CN110428661A - A kind of protection pedestrian crosses the method, apparatus and equipment of zebra stripes - Google Patents
A kind of protection pedestrian crosses the method, apparatus and equipment of zebra stripes Download PDFInfo
- Publication number
- CN110428661A CN110428661A CN201910740616.5A CN201910740616A CN110428661A CN 110428661 A CN110428661 A CN 110428661A CN 201910740616 A CN201910740616 A CN 201910740616A CN 110428661 A CN110428661 A CN 110428661A
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- Prior art keywords
- zebra stripes
- vehicle
- warning information
- pedestrian
- walk
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/164—Centralised systems, e.g. external to vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the invention discloses a kind of protection pedestrians to cross the method, apparatus and equipment of zebra stripes, this method comprises: whether having walk on monitoring objective zebra stripes；Warning information is generated when monitoring has walk on target zebra stripes；Warning information is broadcasted, when to there is vehicle to enter near target zebra stripes in preset range, the on board unit of vehicle receives warning information, and then driver is prompted according to warning information, or when vehicle is in automatic Pilot state, warning information is sent to the car-mounted terminal of vehicle to control vehicle and avoid the pedestrian by board unit.Warning information is generated when the present invention is by having walk on monitoring device monitoring objective zebra stripes; and warning information is broadcasted; vehicle in this way in broadcasting area gets warning information by board unit; driver can be prompted; or when vehicle is in automatic Pilot state; the movement such as vehicle deceleration and brake is controlled, so as to protect pedestrains safety to cross zebra stripes.
Description
Technical field
The present embodiments relate to highway safety technical fields, and in particular to it is a kind of protection pedestrian cross zebra stripes method,
Device and equipment.
Background technique
Pedestrian mainly judges on crossing by driver observation when through the crossing of not traffic lights at present
Whether there is pedestrian, if there is pedestrian, then pedestrian is avoided.
(such as heavy rain, dense fog etc.), driver under the scene that some sights are blocked (such as road corner) and sight is bad
It may judge by accident or fail to judge, be easy to cause traffic accident.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of method, apparatus and equipment for protecting pedestrian to cross zebra stripes, to
Solve safety problem when walk on the zebra stripes of existing no traffic lights.
To achieve the above object, the embodiment of the present invention mainly provides the following technical solutions:
In a first aspect, the embodiment of the invention provides a kind of methods that protection pedestrian crosses zebra stripes, comprising: monitoring objective spot
It on horse line is had by walk；Warning information is generated when monitoring has walk on the target zebra stripes；It will be described
Warning information is broadcasted, when to there is vehicle to enter near the target zebra stripes in preset range, the vehicle it is vehicle-mounted
Unit receives the warning information, and then is prompted according to the warning information driver, or when the vehicle is in certainly
When dynamic driving condition, the warning information is sent to the car-mounted terminal of the vehicle by the on board unit, by described vehicle-mounted
Vehicle described in terminal control avoids the pedestrian.
Further, whether there is walk on the monitoring objective zebra stripes, comprising: obtain the target zebra stripes
Real time video image data；Image procossing is carried out to the real time video image data, judged according to processing result image described in
Whether there is walk on target zebra stripes.
Further, whether there is walk on the monitoring objective zebra stripes, comprising: it is attached to obtain the target zebra stripes
Close real time radar scan data；Judge whether have pedestrian logical on the target zebra stripes according to the real time radar scan data
Row.
Further, described to generate warning information when monitoring has walk on the target zebra stripes, comprising: to obtain
Take the location information of the pedestrian, the location information of speed of travel information and the target zebra stripes；According to the position of the pedestrian
The location information of confidence breath, the speed of travel information and the target zebra stripes generates the warning information.
Second aspect, the embodiment of the present invention also provide a kind of device for protecting pedestrian to cross zebra stripes, comprising: monitoring modular,
Whether there is walk on monitoring objective zebra stripes；Processing and control module is used in the monitoring module monitors described in
Warning information is generated when having walk on target zebra stripes；Communication module, for the warning information to be broadcasted, so as to
When having vehicle to enter near the target zebra stripes in preset range, the on board unit of the vehicle receives the warning information,
And then driver is prompted according to the warning information, or when the vehicle is in automatic Pilot state, by the vehicle
The warning information is sent to the car-mounted terminal of the vehicle by carrier unit, is controlled the vehicle by the car-mounted terminal and is avoided institute
State pedestrian.
Further, the monitoring modular includes video surveillance module, and the video surveillance module is for obtaining the mesh
Mark the real time video image data of zebra stripes；The processing and control module is specifically used for carrying out the real time video image data
Image procossing judges whether there is walk on the target zebra stripes according to processing result image.
Further, the monitoring modular includes radar monitoring modular, and the radar monitoring modular is for obtaining the mesh
Mark the real time radar scan data of zebra stripes；The processing and control module is specifically used for judging the real time radar scan data
Whether there is walk on the target zebra stripes.
Further, the monitoring modular is also used to when monitoring has walk on the target zebra stripes, is obtained
The location information and speed of travel information of the pedestrian；The processing and control module is specifically used for being believed according to the position of the pedestrian
The location information of breath, the speed of travel information and the target zebra stripes prestored generates the warning information.
The third aspect, the embodiment of the present invention also provide a kind of electronic equipment, comprising: at least one processor and at least one
Memory；The memory is for storing one or more program instructions；The processor, for running one or more programs
Instruction, to execute the method that protection pedestrian crosses zebra stripes described in first aspect.
Fourth aspect, the embodiment of the present invention also provide a kind of computer readable storage medium, comprising: at least one processor
And at least one processor；The memory is for storing one or more program instructions；The processor, for running one
Or multiple program instructions, to execute the method that protection pedestrian crosses zebra stripes described in first aspect.
Technical solution provided in an embodiment of the present invention at least has the advantages that
Protection pedestrian provided in an embodiment of the present invention crosses the method, apparatus and equipment of zebra stripes, and in target, the pedestrian crossing is set
Setting monitoring device, generating warning information when by having walk on monitoring device monitoring objective zebra stripes, and warning information into
Row is broadcasted, and the vehicle in such broadcasting area gets warning information by board unit, can be prompted driver, or
When vehicle is in automatic Pilot state, the movement such as control vehicle deceleration and brake, so as to protect pedestrains safety to cross zebra
Line.
Detailed description of the invention
Fig. 1 is the flow chart that the protection pedestrian of the embodiment of the present invention crosses the method for zebra stripes；
Fig. 2 is the structural block diagram that the protection pedestrian of the embodiment of the present invention crosses the device of zebra stripes.
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book is understood other advantages and efficacy of the present invention easily.
In being described below, for illustration and not for limitation, propose such as specific system structure, interface, technology it
The detail of class, to understand thoroughly the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, omit to well-known system, circuit and
The detailed description of method, in case unnecessary details interferes description of the invention.
Fig. 1 is the flow chart that the protection pedestrian of the embodiment of the present invention crosses the method for zebra stripes.As shown in Figure 1, the present invention is real
Apply the method that the protection pedestrian of example crosses zebra stripes, comprising:
S1: whether there is walk on monitoring objective zebra stripes.
In one embodiment of the invention, step S1 includes:
S1-A-1: the real time video image data of target zebra stripes are obtained.
Specifically, video image acquisition device, the image capture position alignment target spot of video image acquisition device are set
Horse line.
S1-A-2: image procossing is carried out to real time video image data, target zebra stripes are judged according to processing result image
On whether have walk.
In some instances, training can identify the image recognition model of pedestrian in image first, by real time video image
Data, which are input in image recognition model, carries out image procossing, judges whether there is row on target zebra stripes according to processing result image
People is current.In this way, when pedestrian has just enter into target zebra stripes, by obtaining real time video image and being carried out to real time video image
Whether image procossing is it is determined that there is pedestrian current on target zebra stripes.
In another implementation of the invention, step S1 includes:
S1-B-1: the real time radar scan data near target zebra stripes is obtained.
Specifically, radar is set near target zebra stripes, real time scan is carried out by radar and obtains real time radar scanning number
According to.
S1-B-2: judge whether there is walk on target zebra stripes according to real time radar scan data.
Specifically, the substrate figure including the radar scanning of environmental information near target zebra stripes is provided, is carried out in radar real
When scanning, obtained according to the data that real time radar scan data subtracts substrate figure for indicating its other than environmental information
The real time radar scan data of his object.Position and the body of other objects are obtained according to the real time radar scan data of other objects
Product, can also obtain the movement velocity of other objects.According to the position of other objects and volume judge on target zebra stripes whether
There is walk.
S2: warning information is generated when monitoring has walk on target zebra stripes.
Specifically, the remote monitoring platform of roadside unit (Road Side Unit, RSU) or control roadside unit passes through
When the information that radar or image collecting device obtain judges to have walk on target zebra stripes, warning information is generated.Early warning letter
Breath may include " having pedestrian passing through on target zebra stripes, it is noted that ", can also include that " direction of travel of pedestrian is road
(or being walked from the side road B to road A skidding) is walked to road B skidding in the side A "；In addition, warning information can also include that " pedestrian is
Apart from road A side X meter ".
In one embodiment of the invention, step S2 includes:
S2-1: the location information of pedestrian, the location information of speed of travel information and target zebra stripes are obtained.Wherein, pedestrian
Location information and speed of travel information can pass through the processing result or real time video image data of real time radar scan data
Processing result obtain.The location information of target zebra stripes is preset.
S2-2: warning information is generated according to the location information of location information, speed of travel information and target zebra stripes.Such as
Pedestrian is in the X position of target zebra stripes, is walked from the side road A to road B skidding, and the speed of travel is V meter per second, target zebra stripes
Position be Y, generate include information above warning information.
S3: warning information is broadcasted, when to there is vehicle to enter near target zebra stripes in preset range, vehicle
On board unit receives warning information, and then is prompted according to warning information driver, or when vehicle is in automatic Pilot shape
When state, warning information is sent to the car-mounted terminal of vehicle by board unit, pedestrian is avoided by car-mounted terminal control vehicle.
Specifically, early warning range, such as nearby 50-1000 meters of target zebra stripes are set first, and specific data can basis
It needs to be adjusted.
Then, roadside unit broadcasts warning information according to early warning range.
When being entered in early warning range by vehicle, the on board unit (On Board Unit, OBU) on vehicle will receive pre-
Alert information.Wherein, dedicated short-range communication technology (Dedicated Short Range can be used between RSU and OBU
Communication, DSRC) or automobile-used wireless communication technique (Vehicle to X, V2X) communicated.
After OBU receives warning information, driver can be prompted.If vehicle is in automatic Pilot state,
Warning information is sent to the car-mounted terminal (i.e. the controlling terminal of vehicle) of vehicle by OBU, by car-mounted terminal control vehicle evacuation
Pedestrian is such as slowed down, brake or lane-change are given way.
The method that the protection pedestrian of the embodiment of the present invention crosses zebra stripes is arranged monitoring device in target the pedestrian crossing, leads to
It crosses and generates warning information when having walk on monitoring device monitoring objective zebra stripes, and warning information is broadcasted, it is wide in this way
The vehicle broadcast in range gets warning information by board unit, can prompt driver, or is in certainly in vehicle
When dynamic driving condition, the movement such as control vehicle deceleration and brake, so as to protect pedestrains safety to cross zebra stripes.
Fig. 2 is the structural block diagram that the protection pedestrian of the embodiment of the present invention crosses the device of zebra stripes.As shown in Fig. 2, of the invention
The protection pedestrian of embodiment crosses the device of zebra stripes, comprising: monitoring modular 100, processing and control module 200 and communication module 300.
Wherein, whether monitoring modular 100 is for having walk on monitoring objective zebra stripes.Processing and control module 200 is used
Warning information is generated when having walk in monitoring module monitors to target zebra stripes.Communication module 300 is used for early warning
Information is broadcasted, and when to there is vehicle to enter near target zebra stripes in preset range, the on board unit of vehicle receives early warning
Information, and then driver is prompted according to warning information；It, will by board unit or when vehicle is in automatic Pilot state
Warning information is sent to the car-mounted terminal of vehicle, avoids pedestrian by car-mounted terminal control vehicle.
In one embodiment of the invention, monitoring modular 100 includes video surveillance module, and video surveillance module is for obtaining
Take the real time video image data of target zebra stripes.Processing and control module 200 is specifically used for carrying out real time video image data
Image procossing judges whether there is walk on target zebra stripes according to processing result image.
In one embodiment of the invention, monitoring modular 100 includes radar monitoring modular, and radar monitoring modular is for obtaining
Take the real time radar scan data of target zebra stripes.Processing and control module 200 is specifically used for judging real time radar scan data
Whether there is walk on target zebra stripes.
In one embodiment of the invention, monitoring modular 100, which is also used to work as, monitors to have on target zebra stripes pedestrian logical
When row, the location information and speed of travel information of pedestrian are obtained.Processing and control module be specifically used for according to the location information of pedestrian,
The location information of speed of travel information and the target zebra stripes prestored generates warning information.
It should be noted that the protection pedestrian of the embodiment of the present invention crosses the specific embodiment and this hair of the device of zebra stripes
The specific embodiment for the method that the protection pedestrian of bright embodiment crosses zebra stripes is similar, crosses zebra stripes referring specifically to protection pedestrian
The description of method part does not repeat them here to reduce redundancy.
A kind of electronic equipment is also disclosed in the embodiment of the present invention, comprising: at least one processor and at least one processor；
Memory is for storing one or more program instructions；Processor, for running one or more program instructions, on executing
The method that the protection pedestrian stated crosses zebra stripes.
Disclosed embodiment of this invention discloses a kind of computer readable storage medium, deposits in computer readable storage medium
Computer program instructions are contained, when computer program instructions are run on computers, so that computer executes above-mentioned protection
The method that pedestrian crosses zebra stripes.
In embodiments of the present invention, processor can be a kind of IC chip, the processing capacity with signal.Processing
Device can be general processor, digital signal processor (Digital Signal Processor, abbreviation DSP), dedicated integrated
Circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components.
It may be implemented or execute disclosed each method, step and the logic diagram in the embodiment of the present invention.General procedure
Device can be microprocessor or the processor is also possible to any conventional processor etc..In conjunction with disclosed in the embodiment of the present invention
Method the step of can be embodied directly in hardware decoding processor and execute completion, or with hardware in decoding processor and soft
Part block combiner executes completion.Software module can be located at random access memory, and flash memory, read-only memory may be programmed read-only storage
In the storage medium of this fields such as device or electrically erasable programmable memory, register maturation.Processor reads storage medium
In information, in conjunction with its hardware complete the above method the step of.
Storage medium can be memory, such as can be volatile memory or nonvolatile memory, or may include
Both volatile and non-volatile memories.
Wherein, nonvolatile memory can be read-only memory (Read-Only Memory, ROM), may be programmed it is read-only
Memory (Programmable ROM, PROM), Erasable Programmable Read Only Memory EPROM (Erasable PROM, EPROM), electricity
Erasable Programmable Read Only Memory EPROM (Electrically EPROM, EEPROM) or flash memory.
Volatile memory can be random access memory (Random Access Memory, RAM), be used as outside
Cache.By exemplary but be not restricted explanation, the RAM of many forms is available, such as static random access memory
(Static RAM, SRAM), dynamic random access memory (Dynamic RAM, DRAM), Synchronous Dynamic Random Access Memory
(Synchronous DRAM, abbreviation SDRAM), double data speed synchronous dynamic RAM (Double Data
Rate SDRAM, abbreviation DDRSDRAM), enhanced Synchronous Dynamic Random Access Memory (Enhanced SDRAM, referred to as
ESDRAM), synchronization links dynamic random access memory (Synchronous Link DRAM, abbreviation SLDRAM) and directly in
Deposit bus random access memory (Direct Rambus RAM, abbreviation DRRAM).
The storage medium of description of the embodiment of the present invention is intended to include but is not limited to depositing for these and any other suitable type
Reservoir.
Those skilled in the art are it will be appreciated that in said one or multiple examples, function described in the invention
It can be realized with hardware with combination of software.When application software, corresponding function can be stored in computer-readable medium
In or as on computer-readable medium one or more instructions or code transmitted.Computer-readable medium includes meter
Calculation machine storage medium and communication media, wherein communication media includes convenient for transmitting computer journey from a place to another place
Any medium of sequence.Storage medium can be any usable medium that general or specialized computer can access.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all any modification, equivalent substitution, improvement and etc. on the basis of technical solution of the present invention, done should all
Including within protection scope of the present invention.
Claims (10)
1. a kind of method that protection pedestrian crosses zebra stripes characterized by comprising
Whether there is walk on monitoring objective zebra stripes；
Warning information is generated when monitoring has walk on the target zebra stripes；
The warning information is broadcasted, it is described when to there is vehicle to enter near the target zebra stripes in preset range
The on board unit of vehicle receives the warning information, and then is prompted according to the warning information driver, or when described
When vehicle is in automatic Pilot state, the warning information is sent to the car-mounted terminal of the vehicle by the on board unit,
The vehicle is controlled by the car-mounted terminal and avoids the pedestrian.
2. the method that protection pedestrian according to claim 1 crosses zebra stripes, which is characterized in that the monitoring objective zebra stripes
On whether have walk, comprising:
Obtain the real time video image data of the target zebra stripes；
To the real time video image data carry out image procossing, judged according to processing result image be on the target zebra stripes
It is no to have walk.
3. the method that protection pedestrian according to claim 1 crosses zebra stripes, which is characterized in that the monitoring objective zebra stripes
On whether have walk, comprising:
Obtain the real time radar scan data near the target zebra stripes；
Judge whether there is walk on the target zebra stripes according to the real time radar scan data.
4. the method that protection pedestrian according to claim 1-3 crosses zebra stripes, which is characterized in that described when monitoring
Warning information is generated when having walk on to the target zebra stripes, comprising:
Obtain the location information of the pedestrian, the location information of speed of travel information and the target zebra stripes；
According to the generation of the location information of the location information of the pedestrian, the speed of travel information and the target zebra stripes
Warning information.
5. the device that a kind of protection pedestrian crosses zebra stripes characterized by comprising
Whether monitoring modular has walk on monitoring objective zebra stripes；
Processing and control module generates early warning when for having walk in the monitoring module monitors to the target zebra stripes
Information；
Communication module, it is default nearby to there is vehicle to enter the target zebra stripes for broadcasting the warning information
When in range, the on board unit of the vehicle receives the warning information, and then is carried out according to the warning information to driver
Prompt, or when the vehicle is in automatic Pilot state, the warning information is sent to the vehicle by the on board unit
Car-mounted terminal, the vehicle is controlled by the car-mounted terminal and avoids the pedestrian.
6. the device that protection pedestrian according to claim 5 crosses zebra stripes, which is characterized in that the monitoring modular includes view
Frequency monitoring modular, the video surveillance module are used to obtain the real time video image data of the target zebra stripes；The processing
Control module is specifically used for carrying out image procossing to the real time video image data, judges the mesh according to processing result image
Whether there is walk on mark zebra stripes.
7. the device that protection pedestrian according to claim 5 crosses zebra stripes, which is characterized in that the monitoring modular includes thunder
Up to monitoring modular, the radar monitoring modular is used to obtain the real time radar scan data of the target zebra stripes；The processing
Control module is specifically used for judging whether there is walk on the target zebra stripes to the real time radar scan data.
8. crossing the device of zebra stripes according to the described in any item protection pedestrians of claim 5-7, which is characterized in that the monitoring mould
Block is also used to obtain the location information and the speed of travel of the pedestrian when monitoring has walk on the target zebra stripes
Information；The processing and control module is specifically used for according to the location information of the pedestrian, the speed of travel information and prestores
The location information of the target zebra stripes generates the warning information.
9. a kind of electronic equipment, which is characterized in that the electronic equipment includes: at least one processor and at least one storage
Device；
The memory is for storing one or more program instructions；
The processor, for running one or more program instructions, to execute guarantor according to any one of claims 1-4
The method that shield pedestrian crosses zebra stripes.
10. a kind of computer readable storage medium, which is characterized in that include one or more journeys in the computer storage medium
Sequence instruction, one or more of program instructions cross spot for being performed protection pedestrian according to any one of claims 1-4
The method of horse line.
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| CN201910740616.5A CN110428661A (en) | 2019-08-12 | 2019-08-12 | A kind of protection pedestrian crosses the method, apparatus and equipment of zebra stripes |
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| CN201910740616.5A CN110428661A (en) | 2019-08-12 | 2019-08-12 | A kind of protection pedestrian crosses the method, apparatus and equipment of zebra stripes |
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| CN111757329A (en) * | 2020-06-23 | 2020-10-09 | 国汽(北京)智能网联汽车研究院有限公司 | Safe driving prompting method and device and computer equipment |
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