WO2020064012A1 - Control method and system for vehicles and vehicle - Google Patents

Control method and system for vehicles and vehicle 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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WIPO (PCT)
Prior art keywords
pedestrian
vehicle
projection
projection mode
area
Prior art date
Application number
PCT/CN2019/109523
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French (fr)
Chinese (zh)
Inventor
刘羽飞
李琦
李明
安淑苗
安旺
樊鹏宇
温浩
应世明
董志强
Original Assignee
长城汽车股份有限公司
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 to CN201811166844.8A priority Critical patent/CN110371110A/en
Priority to CN201811166851.8 priority
Priority to CN201811166844.8 priority
Priority to CN201811166851.8A priority patent/CN110371021A/en
Application filed by 长城汽车股份有限公司 filed Critical 长城汽车股份有限公司
Publication of WO2020064012A1 publication Critical patent/WO2020064012A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00Arrangements or adaptations of optical signalling or lighting devices
    • B60Q1/26Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences

Abstract

Disclosed are a control method and system for a vehicle (2) and a vehicle (2). The control method for a vehicle (2) comprises the following steps: detecting whether there is a pedestrian (P1) in front of the vehicle (2); if yes, judging whether a projection condition is met according to the state of the vehicle (2); if so, projecting a pedestrian indication line (3) to the area where the pedestrian (P1) is located so as to guide the pedestrian (P1) to pass preferentially; when a pedestrian indication line (3) is projected to an area where the pedestrian (P1) is located, the vehicle (2) is subject to speed limit control so as to avoid acceleration of the vehicle (2). The method allows, when a pedestrian (P1) is detected in front of a vehicle (2) and a projection condition is met, a pedestrian indication line (3) to be projected to guide the pedestrian (P1) to preferentially pass through a road, and makes the vehicle (2) subject to speed limit control, thereby improving the safety of the vehicle (2) and the pedestrian (P1).

Description

Vehicle control method, system and vehicle

Cross-reference to related applications

This application claims the priority of Great Wall Motor Co., Ltd., which filed on September 30, 2018, the invention name is "Vehicle Control Method, System and Vehicle", Chinese Patent Application No. "201811166844.8", and Great Wall Motor Co., Ltd. The priority of the Chinese patent application number "201811166851.8", which was submitted by the company on September 30, 2018, is the invention name "Projection Method, System and Vehicle for Pedestrian Direction Lines".

Technical field

The present invention relates to the technical field of automobiles, and in particular, to a method, system, and vehicle for controlling a vehicle.

Background technique

When at a traffic intersection without traffic signs, guide lines, zebra crossings, or on ordinary highways, the driving intention of the driver cannot usually be understood by the surrounding pedestrians. Sometimes, the driver's courteous behavior is not easy for the pedestrians to detect in time. , It may cause traffic accidents due to pedestrians and vehicles grabbing roads, or problems such as traffic jams.

In related technologies, 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. However, there are the following problems: 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.

Summary of the Invention

In view of this, 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.

To achieve the above object, the technical solution of the present invention is implemented as follows:

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.

Further, while projecting a pedestrian indication line to the area where the pedestrian is located, speed limit control is performed on the vehicle to prevent the vehicle from accelerating.

Further, 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.

Further, 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.

Further, 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. When the projection mode is a prohibited type, the pedestrian indicating line is not projected to the area where the pedestrian is located.

Further, 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.

Further, after detecting whether there is a pedestrian in front of the vehicle, 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.

Further, 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.

Further, after 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 prohibited projection mode, 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. 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 it is a prohibition projection mode, projection is prohibited.

Further, it is characterized in that 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.

In addition, 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.

To achieve the above object, the technical solution of the present invention is implemented as follows:

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.

Further, it further comprises: a 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.

Further, 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.

Further, 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.

Further, the 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.

Further, it further includes: 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, and the projection module is further configured to judge that the driving intention judging module is an avoidance. When a pedestrian is walking, a pedestrian instruction line is projected to the area where the pedestrian is located to guide the pedestrian to pass through with priority.

Further, 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.

Further, 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 When the projection mode is inquiring type, 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 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.

To achieve the above object, the technical solution of the present invention is implemented as follows:

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. When the control program for the vehicle is executed by a processor, the control of the vehicle according to the first aspect is implemented. method.

Additional aspects and advantages of the present application will be given in part in the following description, part of which will become apparent from the following description, or be learned through practice of the present application.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and the descriptions thereof are used to explain the present invention, and do not constitute an improper limitation on the present invention. In the drawings:

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;

4 is a projection mode of an indicator line when pedestrians on both sides cross 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.

FIG. 6 is an instruction line projection control logic according to an embodiment of the present invention;

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.

detailed description

It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

The present invention will be described in detail below with reference to the drawings and embodiments. 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?

Among them, sensors for detecting pedestrians include, but are not limited to, cameras, millimeter wave radars, and laser radars. Of course, ultrasonic radar can also be used to detect pedestrians under certain conditions.

S102: If yes, determine whether the projection conditions are met according to the vehicle status.

In a specific example, when a pedestrian is detected in front of the vehicle, 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. Of course, the vehicle speed can also be detected directly by the speed sensor. Vehicle acceleration can be calculated based on real-time vehicle speed.

It should be noted that when the vehicle is accelerating, the vehicle acceleration is positive, and when the vehicle is decelerating, the vehicle acceleration is negative.

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.

It should be understood that when the driver controls the brakes and the accelerator pedal, 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.

It should be noted that 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.

S103: If yes, project a pedestrian indication line to the area where the pedestrian is located to guide the pedestrian to pass through with priority.

Normally, when a vehicle approaches a pedestrian, 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.

In addition, 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. When 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. When the projection mode is prohibited, the pedestrian indication line is not projected to the area where the pedestrian is located.

Among them, in the positive projection mode, projection is performed when the driver intends to avoid pedestrians, that is, the projection conditions are met, and in the passive projection mode, 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.

As shown in Fig. 6, 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.

According to the method for controlling a vehicle according to the embodiment of the present invention, when a pedestrian in front of the vehicle is detected and the projection conditions are met, 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.

Further, as shown in FIG. 1, 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.

When projecting a pedestrian indication line to the area where pedestrians are located, it is indicated that the vehicle instructs pedestrians to pass with priority. At this time, speed limit control is performed on the vehicle to prevent the vehicle from colliding with the pedestrian due to acceleration, causing danger.

It can be understood that, as the vehicle moves slowly at a limited speed, due to the movement of the vehicle, 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.

When the vehicle sensor does not find that the road ahead includes but is not limited to zebra crossings, road signs, pedestrian guidance lines, etc., and sets the projection mode to active, 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. As shown in Figure 2, 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.

As shown in Figures 3 and 4, 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.

In addition, the projection method of the indication line is dynamic projection. As shown in FIG. 5, there are but are not limited to 8 indication lines. 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 instruction line lights up, and so on, and the instruction line lights up sequentially according to the direction of pedestrians to instruct the pedestrians to go forward. 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.

Further, it is detected whether the pedestrian is in the detection area while the vehicle projects the pedestrian instruction line. If so, it is determined that the pedestrian has not passed, and 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.

In a specific example, after a pedestrian passes the detection area smoothly, the speed limit control of the vehicle can also be cancelled, that is, the vehicle can perform normal acceleration and deceleration operations.

According to the method for controlling a vehicle according to the embodiment of the present invention, when a pedestrian in front of the vehicle is detected and the projection conditions are met, 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.

As shown in FIG. 8, a method for controlling a vehicle according to an embodiment of the present invention includes the following steps:

S801: Detect whether there is a pedestrian in front of the vehicle.

S802: If yes, further detect vehicle speed and vehicle acceleration.

When a pedestrian is detected 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. Of course, the vehicle speed can also be detected directly by the speed sensor. Vehicle acceleration can be calculated based on real-time vehicle speed.

It should be noted that when the vehicle is accelerating, the vehicle acceleration is positive, and when the vehicle is decelerating, the vehicle acceleration is negative.

S803: Determine whether to avoid pedestrians based on vehicle speed and vehicle acceleration.

In a specific example, 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.

It should be understood that when the driver controls the brakes and the accelerator pedal, 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.

It should be noted that 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.

S804: If yes, project a pedestrian indication line to the area where the pedestrian is located to guide the pedestrian to pass through with priority.

Normally, when a vehicle approaches a pedestrian, 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.

In other words, when the vehicle intends to avoid pedestrians, if the distance between the pedestrian and the vehicle is within the projection range, the instruction line will be projected directly in front of the pedestrian. During the process of the vehicle decelerating slowly, 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. Before this, the driver cannot artificially accelerate the vehicle. Unless the driver manually turns off this function, normal acceleration and deceleration can be performed. operating.

In addition, 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. Among them, when the active type In the projection mode, projection is performed when it is determined to avoid pedestrians. When 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. When 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. When 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. When 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.

As shown in FIG. 2, the projection method of the pedestrian's instruction line when crossing the road on the right side is shown. For example, when the camera does not find a road in front but is not limited to a zebra crossing, a road sign, a pedestrian guidance line, and the projection mode is set to positive, According to the control method of the vehicle, 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. Then 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. During this period, 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.

As shown in Figures 3 and 4, 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.

At the same time, the projection method of the indication line is dynamic projection. As shown in FIG. 5, there are but are not limited to 8 indication lines. 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. According to the labeling of the indication line in FIG. 5, 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.

According to the method for controlling a vehicle according to the embodiment of the present invention, 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. As shown in FIG. 7, a vehicle control system 700 according to an embodiment of the present invention includes a detection module 710 and a projection module 720.

Among them, 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.

With reference to FIG. 7, 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.

In one embodiment of the present invention, 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.

In one embodiment of the present invention, 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.

In an embodiment of the present invention, the 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.

According to the vehicle control system according to the embodiment of the present invention, when a pedestrian in front of the vehicle is detected and the projection conditions are met, 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.

In an embodiment of the present invention, it further includes: 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.

In an embodiment of the present invention, 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.

In an embodiment of the present invention, 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. Among them, 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.

According to the vehicle control system according to the embodiment of the present invention, 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.

It should be noted that the specific implementation of the vehicle control system in the embodiment of the present invention is similar to the specific implementation of the vehicle control method in the embodiment of the present invention. For details, please refer to the description of the method section. To repeat.

Further, 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.

In addition, other structures and functions of the vehicle according to the embodiments of the present invention are known to those of ordinary skill in the art. To reduce redundancy, details are not described herein.

Further, 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.

It should be noted that in the description of this specification, 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. For the purposes of this specification, 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. More specific examples (non-exhaustive list) of computer-readable media include the following: electrical connections (electronic devices) with one or more wirings, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable Processing to obtain the program electronically and then store it in computer memory.

Those of ordinary skill in the art may understand that all or part of the steps carried by the method for implementing the foregoing embodiments may be completed by a program instructing related hardware. The program may be stored in a computer-readable storage medium. The program When executed, one or a combination of the steps of the method embodiments is included.

In the description of this specification, the description with reference to the terms “one embodiment”, “some embodiments”, “examples”, “specific examples”, or “some examples” and the like means specific features described in conjunction with the embodiments or examples , Structure, material, or characteristic is included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms are not necessarily directed to the same embodiment or example. Moreover, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. In addition, without any contradiction, those skilled in the art may combine and combine different embodiments or examples and features of the different embodiments or examples described in this specification.

Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations on the present application. Those skilled in the art may, within the scope of the present application, understand the above. Embodiments are subject to change, modification, substitution, and modification.

Claims (19)

  1. A method for controlling a vehicle, comprising the following steps:
    Detect if there is a pedestrian in front of the vehicle;
    If so, determine whether the projection conditions are met according to the vehicle status;
    If yes, a pedestrian indication line is projected to the area where the pedestrian is located to guide the pedestrian to pass preferentially.
  2. The method for controlling a vehicle according to claim 1, further comprising:
    While projecting a pedestrian indication line to the area where the pedestrian is located, speed limit control is performed on the vehicle to prevent the vehicle from accelerating.
  3. The method for controlling a vehicle according to claim 1, wherein the judging whether the projection conditions are met according to the state of the vehicle comprises:
    Determine whether to avoid pedestrians based on vehicle speed and vehicle acceleration;
    If so, it is determined that the projection conditions are met.
  4. The method for controlling a vehicle according to claim 3, wherein the determining whether to avoid pedestrians based on vehicle speed and vehicle acceleration comprises:
    Determining whether the vehicle speed is less than a predetermined vehicle speed;
    If yes, further determine whether the vehicle is in a decelerating state according to the vehicle acceleration;
    If so, it is determined to avoid pedestrians.
  5. The method for controlling a vehicle according to claim 1, further comprising:
    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 prohibited projection mode,
    Wherein, when it is a positive projection mode, a passive projection mode, or an inquiry projection mode, a pedestrian indicating line is projected to the area where the pedestrian is located by a corresponding projection method, and when it is a prohibited projection mode, the pedestrian is not projected Pedestrian lines are projected in the area.
  6. The method for controlling a vehicle according to any one of claims 1-5, further comprising:
    Detecting whether the pedestrian is in a detection area;
    If yes, it is determined that the pedestrian has not passed, and 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 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 of a pedestrian indication line to the area where the pedestrian is located is stopped.
  7. The method for controlling a vehicle according to claim 5, after detecting whether there is a pedestrian in front of the vehicle, further comprising:
    If yes, further detect vehicle speed and vehicle acceleration;
    Determining whether to avoid pedestrians based on the vehicle speed and vehicle acceleration;
    If yes, a pedestrian indication line is projected to the area where the pedestrian is located to guide the pedestrian to pass preferentially.
  8. The method for controlling a vehicle according to claim 7, wherein the projecting a pedestrian instruction line to an area where the pedestrian is located to guide the pedestrian to pass through priority includes:
    Determining whether the distance between the pedestrian and the vehicle is within a projection range;
    If so, according to the change of the position of the pedestrian, a pedestrian indicating line crossing the road surface is projected directly in front of the pedestrian to guide the pedestrian to pass through preferentially.
  9. The method for controlling a vehicle according to claim 7, wherein a projection mode set by a user is received, wherein the projection mode includes a positive projection mode, a passive projection mode, an inquiry projection mode, and a prohibited projection mode. After that, it also includes:
    Projecting a pedestrian indication line to the area where the pedestrian is located according to the projection mode set by the user,
    Among them, 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, projection is performed when it is determined to avoid pedestrians and the number of projections is less than a predetermined number of times. When it is an inquiry projection mode When it is determined to avoid pedestrians and receive a response from the driver, projection is performed. When the projection mode is prohibited, projection is prohibited.
  10. The method for controlling a vehicle according to any one of claims 7 to 9, characterized in that the projecting a pedestrian instruction line to an area where a pedestrian is located comprises controlling the projected pedestrian instruction line to blink.
  11. A control system for a vehicle, comprising:
    A detection module for detecting whether there is a pedestrian in front of the vehicle;
    A projection module, configured to determine whether a projection condition is met according to the vehicle state when the detection module detects a pedestrian in front of the vehicle, and when the projection condition is met, project a pedestrian instruction line to the area where the pedestrian is located to guide the pedestrian Priority.
  12. The control system of a vehicle according to claim 11, further comprising:
    A control module is 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.
  13. The vehicle control system according to claim 11, wherein the projection module is configured to:
    Determine whether to avoid pedestrians based on vehicle speed and vehicle acceleration;
    If so, it is determined that the projection conditions are met.
  14. The vehicle control system according to claim 12, wherein the projection module is configured to:
    Determining whether the vehicle speed is less than a predetermined vehicle speed;
    If yes, further determine whether the vehicle is in a decelerating state according to the vehicle acceleration;
    If so, it is determined to avoid pedestrians.
  15. The vehicle control system according to any one of claims 11 to 14, wherein the control module is further configured to detect whether the pedestrian is within a detection area, and if so, determine that the pedestrian has failed, The projection module continues to project a pedestrian indication line to the area where the pedestrian is located, and performs speed limit control on the vehicle to avoid vehicle acceleration. If the pedestrian is not in the detection area, the The pedestrian has passed, and the projection module stops projecting the pedestrian instruction line to the area where the pedestrian is located.
  16. The control system of a vehicle according to claim 11, further comprising:
    A driving intention determination module, configured to determine whether to avoid a pedestrian based on a vehicle speed and a 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.
  17. The vehicle control system according to claim 16, wherein the projection module is configured to, when a distance between the pedestrian and the vehicle is within a projection range, provide the pedestrian with the pedestrian according to a change in the position of the pedestrian. Pedestrian indicators crossing the road are projected directly in front of to guide pedestrians to give priority to passing.
  18. The vehicle control system according to claim 16, wherein 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 The active projection mode, the passive projection mode, the inquiry projection mode, and the forbidden projection mode. Among them, when the active projection mode is determined to avoid pedestrians, projection is performed, and when the passive projection mode is used, the Projection is determined to avoid pedestrians and the number of projections is 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 it is a prohibited projection mode, projection is prohibited.
  19. A vehicle, characterized in that it is provided with a vehicle control system according to any one of claims 11-18.
PCT/CN2019/109523 2018-09-30 2019-09-30 Control method and system for vehicles and vehicle WO2020064012A1 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN201811166844.8A CN110371110A (en) 2018-09-30 2018-09-30 Control method, system and the vehicle of vehicle
CN201811166851.8 2018-09-30
CN201811166844.8 2018-09-30
CN201811166851.8A CN110371021A (en) 2018-09-30 2018-09-30 Projecting method, system and the vehicle of pedestrian's index line

Publications (1)

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WO2020064012A1 true WO2020064012A1 (en) 2020-04-02

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CN108162957A (en) * 2017-12-21 2018-06-15 苏州视由谱光电科技有限公司 A kind of automobile projection pattern system and its projective techniques
CN108569207A (en) * 2017-03-10 2018-09-25 株式会社斯巴鲁 Image display device

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Publication number Priority date Publication date Assignee Title
CN103164987A (en) * 2011-12-14 2013-06-19 现代自动车株式会社 System and method of providing warning to pedestrian using laser beam
US20160039286A1 (en) * 2014-08-11 2016-02-11 Koito Manufacturing Co., Ltd. Vehicle display system
CN106794792A (en) * 2014-09-08 2017-05-31 株式会社小糸制作所 Vehicle road surface drawing system
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