CN110936937A - Automatic braking method and system - Google Patents
Automatic braking method and system Download PDFInfo
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- CN110936937A CN110936937A CN201911269857.2A CN201911269857A CN110936937A CN 110936937 A CN110936937 A CN 110936937A CN 201911269857 A CN201911269857 A CN 201911269857A CN 110936937 A CN110936937 A CN 110936937A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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Abstract
The invention relates to the technical field of safety protection, and provides an automatic braking method and an automatic braking system, wherein the method comprises the following steps: the method comprises the steps that a controller acquires a first image and a second image acquired by a camera device, wherein the first image and the second image have partially overlapped viewing ranges and both comprise a target pedestrian; the controller determines the relative distance between the target pedestrian and the forklift according to the first image and the second image; the controller acquires the steering angle of the forklift acquired by the corner detection module; the controller controls the brake driver to brake the forklift according to the relative distance between the person and the vehicle and the steering angle. Compared with the prior art, the automatic braking method and the automatic braking system provided by the invention can solve the problems that a driver is difficult to observe the rear situation in real time when the forklift moves backwards, and the driver can quickly make a braking response when pedestrians appear behind the forklift.
Description
Technical Field
The invention relates to the technical field of safety protection, in particular to an automatic braking method and an automatic braking system.
Background
Due to the visual field problem of port machinery equipment such as a front crane and a forklift, when the forklift moves backwards, a driver cannot observe the situation behind the forklift in real time, and can quickly make a braking response when pedestrians appear behind the forklift.
Disclosure of Invention
The invention aims to provide an automatic braking method and an automatic braking system, which aim to solve the problems that in the prior art, when a forklift moves backwards, a driver cannot observe the situation behind the forklift in real time easily, and braking reaction is performed quickly when pedestrians appear behind the forklift.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides an automatic braking method, which is applied to an automatic braking system of a forklift, where the automatic braking system includes a controller, a camera device, a brake driver, and a rotation angle detection module, the camera device, the brake driver, and the rotation angle detection module are all electrically connected to the controller, the camera device includes at least two cameras, and the method includes: the method comprises the steps that a controller acquires a first image and a second image acquired by a camera device, wherein the first image and the second image have partially overlapped viewing ranges and both comprise a target pedestrian; the controller determines the relative distance between the target pedestrian and the forklift according to the first image and the second image; the controller acquires the steering angle of the forklift acquired by the corner detection module; and the controller controls the brake driver to brake the forklift according to the relative distance between the man and the vehicle and the steering angle.
In a second aspect, an embodiment of the present invention provides an automatic braking system, where the automatic braking system includes a controller, a camera device, a brake driver, and a rotation angle detection module, the camera device, the brake driver, and the rotation angle detection module are all electrically connected to the controller, and the camera device includes at least two cameras; the camera device is used for acquiring a first image and a second image and sending the first image and the second image to the controller, wherein the first image and the second image have partially overlapped viewing ranges and both comprise a target pedestrian; the corner detection module is used for acquiring the steering angle of the forklift and sending the steering angle to the controller; the controller is used for determining the relative distance between the target pedestrian and the vehicle of the forklift according to the first image and the second image, and controlling the brake driver to brake the forklift according to the relative distance between the pedestrian and the vehicle and the steering angle.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
according to the automatic braking method and the automatic braking system, the relative distance between a target pedestrian and a forklift is determined through the first image and the second image acquired by the camera device, and the brake driver is controlled to brake the forklift according to the relative distance between the target pedestrian and the forklift and the steering angle of the forklift acquired by the corner detection module. The condition at the rear of the forklift can be detected in real time, braking action is made when existing people appear in a certain range at the rear, and the problem that in the prior art, when the forklift moves backwards, a driver cannot observe the rear condition in real time and quickly makes braking reaction when pedestrians appear at the rear of the forklift is solved.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for a user of ordinary skill in the art, other related drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an automatic braking system according to an embodiment of the present invention.
Fig. 2 is a flowchart illustrating an automatic braking method according to an embodiment of the present invention.
Fig. 3 is a flowchart illustrating the sub-steps of step S2 in fig. 2.
Fig. 4 is a first flowchart illustrating the sub-steps of step S4 of fig. 2.
Fig. 5 is a flow chart illustrating the substeps of substep S42 of fig. 4.
Fig. 6 is a second flowchart illustrating the sub-steps of step S4 of fig. 2.
Fig. 7 shows an example of a travel area provided by an embodiment of the present invention.
Fig. 8 shows an example of a driving area and a preset safe distance provided by an embodiment of the present invention.
Icon: 100-an automatic braking system; 110-a camera device; 120-corner detection module; 130-a ranging module; 140-a speed measuring module; 150-a controller; 160-brake actuator.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a user skilled in the art without inventive work based on the embodiments of the present invention, are within the scope of protection of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Due to the visual field problem of port machinery equipment such as a front crane and a forklift, when the forklift moves backwards, a driver cannot observe the situation behind the forklift, and can quickly make a braking response when pedestrians appear behind the forklift, in addition, the working environment is complex, more personnel are provided, and more goods are provided, so that dangerous accidents are often caused, the casualty accidents of the personnel are badly influenced, and the loss of all the relevant parties cannot be measured. Therefore, an automatic braking system is urgently needed, the obstacle can be detected in the preset safety distance in the backward direction of the forklift and calculated in real time, the running track can be calculated during turning, and when the distance is too close, the automobile is directly braked so as to stop the reversing accident, and particularly, the casualties are avoided.
The probability of appearing of personnel in commodity circulation place itself is low, and the place is narrow and small, and work area is very limited, if carry out collision avoidance to all barriers, will lead to the frequent automatic braking of vehicle, influences the vehicle trafficability characteristic, and operating efficiency is very low, does not possess practical use and worth. Therefore, an automatic braking device for protecting pedestrians is provided, which has practicability and can improve the operation efficiency.
As shown in fig. 1, the automatic braking system 100 includes a camera 110, a rotation angle detection module 120, a distance measurement module 130, a speed measurement module 140, a controller 150, and a brake driver 160, and the camera 110, the rotation angle detection module 120, the distance measurement module 130, the speed measurement module 140, and the brake driver 160 are all electrically connected to the controller 150.
The camera 110 is electrically connected to the controller 150, and is configured to capture a first image and a second image and send the first image and the second image to the controller 150. Specifically, the camera device 110 may include at least two cameras, and the at least two cameras are electrically connected to the controller 150, and at the same time point, a first camera of the camera device 110 captures a first image, a second camera of the camera device 110 captures a second image, and the first image and the second image have partially overlapping viewing ranges and both include the target pedestrian. The target pedestrian is a pedestrian within a viewing range in which the first image and the second image overlap. As an embodiment, the image capture device 110 may be a binocular image capture device 110. The camera may be, but is not limited to, a Complementary Metal-Oxide Semiconductor (CMOS) camera and a Charge-coupled Device (CCD) camera.
The rotation angle detecting module 120 is electrically connected to the controller 150, and is configured to collect a steering angle of the forklift and send the steering angle to the controller 150. Specifically, the rotation angle detecting module 120 may include a rotation angle detecting sensor electrically connected to the controller 150, and the rotation angle detecting sensor detects a steering angle of the forklift and then transmits the steering angle to the controller 150.
The distance measuring module 130 is electrically connected to the controller 150 for acquiring a second relative distance of the forklift, where the second relative distance may be a distance between the forklift and a reflector behind the forklift, and the reflector may be an obstacle or a pedestrian. The distance measuring module 130 is installed behind the forklift, the distance measuring module 130 sends out a transmitting signal to the rear of the forklift, the transmitting signal meets a reflector and returns to the distance measuring module 130, and the distance measuring module 130 calculates the distance between the forklift and the reflector, namely the second relative distance, according to the time difference between the sending of the transmitting signal and the receiving of the transmitting signal. The distance measuring module 130 may be, but is not limited to, a millimeter wave radar and a laser radar, and the second relative distance with high accuracy may be obtained through the distance measuring module 130.
The speed measuring module 140 is electrically connected to the controller 150, and is configured to collect a vehicle speed of the forklift and send the vehicle speed to the controller 150. Specifically, the speed measuring module 140 may include a speed measuring sensor electrically connected to the controller 150, and the speed measuring sensor detects a speed of the forklift and transmits the speed to the controller 150.
The controller 150 is electrically connected to the camera device 110, the rotation angle detection module 120, the distance measurement module 130, the speed measurement module 140, and the brake driver 160, and is configured to control the brake driver 160 to brake the forklift according to the first image and the second image sent by the camera device 110, the steering angle sent by the rotation angle detection device, the second relative distance sent by the distance measurement module 130, and the vehicle speed sent by the speed measurement module 140.
The brake actuator 160 is electrically connected to the controller 150, and is used for braking the forklift under the control of the controller 150.
It should be understood that the configuration shown in fig. 1 is only a partial structural schematic of automatic braking system 100, and that automatic braking system 100 may include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
Based on the automatic braking system 100, a possible implementation manner of the automatic braking method is given below, and an execution subject of the method may be the controller 150 of the automatic braking system 100, please refer to fig. 2, and fig. 2 shows a flowchart of an automatic braking method according to an embodiment of the present invention. The automatic braking method comprises the following steps:
s1, the controller 150 acquires the first image and the second image captured by the camera 110.
Wherein the first image and the second image have partially overlapping viewing ranges and both include the target pedestrian.
In the embodiment of the present invention, the first image may be an image captured by a first camera in the camera device 110, the second image may be an image captured by a second camera in the camera device 110, the first image and the second image are captured at the same time point, and the first image and the second image have partially overlapped viewing ranges, and both the first image and the second image include the target pedestrian. The target pedestrian is a pedestrian within the range of view in which the first image and the second image overlap. The step of acquiring, by the controller 150, the first image and the second image acquired by the camera device 110 may be understood as acquiring, by the controller 150, the first image acquired by the first camera and the second image acquired by the second camera at the same time.
S2, the controller 150 determines the relative distance between the target pedestrian and the forklift truck according to the first image and the second image.
In an embodiment of the invention, the human-vehicle relative distance may be the distance between the target pedestrian and the forklift. The step of determining the relative distance between the target pedestrian and the forklift truck by the controller 150 according to the first image and the second image can be understood as that the controller 150 and the camera device 110 form a binocular distance measuring device, the controller 150 receives the first image and the second image sent by the camera device 110, carries out human body contour detection on the first image and the second image, detects out the common target pedestrian in the first image and the second image, and calculates the relative distance between the target pedestrian and the forklift truck by using a binocular distance measuring principle.
Referring to fig. 3, in order to further improve the accuracy of the relative distance between the human and the vehicle, step S2 may include sub-steps S21 to S24:
s21, the controller 150 measures a first relative distance between the target pedestrian and the forklift according to the parallax between the first image and the second image.
In the embodiment of the present invention, the first relative distance may be a distance between the target pedestrian and the target forklift, which is obtained by a binocular ranging principle. And detecting the human body contour of the first image and the second image, detecting a target pedestrian shared by the first image and the second image, wherein the first image and the second image are obtained by shooting from different visual angles, the target pedestrian has parallax in the first image and the second image, and the first relative distance between the target pedestrian and the forklift truck can be obtained according to the parallax of the target pedestrian in the first image and the second image.
The binocular ranging principle comprises 4 steps of ① camera calibration, ② binocular correction, ③ binocular matching and ④ distance calculation.
S22, the controller 150 obtains the second relative distance of the forklift collected by the distance measuring module 130.
In the embodiment of the present invention, the second relative distance may be a distance between the forklift and the reflector, which is acquired by the ranging acquisition module. The second relative distance may be one or more, and the specific number is determined by the number of the reflectors in the field, which is the number of the second relative distances. The step of acquiring, by the controller 150, the second relative distance of the forklift collected by the speed measurement module 140 may be understood as that the controller 150 receives the second relative distance sent by the speed measurement module 140.
Since the distance measuring module 130 collects the second relative distances between all the reflectors on the spot, including the target pedestrian, other pedestrians, and obstacles, and the forklift, it is necessary to determine the second relative distance between the target pedestrian and the forklift. Through sub-steps S23-S24, a second relative distance characterizing the target pedestrian and the forklift may be determined.
S23, the controller 150 calculates a difference relative distance between the first relative distance and the second relative distance.
In the embodiment of the present invention, the difference relative distance may be a difference between the first relative distance and the second relative distance, that is, the difference relative distance is equal to the first relative distance to the second relative distance. As an embodiment, the difference relative distance may be an absolute value of a difference between the first relative distance and the second relative distance, that is, the difference relative distance | the first relative distance — the second relative distance |. For example, when the first relative distance is 5.3 and the second relative distance is 5.284, the difference relative distance is 5.3 to 5.284. The step of calculating the difference relative distance between the first relative distance and the second relative distance by the controller 150 may be understood as subtracting all the second relative distances from the first relative distance to obtain the difference relative distance corresponding to each second relative distance.
And S24, the controller 150 compares the difference relative distance with a preset difference threshold value, and when the difference relative distance is smaller than the preset difference threshold value, the second relative distance is used as the relative distance between the target pedestrian and the forklift.
In the embodiment of the present invention, the preset difference threshold may be a minimum difference that is customized by a user to distinguish whether the second relative distance is a human-vehicle relative distance. For example, 0.1. The controller 150 compares the difference relative information with a preset difference threshold, and when the difference relative distance is smaller than the preset difference threshold, the second relative distance corresponding to the difference relative distance can be used as the relative distance between the target pedestrian and the forklift. And further, when the plurality of difference relative distances are smaller than a preset difference threshold value, taking a second relative distance corresponding to the minimum difference relative distance as the human-vehicle relative distance.
S3, the controller 150 obtains the steering angle of the forklift collected by the turning angle detection module 120.
In the embodiment of the invention, the steering angle may be an angle at which the driver operates the steering wheel to rotate the wheels of the forklift. The step of acquiring, by the controller 150, the steering angle of the forklift collected by the corner detection module 120 may be understood as acquiring, by the controller 150, the steering angle sent by the corner detection module 120.
And S4, the controller 150 controls the brake driver 160 to brake the forklift according to the relative distance between the person and the vehicle and the steering angle.
In the embodiment of the present invention, the controller 150 controls the brake actuator 160 to brake the forklift according to the relative distance between the human and the vehicle and the steering angle, which can be understood as two cases, the first case is that the steering angle is a first angle, and the second case is that the steering angle is a second angle. The following are set forth separately:
referring to fig. 4, when the steering angle is the first angle, the first angle represents the corresponding angle when the forklift is not steered, for example, 0 °, 0.1 °, and the like. Step S4 may include sub-steps S41-S42:
s41, the controller 150 compares the human-vehicle relative distance with a preset safe distance.
In the embodiment of the present invention, the preset safe distance may be a minimum distance that is customized to determine the safety of the pedestrian. For example 10 m. The step of comparing the relative distance between the pedestrian and the vehicle with the preset safe distance by the controller 150 may be understood as comparing the relative distance between the pedestrian and the vehicle obtained in the step S2 with the preset safe distance, and when the relative distance between the pedestrian and the vehicle is smaller than the preset safe distance, it is determined that the target pedestrian is too close to the forklift, and there is an unsafe hidden danger.
And S42, when the relative distance between the person and the vehicle is smaller than the preset safe distance, the controller 150 controls the brake driver 160 to brake the forklift.
In the embodiment of the invention, when the relative distance between the pedestrian and the vehicle is less than the preset safety distance, the target pedestrian is considered to be too close to the forklift, so that potential safety hazards exist, and the brake controller 150 needs to be controlled to brake the forklift, so as to ensure the personal safety of the target pedestrian.
Since the emergency braking may damage the forklift, the braking rate of the brake controller 150 is controlled on the premise of ensuring the personal safety of the target pedestrian for less damage of the forklift.
Referring to fig. 5, the sub-step S42 may specifically include sub-steps S421 to S423:
s421, the controller 150 obtains the speed of the forklift collected by the speed measuring module 140.
In the embodiment of the invention, the vehicle speed may be a speed of the forklift truck at the time of the reverse operation. The step of acquiring, by the controller 150, the vehicle speed of the forklift truck acquired by the speed measurement module 140 may be understood as acquiring, by the controller 150, the vehicle speed sent by the speed measurement module 140.
And S422, the controller 150 calculates the moving time of the forklift according to the relative distance between the person and the vehicle speed.
In the embodiment of the present invention, the moving time may be a time required for predicting that the forklift is driven according to the current vehicle speed and reaches the position of the target pedestrian, and the moving time may be a ratio of the relative distance between the human and the vehicle speed, that is, the moving time is the relative distance between the human and the vehicle/the vehicle speed. Further, in order to predict the moving time more accurately, the walking speed of the target pedestrian (hereinafter, referred to as "pedestrian speed") may be taken into consideration, and the pedestrian speed of the target pedestrian may be preset or detected on site, which is not limited herein. Then the movement time is the human-vehicle relative distance/(vehicle speed + human speed).
And S423, the controller 150 obtains the braking rate corresponding to the moving time according to the moving time and the corresponding relation between the moving time and the braking rate, and controls the brake driver 160 to brake the forklift according to the braking rate.
In the embodiment of the present invention, the automatic braking system 100 stores a correspondence relationship between a movement time and a braking rate in advance, and one movement time corresponds to one braking rate. It should be noted that the larger the movement time, the lower the braking rate, and the more time it takes from the start of the braking of the forklift to the complete stop; the smaller the travel time, the higher the braking rate and the less time it takes from the start of the truck braking to the complete stop. And the controller 150 obtains the braking rate corresponding to the moving time according to the moving time and the corresponding relationship between the moving time and the braking rate, and controls the brake driver 160 to brake the forklift according to the braking rate, which can be understood as obtaining the braking rate corresponding to the moving time according to the moving time and the corresponding relationship stored in advance, and controlling the brake driver 160 to brake the forklift according to the braking rate.
Referring to fig. 6, when the steering angle is a second angle, the second angle represents a corresponding angle of the forklift during steering, such as 45 °, 90 °, 180 °, and the like. Step S4 may also include sub-steps S43-S45:
s43, the controller 150 predicts the driving area of the forklift according to the second angle.
In the embodiment of the present invention, the driving area may be an area through which the forklift passes during the steering action of the forklift according to the current steering angle. For example, when the second angle is 90 °, the predicted travel region of the forklift may be as shown in fig. 7.
S44, the controller 150 determines whether the target pedestrian is in the driving area according to the relative distance between the pedestrian and the vehicle.
And S45, the controller 150 compares the relative distance between the pedestrian and the vehicle with the preset safe distance when the target pedestrian is in the driving area, and controls the brake driver 160 to brake the forklift when the relative distance between the pedestrian and the vehicle is smaller than the preset safe distance.
Referring to fig. 8, when the distance between the target pedestrian and the forklift is smaller than the preset safety distance and the target pedestrian is in the driving area (the intersection area in the drawing), it is considered that the target pedestrian cannot be avoided after the forklift steers, and the target pedestrian is too close to the forklift, so that potential safety hazards exist, and the brake controller 150 needs to be controlled to brake the forklift to ensure the personal safety of the target pedestrian. When the distance between the target pedestrian and the forklift is smaller than the preset safe distance, but the target pedestrian is not in the driving area, the target pedestrian can be avoided after the forklift turns, the potential safety hazard does not exist, and the brake driver 160 does not need to be controlled to brake the forklift.
In summary, the embodiment of the invention provides an automatic braking method and an automatic braking system, in which a pedestrian-vehicle relative distance between a target pedestrian and a forklift is determined through a first image and a second image acquired by a camera device, and a brake driver is controlled to brake the forklift according to the pedestrian-vehicle relative distance and a steering angle of the forklift acquired by a corner detection module. The condition at the rear of the forklift can be detected in real time, braking action is made when existing people appear in a certain range at the rear, and the problem that in the prior art, when the forklift moves backwards, a driver cannot observe the rear condition in real time and quickly makes braking reaction when pedestrians appear at the rear of the forklift is solved.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Claims (10)
1. An automatic braking method is characterized in that the method is applied to an automatic braking system of a forklift, the automatic braking system comprises a controller, a camera device, a brake driver and a corner detection module, the camera device, the brake driver and the corner detection module are all electrically connected with the controller, the camera device comprises at least two cameras, and the method comprises the following steps:
the method comprises the steps that a controller acquires a first image and a second image acquired by a camera device, wherein the first image and the second image have partially overlapped viewing ranges and both comprise a target pedestrian;
the controller determines the relative distance between the target pedestrian and the forklift according to the first image and the second image;
the controller acquires the steering angle of the forklift acquired by the corner detection module;
and the controller controls the brake driver to brake the forklift according to the relative distance between the man and the vehicle and the steering angle.
2. The method of claim 1, wherein the automatic braking system further comprises a distance measurement module electrically connected to the controller, and wherein the step of the controller determining the relative distance between the target pedestrian and the human-vehicle of the forklift truck based on the first image and the second image comprises:
the controller measures a first relative distance between the target pedestrian and the forklift according to the parallax of the first image and the second image;
the controller acquires a second relative distance of the forklift acquired by the distance measuring module;
the controller calculates a difference relative distance between the first relative distance and the second relative distance;
and the controller compares the difference relative distance with a preset difference threshold value, and when the difference relative distance is smaller than the preset difference threshold value, the second relative distance is used as the relative distance between the target pedestrian and the forklift.
3. The method of claim 1, wherein the step of controlling the brake actuator to brake the forklift according to the human-vehicle relative distance and the steering angle when the steering angle is a first angle comprises:
the controller compares the relative distance between the person and the vehicle with a preset safe distance;
and when the relative distance between the person and the vehicle is smaller than the preset safe distance, the controller controls the brake driver to brake the forklift.
4. The method of claim 3, wherein the automatic braking system further comprises a speed measurement module electrically connected to the controller, and wherein the step of controlling the brake actuator to brake the forklift comprises:
the controller acquires the speed of the forklift acquired by the speed measuring module;
the controller calculates the moving time of the forklift according to the relative distance between the person and the vehicle speed;
and the controller obtains the braking rate corresponding to the moving time according to the moving time and the corresponding relation between the moving time and the braking rate, and controls the brake driver to brake the forklift according to the braking rate.
5. The method of claim 1, wherein the step of controlling the brake actuator to brake the forklift according to the human-vehicle relative distance and the steering angle when the steering angle is a second angle comprises:
the controller predicts a driving area of the forklift according to the second angle;
the controller judges whether the target pedestrian is in the driving area or not according to the relative distance between the pedestrian and the vehicle;
the controller is when the target pedestrian is in when going the region, will people car relative distance and preset safe distance carry out the comparison, when people car relative distance is less than when presetting safe distance, control the brake driver is right fork truck brakies.
6. An automatic braking system is characterized by comprising a controller, a camera device, a brake driver and a corner detection module, wherein the camera device, the brake driver and the corner detection module are electrically connected with the controller;
the camera device is used for acquiring a first image and a second image and sending the first image and the second image to the controller, wherein the first image and the second image have partially overlapped viewing ranges and both comprise a target pedestrian;
the corner detection module is used for acquiring the steering angle of the forklift and sending the steering angle to the controller;
the controller is used for determining the relative distance between the target pedestrian and the vehicle of the forklift according to the first image and the second image, and controlling the brake driver to brake the forklift according to the relative distance between the pedestrian and the vehicle and the steering angle.
7. The automatic braking system of claim 6, further comprising a ranging module electrically connected to the controller;
the distance measurement module is used for acquiring a second relative distance of the forklift;
the controller is used for measuring a first relative distance between the target pedestrian and the forklift according to the parallax of the first image and the second image, calculating a difference relative distance between the first relative distance and the second relative distance, comparing the difference relative distance with a preset difference threshold value, and when the difference relative distance is smaller than the preset difference threshold value, taking the second relative distance as the pedestrian-vehicle relative distance between the target pedestrian and the forklift.
8. The automatic braking system of claim 7, wherein the ranging module comprises at least one of a millimeter wave radar and a laser radar.
9. The automatic braking system of claim 6, wherein when the steering angle is a first angle;
the controller is also used for comparing the relative distance between the person and the vehicle with a preset safety distance, and when the relative distance between the person and the vehicle is smaller than the preset safety distance, the brake driver is controlled to brake the forklift.
10. The automatic braking system of claim 9, further comprising a speed measurement module electrically connected to the controller;
the speed measuring module is used for acquiring the speed of the forklift;
the controller is further used for calculating the moving time of the forklift according to the human-vehicle relative distance and the vehicle speed, obtaining the braking rate corresponding to the moving time according to the moving time and the corresponding relation between the moving time and the braking rate, and controlling the brake driver to brake the forklift according to the braking rate.
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