CN112606831A - Anti-collision warning information external interaction method and system for passenger car - Google Patents
Anti-collision warning information external interaction method and system for passenger car Download PDFInfo
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Abstract
The invention discloses an external interaction method of anti-collision warning information for a passenger car, which comprises the following steps: acquiring real-time relative motion information of obstacles on the whole body of the current automatic driving passenger car; calculating real-time relative collision time of each barrier about to collide with the passenger car according to the real-time relative motion information of each barrier, determining the danger level of the corresponding collision event according to the real-time relative collision time, and making a decision on the collision event of the passenger car based on the danger level to generate a corresponding alarm signal; and the vehicle control unit drives the warning device to display corresponding anti-collision warning information to obstacles in all directions around the vehicle body under the control of the warning signal. The invention reminds social vehicles and pedestrians from the passive safety angle, reduces or avoids traffic accidents, improves the driving safety of automatic driving, and simultaneously improves the intelligent level of the automatic driving vehicle.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to an external interaction method and system for anti-collision warning information of an intelligent driving passenger car.
Background
With the continuous development of the automatic driving technology, the automatic driving technology is beginning to seek commercial application scenes, such as a park junction vehicle, a taxi, a bus and the like. As the automatic driving vehicle starts to move to public places, the driving action is relatively solidified when the automatic driving vehicle faces various scenes due to the fact that the driving operation of the automatic driving vehicle depends on programs, if obstacles cross, the automatic driving vehicle enters emergency braking, and rear-end accidents of the rear vehicle are easily caused. At present, the mainstream research direction is from the automatic driving vehicle itself, and the perception to the obstacle and the coping strategies of different scenes are emphasized to improve the active safety performance, but the method only improves the self-driving technology of the automatic driving vehicle, and when coping with the emergency situation of the sudden appearance of the external obstacle, the danger cannot be identified from the obstacle angle, and coping processing is carried out only depending on the self-angle.
However, in the prior art, few information interaction systems for reminding social vehicles and pedestrians from the passive safety perspective exist, so that the current dangerous events are coped with from the perspective of both the collision event and the people including the angle of the autonomous vehicle and the angle of the obstacle, accidents of the vehicle during autonomous driving are reduced or avoided, and the autonomous driving safety of the vehicle is improved.
Disclosure of Invention
In order to solve the technical problem, the invention provides an external interaction method of anti-collision warning information for a passenger car, which comprises the following steps: acquiring real-time relative motion information of obstacles on the whole body of the current automatic driving passenger car, wherein the real-time relative motion information comprises real-time relative distance and real-time relative speed; step two, calculating real-time relative collision time of each barrier about to collide with the passenger car according to the real-time relative motion information of each barrier, determining the danger level of a corresponding collision event according to the real-time relative collision time, and making a decision on the collision event of the passenger car based on the danger level to generate a corresponding alarm signal; and thirdly, the vehicle control unit drives the warning device to display corresponding anti-collision warning information to obstacles in all directions around the vehicle body under the control of the warning signal.
Preferably, the second step further comprises: and judging a collision event scene of each obstacle according to the real-time relative motion information of each obstacle and the real-time relative collision time of each obstacle, wherein the collision event scene is selected from one of a traffic regulation violation class of a passenger car and an obstacle emergency approach class.
Preferably, when a pedestrian in the obstacle emergency approach class crosses a road scene in the collision event scene of each obstacle, a projection device starting signal and information to be projected for controlling a projection device arranged on the top of the front wall of the passenger car to project safety prompt contents are also generated.
Preferably, the first step includes: s11, collecting an environment image around the passenger car, and identifying the type of each obstacle in the image according to the environment image; s12, detecting real-time relative motion information of all obstacles on the whole body of the passenger car in real time; s13, performing fusion processing on the real-time relative motion information of all obstacles and the image containing each obstacle type information, screening out the obstacles with collision risks from the fusion processing result, and determining the corresponding real-time relative motion information.
Preferably, in step S12, the method further includes: detecting the real-time relative motion information of all obstacles in a first detection range through a first millimeter wave radar arranged at the top of the front wall of the passenger car, and detecting the real-time relative motion information of all obstacles in a second detection range through a second millimeter wave radar arranged at the top of the rear wall of the passenger car; detecting the real-time relative motion information of all obstacles under the omnibearing angle of the whole body of the passenger car through a laser radar arranged at the top of the passenger car; and performing complementation and redundancy processing on the information detected by the first millimeter wave radar, the second millimeter wave radar and the laser radar in real time to obtain the real-time relative motion information of all the current obstacles.
Preferably, the first step further comprises: each obstacle at risk of collision is identified and tracked.
On the other hand, the invention also provides an anti-collision warning information external interaction system for a passenger car, which carries out external interaction of collision warning information on all barriers at the periphery of a car body by using the method, wherein the anti-collision warning information external interaction system comprises: a vehicle-mounted sensor; the interactive control device is connected with the vehicle-mounted sensor and used for acquiring real-time relative motion information of all barriers around the current automatic driving passenger car according to the information acquired by the vehicle-mounted sensor, calculating real-time relative collision time of each barrier about to collide with the passenger car according to the real-time relative motion information of all the barriers, determining the danger level of the corresponding collision event according to the real-time relative collision time, deciding the collision event of the passenger car based on the danger level, and generating a corresponding alarm signal, wherein the real-time relative motion information comprises real-time relative distance and real-time relative speed; the vehicle control unit is connected with the interactive control device and used for driving the warning device to display corresponding anti-collision warning information to obstacles in all directions around the vehicle body under the control of the warning signal; and the warning device.
Preferably, the vehicle-mounted sensor includes: the first millimeter wave radar is arranged at the top of the front wall of the passenger car and used for detecting the real-time relative motion information of all obstacles in a first detection range; the second millimeter wave radar is arranged at the top of the rear wall of the passenger car and used for detecting the real-time relative motion information of all obstacles in a second detection range; the laser radar is arranged at the top of the passenger car and used for detecting the real-time relative motion information of all obstacles at all angles around the passenger car; the camera is arranged at the top of the passenger car and used for collecting the environmental image around the passenger car.
Preferably, the warning device includes: the lamp strip surrounds the body of the passenger car and is used for responding the anti-collision warning information containing the current passenger car collision accident danger level and the flashing frequency information corresponding to the current level; and the projection equipment is arranged at the top of the front wall of the passenger car, and is used for starting under the controller of a projection equipment starting signal when a pedestrian in the barrier emergency approach class crosses a road scene in a collision event scene of each barrier, and responding to the current information to be projected so as to project the current safety prompt content.
Preferably, the interactive control device includes: a sensing information decision module, wherein the sensing information decision module comprises: and the scene recognition unit is used for judging a collision event scene of each obstacle according to the real-time relative motion information of each obstacle and the real-time relative collision time of each obstacle, wherein the collision event scene is selected from one of a class of a passenger car violating traffic regulations and a class of an obstacle emergency approach.
Compared with the prior art, one or more embodiments in the above scheme can have the following advantages or beneficial effects:
the invention provides an anti-collision information external interaction method and system for an intelligent driving passenger car. The method and the system take each obstacle in the all-angle azimuth view around the vehicle as a main body of a corresponding collision event on the basis of the sensing, decision and execution functions of the vehicle-mounted end of the original automatic driving system, calculate the remaining time (collision time) of each obstacle with collision risk about to collide with the current vehicle after filtering beneficial obstacles, evaluate the danger level of each collision event and determine the collision event corresponding to the current vehicle on the basis of the calculated remaining time, and warn all obstacles around the vehicle body according to the level corresponding to the vehicle collision event. The colors of the warning lamp belts corresponding to the vehicle collision events of different grades are different, the higher the danger coefficient of the vehicle collision event is, and the smaller the corresponding collision time is. In addition, the invention can also identify the scene of the collision event, when the pedestrian is identified to cross the road, the vehicle is driven by the vehicle controller to decelerate and then stop for giving way, and characters related to the safety early warning content are projected in front of the vehicle after the projection equipment is started. The invention is based on the passive safety, reminds social vehicles, pedestrians and other obstacles, reduces or avoids traffic accidents, improves the driving safety of automatic driving, and simultaneously improves the intelligent level of the automatic driving vehicle.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a step diagram of an external interaction method of anti-collision warning information for a passenger car according to an embodiment of the present application.
Fig. 2 is a specific flowchart of an external interaction method of anti-collision warning information for a passenger car according to an embodiment of the present application.
Fig. 3 is a schematic installation diagram of a light strip 41 in a warning device 40 in the method for interaction of collision-proof warning information for a passenger car to the outside according to the embodiment of the application.
Fig. 4 is a schematic diagram illustrating a projection effect of the projection device 42 in the warning apparatus 40 in the method for interaction of the anti-collision warning information for the passenger car with the outside according to the embodiment of the application.
Fig. 5 is a schematic structural diagram of an external interaction system of anti-collision warning information for a passenger car according to an embodiment of the present application.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
With the continuous development of the automatic driving technology, the automatic driving technology is beginning to seek commercial application scenes, such as a park junction vehicle, a taxi, a bus and the like. As the automatic driving vehicle starts to move to public places, the driving action is relatively solidified when the automatic driving vehicle faces various scenes due to the fact that the driving operation of the automatic driving vehicle depends on programs, if obstacles cross, the automatic driving vehicle enters emergency braking, and rear-end accidents of the rear vehicle are easily caused. At present, the mainstream research direction is from the automatic driving vehicle itself, and the perception to the obstacle and the coping strategies of different scenes are emphasized to improve the active safety performance, but the method only improves the self-driving technology of the automatic driving vehicle, and when coping with the emergency situation of the sudden appearance of the external obstacle, the danger cannot be identified from the obstacle angle, and coping processing is carried out only depending on the self-angle.
However, in the prior art, few information interaction systems for reminding social vehicles and pedestrians from the passive safety perspective exist, so that the current dangerous events are coped with from the perspective of both the collision event and the people including the angle of the autonomous vehicle and the angle of the obstacle, accidents of the vehicle during autonomous driving are reduced or avoided, and the autonomous driving safety of the vehicle is improved.
In order to solve the technical problem, the invention provides an external interaction method and system for anti-collision warning information of an intelligent driving passenger car (namely, a passenger car with an automatic driving function). The invention utilizes the sensing, decision and execution functions of the existing automatic driving vehicle in the decision aspect of the real-time driving strategy to fuse the surrounding environment image acquired in real time by the vehicle-mounted sensor and the real-time relative motion information of various surrounding obstacles, calculates the remaining time (real-time relative collision time) of each obstacle and the imminent collision event of the current automatic driving passenger car, determines the danger grade and the corresponding event scene of each imminent collision dangerous event by utilizing the real-time relative collision time, further decides the most dangerous grade collision event corresponding to the current intelligent driving passenger car to generate the alarm signal aiming at the current most dangerous grade collision event, so that the whole vehicle controller utilizes the warning device to display the corresponding danger grade to all the obstacles at the periphery of the current passenger car under the control of the current alarm signal, and the vehicle control unit is enabled to make a decision on a real-time driving strategy according to the collision event with the current most dangerous level.
Therefore, the technical scheme of the invention is combined with the vehicle-mounted device of the existing intelligent driving system, on one hand, all possible collision events around the vehicle can be recognized in an all-around manner, the current most dangerous collision event is determined, the current event can be responded from the self-angle by utilizing the existing driving strategy decision technology of the automatic driving vehicle based on the current most dangerous collision event, and meanwhile, the current most dangerous collision event is displayed with anti-collision warning information by utilizing the warning device to a user, so that the current event can be responded correspondingly from the obstacle angle, the traffic accidents are reduced or avoided, the driving safety of automatic driving is improved, and the intelligentization level of the automatic driving passenger vehicle is further improved.
Fig. 1 is a step diagram of an external interaction method of anti-collision warning information for a passenger car according to an embodiment of the present application. As shown in fig. 1, the method for interaction of anti-collision warning information with the outside according to the present invention includes the following steps: step S110, the interactive control device 20 acquires real-time relative motion information of all obstacles around the current automatic driving passenger car (intelligent driving passenger car) through the vehicle-mounted sensor 10; step S120, the interactive control device 20 calculates real-time relative collision time of each obstacle about to collide with the current automatic driving passenger car according to the real-time relative motion information of each obstacle obtained in step S110, determines the danger level of the corresponding obstacle collision event according to the real-time relative collision time, and performs comprehensive decision on the collision event of the current automatic driving passenger car based on the danger level to generate a corresponding alarm signal; in step S130, under the control of the warning signal generated in step S120, the vehicle control unit 30 in the autonomous-driving passenger vehicle drives the warning device 40 to display corresponding anti-collision warning information to obstacles in each direction around the vehicle body.
In view of the above technical solutions, there are several points to be explained below. Firstly, in the real-time embodiment of the present invention, each obstacle around the identified passenger car is used as an event implementation subject that may be about to have a collision accident (collision event) with the current passenger car, and the real-time relative collision time of each about to occur collision event (i.e. the remaining time of the about to occur current collision event) needs to be calculated to evaluate the risk level of each collision event, so as to determine the event to be dealt with (i.e. the collision event for the current passenger car) that the current passenger car needs to be prompted to the outside and made an automatic driving strategy decision first. Thus, the invention makes a decision on the current event to be dealt with in a mode of converting the interaction subject of the collision interaction event from the barrier angle to the passenger car angle. Second, in the embodiment of the present invention, the real-time relative motion information includes: real-time relative distance information and real-time relative velocity information. The real-time relative distance information represents real-time relative distance information between a current obstacle and a current automatic driving passenger car and is obtained according to the relative position relation between the current obstacle and the current automatic driving passenger car in a coordinate system where a speed and distance acquisition device in the vehicle-mounted sensor 10 is located; the real-time relative speed information represents real-time relative speed information between the current obstacle and the current automatically-driven passenger car, and is obtained according to the relative position relationship between the current obstacle and the current automatically-driven passenger car and the real-time running speed of the current automatically-driven passenger car in a coordinate system where the speed and distance acquisition device in the vehicle-mounted sensor 10 is located.
Fig. 2 is a specific flowchart of an external interaction method of anti-collision warning information for a passenger car according to an embodiment of the present application. As shown in fig. 2, the following describes in detail an external interaction method of anti-collision warning information in an embodiment of the present invention with reference to fig. 1 and fig. 2.
In the embodiment of the present invention, in the real-time relative motion information of all obstacles collected by the vehicle-mounted sensor 10 in real time, not all collision events corresponding to all obstacles are related to the real-time automatic driving coping strategy decision process, and it is not necessary to perform decision processing on the collision event corresponding to each obstacle, so in order to improve the efficiency of the decision processing process in the embodiment of the present invention, step S110 in the embodiment of the present invention only needs to screen out the collision event related to the real-time automatic driving coping strategy decision process for processing. Therefore, the real-time relative motion information of each obstacle around the autonomous bus acquired in step S110 is information obtained after environmental image information acquisition, obstacle type identification, detection of real-time relative motion information of all obstacles around the bus, fusion processing of image and radar data, and filtering processing of real-time relative motion information of an obstacle without collision risk, and is specifically completed through the following steps S201 to S204.
In step S201, first, the camera 14 collects the current environment image information around the automatic driving passenger car, and the interaction control device 20 identifies the type of each obstacle in the image according to the currently collected environment image, specifically, through step S2011, step S2012 and step S2013.
Specifically, in step S2011, the camera 14 acquires the image information of the environment around the current autopilot bus (in all directions, 360 °). Wherein the camera 14 is arranged at the top end of the current automatic driving passenger car. Preferably, the device is arranged at the position of the roof close to the front side of the passenger car and used for acquiring the environmental image information in front of the passenger car. In addition, in order to increase the collection range of the environmental image information and improve the accuracy of the obstacle type identification result, corresponding cameras can be further arranged on the rear side of the roof and/or other positions to collect the image information of different positions of the passenger car in the driving process, so that the interactive control device 20 is further utilized to perform fusion processing on the environmental image information of each position collected by each camera based on the reference coordinate system of each camera, and an image representing the surrounding environment of the passenger car in the real-time driving process at an omnibearing angle is obtained.
Then, the interactive control device 20 in step S2012 receives the image information indicating the surrounding environment of the passenger car in the all-around angle during the running process in real time, and the process proceeds to step S2013. Step S2013, the interactive control device 20 identifies the type of each obstacle in the image according to the current image information of the surrounding environment based on the omnidirectional angle by using the object identification technology. Specifically, when identifying the type of each obstacle in the image, it is necessary to mark the collision attribute, the type name, and the coordinate position of the current obstacle with respect to the camera coordinate system of each obstacle object in the camera coordinate system in the current image. Wherein the collision attributes are an obstacle with a collision risk and an obstacle without a collision risk. Still further, the names of the types of obstacles at risk of collision include: objects related to driving behaviors such as pedestrians, motor vehicles, motorcycles (including electric vehicles), isolation belts, isolation piers, and ground traffic indication lines (such as single yellow lines, double yellow lines, white solid lines, white dotted lines, etc.); the type names of the obstacles without collision risk include: and image background information such as trees and clouds which are irrelevant to driving behaviors. In this way, the object type names of all the obstacles to which a collision event may occur for the current passenger car are determined through step S201, and the collision type to which each type name belongs is determined.
In the embodiment of the present invention, during the process of collecting and identifying the environmental image information in step S201, step S202 is also used synchronously, real-time relative motion information of all obstacles around the current autopilot bus is detected in real time by a radar device (not shown), and the process is further completed by step S2021, step S2022, step S2023, and step S2024 in sequence.
Specifically, step S2021 detects real-time relative movement information of all obstacles in a first detection range by a first millimeter wave radar 11 disposed on the top of a front wall of the current autopilot bus, and sends first-type information detected in real time to the interactive control device 20 (where the first-type information includes coordinates of each obstacle in the first detection range, and real-time detection time, real-time relative distance, and real-time relative speed corresponding to each obstacle); step S2022, detecting real-time relative motion information of all obstacles in a second detection range through a second millimeter wave radar 12 arranged at the top of the rear wall of the current automatic driving passenger car, and sending second type of information detected in real time to the interactive control device 20 (wherein the second type of information specifically comprises coordinates of each obstacle in the second detection range, and real-time detection time, real-time relative distance and real-time relative speed corresponding to each obstacle); and step S2023, detecting real-time relative motion information of all obstacles at the current all-around angle (360 ℃) of the passenger car through the laser radar 13 arranged at the top of the passenger car, and sending third information detected in real time to the interactive control device 20 (wherein the third information specifically comprises coordinates of each obstacle in the all-around angle, and real-time detection time, real-time relative distance and real-time relative speed corresponding to each obstacle).
Wherein, above-mentioned first millimeter wave radar 11 and second millimeter wave radar 12 set up respectively before the passenger train enclose the top and enclose the top after with, all preferably adopt the frequency channel to be 77G's millimeter radar equipment. Because the information precision of the obstacles collected by the millimeter radar equipment is higher, but the detection angle (detection range) is usually only 60 degrees, and each obstacle on the omnibearing angle of the whole body of the passenger car cannot be detected. Therefore, in the embodiment of the present invention, the laser radar 13 is provided to detect the obstacle in all directions based on the accurate detection of the front and the rear of the passenger car, and the complementary function of insufficient detection angles in the first millimeter wave radar 11 and the second millimeter wave radar 12 can be realized by using the laser radar 13.
Next, step S2024 is executed by the interaction control device 20 to receive the first type of information, the second type of information, and the third type of information detected in real time from the first millimeter wave radar 11, the second millimeter wave radar 12, and the laser radar 13, respectively, and to merge (i.e., perform radar data merging processing) all obstacles contained in the three types of information into the same radar data standard coordinate system according to the real-time detection time in the three types of information, the reference coordinate system under the first millimeter wave radar 11, the reference coordinate system under the second millimeter wave radar 12, and the reference coordinate system under the laser radar 13, so as to mark the coordinates of each obstacle (representing the relative position relationship of each obstacle with respect to the current passenger car) in the whole angular range of the current passenger car and the real-time relative movement information corresponding to the obstacle. Specifically, first, since the detection ranges of the first millimeter wave radar 11 and the laser radar 13 overlap to some extent, the real-time relative motion information corresponding to each obstacle having the same detection angle range in the first type of information and the third type of information needs to be subjected to the first redundancy processing. Secondly, since the detection ranges of the second millimeter wave radar 12 and the laser radar 13 are also overlapped to a certain extent, the real-time relative motion information corresponding to each obstacle having the same detection angle range in the second type of information and the third type of information also needs to be subjected to the second redundancy processing. And finally, filling real-time relative motion information corresponding to each obstacle in the detection range of the laser radar 13, which does not belong to the detection angle range of the first millimeter wave radar 11 or the detection angle range of the second millimeter wave radar 12, into the first redundancy processing result and the second redundancy processing result to obtain coordinates corresponding to all obstacles around the current passenger car and real-time relative motion information thereof, namely, a radar data fusion processing result.
It should be noted that, since the step S201 and the step S202 are completed synchronously, in the embodiment of the present invention, the sequence of the step S201 and the step S202 is not specifically limited, and the process proceeds to the step S203 after the obstacle recognition and the radar data fusion processing in the environment image are completed.
Step S203, the interactive control device 20 performs fusion processing on the environment image information containing information of each obstacle type in the periphery of the current autopilot bus, which is acquired in step S201 through the camera 14, and the radar data processing result (the real-time relative motion information of all obstacles in the periphery of the bus) acquired in step S202, then screens out the obstacles with collision risks from the current fusion processing result, and determines the real-time relative motion information corresponding to each obstacle with collision risks.
Specifically, in step S203, firstly, real-time relative motion information of each obstacle under the current all-directional angle of the passenger car is written into each image position having the same obstacle coordinate in the environmental image according to the camera coordinate system and the corresponding radar data standard coordinate system in the radar data fusion processing result, and the obstacle type name of each obstacle in the image is combined with the real-time relative motion information corresponding to the obstacle. At this time, each obstacle in the image corresponds to not only the obstacle type name and the collision attribute, but also real-time relative motion information. Then, all obstacles belonging to the collision risk are screened out from all the obstacles, and the type name of each obstacle having the collision risk and the real-time relative motion information corresponding to the obstacle are reserved in the fusion result.
In addition, after all the obstacles at the current full-angle position of the autonomous bus at the present time are determined, step S204 marks each of the obstacles identified as having a collision risk by using an object identification and tracking technique, and tracks the moving position and the real-time relative movement information of the marked object in real time.
Therefore, all obstacles related to the real-time automatic driving coping strategy decision process are screened out through the technical scheme, so that collision events corresponding to all obstacles with collision risks are identified.
As shown in fig. 2, in step S120, it is necessary to further calculate the real-time relative collision time, the risk level of the collision event, and the collision event scene for each collision event corresponding to the obstacle at risk of collision, and based on this, the collision event most likely to occur in the current passenger car among many collision events is determined, and the steps are further completed through step S205, step S206, step S207, and step S208 in sequence.
First, in step S205, the interactive control device 20 calculates the remaining time of each obstacle at risk of collision, i.e., the real-time relative collision time, in the event of a collision with the current autonomous bus using equation (1), according to the real-time relative movement information of each obstacle at risk of collision obtained in step S204. Further, the formula (1) is represented by the following expression:
wherein, TcrRepresenting real time relative time of collision, LcrRepresenting the real-time relative distance, VcrRepresenting real-time relative velocity. Then, the process proceeds to step S206.
Step S206, the interactive control device 20 determines the risk level of the corresponding collision event corresponding to each obstacle with collision risk by using the preset different level evaluation time range threshold according to the real-time relative collision time of each obstacle with collision risk obtained in step S205. In the embodiment of the invention, the danger level of the collision event is related to the length of the real-time relative collision time, wherein the longer the time is, the smaller the collision danger coefficient is, and conversely, the smaller the time is, the larger the collision danger coefficient is.
In one embodiment, the crash event risk classification of the present invention is divided into three levels from high to low in risk factor. The first level is an emergency hazard, the second level is a medium hazard, the upper limit value of the corresponding preset emergency hazard time range threshold value is smaller than the lower limit value of the preset medium hazard time range threshold value, the third level is a safety level, and the lower limit value of the corresponding preset safety level time range threshold value is larger than the upper limit value of the medium hazard time range threshold value.
Further, in step S206, it is determined that each collision event needs to be sequentially judged according to the level of the risk coefficient from high to low, and the risk level of the current collision event is determined. Specifically, whether the current obstacle is an emergency danger level or not is judged, and if the real-time relative collision time of the current obstacle with the collision risk is within the threshold value of the emergency danger time range, the current danger level of the collision event is an emergency danger level; if the current obstacle with the collision risk does not belong to the emergency danger level, further judging the current obstacle with the collision risk to be in the intermediate danger level or the safety level, if the real-time relative collision time of the current obstacle with the collision risk does not belong to the emergency danger time range threshold, further utilizing the intermediate danger time range threshold to judge the real-time relative collision time of the current obstacle with the collision risk to belong to the intermediate danger time range threshold, if the real-time relative collision time of the current obstacle with the collision risk belongs to the intermediate danger level, indicating that the danger level of the current collision event is the intermediate danger level, and otherwise, indicating that the danger level of. Preferably, in the embodiment of the present invention, the time range threshold of the emergency risk is greater than or equal to 5 seconds; the medium risk time range threshold is greater than or equal to 3 seconds and less than 5 seconds; the security level time range threshold is less than 3 seconds.
Further, after determining the risk level corresponding to the collision event corresponding to each obstacle having a collision risk, the process proceeds to step S207. Step S207, the interactive control device 20 determines a collision event scene of each obstacle with a collision risk according to the real-time relative motion information corresponding to each obstacle with a collision risk and the real-time relative collision time corresponding to each obstacle with a collision risk. Specifically, the method comprises the steps of determining the real-time displacement variable quantity corresponding to the current obstacle with the collision risk under the relative motion by taking the current passenger car in the driving process as a reference object according to the type name of the current obstacle with the collision risk, the variable quantity of real-time relative motion information and the change of real-time relative collision time, simulating the motion of the current obstacle with the collision risk to the passenger car reference object at the real-time relative speed and the real-time displacement variable quantity (including the real-time relative distance and the relative position or angle relationship between the reference object and the passenger car), and identifying the scene of the current collision event.
Wherein, in the embodiment of the invention, the collision event scene is selected from one of a class of bus violations traffic regulations and a class of barrier emergency approaches. The passenger car violates the traffic regulation class, and is selected from one of traffic regulation related scenes such as the fact that a white solid line is about to be pressed, a double solid line is about to be pressed, a barrier pier is about to be collided, a barrier belt is about to be installed and the like; the obstacle emergency approach category is selected from one of a motorcycle traversing from the front (e.g., electric vehicle suddenly jumping out from the front of the passenger car), a motorcycle traversing from the rear (e.g., electric vehicle suddenly jumping out from the rear of the passenger car), a motorcycle traversing from the left or right side (e.g., electric vehicle suddenly jumping out from the left or right side of the passenger car), a bicycle traversing from the front or rear, a bicycle traversing from the left or right side, a motor vehicle rear-end collision, a pedestrian crossing the road, a pedestrian approaching from the left or rear side, a motor vehicle traversing from the front, and a motor vehicle approaching from the left or rear side.
Therefore, the method can determine the implementation main bodies of the collision events in all directions around the automatic driving passenger car through identifying the scene of the collision event, evaluate the danger level of the collision event corresponding to each obstacle with the collision risk in real time, and identify the obstacle in the sight dead angle range of the driver position of the passenger car, the danger level of the collision event and the scene of the collision event on line, thereby further improving the intelligentization level of the existing automatic driving passenger car and the detectable range of the collision event.
After the danger levels and the corresponding event scenes corresponding to the collision events corresponding to the obstacles with collision risks are identified, the process proceeds to step S208, and a comprehensive decision is made on the most likely collision event of the current passenger car (the collision event with the highest danger level, that is, the collision event corresponding to the current autonomous passenger car). In step S208, the interactive control device 20 determines the obstacle collision event with the highest risk coefficient as the most likely collision event of the current passenger car according to the risk level of the collision event corresponding to each obstacle with a risk of collision, and generates an alarm signal corresponding to the level of the collision event with the highest risk coefficient. In this case, the alarm signal includes at least the following information: the collision event grade with the highest current danger coefficient, the event scene corresponding to the collision event with the highest current danger coefficient, the type name of the obstacle to which the current event belongs and the real-time relative collision time of the obstacle.
If a plurality of collision events with the highest risk coefficients exist, the alarm signal corresponding to the highest risk coefficient is directly generated. In this case, the alarm signal includes at least the following information: the grade of the collision event with the highest current danger coefficient, the scene of each event with the highest current danger coefficient, the type name of the obstacle to which each event belongs and the real-time relative collision time of the obstacle.
In addition, in step S208 described above, if it is detected that there is a pedestrian crossing road scene in the scene of the collision event with the highest current risk coefficient among all the collision event scenes, it is necessary to generate a projection apparatus activation signal and information to be projected in addition to the alarm signal for the current passenger car. The current information to be projected is information for controlling the projection device 42 arranged at the top of the front wall of the current automatic driving passenger car to project the safety prompt content. Then, the vehicle control unit 30, on one hand, needs to analyze the alarm signal, execute a rapid deceleration or emergency stop automatic driving strategy when a collision event scene with the highest risk factor is acquired, in which a pedestrian crosses a road scene, and receive the projection device start signal and information to be projected containing current safety prompt content information. In addition, the vehicle control unit 30 drives the projection device 42 to start by using the projection device start signal, and controls the projection device 42 to project the current safety prompt content to the ground in front of the current smart bus by using the current information to be projected.
Fig. 4 is a schematic diagram illustrating a projection effect of the projection device 42 in the warning apparatus 40 in the method for interaction of the anti-collision warning information for the passenger car with the outside according to the embodiment of the application. As shown in fig. 4, when the current intelligent driving passenger car detects that a pedestrian crosses the road and the current pedestrian is closer to the automatic driving passenger car, under the control of the vehicle controller 30, the automatic driving vehicle stops after decelerating rapidly, the projection device 42 is started to display purple, and the current safety prompt content representing the text information "please you go ahead" is projected on the ground in front of the current intelligent driving passenger car, so as to prompt the pedestrian crossing the road to pass through the road by using the response result of the information to be projected, which is interacted with the outside of the passenger car. In addition, when the pedestrian is gradually far away from the current intelligent driving bus, no pedestrian crossing the road scene exists in the scene of the collision event with the highest current danger coefficient, and the projection device 40 is automatically turned off under the condition of not generating the projection device starting signal.
After the alarm signal is generated, the process proceeds to step S130. As shown in fig. 2 again, in step S130, the vehicle control unit 30 receives and analyzes the current alarm signal, generates a driving signal that matches the level of the collision event corresponding to the current autonomous bus (the level of the obstacle collision event with the highest current risk coefficient), and sends the driving signal to the light strip 41 in the warning device 40, so that the light strip 41 displays the anti-collision warning information indicating the collision level of the current bus to all obstacles (including all obstacles with collision risk and obstacles without collision risk) in each direction around the current bus under the control of the driving signal, and further, the following steps S209 to S211 are further performed. Wherein, anticollision warning information includes: the signal is used for prompting the grade of the collision event corresponding to the current automatic driving passenger car and the flicker frequency of the prompting signal.
Specifically, in step S209, the vehicle control unit 30 receives and analyzes the current alarm signal, identifies the level of the collision event corresponding to the current automatic passenger vehicle, generates a driving signal matched with the current level, and then sends the driving signal to the light strip 41 in the warning device 40. When recognizing that the current level is an emergency hazard, the vehicle control unit 30 generates a first driving signal (where the first driving signal includes information including a red light lighting instruction and a preset red light flashing frequency), and sends the first driving signal to the light strip 41 in the warning device 40, so that the light strip 41 lights up a red light and displays the red light at a high-frequency red light flashing frequency under the control of the current first driving signal. When recognizing that the current level is a medium risk, the vehicle control unit 30 generates a second driving signal (where the second driving signal includes information including a yellow light lighting instruction and a preset yellow light flashing frequency), and sends the second driving signal to the light strip 41 in the warning device 40, so that the light strip 41 lights up a yellow light and displays the yellow light with the low-frequency yellow light flashing frequency under the control of the current second driving signal. When recognizing that the current level is the safety level, the vehicle control unit 30 generates a third driving signal (where the third driving signal includes information including a green light lighting instruction and a preset green light flashing frequency), and sends the third driving signal to the light strip 41 in the warning device 40, so that the light strip 41 lights up a green light for display under the control of the current third driving signal.
Fig. 3 is a schematic installation diagram of a light strip 41 in a warning device 40 in the method for interaction of collision-proof warning information for a passenger car to the outside according to the embodiment of the application. In the embodiment of the invention, the light strip 41 is installed around the body of the current smart bus, as shown in fig. 3.
Further, in the implementation of step S209, step S210 needs to be executed at the same time, and step S210, the vehicle controller 30 needs to update the current automatic driving countermeasure according to the level of the collision event corresponding to the current automatic driving passenger car, so as to proceed to step S211. Specifically, when recognizing that the level of the current passenger car collision event is an emergency risk, the vehicle control unit 30 generates an emergency braking control command, and adjusts the execution priority of the command to be the highest, so as to control the current autonomous passenger car to stop immediately under the driving of the current emergency braking control command. When recognizing that the level of the current passenger car collision event is medium risk, the vehicle control unit 30 generates an emergency deceleration control command, and adjusts the execution priority of the command to be the highest, so as to control the current automatic driving passenger car to decelerate immediately under the driving of the current emergency deceleration control command, so as to prevent the current collision event from developing to a more serious condition.
Finally, the light strip 41 in the warning device 40 in step S211 receives and responds to the driving signal, and displays corresponding anti-collision warning information to all obstacles in all directions around the current passenger car.
For example, in an embodiment of the present invention, the interactive control device 20 calculates the relative collision time T in real time according to the real-time relative distance and the real-time relative speed information of the current passenger car and each obstacle having a collision riskcrAccording to the time of collisionInter TcrDetermining the danger level of each collision event, performing comprehensive decision on the most probable collision event of the current passenger car, sending an alarm signal containing a comprehensive decision result to the vehicle control unit, and controlling the vehicle body LED lamp strip 41 to display anti-collision warning information in an external interactive mode by the vehicle control unit 30. When the barrier is gradually close to the vehicle body, the level of the collision dangerous event of the passenger vehicle is gradually upgraded, and the vehicle body lamp strip is gradually displayed in green → yellow → red; when the barrier is away from the car body gradually, the level of the collision dangerous event of the passenger car is gradually reduced, and the car body LED lamp strip displays red → yellow → green, namely, the collision early warning is reminded to remove.
On the other hand, the invention also provides an anti-collision warning information external interaction system for the passenger car based on the anti-collision warning information external interaction method for the passenger car. Fig. 5 is a schematic structural diagram of an external interaction system of anti-collision warning information for a passenger car according to an embodiment of the present application. As shown in fig. 5, the external interaction system of anti-collision warning information according to the present invention includes: the vehicle-mounted monitoring system comprises a vehicle-mounted sensor 10, an interactive control device 20, a vehicle control unit 30 and a warning device 40. The interactive control device 20 is connected with the vehicle-mounted sensor 10, and is used for acquiring real-time relative motion information of each obstacle around the current intelligent passenger car according to information acquired by the vehicle-mounted sensor 10, calculating real-time relative collision time of each obstacle about to collide with the passenger car according to the real-time relative motion information of each obstacle, determining a danger level of a corresponding collision event according to the real-time relative collision time, and making a decision on the collision event of the passenger car based on the danger level to generate a corresponding alarm signal. The real-time relative motion information comprises a real-time relative distance and a real-time relative speed. The vehicle control unit 30 is connected to the interactive control device 20, and is configured to drive the warning device 40 to display corresponding anti-collision warning information to obstacles in each direction around the vehicle body under the control of the current warning signal.
The above-described in-vehicle sensor 10 includes a first millimeter-wave radar 11, a second millimeter-wave radar 12, a laser radar 13, and a camera 14. Specifically, the first millimeter wave radar 11 is provided at the top of the front wall of the current autonomous bus, and is used for detecting the real-time relative movement information of all obstacles in the first detection range. The second millimeter wave radar 12 is arranged at the top of the rear wall of the current automatic driving passenger car and is used for detecting the real-time relative movement information of all obstacles in the second detection range. The laser radar 13 is arranged at the top of the current automatic driving passenger car and used for detecting real-time relative motion information of all obstacles at all-around angles of the current automatic driving passenger car. In addition, the camera 14 is arranged at the top of the current automatic driving passenger car and is used for collecting the environmental image around the current automatic driving passenger car.
Further, the warning device 40 includes: a light strip 41 and a projection device 42. The lamp strip 41 is installed around the body of the current automatic driving passenger car and used for responding to anti-collision warning information containing the current passenger car collision accident danger level and the flicker frequency information corresponding to the current level. The projection device 42 is arranged at the top of the front wall of the current automatic driving passenger car, and is used for starting under the control of a projection device starting signal when a pedestrian in an obstacle emergency approach class crosses a road scene in a collision event scene of each obstacle, and responding to the current information to be projected so as to project the current safety prompt content.
Further, the interactive control device 20 includes: a sensing information acquisition module 21 and a sensing information decision module 22. The sensing information obtaining module 21 includes: image information processing unit 211, radar data processing unit 212, information fusion unit 213, and obstacle tracking unit 214. The image information processing unit 211 is configured to collect an environmental image of the surroundings of the passenger car, and identify the type of each obstacle in the image according to the environmental image. The radar data processing unit 212 is used for detecting real-time relative movement information of all obstacles around the current passenger car in real time. The information fusion unit 213 is configured to perform fusion processing on the real-time relative motion information of all the obstacles and the image containing the type information of each obstacle, screen out an obstacle with a collision risk from a current fusion processing result, and determine corresponding real-time relative motion information. The obstacle tracking unit 214 is used to identify and track each obstacle at risk of collision.
Further, the sensing information decision module 22 includes: a collision event generating unit 221, a risk level generating unit 222, a scene recognition unit 223, and a comprehensive decision unit 224. The collision event generating unit 221 is configured to calculate, according to the real-time relative motion information of each current obstacle at risk of collision, a real-time relative collision time of each obstacle at risk of collision in the event of a collision with the current autonomous bus by using the above equation (1). The risk level generating unit 222 is configured to determine a risk level of a corresponding collision event corresponding to each obstacle with a collision risk by using preset different level evaluation time range thresholds according to the real-time relative collision time of each obstacle with a collision risk. The scene recognition unit 223 is configured to determine a collision event scene of each obstacle with a collision risk according to the real-time relative motion information corresponding to each obstacle with a collision risk and the real-time relative collision time corresponding to each obstacle with a collision risk. Wherein the collision event scenario is selected from one of a class of bus violations of traffic regulations and a class of emergency approaches to obstacles. The comprehensive decision unit 224 is configured to determine the obstacle collision event with the highest risk coefficient as the most likely collision event of the current passenger car according to the risk level of the collision event corresponding to each obstacle with a collision risk, and generate an alarm signal corresponding to the level of the collision event with the highest risk coefficient.
The invention provides an anti-collision information external interaction method and system for an intelligent driving passenger car. The method and the system take each obstacle in the all-angle azimuth view around the vehicle as a main body of a corresponding collision event on the basis of the sensing, decision and execution functions of the vehicle-mounted end of the original automatic driving system, calculate the remaining time (collision time) of each obstacle with collision risk about to collide with the current vehicle after filtering beneficial obstacles, evaluate the danger level of each collision event and determine the collision event corresponding to the current vehicle on the basis of the calculated remaining time, and warn all obstacles around the vehicle body according to the level corresponding to the vehicle collision event. The colors of the warning lamp belts corresponding to the vehicle collision events of different grades are different, the higher the danger coefficient of the vehicle collision event is, and the smaller the corresponding collision time is. In addition, the invention can also identify the scene of the collision event, when the pedestrian is identified to cross the road, the vehicle is driven by the vehicle controller to decelerate and then stop for giving way, and characters related to the safety early warning content are projected in front of the vehicle after the projection equipment is started. The invention is based on the passive safety, reminds social vehicles, pedestrians and other obstacles, reduces or avoids traffic accidents, improves the driving safety of automatic driving, and simultaneously improves the intelligent level of the automatic driving vehicle.
The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. An anti-collision warning information external interaction method for a passenger car is characterized by comprising the following steps:
acquiring real-time relative motion information of obstacles on the whole body of the current automatic driving passenger car, wherein the real-time relative motion information comprises real-time relative distance and real-time relative speed;
step two, calculating real-time relative collision time of each barrier about to collide with the passenger car according to the real-time relative motion information of each barrier, determining the danger level of a corresponding collision event according to the real-time relative collision time, and making a decision on the collision event of the passenger car based on the danger level to generate a corresponding alarm signal;
and thirdly, the vehicle control unit drives the warning device to display corresponding anti-collision warning information to obstacles in all directions around the vehicle body under the control of the warning signal.
2. The external interaction method of anti-collision warning information according to claim 1, wherein the second step further comprises:
and judging a collision event scene of each obstacle according to the real-time relative motion information of each obstacle and the real-time relative collision time of each obstacle, wherein the collision event scene is selected from one of a traffic regulation violation class of a passenger car and an obstacle emergency approach class.
3. The external interaction method of anti-collision warning information according to claim 2,
when a pedestrian crossing road scene in the obstacle emergency approach class exists in the collision event scene of each obstacle, a projection device starting signal and information to be projected for controlling a projection device arranged on the top of the front wall of the passenger car to project safety prompt contents are also generated.
4. The external interaction method for the anti-collision warning information according to any one of claims 1 to 3, wherein the first step comprises:
s11, collecting an environment image around the passenger car, and identifying the type of each obstacle in the image according to the environment image;
s12, detecting real-time relative motion information of all obstacles on the whole body of the passenger car in real time;
s13, performing fusion processing on the real-time relative motion information of all obstacles and the image containing each obstacle type information, screening out the obstacles with collision risks from the fusion processing result, and determining the corresponding real-time relative motion information.
5. The external interaction method for anti-collision warning information according to claim 4, wherein in step S12, the method further comprises:
detecting the real-time relative motion information of all obstacles in a first detection range through a first millimeter wave radar arranged at the top of the front wall of the passenger car, and detecting the real-time relative motion information of all obstacles in a second detection range through a second millimeter wave radar arranged at the top of the rear wall of the passenger car;
detecting the real-time relative motion information of all obstacles under the omnibearing angle of the whole body of the passenger car through a laser radar arranged at the top of the passenger car;
and performing complementation and redundancy processing on the information detected by the first millimeter wave radar, the second millimeter wave radar and the laser radar in real time to obtain the real-time relative motion information of all the current obstacles.
6. The method for interaction of anti-collision warning information with the outside according to claim 4 or 5, wherein the first step further comprises: each obstacle at risk of collision is identified and tracked.
7. An anti-collision warning information external interaction system for a passenger car, which is characterized in that the method according to any one of claims 1-6 is used for performing external interaction of collision warning information on all barriers at the periphery of a car body, and the anti-collision warning information external interaction system comprises:
a vehicle-mounted sensor;
the interactive control device is connected with the vehicle-mounted sensor and used for acquiring real-time relative motion information of all barriers around the current automatic driving passenger car according to the information acquired by the vehicle-mounted sensor, calculating real-time relative collision time of each barrier about to collide with the passenger car according to the real-time relative motion information of all the barriers, determining the danger level of the corresponding collision event according to the real-time relative collision time, deciding the collision event of the passenger car based on the danger level, and generating a corresponding alarm signal, wherein the real-time relative motion information comprises real-time relative distance and real-time relative speed;
the vehicle control unit is connected with the interactive control device and used for driving the warning device to display corresponding anti-collision warning information to obstacles in all directions around the vehicle body under the control of the warning signal; and
the warning device.
8. The anti-collision warning information external interaction system according to claim 7, wherein the vehicle-mounted sensor comprises:
the first millimeter wave radar is arranged at the top of the front wall of the passenger car and used for detecting the real-time relative motion information of all obstacles in a first detection range;
the second millimeter wave radar is arranged at the top of the rear wall of the passenger car and used for detecting the real-time relative motion information of all obstacles in a second detection range;
the laser radar is arranged at the top of the passenger car and used for detecting the real-time relative motion information of all obstacles at all angles around the passenger car;
the camera is arranged at the top of the passenger car and used for collecting the environmental image around the passenger car.
9. The anti-collision warning information external interaction system according to claim 7 or 8, wherein the warning device comprises:
the lamp strip surrounds the body of the passenger car and is used for responding the anti-collision warning information containing the current passenger car collision accident danger level and the flashing frequency information corresponding to the current level;
and the projection equipment is arranged at the top of the front wall of the passenger car, and is used for starting under the controller of a projection equipment starting signal when a pedestrian in the barrier emergency approach class crosses a road scene in a collision event scene of each barrier, and responding to the current information to be projected so as to project the current safety prompt content.
10. The anti-collision warning information external interaction system according to any one of claims 7 to 9, wherein the interaction control device comprises: a sensing information decision module, wherein the sensing information decision module comprises:
and the scene recognition unit is used for judging a collision event scene of each obstacle according to the real-time relative motion information of each obstacle and the real-time relative collision time of each obstacle, wherein the collision event scene is selected from one of a class of a passenger car violating traffic regulations and a class of an obstacle emergency approach.
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| CN115158372B (en) * | 2022-07-18 | 2023-05-19 | 内蒙古工业大学 | Acoustic wave-based large shuttle car obstacle avoidance early warning method |
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Application publication date: 20210406 |