CN109448437B - Pedestrian safety street crossing prompting system and method for driver - Google Patents
Pedestrian safety street crossing prompting system and method for driver Download PDFInfo
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Abstract
The invention provides a pedestrian safety street-crossing lift for a driverA display system and a display method belong to the technical field of traffic safety early warning. The system comprises a data acquisition device, an information judgment device, a vehicle-mounted early warning release device and a pedestrian crossing prompting device; the data acquisition device acquires dynamic information of pedestrians and vehicles in real time and sends the dynamic information to the information judgment device; the information judgment device receives and processes the dynamic information transmitted by the data acquisition device: when the judgment result shows that the conflict occurs, a prompting instruction is issued to the pedestrian crossing prompting device to carry out OLED display; when the judgment result is that conflict occurs and CBRIWhen the speed is less than or equal to 0.9, the information judgment device issues an OLED display prompt instruction to the pedestrian crossing prompt device, and simultaneously sends a voice broadcast and vibration prompt instruction to the vehicle-mounted early warning issuing device. The invention solves the problem of lower safety of pedestrian crossing street in the prior art with low visibility. The invention can be used for prompting pedestrians to cross the street.
Description
Technical Field
The invention relates to a pedestrian safety street crossing prompting system and method, and belongs to the technical field of traffic safety early warning.
Background
Pedestrians are vulnerable groups in road traffic systems and have a high probability of being seriously injured after a road traffic accident. According to the statistics of the American highway safety Association, the death number of the American pedestrians is 5376 in 2015, nearly 6000 in 2016, and 20 years of new height is created. The situation of Chinese road traffic safety is very severe, in 2015, the total number of Chinese road traffic accidents is about 18.7 thousands, the number of dead people is about 5.8 thousands, the number of pedestrian accident casualties accounts for about 20% of the total number of pedestrian accident casualties, the number of pedestrian casualties crossing the street accounts for more than 50% of the number of pedestrian accident deaths, and how to improve the street crossing safety of pedestrians becomes an important content for the research of a vehicle-road collaborative descending person street crossing prompt system.
Patent CN107274722A discloses a traffic safety early warning system and method for pedestrians using mobile phones. The roadside unit analyzes whether the vehicle and the pedestrian conflict or not according to the dynamic information of the pedestrian and the dynamic information of the vehicle in the radiated area, and sends early warning instructions to a pedestrian mobile terminal, a vehicle-mounted unit and a pedestrian crossing warning lamp which are likely to conflict, wherein the pedestrian crossing lamp adopts an energy storage type light emitting module.
Patent CN102622912A discloses a pedestrian dangerous case early warning method. The early warning method is mainly realized by a system consisting of a signal detector, a band-pass filter, an A/D converter, a data processor, a drive amplifier and an actuator, a control pulse is output through transmission and conversion of a series of signals, an alarm is driven to obtain a secondary pulse, and then an alarm signal is output, so that pedestrians are helped to avoid the motorcycle.
Since 2017, the 'pedestrian courtesy taking snapshot' systems installed all over the country standardize the behaviors of drivers of courtesy pedestrians to a certain extent, and promote courtesy consciousness.
However, the related prompting and early warning system for pedestrian safety crossing does not relate to the condition of low visibility, and when the pedestrian and the driver are in an environment with low visibility, such as a blind area of vision, severe weather, dusk and night, the probability of traffic safety accidents caused by pedestrian crossing the street is still relatively high because the pedestrian and the driver are not easy to find the other side. Factors that determine visibility include: the vision, the visual field, the shape, the size and the background of the object, the illumination, the atmosphere transparency and the like of the human. The visibility value varies greatly with time and space. Usually, the flashing warning light has poor visual effect under low visibility, and is not easy to attract enough attention of the driver. Therefore, a street crossing safety warning technology which can detect the street crossing pedestrians under the condition of low visibility and feed back the street crossing pedestrian information to the driver at the first time is urgently needed, and the street crossing safety of the pedestrians is further improved.
Disclosure of Invention
The invention provides a pedestrian safety street-crossing prompting system and method for a driver, aiming at solving the problem of low safety of pedestrian street-crossing in low visibility.
The pedestrian safety street-crossing prompting system for the driver comprises: the system comprises a data acquisition device, an information judgment device, a vehicle-mounted early warning release device and a pedestrian crossing prompting device;
the data acquisition device is used for acquiring dynamic information of pedestrians and vehicles in real time and transmitting the dynamic information to the information judgment device;
the information judgment device is arranged on one side of a road adjacent to a stop line and used for receiving and processing the dynamic information transmitted by the data acquisition device and respectively sending prompt instructions to the pedestrian crossing prompt device and the vehicle-mounted early warning issuing device according to the processed judgment result;
the pedestrian crossing prompting device is arranged on the pedestrian crossing and used for carrying out OLED display when receiving a prompting instruction sent by the information judging device;
the vehicle-mounted early warning issuing device is arranged in a vehicle and used for sending out voice broadcast and vibration prompts when receiving the prompt instruction sent by the information judging device.
As a further elaboration of the above technical solution:
further, the data acquisition device comprises a vehicle-mounted GPS, a vehicle speed detector and a vehicle acceleration detector which are arranged in the vehicle, and an infrared thermal imager and a wireless transmitter which are arranged adjacent to the information judgment device, wherein the vehicle-mounted GPS is used for detecting the position of the vehicle in real time, the vehicle speed detector is used for detecting the speed of the vehicle in real time, and the vehicle acceleration detector is used for detecting the acceleration of the vehicle in real time; the thermal infrared imager is used for capturing images of pedestrians; the vehicle-mounted GPS, the vehicle speed detector, the vehicle acceleration detector and the thermal infrared imager respectively transmit the collected dynamic information of the pedestrians and the vehicles to the wireless transmitter, and the wireless transmitter is used for converting the received dynamic information into a radio signal and transmitting the radio signal to the information judgment device.
Further, the information judgment device comprises a conflict judgment module and a traffic environment visibility judgment module; the conflict judging module is used for analyzing whether a pedestrian conflicts with a vehicle according to the information sent by the data acquisition device; the traffic environment visibility judgment module is used for determining the traffic environment visibility index according to the information sent by the data acquisition device.
Further, the pedestrian crossing prompting device comprises a single chip microcomputer and an OLED display module; the single chip microcomputer is used for controlling the OLED display module to work according to the prompt instruction sent by the information judgment device; the OLED display module comprises a plurality of OLED display panels which are uniformly paved on the pedestrian crossing in a sectional mode.
Furthermore, the width of the OLED display panel is 40 cm-45 cm, and the distance between two adjacent OLED display panels is 60 cm-80 cm.
Further, the display device of the OLED display panel adopts VGG 12864G-CM 21, and the single chip microcomputer adopts SSD 1303.
The pedestrian safety street-crossing prompting method for the driver is realized by the following technical scheme:
the method comprises the following steps that firstly, a vehicle-mounted GPS detects the position of a vehicle in real time, a vehicle speed detector detects the speed of the vehicle in real time, a vehicle acceleration detector detects the acceleration of the vehicle in real time, and a thermal infrared imager captures images of pedestrians; the vehicle-mounted GPS, the vehicle speed detector, the vehicle acceleration detector and the thermal infrared imager respectively transmit the collected dynamic information of the pedestrians and the vehicles to the wireless transmitter, and the wireless transmitter converts the received information into a radio signal and sends the radio signal to the information judgment device;
step two, the information judgment device receives the dynamic information sent by the data acquisition device, the conflict judgment module analyzes whether the pedestrian and the vehicle conflict or not according to the received information, and the traffic environment visibility judgment module determines the traffic environment visibility index C according to the received informationBRI；
Step three, when the judgment result is that conflict occurs, the information judgment device issues a prompt instruction to the pedestrian crossing prompt device; when the judgment result is that conflict occurs and CBRIWhen the speed is less than or equal to 0.9, the information judgment device simultaneously sends prompt instructions to the pedestrian crossing prompt device and the vehicle-mounted early warning issuing device;
fourthly, the pedestrian crossing prompting device carries out OLED display when receiving the prompting instruction sent by the information judging device; and the vehicle-mounted early warning issuing device sends out voice broadcast and vibration prompt when receiving the prompt instruction sent by the information judging device.
The most prominent characteristics and remarkable beneficial effects of the invention are as follows:
the pedestrian safety street-crossing prompting system and method for the driver, which are disclosed by the invention, adopt the OLED display panel, have the advantage of high brightness, can enable the driver to better receive visual prompting information under bad weather by adopting the OLED display panel, and install the thermal infrared imager at the roadside, so that the image acquisition device is not influenced by bad weather conditions, can embody clear outline information under any conditions, and have the advantages of firm appearance, convenience in installation and stable and reliable thermal imaging effect; the pedestrian street-crossing safety degree and the visibility of the traffic environment are comprehensively considered, the accuracy of pedestrian identification can be improved, the pedestrian street-crossing prompting device and the vehicle-mounted early warning issuing device can jointly complete the grading prompting work according to the visibility grade, the pedestrian does not need to wear any positioning and predicting device, and the information of effectively avoiding the pedestrian is provided for the driver, so that the traffic accident rate of the pedestrian crossing is reduced, and particularly the safety effect of the pedestrian crossing is obviously improved under the condition of low visibility. Simulation experiments show that under the condition of low visibility of traffic environment, the invention can effectively avoid about 92 percent of vehicle-pedestrian conflicts, thereby reducing the occurrence of pedestrian street-crossing traffic accidents and improving the pedestrian street-crossing safety.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic diagram of an embodiment of a road condition;
FIG. 3 is a flow chart of the method of the present invention;
the system comprises a data acquisition device 1, an information judgment device 2, a pedestrian crossing prompting device 3, a vehicle-mounted early warning issuing device 4, a vehicle 5, a pedestrian 6 and a stop line 7.
Detailed Description
The first embodiment is as follows: the present embodiment is described with reference to fig. 1 and 2, and the pedestrian safety street crossing guidance system for a driver according to the present embodiment includes: the system comprises a data acquisition device 1, an information judgment device 2, a vehicle-mounted early warning release device 4 and a pedestrian crossing prompting device 3;
the data acquisition device 1 is used for acquiring dynamic information of pedestrians and vehicles in real time and transmitting the dynamic information to the information judgment device 2;
the information judgment device 2 is arranged at any side of a road adjacent to a stop line (the distance between a stop line 7 and a pedestrian crossing line is 1M in general), and is used for receiving and processing dynamic information transmitted by the data acquisition device 1 and respectively sending a prompt instruction to the pedestrian crossing prompt device 3 and the vehicle-mounted early warning release device 4 according to a judgment result after processing;
the pedestrian crossing prompting device 3 is arranged on the pedestrian crossing and used for carrying out OLED (Organic Light-Emitting Diode) display when receiving a prompting instruction sent by the information judging device 2;
the vehicle-mounted early warning issuing device 4 is arranged in a vehicle and used for sending out voice broadcast and vibration prompt when receiving the prompt instruction sent by the information judging device 2.
The second embodiment is as follows: the difference between the present embodiment and the first embodiment is that the data acquisition device 1 includes a vehicle-mounted GPS, a vehicle speed detector, a vehicle acceleration detector, and an infrared thermal imager and a wireless transmitter, which are disposed in the vehicle and adjacent to the information determination device 2, the vehicle-mounted GPS is used for detecting the position of the vehicle in real time, the vehicle speed detector is used for detecting the speed of the vehicle in real time, and the vehicle acceleration detector is used for detecting the acceleration of the vehicle in real time; the thermal infrared imager is used for capturing images of pedestrians and further used for calculating the visibility of the traffic environment; the vehicle-mounted GPS, the vehicle speed detector, the vehicle acceleration detector and the thermal infrared imager transmit collected dynamic information of pedestrians and vehicles to the wireless transmitter through the RS-485 interface respectively, and the wireless transmitter is used for converting the received dynamic information into radio signals and transmitting the radio signals to the information judgment device 2 through the transmitting antenna.
The infrared thermal imager has the characteristics of being not influenced by illumination, foggy weather and other severe weather conditions, and can embody clear outline information under any condition. The thermal infrared imager in the embodiment uses the Tau2640 movement and the 25mm lens, provides a standard holder interface, outputs NTSC/PAL video signals, adopts an independent I/O control interface as a signal interface, can be compatible with RS-485, has the external dimension of 44.5mm multiplied by 44.5mm, and has the advantages of firm appearance, convenient installation and stable and reliable thermal imaging effect.
Other steps and parameters are the same as those in the first embodiment.
The third concrete implementation mode: the difference between the present embodiment and the first or second embodiment is that the information determination device 2 includes a conflict determination module and a traffic environment visibility determination module; the conflict judging module is used for analyzing whether a pedestrian conflicts with a vehicle according to the information sent by the data acquisition device 1; the traffic environment visibility judgment module is used for determining the traffic environment visibility index according to the information sent by the data acquisition device 1.
Other steps and parameters are the same as those in the first or second embodiment.
The fourth concrete implementation mode: the third difference between the present embodiment and the specific embodiment is that the pedestrian crossing prompting device 3 comprises a single chip microcomputer, an OLED display module and a power converter; the power converter may be a variety of, and in this embodiment, the TPS65137 active matrix oled (amoled) power solution of TI corporation is adopted, including a boost converter that adopts LDO as a post-regulator. The singlechip is used for controlling the core of the whole system and controlling the OLED display module to work according to the prompt instruction sent by the information judgment device 2; the OLED display module comprises a plurality of OLED display panels which are uniformly paved on the pedestrian crossing in a sectional mode. Traditional LCD is liquid crystal display, and itself is luminous, needs the backlight, provides the rotatory angle of electric field control liquid crystal through the TFT base plate to play the effect of control liquid crystal transmissivity. An OLED is in fact a thin-film device, i.e. a stable red organic thin-film electroluminescent device consisting of organic thin films sandwiched between an anode and a cathode. These organic materials emit light when a current is passed through them. The OLED uses a common matrix cross screen, is positioned between the anode and the cathode which are arranged in a cross way, and can control the lighting of each OLED by gating the combination of the anode and the cathode. The light generated by the OLED has strong penetrating power, and the identification degree is higher than that of other display technologies under the condition of low visibility. The OLED display technology has the advantages of self-luminescence, wide viewing angle, almost infinite contrast, low power consumption, extremely high reaction speed and the like; the wide viewing angle and the high contrast ratio are more favorable for attracting the attention of drivers; and because the response speed is very high, compared with the response delay of a driver and the speed of a vehicle, the response delay of the OLED can be regarded as 0, so that the early warning can be displayed in real time, more response time is reserved for the response of the driver, and the safety of pedestrian crossing is effectively improved.
Other steps and parameters are the same as those in the first, second or third embodiment.
The fifth concrete implementation mode: the fourth difference between the present embodiment and the fourth embodiment is that the width of the OLED display panel is 40cm to 45cm, and the distance between two adjacent OLED display panels is 60cm to 80 cm. Since the OLED display panel is laid on the crosswalk, it is actually to perform lighting display under the condition of low visibility, and is more striking to remind the driver of the attention. Therefore, the OLED display panel is preferably arranged in accordance with the pedestrian crossing line arrangement specification standard: the pedestrian crossing line is generally vertical to the central line of the highway, under special conditions, the included angle between the pedestrian crossing line and the central line is not smaller than 60 degrees (or larger than 120 degrees), and the stripes of the pedestrian crossing line are parallel to the central line of the highway; the minimum width of the pedestrian crosswalk line is 300cm, and the minimum width can be widened by taking 100cm as a grade according to the traffic volume of pedestrians; the line width of the crosswalk line is 40-45 cm, the line interval is preferably 60cm, and can be adjusted according to the width of the roadway, but the maximum line width should not exceed 80 cm.
Other steps and parameters are the same as those in the fourth embodiment.
The sixth specific implementation mode: the fourth difference between this embodiment and the specific embodiment is that the display device of the OLED display panel adopts VGG 12864G-CM 21, and the single chip microcomputer chip adopts SSD 1303.
Other steps and parameters are the same as those in the fourth or fifth embodiment.
The seventh embodiment: the embodiment is described with reference to fig. 3, and the pedestrian safety street-crossing prompting method for the driver according to the embodiment specifically includes the following steps:
the method comprises the following steps that firstly, a vehicle-mounted GPS detects the position of a vehicle in real time, a vehicle speed detector detects the speed of the vehicle in real time, a vehicle acceleration detector detects the acceleration of the vehicle in real time, and a thermal infrared imager captures images of pedestrians; the vehicle-mounted GPS, the vehicle speed detector, the vehicle acceleration detector and the thermal infrared imager respectively transmit the collected dynamic information (including vehicle position, vehicle speed, vehicle acceleration, pedestrian image, pedestrian speed and the like) of the pedestrian and the vehicle to the wireless transmitter, and the wireless transmitter converts the received information into a radio signal and transmits the radio signal to the information judgment device;
step two, the information judgment device receives the dynamic information sent by the data acquisition device, the conflict judgment module analyzes whether the pedestrian and the vehicle conflict or not according to the received information, and the traffic environment visibility judgment module determines the traffic environment visibility index C according to the received informationBRI；
Step three, when the judgment result is that conflict occurs, the information judgment device issues a prompt instruction to the pedestrian crossing prompt device; when the judgment result is that conflict occurs and CBRIWhen the speed is less than or equal to 0.9, the information judgment device simultaneously sends prompt instructions to the pedestrian crossing prompt device and the vehicle-mounted early warning issuing device;
fourthly, the pedestrian crossing prompting device carries out OLED display when receiving the prompting instruction sent by the information judging device; and the vehicle-mounted early warning issuing device sends out voice broadcast and vibration prompt when receiving the prompt instruction sent by the information judging device.
The specific implementation mode is eight: the seventh embodiment is different from the seventh embodiment in that the step two of analyzing, by the conflict determination module, whether a conflict occurs between the pedestrian and the vehicle according to the received information includes:
a1, establishing a coordinate system by taking the pedestrian as an origin, the pedestrian advancing direction as an X axis and the direction perpendicular to the X axis as a Y axis, and calculating the time required by the pedestrian and the vehicle to collide with each other while maintaining the current speed according to the dynamic information of the pedestrian and the vehicle:
wherein L is the linear distance between the vehicle and the pedestrian, VaAs the vehicle running speed, VbThe pedestrian walking speed is α, the included angle between the connecting line of the vehicle and the pedestrian advancing direction (X axis), and β is the included angle between the vehicle and the pedestrian moving direction;
a2, calculating the time required by the vehicle and the pedestrian to avoid the collision according to the dynamic information of the pedestrian and the vehicle:
wherein, t1As driver reaction time, t2The time required for the driver to start stepping on the brake until the braking force of the vehicle reaches the maximum, amaxIs the maximum deceleration of the vehicle;
a3, making safety degree S ═ Ta/TbIf S is>1.5, judging that the person and the vehicle do not conflict with each other, wherein the person and the vehicle belong to a safe state; if S is more than or equal to 1 and less than or equal to 1.5, the judgment result is that the person and the vehicle conflict.
Other steps and parameters are the same as those in the seventh embodiment.
The specific implementation method nine: the seventh or eighth embodiment is different from the seventh or eighth embodiment in that, in the second step, the visibility judgment module of the traffic environment determines the visibility index C of the traffic environment according to the received informationBRIThe method comprises the following specific steps:
b1, storing the ground preset image g (M, N) in the standard library, and preprocessing the boundary area of the ground marker in the image g (M, N), such as adding edge marks on the boundary area of the ground marker in black. Performing convolution operation on an image RI captured by the thermal infrared imager in real time and an image g (M, N) with a ground marker edge mark stored in a standard library to obtain a corresponding edge region gamma of the ground marker; wherein the content of the first and second substances,
definition G is as follows:
wherein g (i, j) is the gray scale value of the pixel at (i, j) of the image RI; i. j are respectively the X-axis coordinate and the Y-axis coordinate of the pixel point.
B2, calculating the average brightness C of the edge region G in the target image RIBRI：
Wherein the content of the first and second substances,
representing the number of non-zero pixels in G;
b3, mixing CBRIAs a traffic environment visibility index; order: 0.9<CBRI<1, the visibility of the traffic environment is excellent and is a first-level standard; 0.6<CBRINot more than 0.9, poor visibility in traffic environment, which is a second-level standard; 0<CBRILess than or equal to 0.6, poor visibility in traffic environment, and three-level standard.
Other steps and parameters are the same as those in the seventh or eighth embodiment.
The detailed implementation mode is ten: the difference between this embodiment and the ninth embodiment is that, in the fourth step, after the vehicle-mounted early warning issuing device receives the prompt instruction sent by the information judging device, if 0.6<CBRILess than or equal to 0.9, sending out voice broadcast prompt, if 0<CBRIAnd sending out voice broadcast and vibration prompt when the number is less than or equal to 0.6.
Other steps and parameters are the same as those in the ninth embodiment.
Examples
The following examples were used to demonstrate the beneficial effects of the present invention:
as shown in fig. 2, a vehicle-mounted GPS, a vehicle speed detector, a vehicle acceleration detector, and a vehicle-mounted warning issuing device are respectively installed in a vehicle; arranging an infrared thermal imager and an information judgment device (the distance between a parking line and a pedestrian crossing is 1M) on one side of a road adjacent to the parking line, wherein the infrared thermal imager uses a Tau2640 core and a 25mm lens; arranging pedestrian crossing prompting devices on the pedestrian crosswalk in a sectional manner; the width of each segment of OLED display panel is 45cm, and the distance between two adjacent OLED display panels is 60 cm; the display device of the OLED display panel adopts VGG128 12864G-CM 21, and the single chip microcomputer chip adopts SSD 1303; the power converter employs TPS65137 by TI corporation.
The pedestrian is replaced by a plastic model fixed on the remote control toy car.
Then there are:
when the safety degree S is larger than 1.5, the vehicle normally passes, and the vehicle-mounted early warning issuing device and the pedestrian crossing prompting device do not prompt;
when the safety degree is more than or equal to 1 and less than or equal to 1.5 and 0.9<CBRI<1, the pedestrian crossing prompting device carries out OLED display;
when the safety degree is more than or equal to 1 and less than or equal to 1.5 and 0.6<CBRIWhen the pedestrian crossing street is less than or equal to 0.9, the pedestrian crossing street prompting device carries out OLED display，The vehicle-mounted early warning issuing device sends out voice broadcast;
when the safety degree is more than or equal to 1 and less than or equal to 1.5 and 0<CBRIWhen the speed is less than or equal to 0.6, the pedestrian crossing prompting device carries out OLED display，And the vehicle-mounted early warning issuing device sends out voice broadcast and vibration prompt.
Tests were performed 20 times each at night, evening, fog, cloudy, and thunderstorm, with and without the present invention, respectively; the invention has obvious prompting effect on drivers, can effectively avoid about 92 percent of vehicle-pedestrian conflict, further can reduce the occurrence of pedestrian crossing traffic accidents and improve the pedestrian crossing safety.
The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it should be understood that various changes and modifications can be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (2)
1. The pedestrian safety street-crossing prompting system method facing the driver is characterized by comprising the following steps:
the method comprises the following steps that firstly, a vehicle-mounted GPS detects the position of a vehicle in real time, a vehicle speed detector detects the speed of the vehicle in real time, a vehicle acceleration detector detects the acceleration of the vehicle in real time, and a thermal infrared imager captures images of pedestrians; the vehicle-mounted GPS, the vehicle speed detector, the vehicle acceleration detector and the thermal infrared imager respectively transmit the collected dynamic information of the pedestrians and the vehicles to the wireless transmitter, and the wireless transmitter converts the received information into a radio signal and sends the radio signal to the information judgment device;
step two, the information judgment device receives the dynamic information sent by the data acquisition device, the conflict judgment module analyzes whether the pedestrian and the vehicle conflict or not according to the received information, and the traffic environment visibility judgment module determines the traffic environment visibility index C according to the received informationBRI；
The specific steps of analyzing whether the pedestrian and the vehicle conflict or not by the conflict judging module according to the received information comprise:
a1, calculating the time required for the pedestrian and the vehicle to maintain the current speed to collide according to the dynamic information of the pedestrian and the vehicle:
wherein L is the linear distance between the vehicle and the pedestrian, VaAs the vehicle running speed, VbThe pedestrian walking speed is α, the included angle between the connecting line of the vehicle and the pedestrian advancing direction is β, and the included angle between the vehicle and the pedestrian moving direction is β;
a2, calculating the time required by the vehicle and the pedestrian to avoid the collision according to the dynamic information of the pedestrian and the vehicle:
wherein, t1As driver reaction time, t2The time required for the driver to start stepping on the brake until the braking force of the vehicle reaches the maximum, amaxIs the maximum deceleration of the vehicle;
a3, making safety degree S ═ Ta/TbIf S is>1.5, judging that the person and the vehicle do not conflict with each other, wherein the person and the vehicle belong to a safe state; if S is more than or equal to 1 and less than or equal to 1.5, the judgment result is that the person and the vehicle conflict;
the traffic environment visibility judgment module determines a traffic environment visibility index C according to the received informationBRIThe method comprises the following specific steps:
b1, performing convolution operation on the image RI captured by the thermal infrared imager in real time and the image g (M, N) with the ground marker edge mark stored in the standard library to obtain the corresponding edge region gamma of the ground marker; wherein the content of the first and second substances,
definition G is as follows:
wherein g (i, j) is the gray value of the image RI at (i, j);
b2, calculating the average brightness C of the edge region G in the target image RIBRI：
Wherein ^ nG1ds represents the number of non-zero pixels in G;
b3, mixing CBRIAs a traffic environment visibility index; order: 0.9<CBRI<1, visibility of a traffic environment is a first-level standard; 0.6<CBRILess than or equal to 0.9, and the visibility of the traffic environment is a second-level standard; 0<CBRILess than or equal to 0.6, and the visibility of the traffic environment is a three-level standard;
step three, when the judgment result is that conflict occurs, the information judgment device issues a prompt instruction to the pedestrian crossing prompt device; when the judgment result is that conflict occurs and CBRIWhen the number is less than or equal to 0.9, the information judgment device simultaneously gives a prompt to the pedestrian crossing and the vehicle-mounted early warning release deviceSending a prompt instruction;
fourthly, the pedestrian crossing prompting device carries out OLED display when receiving the prompting instruction sent by the information judging device; and the vehicle-mounted early warning issuing device sends out voice broadcast and vibration prompt when receiving the prompt instruction sent by the information judging device.
2. The method for prompting pedestrian safety crossing according to claim 1, wherein in the fourth step, after the vehicle-mounted early warning issuing device receives the prompting instruction sent by the information judging device, if 0.6<CBRILess than or equal to 0.9, sending out voice broadcast prompt, if 0<CBRIAnd sending out voice broadcast and vibration prompt when the number is less than or equal to 0.6.
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| CN208044870U (en) * | 2018-03-10 | 2018-11-02 | 龚海 | A kind of intelligence crossing passage system for prompting |
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