triggering conditions are: the vehicle speed is lower than the predetermined speed and the vehicle is decelerating; a pedestrian is detected in front of the vehicle and the distance between the pedestrian and the vehicle is within the projection range; the projection mode set by the driver is not a prohibited type.
  • the projection method of the pedestrian's instruction line when crossing the road on the right side is shown.
  • the following control strategy is executed: As shown in FIG. 2, when the pedestrian P1 walks into the camera field of view of the vehicle 2 from the right side, the driver slows down to a predetermined speed in order to avoid the pedestrian decelerating and stopping, for example, the predetermined speed It is 20km / h. At this time, the vehicle is in a decelerating state according to the vehicle acceleration.
  • the pixel headlights L1 and L2 project the pedestrian guideline 3 to the front of the pedestrian and indicate the direction, as shown in FIG. 2 3 indicates the direction of pedestrian P1 walking to the left, indicating that the vehicle is polite to the pedestrian at this time, and the driver's intention of the driver first is used as a kind of visual human-vehicle interaction.
  • the pedestrian is prohibited to cross the road ahead, and the driver is prohibited Operate the vehicle to accelerate until normal pedestrians pass the road ahead or the driver manually turns off this function to perform normal acceleration / deceleration If the driver's speed at this time is not lower than the predetermined speed, or the driver does not have a noticeable deceleration operation after the pedestrian is detected by the camera, it means that the driver did not show courteous intention to the pedestrian at this time. If the trigger condition is met, the vehicle will not project.
  • the vehicle control method can project corresponding directions according to the travel directions of pedestrians on both sides of the road, projecting directions for pedestrians walking to the left on the right, and projecting directions for pedestrians on the left to the right.
  • Direction of walking directions In the future, this function can also be used to visualize the human-car interaction of autonomous vehicles.
  • the autonomous vehicle detects that a pedestrian is crossing the road in front of it. At this time, the autonomous vehicle decelerates to a stop and projects a pedestrian instruction line to inform pedestrians of the automatic movement at this time.
  • Driving vehicles are polite to pedestrians, guiding them to cross the road in a timely manner.
  • the projection method of the indication line is dynamic projection.
  • the indication lines can be sequentially turned off in the order of 1 to 8, that is, at the same time that the indication line 1 is about to go out 2
  • the indication line lights up, and so on, and the indication line lights up sequentially according to the direction of pedestrians to indicate the pedestrians to go forward.
  • the time interval for the order line to light up sequentially is, but not limited to, 0.5 seconds.
  • the order in which the indication lines are lit is: 2345678 ⁇ 1345678 ⁇ 1245678 ⁇ 1235678 ⁇ 1234678, that is, the pedestrian indication line that controls the projection flashes.
  • the method for controlling a vehicle it is possible to determine whether a driver is willing to court a pedestrian by detecting the speed of the vehicle and the acceleration of the vehicle, and project a pedestrian instruction line when the driver is willing to court a pedestrian, so as to guide the pedestrian in front of the vehicle to preferentially pass the road , Thereby improving the safety of vehicles and pedestrians.
  • FIG. 7 is a structural block diagram of a vehicle control system according to an embodiment of the present invention.
  • a vehicle control system 700 according to an embodiment of the present invention includes a detection module 710 and a projection module 720.
  • the detection module 710 is used to detect whether there is a pedestrian in front of the vehicle; the projection module 720 is used to determine whether the projection condition is met according to the vehicle state when the detection module 710 detects a pedestrian in front of the vehicle, and when the projection condition is met, to the pedestrian Pedestrian lines are projected in the area to guide pedestrians to give priority to traffic.
  • the vehicle control system 700 may further include a control module 730 configured to perform speed limit control on the vehicle while the projection module 720 projects a pedestrian instruction line to an area where the pedestrian is located to avoid the vehicle from accelerating.
  • the projection module 720 is configured to: determine whether to avoid a pedestrian according to the vehicle speed and the vehicle acceleration; if yes, determine that the projection conditions are met.
  • the projection module 720 is configured to: determine whether the vehicle speed is less than a predetermined vehicle speed; if so, further determine whether the vehicle is in a decelerating state according to the vehicle acceleration; if so, determine to avoid pedestrians.
  • control module 730 is further configured to detect whether a pedestrian is in a detection area. If so, it is determined that the pedestrian has failed, and the projection module 720 continues to project a pedestrian instruction line to the area where the pedestrian is located, and The vehicle performs speed limit control to prevent the vehicle from accelerating. If the pedestrian is not in the detection area, it is determined that the pedestrian has passed, and the projection module 720 stops projecting the pedestrian instruction line to the area where the pedestrian is located.
  • a pedestrian instruction line is projected to guide the pedestrian to preferentially pass the road, and the vehicle is also speed-limited to effectively avoid driver error.
  • the acceleration behavior of the vehicle caused by the operation avoids collision with pedestrians, thereby improving the safety of the vehicle and pedestrians.
  • a driving intention determination module (not shown in FIG. 7), configured to determine whether to avoid a pedestrian according to the vehicle speed and the vehicle acceleration when the detection module detects a pedestrian in front of the vehicle.
  • the projection module is further configured to, when the driving intention determination module judges to avoid a pedestrian, project a pedestrian instruction line to an area where the pedestrian is located, so as to guide the pedestrian to preferentially pass.
  • the projection module is configured to project across a road surface directly in front of the pedestrian according to a change in the position of the pedestrian when the distance between the pedestrian and the vehicle is within a projection range.
  • Pedestrian guidance line to guide pedestrians to prioritize traffic.
  • the projection module is further configured to project a pedestrian indication line to an area where the pedestrian is located according to the projection mode set by a user, wherein the projection mode includes a positive projection mode and a negative type.
  • the projection mode, the inquiry projection mode, and the prohibited projection mode when the projection mode is positive, the projection is performed when it is determined to avoid pedestrians, and when the projection mode is negative, it is determined to be pedestrian and the number of projections. Projection is performed when less than a predetermined number of times. When it is an inquiring projection mode, projection is performed after it is determined to avoid pedestrians and a response from the driver is received. When the projection mode is prohibited, projection is prohibited.
  • the vehicle control system it is possible to determine whether a driver is willing to court a pedestrian by detecting vehicle speed and vehicle acceleration, and project a pedestrian instruction line when the driver is willing to court a pedestrian, so as to guide a pedestrian in front of the vehicle to preferentially pass the road , Thereby improving the safety of vehicles and pedestrians.
  • an embodiment of the present invention discloses a vehicle provided with a vehicle control system as in any one of the above embodiments.
  • the vehicle can project a pedestrian instruction line when it is detected that a pedestrian passes in front of the vehicle and meets the projection conditions to guide the pedestrian to preferentially cross the road, and simultaneously control the speed limit of the vehicle, effectively avoiding the driver's misoperation and the acceleration behavior of the vehicle. Collisions with pedestrians increase vehicle and pedestrian safety.
  • an embodiment of the present application discloses a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the method for controlling a vehicle according to any one of the foregoing embodiments is implemented.
  • any process or method description in the flowchart or otherwise described herein can be understood as indicating that it includes one or more steps for implementing a specific logical function or process Module, fragment or part of the code of an executable instruction, and the scope of the preferred embodiment of the present application includes additional implementations, which may not be in the order shown or discussed, including in a substantially simultaneous manner according to the functions involved Or perform the functions in the reverse order, which should be understood by those skilled in the art to which the embodiments of the present application belong.
  • Logic and / or steps represented in a flowchart or otherwise described herein, for example, a sequenced list of executable instructions that may be considered to implement a logical function, may be embodied in any computer-readable medium, For use by, or in combination with, an instruction execution system, device, or device (such as a computer-based system, a system that includes a processor, or another system that can fetch and execute instructions from an instruction execution system, device, or device) Or equipment.
  • a "computer-readable medium” may be any device that can contain, store, communicate, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device.
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Abstract

一种车辆（2）的控制方法、系统及车辆（2），其中，车辆（2）的控制方法，包括以下步骤：检测车辆（2）前方是否有行人（P1）；如果是有，则根据车辆（2）状态判断是否符合投影条件；如果是，则向行人（P1）所在的区域投射行人指示线（3），以引导行人（P1）优先通行；在向行人（P1）所在的区域投射行人指示线（3）的同时，对车辆（2）进行限速控制，以避免车辆（2）加速，该车辆（2）的控制方法可以在检测到车辆（2）前方有行人（P1）通过且符合投影条件时投射行人指示线（3）以引导行人（P1）优先通过马路，并同时对车辆（2）进行限速控制，从而提升了车辆（2）和行人（P1）的安全。

Description

车辆的控制方法、系统及车辆
相关申请的交叉引用
本申请要求长城汽车股份有限公司于2018年09月30日提交的、发明名称为“车辆的控制方法、系统及车辆”的、中国专利申请号为“201811166844.8”的优先权，以及长城汽车股份有限公司于2018年09月30日提交的、发明名称为“行人指示线的投影方法、系统及车辆”的、中国专利申请号为“201811166851.8”的优先权。
技术领域
本发明涉及汽车技术领域，特别涉及一种车辆的控制方法、系统及车辆。
背景技术
当在无交通标识、引导线、斑马线的交通路口，或者在普通的公路上，通常驾驶员的行驶意图不能被周围的行人所明白，有时，驾驶员的礼让行为不容易被行人及时地察觉到，因此可能会造成由于行人和车辆抢道而导致车祸，或者发生交通阻塞等问题。
相关技术中，可以通过摄像头或毫米波雷达等传感器来识别行人和道路信息等，例如：当检测到前方有行人时，便依据道路情况投射相应的行人引导标识，但是，存在以下问题：当行人引导标识被投射后，可能由于驾驶员的误操作，例如：将油门当做刹车，而行人看到行人引导标识正在优先通行，因此，可能造成交通事故。
发明内容
有鉴于此，本发明旨在提出一种车辆的控制方法。该车辆的控制方法可以在检测到车辆前方有行人通过且符合投影条件时投射行人指示线以引导行人优先通过马路，从而提升了车辆和行人的安全。
为达到上述目的，本发明的技术方案是这样实现的：
一种车辆的控制方法，包括以下步骤：检测车辆前方是否有行人；如果是有，则根据车辆状态判断是否符合投影条件；如果是，则向所述行人所在的区域投射行人指示线，以引导行人优先通行。
进一步的，在向所述行人所在的区域投射行人指示线的同时，对所述车辆进行限速控制，以避免车辆加速。
进一步的，所述根据车辆状态判断是否符合投影条件，包括：根据车速和车辆加速度判断是否避让行人；如果是，则判定符合所述投影条件。
进一步的，所述根据车速和车辆加速度判断是否避让行人，包括：判断所述车速是否小于预定车速；如果是，则进一步根据所述车辆加速度判断车辆是否为减速状态；如果是，则判定为避让行人。
进一步的，还包括：接收用户设置的投影模式，其中，所述投影模式包括积极型投影模式、消极型投影模式、询问型投影模式和禁止型投影模式，其中，当为积极型投影模式、消极型投影模式或询问型投影模式时，以相应的投影方式向所述行人所在的区域投射行人指示线，当为禁止型投影模式时，不向所述行人所在的区域投射行人指示线。
进一步的，还包括：检测所述行人是否处在检测区域内；如果是，则判定所述行人未通过，继续向所述行人所在的区域投射行人指示线，并对所述车辆进行限速控制，以避免车辆加速；如果所述行人没有处在所述检测区域内，则判定所述行人已通过，停止向所述行人所在的区域投射行人指示线。
进一步的，在检测车辆前方是否有行人之后，还包括：如果有，则进一步检测车速和车辆加速度；根据所述车速和车辆加速度判定是否避让行人；如果是，则向所述行人所在的区域投射行人指示线，以引导行人优先通行。
进一步的，所述向行人所在的区域投射行人指示线，以引导行人优先通行，包括：判断所述行人与车辆之间的距离是否位于投影范围内；如果是，则根据所述行人的位置变化，向所述行人的正前方投射横穿路面的行人指示线，以引导行人优先通行。
进一步的，在接收用户设置的投影模式，其中，所述投影模式包括积极型投影模式、消极型投影模式、询问型投影模式和禁止型投影模式之后，还包括：根据用户设置的所述投影模式向所述行人所在的区域投射行人指示线，其中，当为积极型投影模式，则在判定为避让行人时便进行投影，当为消极型投影模式时，则在判定为避让行人且投影次数小于预定次数时进行投影，当为询问型投影模式时，则在判定为避让行人且收到驾驶员的应答后进行投影，当为禁止型投影模式时，则禁止投影。
进一步的，其特征在于，所述向行人所在的区域投射行人指示线，包括：控制所述投射的行人指示线闪烁。
本发明的车辆的控制方法，可以在检测到车辆前方有行人通过且符合投影条件时投射行人指示线以引导行人优先通过马路，从而提升了车辆和行人的安全。
此外，该方法还可以同时对车辆进行限速控制，有效避免驾驶员误操作而导致车辆的加速行为，避免与行人发生碰撞，从而提升了车辆和行人的安全。
本发明的第二个目的在于提出一种车辆的控制系统。该系统可以在检测到车辆前方有行人通过且符合投影条件时投射行人指示线以引导行人优先通过马路，从而提升了车辆和行人的安全。
为达到上述目的，本发明的技术方案是这样实现的：
一种车辆的控制系统，包括：检测模块，用于检测车辆前方是否有行人；投影模块，用于在所述检测模块检测车辆前方有行人时，根据车辆状态判断是否符合投影条件，并在符合所述投影条件时，向所述行人所在的区域投射行人指示线，以引导行人优先通行。
进一步的，还包括：控制模块，用于在所述投影模块向所述行人所在的区域投射行人指示线的同时，对所述车辆进行限速控制，以避免车辆加速。
进一步的，所述投影模块用于：根据车速和车辆加速度判断是否避让行人；如果是，则判定符合所述投影条件。
进一步的，所述投影模块用于：判断所述车速是否小于预定车速；如果是，则进一步根据所述车辆加速度判断车辆是否为减速状态；如果是，则判定为避让行人。
进一步的，所述控制模块还用于检测所述行人是否处在检测区域内，如果是，则判定所述行人未通过，通过所述投影模块继续向所述行人所在的区域投射行人指示线，并对所述车辆进行限速控制，以避免车辆加速，如果所述行人没有处在所述检测区域内，则判定所述行人已通过，通过所述投影模块停止向所述行人所在的区域投射行人指示线。
进一步的，还包括：驾驶意图判断模块，用于在所述检测模块检测车辆前方有行人时，根据车速和车辆加速度判断是否避让行人，所述投影模块还用于在驾驶意图判断模块判断为避让行人时，向所述行人所在的区域投射行人指示线，以引导行人优先通行。
进一步的，所述投影模块用于在所述行人与车辆之间的距离位于投影范围内时，根据所述行人的位置变化，向所述行人的正前方投射横穿路面的行人指示线，以引导行人优先通行。
进一步的，所述投影模块还用于根据用户设置的所述投影模式向所述行人所在的区域投射行人指示线，其中，所述投影模式包括积极型投影模式、消极型投影模式、询问型投影模式和禁止型投影模式，其中，当为积极型投影模式，则在判定为避让行人时便进行投影，当为消极型投影模式时，则在判定为避让行人且投影次数小于预定次数时进行投影，当为询问型投影模式时，则在判定为避让行人且收到驾驶员的应答后进行投影，当为禁止型投影模式时，禁止投影。
所述的车辆的控制系统与上述的车辆的控制方法相对于现有技术所具有的优势相同，在此不再赘述。
本发明的第三个目的在于提出一种车辆，该车辆可以在检测到车辆前方有行人通过且符合投影条件时投射行人指示线以引导行人优先通过马路，从而提升了车辆和行人的安全。
为达到上述目的，本发明的技术方案是这样实现的：
一种车辆，设置有如上述任意一个实施例所述的车辆的控制系统。
所述的车辆与上述的车辆的控制系统相对于现有技术所具有的优势相同，在此不再赘述。
本申请的第三四方面的实施例公开了一种计算机可读存储介质，其上存储有车辆的控制程序，该车辆的控制程序被处理器执行时实现上述第一方面所述的车辆的控制方法。
本申请的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
构成本发明的一部分的附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1为本发明一个实施例所述的车辆的控制方法的流程图；
图2为本发明一个实施例所述的右侧行人在过马路时指示线的投影方式；
图3为本发明一个实施例所述的左侧行人在过马路时指示线的投影方式；
图4为本发明一个实施例所述的两侧行人在过马路时指示线的投影方式；
图5为本发明一个实施例所述的左侧行人在过马路时指示线的示意图；
图6为本发明一个实施例所述的指示线投影控制逻辑；
图7为本发明一个实施例所述的车辆的控制系统的结构框图；
图8为本发明另一个实施例所述的车辆的控制方法的流程图。
具体实施方式
需要说明的是，在不冲突的情况下，本发明中的实施例及实施例中的特征可以相互组合。
下面将参考附图并结合实施例来详细说明本发明。图1是根据本发明一个实施例的车辆的控制方法的流程图。如图1所示，根据本发明一个实施例的车辆的控制方法，包括如下步骤：
S101：检测车辆前方是否有行人。
可以通过设置在车辆上的用于检测行人的传感器以及距离传感器检测车辆前方是否有行人，通过相应的算法计算得到车前的行人的位置以及行人与车辆之间的距离，并且可以通过传感器检测前方是否有道路标志、斑马线等已有的引导线。
其中，用于检测行人的传感器包括但不限于：摄像头，毫米波雷达、激光雷达。当然，超声波雷达在特定条件下也可用于检测行人。
S102：如果是有，则根据车辆状态判断是否符合投影条件。
在具体的示例中，当检测到车辆前方有行人后，进一步检测车速和车辆加速度判断是否避让行人，如果是，则判定符合投影条件。
其中，车速可以通过轮速传感器检测到的车轮转速换算得到，当然，也可以直接通过速度传感器检测车速。车辆加速度可以根据实时的车速计算得到。
需要说明的是，当车辆加速行驶时，车辆加速度为正，当车辆减速行驶时，车辆加速度为负。
根据车速和车辆加速度判断是否避让行人，包括：判断车速是否小于预定车速；如果是，则进一步根据车辆加速度判断车辆是否为减速状态；如果是，则判定为避让行人。
应当理解，驾驶员在控制刹车及油门踏板时，车辆会产生加减速过程，如果驾驶员的车速过高，而且也没有明显的减速操作，即车辆加速度为正，则说明此时驾驶员并非想要避让行人，即不符合投影条件；如果驾驶员的车速较低，如小于预定车速，而且车辆加速度为负，则说明此时驾驶员意图礼让行人，这时，则判定符合投影条件。
需要说明的是，预定车速可以预先设置为20千米/小时左右，即：当车速较高，如高于预定车速的情况下，即使车辆加速度为负，很可能也是驾驶员不想礼让行人，而是适当的减速通过。因此，只有在车速较低并且车辆加速度为负的情况下，极大的可能是驾驶员有意礼让行人。
S103：如果是，则向行人所在的区域投射行人指示线，以引导行人优先通行。
通常，车辆在接近行人的时候，如果驾驶员有意礼让行人，才会投射行人指示线。因此，在具体示例中，在车辆判定驾驶员有意礼让行人即符合投影条件后，可进而判断行人与车辆之间的距离是否位于投影范围内，如果是，则根据行人的位置变化，向行人的正前方投射横穿路面的行人指示线，以引导行人优先通行。即：行人与车辆之间的距离位于投影范围内(如10米)时，说明车辆相对接近行人。当然，10米仅是示例性的，并不是对本发明保护范围的限制。
另外，指示线的投影需要根据用户设置的投影模式向行人所在的区域进行投影，投影 模式包括积极型投影模式、消极型投影模式、询问型投影模式和禁止型投影模式，当为积极型投影模式、消极型投影模式或询问型投影模式时，以相应的投影方式向行人所在的区域投射行人指示线，当为禁止型投影模式时，则不向行人所在的区域投射行人指示线。
其中，当为积极型投影模式，则在驾驶员意图为避让行人即符合投影条件时便进行投影，当为消极型投影模式时，则在驾驶员意图为避让行人且投影次数小于预定次数时进行投影，当为询问型投影模式时，则在驾驶员意图为避让行人且收到驾驶员的同意投影的应答后进行投影，当为禁止型投影模式时，则禁止投影。
如图6所示为指示线投影控制逻辑，即：当驾驶员设置投影模式为积极型时，只要功能开启，符合触发条件，行人都会被指示线引导；当投影模式为消极型时，则在本次驾驶中，从启动到停车的过程中，即使功能开启，在符合触发条件时，也仅进行有限次数的投影，例如：设置预定投影次数为n次，符合触发条件的前n次进行投影，投影次数超过n次后就关闭此功能；当驾驶员设置投影模式为询问型时，则在每次判断符合触发条件时，语音询问或者以显示器提问的方式询问驾驶员是否进行投影，并根据驾驶员的回答进行投影；当投影模式为禁止型，则不会进行投影也不会进行询问。
其中，触发条件为：车速低于预定车速且车辆处于减速状态；检测到车辆前方有行人且行人与车辆的距离位于投影范围内；驾驶员设置的投影模式不是禁止型。
根据本发明实施例的车辆的控制方法，可以在检测到车辆前方有行人通过且符合投影条件时投射行人指示线以引导行人优先通过马路，从而提升了车辆和行人的安全。
进一步地，结合图1所示，该方法还可以包括：
S104：在向行人所在的区域投射行人指示线的同时，对车辆进行限速控制，以避免车辆加速。
在向行人所在的区域投射行人指示线时，说明车辆指示行人优先通过，这时，对车辆进行限速控制，避免车辆因加速而冲撞行人，发生危险。
可以理解，在车辆以限定速度缓慢前行的过程中，由于车辆的移动，指示线也要做相应的调整，以保证始终在行人的正前方，直到行人脱离投影范围。
当车辆传感器未发现前方道路有但不限于斑马线、道路标志、行人引导线等，且设置投影模式为积极型时，根据车辆的控制方法，具体的控制策略如下：如图2所示，当行人P1从右侧走入车辆2的摄像头视野中时，驾驶员为了避让行人减速停车使速度低于预定车速，例如预定车速为20km/h，此时根据车辆加速度得到车辆处于减速状态，则像素大灯L1和L2投射引导行人过马路的指示线3至行人的正前方，并标明方向，如图2中所示指示线3为行人P1标明向左行走的方向，指示行人此时车辆正在礼让行人，行人先行的驾驶员意 图，用作一种可视化的人车交互，在此期间直到行人安全通过前方道路，对车辆进行限速控制，避免车辆加速；但是如果驾驶员此时的车速并未低于预定车速，或者摄像头在检测到行人后，驾驶员没有明显的减速操作，则表示驾驶员此时并无礼让行人的驾驶意图，则此时是不符合投影条件的，车辆不会进行投影。
如图3和图4所示，车辆的控制方法可根据道路两侧行人的行进方向投影出相应的指示线方向，为右侧行人投射向左行走的指示线方向，为左侧行人投射向右行走的指示线方向。未来此功能也可用于自动驾驶车辆的可视化人车交互，自动驾驶的车辆行驶前方检测到行人正在过马路，此时的自动驾驶车辆则减速停车，投射出行人指示线，告知行人此时的自动驾驶车辆正在礼让行人，引导行人及时通过马路，并同时对车辆进行限速控制。
另外，指示线的投影方式为动态投影，如图5所示的指示线有但不限于8块，指示线按照1到8的顺序依次熄灭，即：在1号指示线快要熄灭的同时2号指示线点亮，以此类推，且指示线根据行人行进的方向依次点亮，以指示行人前进，指示线依次点亮的时间间隔为但不限于0.5秒，根据图5指示线的标号，指示线被点亮的顺序为：2345678→1345678→1245678→1235678→1234678，即控制投射的行人指示线闪烁。
进一步的，在车辆投射行人指示线的同时检测行人是否处于检测区域内，如果是，则判定行人未通过，继续向行人所在的区域投射行人指示线，并对车辆进行限速控制，以避免车辆加速；如果行人没有处在检测区域，则判定行人已通过，这时停止向行人所在区域投射行人指示线。
在具体的示例中，当行人顺利通过检测区域后，还可以取消对车辆的限速控制，即车辆可以进行正常的加减速操作。
根据本发明实施例的车辆的控制方法，可以在检测到车辆前方有行人通过且符合投影条件时投射行人指示线以引导行人优先通过马路，并同时对车辆进行限速控制，有效避免驾驶员误操作而导致车辆的加速行为，避免与行人发生碰撞，从而提升了车辆和行人的安全。
如图8所示，根据本发明一个实施例的车辆的控制方法，包括如下步骤：
S801：检测车辆前方是否有行人。
S802：如果有，则进一步检测车速和车辆加速度。
当检测到车辆前方有行人后，进一步检测车速和车辆加速度。
其中，车速可以通过轮速传感器检测到的车轮转速换算得到，当然，也可以直接通过速度传感器检测车速。车辆加速度可以根据实时的车速计算得到。
需要说明的是，当车辆加速行驶时，车辆加速度为正，当车辆减速行驶时，车辆加速 度为负。
S803：根据车速和车辆加速度判定是否避让行人。
在具体示例中，根据车速和车辆加速度判定是否避让行人，包括：判断所述车速是否小于预定车速；如果是，则进一步根据车辆加速度判断车辆是否为减速状态；如果是，则判定为避让行人。
应当理解，驾驶员在控制刹车及油门踏板时，车辆会产生加减速过程，如果驾驶员的车速过高，而且也没有明显的减速操作，即车辆加速度为正，则说明此时驾驶员并非想要避让行人；如果驾驶员的车速较低，如小于预定车速，而且车辆加速度为负，则说明此时驾驶员意图礼让行人。
需要说明的是，预定车速可以预先设置为20千米/小时左右，即：当车速较高，如高于预定车速的情况下，即使车辆加速度为负，很可能也是驾驶员不想礼让行人，而是适当的减速通过。因此，只有在车速较低并且车辆加速度为负的情况下，极大的可能是驾驶员有意礼让行人。
S804：如果是，则向行人所在的区域投射行人指示线，以引导行人优先通行。
通常，车辆在接近行人的时候，如果驾驶员有意礼让行人，才会投射行人指示线。因此，在具体示例中，可首先判断行人与车辆之间的距离是否位于投影范围内；如果是，则根据行人的位置变化，向行人的正前方投射横穿路面的行人指示线，以引导行人优先通行。即：行人与车辆之间的距离位于投影范围内(如10米)时，说明车辆相对接近行人。当然，10米仅是示例性的，并不是本发明保护范围的限制。
也就是说，当车辆意图避让行人时，如果行人与车辆之间的距离在投影范围内，则会在行人的正前方投射指示线，在车辆减速缓慢前进的过程中，由于车辆的移动，指示线也会做相应的调整，以保证始终在行人的正前方，直到行人脱离投影范围，在此之前，驾驶员不可人为地加速车辆，除非驾驶员手动关闭此功能，则可进行正常的加减速操作。
另外，指示线的投影需要根据用户设置的投影模式向行人所在的区域进行投影，投影模式包括积极型投影模式、消极型投影模式、询问型投影模式和禁止型投影模式；其中，当为积极型投影模式，则在判定为避让行人时便进行投影，当为消极型投影模式时，则在判定为避让行人且投影次数小于预定次数时进行投影，当为询问型投影模式时，则在判定为避让行人且收到驾驶员的应答后进行投影，当为禁止型投影模式时，则禁止投影。
如图6所示为车辆的控制方法的控制逻辑，即：当驾驶员设置投影模式为积极型时，只要功能开启，符合触发条件，行人都会被指示线引导；当投影模式为消极型时，则在本次驾驶中，从启动到停车的过程中，即使功能开启，在符合触发条件时，也仅进行有限次 数的投影，例如：设置预定投影次数为n次，符合触发条件的前n次进行投影，投影次数超过n次后就关闭此功能；当驾驶员设置投影模式为询问型时，则在每次判断符合触发条件时，语音询问或者以显示器提问的方式询问驾驶员是否进行投影，并根据驾驶员的回答进行投影；当投影模式为禁止型，则不会进行投影也不会进行询问。
其中，触发条件为：车速低于预定车速且车辆处于减速状态；检测到车辆前方有行人且行人与车辆的距离位于投影范围内；驾驶员设置的投影模式不是禁止型。
如图2所示为右侧行人在过马路时指示线的投影方式，例如：当摄像头未发现前方道路有但不限于斑马线、道路标志、行人引导线等，且设置投影模式为积极型时，根据车辆的控制方法，执行如下控制策略：如图2所示，当行人P1从右侧走入车辆2的摄像头视野中时，驾驶员为了避让行人减速停车使速度低于预定车速，例如预定车速为20km/h，此时根据车辆加速度得到车辆处于减速状态，则像素大灯L1和L2投射引导行人过马路的指示线3至行人的正前方，并标明方向，如图2中所示指示线3为行人P1标明向左行走的方向，指示行人此时车辆正在礼让行人，行人先行的驾驶员意图，用作一种可视化的人车交互，在此期间直到行人安全通过前方道路，禁止驾驶员操作车辆进行加速，直到行人安全通过前方道路或者驾驶员手动关闭此功能才能进行正常的加减速操作；但是如果驾驶员此时的车速并未低于预定车速，或者摄像头在检测到行人后，驾驶员没有明显的减速操作，则表示驾驶员此时并无礼让行人的驾驶意图，则此时是不符合触发条件的，车辆不会进行投影。
如图3和图4所示，车辆的控制方法可根据道路两侧行人的行进方向投影出相应的指示线方向，为右侧行人投射向左行走的指示线方向，为左侧行人投射向右行走的指示线方向。未来此功能也可用于自动驾驶车辆的可视化人车交互，自动驾驶的车辆行驶前方检测到行人正在过马路，此时的自动驾驶车辆则减速停车，投射出行人指示线，告知行人此时的自动驾驶车辆正在礼让行人，引导行人及时通过马路。
同时，指示线的投影方式为动态投影，如图5所示的指示线有但不限于8块，指示线可按照1到8的顺序依次熄灭，即：在1号指示线快要熄灭的同时2号指示线点亮，以此类推，且指示线根据行人行进的方向依次点亮，以指示行人前进，指示线依次点亮的时间间隔为但不限于0.5秒，根据图5指示线的标号，指示线被点亮的顺序为：2345678→1345678→1245678→1235678→1234678，即控制投射的行人指示线闪烁。
根据本发明实施例的车辆的控制方法，可以通过检测车速和车辆加速度确定驾驶员是否有意愿礼让行人，并在驾驶员有意愿礼让行人时投射行人指示线，以引导车辆前方的行人优先通过马路，从而提升了车辆和行人的安全。
图7是根据本发明一个实施例的车辆的控制系统的结构框图。如图7所示，根据本发 明一个实施例的车辆的控制系统700，包括：检测模块710、投影模块720。
其中，检测模块710用于检测车辆前方是否有行人；投影模块720用于在检测模块710检测车辆前方有行人时，根据车辆状态判断是否符合投影条件，并在符合所述投影条件时，向行人所在的区域投射行人指示线，以引导行人优先通行。
结合图7所示，车辆的控制系统700还可以包括：控制模块730，用于在投影模块720向行人所在的区域投射行人指示线的同时，对车辆进行限速控制，以避免车辆加速。
在本发明的一个实施例中，投影模块720用于：根据车速和车辆加速度判断是否避让行人；如果是，则判定符合投影条件。
在本发明的一个实施例中，投影模块720用于：判断车速是否小于预定车速；如果是，则进一步根据车辆加速度判断车辆是否为减速状态；如果是，则判定为避让行人。
在本发明的一个实施例中，控制模块730还用于检测行人是否处在检测区域内，如果是，则判定行人未通过，通过投影模块720继续向行人所在的区域投射行人指示线，并对车辆进行限速控制，以避免车辆加速，如果行人没有处在所述检测区域内，则判定行人已通过，通过投影模块720停止向行人所在的区域投射行人指示线。
根据本发明实施例的车辆的控制系统，可以在检测到车辆前方有行人通过且符合投影条件时投射行人指示线以引导行人优先通过马路，并同时对车辆进行限速控制，有效避免驾驶员误操作而导致车辆的加速行为，避免与行人发生碰撞，从而提升了车辆和行人的安全。
在本发明的一个实施例中，还包括：驾驶意图判断模块(图7中没有示出)，用于在所述检测模块检测车辆前方有行人时，根据车速和车辆加速度判断是否避让行人，所述投影模块还用于在驾驶意图判断模块判断为避让行人时，向所述行人所在的区域投射行人指示线，以引导行人优先通行。
在本发明的一个实施例中，所述投影模块用于在所述行人与车辆之间的距离位于投影范围内时，根据所述行人的位置变化，向所述行人的正前方投射横穿路面的行人指示线，以引导行人优先通行。
在本发明的一个实施例中，所述投影模块还用于根据用户设置的所述投影模式向所述行人所在的区域投射行人指示线，其中，所述投影模式包括积极型投影模式、消极型投影模式、询问型投影模式和禁止型投影模式，其中，当为积极型投影模式，则在判定为避让行人时便进行投影，当为消极型投影模式时，则在判定为避让行人且投影次数小于预定次数时进行投影，当为询问型投影模式时，则在判定为避让行人且收到驾驶员的应答后进行投影，当为禁止型投影模式时，禁止投影。
根据本发明实施例的车辆的控制系统，可以通过检测车速和车辆加速度确定驾驶员是否有意愿礼让行人，并在驾驶员有意愿礼让行人时投射行人指示线，以引导车辆前方的行人优先通过马路，从而提升了车辆和行人的安全。
需要说明的是，本发明实施例的车辆的控制系统的具体实现方式与本发明实施例的车辆的控制方法的具体实现方式类似，具体请参见方法部分的描述，为了减少冗余，此处不做赘述。
进一步地，本发明的实施例公开了一种车辆，设置有如上述任意一个实施例中的车辆的控制系统。该车辆可以在检测到车辆前方有行人通过且符合投影条件时投射行人指示线以引导行人优先通过马路，并同时对车辆进行限速控制，有效避免驾驶员误操作而导致车辆的加速行为，避免与行人发生碰撞，从而提升了车辆和行人的安全。
另外，根据本发明实施例的车辆的其它构成以及作用对于本领域的普通技术人员而言都是已知的，为了减少冗余，此处不做赘述。
进一步地，本申请的实施例公开了一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现根据上述任意一个实施例所述的车辆的控制方法。
需要说明的是，在本说明书的描述中，流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多的用于实现特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本申请的优选实施方式的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本申请的实施例所属技术领域的技术人员所理解。
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行 编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。
本技术领域的普通技术人员可以理解实现上述实施例的方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不是必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (19)

  1. 一种车辆的控制方法，其特征在于，包括以下步骤：
    检测车辆前方是否有行人；
    如果是有，则根据车辆状态判断是否符合投影条件；
    如果是，则向所述行人所在的区域投射行人指示线，以引导行人优先通行。
  2. 根据权利要求1所述的车辆的控制方法，其特征在于，还包括：
    在向所述行人所在的区域投射行人指示线的同时，对所述车辆进行限速控制，以避免车辆加速。
  3. 根据权利要求1所述的车辆的控制方法，其特征在于，所述根据车辆状态判断是否符合投影条件，包括：
    根据车速和车辆加速度判断是否避让行人；
    如果是，则判定符合所述投影条件。
  4. 根据权利要求3所述的车辆的控制方法，其特征在于，所述根据车速和车辆加速度判断是否避让行人，包括：
    判断所述车速是否小于预定车速；
    如果是，则进一步根据所述车辆加速度判断车辆是否为减速状态；
    如果是，则判定为避让行人。
  5. 根据权利要求1所述的车辆的控制方法，其特征在于，还包括：
    接收用户设置的投影模式，其中，所述投影模式包括积极型投影模式、消极型投影模式、询问型投影模式和禁止型投影模式，
    其中，当为积极型投影模式、消极型投影模式或询问型投影模式时，以相应的投影方式向所述行人所在的区域投射行人指示线，当为禁止型投影模式时，不向所述行人所在的区域投射行人指示线。
  6. 根据权利要求1-5任一项所述的车辆的控制方法，其特征在于，还包括：
    检测所述行人是否处在检测区域内；
    如果是，则判定所述行人未通过，继续向所述行人所在的区域投射行人指示线，并对所述车辆进行限速控制，以避免车辆加速；
    如果所述行人没有处在所述检测区域内，则判定所述行人已通过，停止向所述行人所在的区域投射行人指示线。
  7. 根据权利要求5所述的车辆的控制方法，其特征在于，在检测车辆前方是否有行人之后，还包括：
    如果有，则进一步检测车速和车辆加速度；
    根据所述车速和车辆加速度判定是否避让行人；
    如果是，则向所述行人所在的区域投射行人指示线，以引导行人优先通行。
  8. 根据权利要求7所述的车辆的控制方法，其特征在于，所述向行人所在的区域投射行人指示线，以引导行人优先通行，包括：
    判断所述行人与车辆之间的距离是否位于投影范围内；
    如果是，则根据所述行人的位置变化，向所述行人的正前方投射横穿路面的行人指示线，以引导行人优先通行。
  9. 根据权利要求7所述的车辆的控制方法，其特征在于，在接收用户设置的投影模式，其中，所述投影模式包括积极型投影模式、消极型投影模式、询问型投影模式和禁止型投影模式之后，还包括：
    根据用户设置的所述投影模式向所述行人所在的区域投射行人指示线，
    其中，当为积极型投影模式，则在判定为避让行人时便进行投影，当为消极型投影模式时，则在判定为避让行人且投影次数小于预定次数时进行投影，当为询问型投影模式时，则在判定为避让行人且收到驾驶员的应答后进行投影，当为禁止型投影模式时，则禁止投影。
  10. 根据权利要求7-9任一项所述的车辆的控制方法，其特征在于，其特征在于，所述向行人所在的区域投射行人指示线，包括：控制所述投射的行人指示线闪烁。
  11. 一种车辆的控制系统，其特征在于，包括：
    检测模块，用于检测车辆前方是否有行人；
    投影模块，用于在所述检测模块检测车辆前方有行人时，根据车辆状态判断是否符合投影条件，并在符合所述投影条件时，向所述行人所在的区域投射行人指示线，以引导行人优先通行。
  12. 根据权利要求11所述的车辆的控制系统，其特征在于，还包括：
    控制模块，用于在所述投影模块向所述行人所在的区域投射行人指示线的同时，对所述车辆进行限速控制，以避免车辆加速。
  13. 根据权利要求11所述的车辆的控制系统，其特征在于，所述投影模块用于：
    根据车速和车辆加速度判断是否避让行人；
    如果是，则判定符合所述投影条件。
  14. 根据权利要求12所述的车辆的控制系统，其特征在于，所述投影模块用于：
    判断所述车速是否小于预定车速；
    如果是，则进一步根据所述车辆加速度判断车辆是否为减速状态；
    如果是，则判定为避让行人。
  15. 根据权利要求11-14任一项所述的车辆的控制系统，其特征在于，所述控制模块还用于检测所述行人是否处在检测区域内，如果是，则判定所述行人未通过，通过所述投影模块继续向所述行人所在的区域投射行人指示线，并对所述车辆进行限速控制，以避免车辆加速，如果所述行人没有处在所述检测区域内，则判定所述行人已通过，通过所述投影模块停止向所述行人所在的区域投射行人指示线。
  16. 根据权利要求11所述的车辆的控制系统，其特征在于，还包括：
    驾驶意图判断模块，用于在所述检测模块检测车辆前方有行人时，根据车速和车辆加速度判断是否避让行人，
    所述投影模块还用于在驾驶意图判断模块判断为避让行人时，向所述行人所在的区域投射行人指示线，以引导行人优先通行。
  17. 根据权利要求16所述的车辆的控制系统，其特征在于，所述投影模块用于在所述行人与车辆之间的距离位于投影范围内时，根据所述行人的位置变化，向所述行人的正前方投射横穿路面的行人指示线，以引导行人优先通行。
  18. 根据权利要求16所述的车辆的控制系统，其特征在于，所述投影模块还用于根据用户设置的所述投影模式向所述行人所在的区域投射行人指示线，其中，所述投影模式包括积极型投影模式、消极型投影模式、询问型投影模式和禁止型投影模式，其中，当为积极型投影模式，则在判定为避让行人时便进行投影，当为消极型投影模式时，则在判定为避让行人且投影次数小于预定次数时进行投影，当为询问型投影模式时，则在判定为避让行人且收到驾驶员的应答后进行投影，当为禁止型投影模式时，禁止投影。
  19. 一种车辆，其特征在于，设置有如权利要求11-18任一项所述的车辆的控制系统。
PCT/CN2019/109523 2018-09-30 2019-09-30 车辆的控制方法、系统及车辆 Ceased WO2020064012A1 (zh)

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