CN114049793A - Vehicle avoidance system and vehicle avoidance method - Google Patents
Vehicle avoidance system and vehicle avoidance method Download PDFInfo
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- CN114049793A CN114049793A CN202111233206.5A CN202111233206A CN114049793A CN 114049793 A CN114049793 A CN 114049793A CN 202111233206 A CN202111233206 A CN 202111233206A CN 114049793 A CN114049793 A CN 114049793A
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- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/005—Traffic control systems for road vehicles including pedestrian guidance indicator
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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Abstract
The application relates to a vehicle avoidance system and a vehicle avoidance method, wherein the vehicle avoidance system comprises: the device comprises a pedestrian detection device, a first millimeter wave radar transmitter and a first millimeter wave radar receiver; wherein: the pedestrian detection device is used for sensing a human body signal of the target detection area; the first millimeter wave radar transmitter is used for transmitting a millimeter wave continuous wave signaling after the pedestrian detection device senses that a pedestrian enters the target detection area; the first millimeter wave radar receiver is installed on the vehicle and used for sending a pedestrian avoidance early warning signal to a vehicle central controller of the vehicle after receiving the millimeter wave continuous wave signaling. The vehicle avoidance system realizes accurate induction of pedestrian passing in the target detection area based on the millimeter wave radar and timely sends early warning signals to the vehicle, so that the vehicle can be timely avoided and prompted when the pedestrian passing is detected, and the safety of vehicle driving is improved.
Description
Technical Field
The application relates to the field of millimeter wave radars, in particular to a vehicle avoidance system and a vehicle avoidance method.
Background
In the process of automobile driving, pedestrians passing through a crosswalk at the intersection are avoided in time, collision between vehicles and the pedestrians can be avoided, and therefore the driving safety is improved. At present, an optical camera is often arranged in a pedestrian crossing area or a crossing, and the relative position relationship between a vehicle running to the crossing and a pedestrian passing through the crossing is detected through the optical camera, so that whether the vehicle avoids the passing pedestrian is judged. The method can only detect whether the vehicle has the pedestrian avoidance behavior, but cannot generate early warning information for taking avoidance measures for the vehicle in time when the pedestrian passing is detected.
Aiming at the problem that in the related art, the driving safety of a vehicle is low because a running vehicle cannot timely receive prompt information for taking avoidance measures for pedestrians, an effective solution is not provided at present.
Disclosure of Invention
The embodiment provides a vehicle avoidance system and a vehicle avoidance method, so as to solve the problem that in the related art, a running vehicle cannot timely receive prompt information for taking avoidance measures for pedestrians, and the driving safety of the vehicle is low.
In a first aspect, there is provided in the present embodiment a vehicle avoidance system, comprising: the device comprises a pedestrian detection device, a first millimeter wave radar transmitter and a first millimeter wave radar receiver; wherein:
the pedestrian detection device is used for sensing a human body signal of a target detection area;
the first millimeter wave radar transmitter is used for transmitting a millimeter wave continuous wave signaling after the pedestrian detection device senses that a pedestrian enters the target detection area;
the first millimeter wave radar receiver is installed on the vehicle and used for sending a pedestrian avoidance early warning signal to a vehicle central controller of the vehicle after receiving the millimeter wave continuous wave signaling.
In some embodiments, the first millimeter wave radar receiver is further configured to send an automatic braking early warning signal to the vehicle central controller after receiving the millimeter wave continuous wave signaling, so as to control the vehicle central controller to automatically brake the target vehicle.
In some embodiments, the pedestrian detection device is disposed within a preset range of a stop line of a target lane, and the target detection region includes a pedestrian crossing region corresponding to the target lane;
and the area of the first millimeter wave radar receiver for receiving the millimeter wave continuous wave signaling is a preset area in the target lane.
In some of these embodiments, the pedestrian detection device is disposed on the ground within a predetermined range of the stop line.
In some embodiments, the pedestrian detection device is disposed on a pillar of the preset range of the stop line.
In some of these embodiments, the pedestrian detection apparatus includes a second millimeter wave radar transmitter, a second millimeter wave radar receiver, and a millimeter wave radar chip;
the second millimeter wave radar transmitter is used for transmitting millimeter wave signals to the target detection area;
the second millimeter wave radar receiver is used for receiving an echo signal of the millimeter wave signal in the target detection area;
the millimeter wave radar chip is used for sensing the human body signal in the target detection area based on the millimeter wave signal sent by the second millimeter wave radar sender and the echo signal received by the second millimeter wave radar receiver.
In some embodiments, the first millimeter wave radar receiver further includes a clock synchronization module, and the first millimeter wave radar receiver is further configured to perform clock synchronization through the clock synchronization module after receiving the millimeter wave continuous wave signaling.
In some of these embodiments, the vehicle avoidance system further comprises a CAN bus through which the first millimeter wave radar receiver communicates with the vehicle central controller.
In some embodiments, the first millimeter wave radar receiver is further configured to trigger an alarm device mounted on the vehicle to perform avoidance alarm after receiving the millimeter wave continuous wave signaling.
In a second aspect, in the present embodiment, there is provided a vehicle avoidance method for use in the vehicle avoidance system of the first aspect, the method including:
sensing a human body signal of a target detection area by using a pedestrian detection device, and sending a millimeter wave continuous wave signaling through the first millimeter wave radar transmitter after sensing that a pedestrian enters the detection area;
and after the first millimeter wave radar receiver receives the millimeter wave continuous wave signaling, sending a pedestrian avoidance early warning signal to a vehicle central controller of the vehicle through the first millimeter wave radar receiver.
The application provides a vehicle avoidance system and a vehicle avoidance method, wherein the vehicle avoidance system comprises: the device comprises a pedestrian detection device, a first millimeter wave radar transmitter and a first millimeter wave radar receiver; wherein: the pedestrian detection device is used for sensing a human body signal of the target detection area; the first millimeter wave radar transmitter is used for transmitting a millimeter wave continuous wave signaling after the pedestrian detection device senses that a pedestrian enters the target detection area; the first millimeter wave radar receiver is installed on the vehicle and used for sending a pedestrian avoidance early warning signal to a vehicle central controller of the vehicle after receiving the millimeter wave continuous wave signaling. The vehicle avoidance system realizes accurate induction of pedestrian passing in the target detection area based on the millimeter wave radar and timely sends early warning signals to the vehicle, so that the vehicle can be timely avoided and prompted when the pedestrian passing is detected, and the safety of vehicle driving is improved.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic structural diagram of a vehicle avoidance system of the present embodiment;
fig. 2 is a schematic diagram of an application of the vehicle avoidance system of the present embodiment;
fig. 3 is a flowchart of a vehicle avoidance method of the present embodiment.
Detailed Description
For a clearer understanding of the objects, aspects and advantages of the present application, reference is made to the following description and accompanying drawings.
Unless defined otherwise, technical or scientific terms used herein shall have the same general meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The use of the terms "a" and "an" and "the" and similar referents in the context of this application do not denote a limitation of quantity, either in the singular or the plural. The terms "comprises," "comprising," "has," "having," and any variations thereof, as referred to in this application, are intended to cover non-exclusive inclusions; for example, a process, method, and system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or modules, but may include other steps or modules (elements) not listed or inherent to such process, method, article, or apparatus. Reference throughout this application to "connected," "coupled," and the like is not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference to "a plurality" in this application means two or more. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. In general, the character "/" indicates a relationship in which the objects associated before and after are an "or". The terms "first," "second," "third," and the like in this application are used for distinguishing between similar items and not necessarily for describing a particular sequential or chronological order.
In the present embodiment, a vehicle avoidance system 10 is provided. Fig. 1 is a schematic structural diagram of a vehicle avoidance system 10 according to the present embodiment. As shown in fig. 1, the vehicle avoidance system 10 includes: a pedestrian detection device 12, a first millimeter wave radar transmitter 14, and a first millimeter wave radar receiver 16; wherein: the pedestrian detection device 12 is used for sensing a human body signal of a target detection area; the first millimeter wave radar transmitter 14 is configured to send a millimeter wave continuous wave signaling after the pedestrian detection device senses that a pedestrian enters the target detection area; the first millimeter wave radar receiver 16 is installed on the vehicle and used for sending a pedestrian avoidance early warning signal to a vehicle central controller of the vehicle after receiving the millimeter wave continuous wave signaling.
The pedestrian detection device 12 may specifically include a second millimeter wave radar transmitter, a second millimeter wave radar receiver, and a millimeter wave radar chip. The second millimeter wave radar transmitter is used for transmitting millimeter wave signals to the target detection area, the second millimeter wave radar receiver is used for receiving echo signals of the millimeter wave signals of the target detection area, and the millimeter wave radar chip is used for judging whether pedestrians pass through the target detection area or not based on the millimeter wave signals transmitted by the second millimeter wave radar transmitter and the echo signals received by the second millimeter wave radar receiver. Illustratively, the pedestrian detection device 12 may be a near-field probe with a preset field angle. Further, the field angle of the near field probe can be set according to the actual application scene. When the pedestrian detection device 12 is applied to a crosswalk area for human body signal sensing, the field angle of the near-field probe may be ± 66 °. When the vehicle avoidance system is applied to a traffic intersection, the pedestrian detection devices 12 may be disposed corresponding to lanes, for example, one pedestrian detection device 12 may be disposed corresponding to each of all lanes in a certain driving direction at the intersection, and configured to sense the pedestrian passing through a pedestrian crossing area in front of the lane. The pedestrian detection device 12 can be used in cooperation with transportation facilities in practical application scenarios. For example, the pedestrian detection device 12 may be mounted on a pillar provided at an intersection. Alternatively, the pedestrian detection device 12 may be provided on the ground of the crosswalk in correspondence with the lane. The pedestrian detection device 12 is used for detecting whether a pedestrian passes through a target detection area through a millimeter wave radar signal, and the installation manner is not particularly limited herein. In addition, the target detection area may be a corner area where a blind vision area exists in the vehicle, an intersection area of a main road and a lane, or an exit area of a parking lot, in addition to the pedestrian crossing area. Similarly, the number of the pedestrian detection devices 12 and the detection range may also be set according to the actual application scenario.
Specifically, the millimeter wave signal sent by the second millimeter wave radar transmitter of the pedestrian detection device 12 may be a millimeter wave radio wave, and when the second millimeter wave radar receiver receives an echo signal after the millimeter wave radio wave is reflected, the distance between the reflection object and the pedestrian detection device 12 is determined by calculating a time difference between the transmission of the millimeter wave radio wave and the reception of the echo, so as to locate the reflection object and determine whether a pedestrian passes through the target detection area. The millimeter wave radio is a pulse radar signal, and the method for the pedestrian detection device 12 to perform distance measurement may specifically be a Time-of-flight (TOF) distance measurement method. The pedestrian detection device 12 based on the millimeter wave radar is utilized to perform pedestrian passing induction on the target detection area, so that the detection stability and accuracy can be improved, and the omission of pedestrian passing detection is avoided.
In addition, the first millimeter wave radar transmitter 14 may be connected to the pedestrian detection device 12 and disposed at the same position in the actual application scene, or may be disposed at a different position separately from the pedestrian detection device 12. It is to be understood that the corresponding relationship between the first millimeter-wave radar transmitter 14 and the pedestrian detection device 12 may also be set according to practical application scenarios, for example, the first millimeter-wave radar transmitter 14 may correspond to one pedestrian detection device 12, and may also correspond to a plurality of pedestrian detection devices 12. Because the millimeter wave radar has a small volume, the pedestrian detection device 12 and the first millimeter wave radar transmitter 14 have low installation cost in an actual application scene, and are easily integrated with other facilities existing in the actual application scene, so that the adaptability to the application scene and the installation flexibility are high. Further, the first millimeter wave radar transmitter 14 may specifically include a far field antenna having a coverage area larger than that of the above-described pedestrian detection device 12. For example, a far-field antenna with a field angle of ± 9 ° may be provided in the crosswalk area. After the pedestrian detection device 12 senses that a pedestrian enters the target detection area, the first millimeter wave radar transmitter 14 starts to transmit millimeter wave continuous wave signaling.
When the vehicle mounted with the first millimeter wave radar receiver 16 enters the area covered by the first millimeter wave radar transmitter 14, the first millimeter wave radar receiver 16 may receive the millimeter wave continuous wave signaling and process the preset instruction in real time. For example, after receiving the millimeter wave continuous wave signaling, the first millimeter wave radar receiver 16 may send an early warning signal for avoiding a pedestrian to a vehicle central controller of the vehicle, so as to assist the vehicle central controller to take a corresponding avoidance measure based on the signal of the pedestrian passing through. Or, the first millimeter wave radar receiver 16 may also trigger an alarm device installed in the vehicle to perform an avoidance alarm after receiving the millimeter wave continuous wave signaling. Illustratively, the first millimeter wave radar receiver 16 may assist a vehicle central Control Unit (ECU) to take an avoidance measure through a Controller Area Network (CAN) protocol, and at the same time, trigger an audio alarm device in the vehicle to perform an avoidance alarm. Due to the characteristics of serial data communication with integrity, real-time support and high transmission rate of the CAN protocol, the process that the first millimeter wave radar receiver 16 receives the millimeter wave continuous wave signaling and assists the vehicle central controller to take avoidance measures based on the CAN protocol CAN be completed within 50ms, so that pedestrians CAN be avoided in time.
On one hand, the first millimeter wave radar receiver 16 CAN assist the vehicle central controller ECU to decelerate the vehicle through the CAN protocol, and prompt a driver that pedestrians pass in front of the driver through the sound alarm device, so that the driver pays attention to avoiding, and the driver subjectively determines whether to carry out brake avoiding or not. On the other hand, the first millimeter wave radar receiver 16 may assist the vehicle central controller ECU to automatically brake through the CAN protocol, so that the vehicle stops outside the target detection area. Additionally, in order to implement a timely response to the received millimeter wave continuous wave signaling and avoid operation delay caused by a time difference of receiving the millimeter wave continuous wave signaling, a precise clock synchronization protocol, that is, a 1588V2 protocol may be used inside the first millimeter wave radar receiver 16 to perform clock synchronization on each element inside the first millimeter wave radar receiver 16.
For example, the pedestrian detection device 12 may be installed on the ground of a crosswalk to detect whether there is a pedestrian passing through the corresponding crosswalk area. After the pedestrian detection device 12 detects that the target detection region senses a human body signal, the pedestrian detection device 12 sends a signal to the corresponding first millimeter wave radar transmitter 14, so that the first millimeter wave radar transmitter 14 starts sending millimeter wave continuous wave signaling. The coverage area of the first millimeter wave radar transmitter 14 may be a preset distance range from a stop line in front of the lane in the lane corresponding to the first millimeter wave radar transmitter. For example, the millimeter wave continuous wave signaling sent by the first millimeter wave radar transmitter 14 can cover a position 100 meters away from the stop line in the corresponding lane. Vehicles which drive from the corresponding lane at a distance from the stop line 100 and are equipped with the first millimeter wave radar receiver 16 can receive the millimeter wave continuous wave signaling, and accordingly corresponding avoidance measures are taken to give way to pedestrians in the crosswalk area in front of the lane. Additionally, in the event that the pedestrian detection apparatus 12 does not detect that there is a pedestrian passing in the crosswalk area, the corresponding first millimeter wave radar transmitter 14 will not transmit millimeter wave continuous wave signaling, so as not to affect the passing of vehicles in the lane.
Compared with a common optical sensor, the millimeter wave radar has stronger penetration capability, is suitable for all-weather all-day-long work and is more suitable for being applied to traffic scenes; compared with an ultrasonic radar, the millimeter wave radar has the advantages of smaller volume, lighter mass and higher spatial resolution, so that the interference of light and a 5G communication frequency band can be avoided, and the application range is wider. In addition, the millimeter wave radar with the frequency band of 77GHz has the characteristic of high robustness, is not interfered by noise, dust color, direct light and scattered light, and is easy to integrate with other devices. Therefore, the method and the device have the advantages that the millimeter wave radar is used for sensing the pedestrians in the target detection area, and the millimeter wave continuous wave signaling sent in a directional mode is used for assisting the vehicles to take avoidance measures, so that on one hand, the pedestrians can be accurately and stably detected in real time, and therefore the reminding information is timely generated for the running vehicles under the condition that the running vehicles are not interfered by environmental factors, and the running vehicles can timely carry out avoidance response; on the other hand, the easy integrated characteristic of millimeter wave radar also makes this application vehicle dodge system's installation and application more convenient, only needs installation millimeter wave radar receiver and the jointing equipment that corresponds on the vehicle, can realize promptly receiving the current millimeter wave continuous wave signalling of suggestion pedestrian to reduced this vehicle and dodged system's application cost, the installation of comparing the autopilot module is changeed and is promoted.
The vehicle avoidance system 10 includes: a pedestrian detection device 12, a first millimeter wave radar transmitter 14, and a first millimeter wave radar receiver 16; wherein: the pedestrian detection device 12 is used for sensing a human body signal of a target detection area; the first millimeter wave radar transmitter 14 is configured to send a millimeter wave continuous wave signaling after the pedestrian detection device senses that a pedestrian enters the target detection area; the first millimeter wave radar receiver 16 is installed on the vehicle and used for sending a pedestrian avoidance early warning signal to a vehicle central controller of the vehicle after receiving the millimeter wave continuous wave signaling. The vehicle avoidance system 10 achieves accurate sensing of pedestrian passing in the target detection area based on the millimeter wave radar and timely sends early warning signals to the vehicles, so that avoidance prompting can be timely carried out on the vehicles when the pedestrian passing is detected, and the safety of vehicle driving is improved.
In one embodiment, based on the vehicle avoidance system 10, the first millimeter wave radar receiver 16 is further configured to send an automatic braking early warning signal to the vehicle central controller after receiving the millimeter wave continuous wave signaling, so as to control the vehicle central controller to automatically brake the target vehicle. The operation instruction communicated with the first millimeter wave radar receiver 16 can be preset in the vehicle central controller, so that the vehicle central controller automatically performs brake control on the vehicle after receiving the automatic brake early warning signal sent by the first millimeter wave radar receiver 16, the vehicle can timely avoid pedestrians, and the driving safety of the vehicle is improved.
In one embodiment, based on the vehicle avoidance system 10, the pedestrian detection device 12 is disposed within a preset range of a stop line of a target lane, and the target detection region includes a pedestrian crossing region corresponding to the target lane; the area where the first millimeter wave radar receiver 16 receives the millimeter wave continuous wave signaling is a preset area in the target lane.
The target lane may be a motor lane corresponding to the pedestrian detection device 12 at the traffic intersection, and the preset range of the stop line may be a range determined according to the road condition of the traffic intersection and the layout of other facilities. Such as the range between the stop line and the crosswalk area. In addition, the area where the first millimeter wave radar receiver 16 receives the millimeter wave continuous wave signaling is the coverage area of the millimeter wave continuous wave signaling sent by the corresponding first millimeter wave radar transmitter 14. By setting the pedestrian detection device 12 within a preset range of the stop line of the target lane and setting the region where the millimeter wave continuous wave signaling is received by the first millimeter wave radar receiver 16 as a preset region within the target lane, it is possible to realize that the running vehicle takes pedestrian avoidance measures in time before reaching the stop line, thereby improving the safety of the running vehicle.
In one embodiment, based on the vehicle avoidance system 10, the pedestrian detection device 12 is disposed on the ground within a preset range of the stop line. The ground within the preset range can be the ground arranged in the crosswalk area and on the same side as the stop line. Multiple pedestrian detection devices 12 may be provided in the same crosswalk area to achieve more accurate positioning of pedestrians entering the crosswalk area. By setting the pedestrian detection device 12 on the ground within the preset range of the stop line, the accuracy of human body signal induction can be improved, and interference and shielding caused by vehicle running are avoided.
In one embodiment, based on the vehicle avoidance system 10, the pedestrian detection device is disposed on the pillar within a preset range of the stop line. Specifically, fig. 2 is a schematic application diagram of the vehicle avoidance system of the present embodiment. As shown in fig. 2, the pillar may be a pillar that carries other facilities in an actual application scenario. Such as a post for carrying traffic lights, a post for a camera at a crossing, or a post for a street lamp. Illustratively, the first millimeter-wave radar transmitter 14 may also be mounted on the pillar. When a vehicle equipped with the first millimeter wave radar receiver 16 enters the coverage area of the first millimeter wave radar transmitter 14, the millimeter wave continuous wave signaling is received, so that the brake control module of the vehicle is assisted to take an avoidance measure, and the vehicle can be successfully parked when reaching the vehicle stop position. The pedestrian detection device 12 is arranged on the stand column in the preset range of the stop line, and senses the human body signal of the self detection range, namely the pedestrian crossing area, so that the pedestrian passing in time in the target detection area can be detected.
In one embodiment, based on the vehicle avoidance system 10 described above, the pedestrian detection device 12 includes a second millimeter wave radar transmitter, a second millimeter wave radar receiver, and a millimeter wave radar chip; the second millimeter wave radar transmitter is used for transmitting millimeter wave signals to the target detection area; the second millimeter wave radar receiver is used for receiving an echo signal of the millimeter wave signal in the target detection area; the millimeter wave radar chip is used for sensing the human body signal in the target detection area based on the millimeter wave signal sent by the second millimeter wave radar transmitter and the echo signal received by the second millimeter wave radar receiver.
Specifically, the second millimeter wave radar transmitter is configured to transmit millimeter wave radio waves to a target detection area, and the second millimeter wave radar receiver is configured to receive an echo signal of the millimeter wave radio waves reflected by a reflection object in the target detection area. The millimeter wave radar chip can realize the positioning of the pedestrian according to a TOF ranging method, so that whether the pedestrian passes in the target detection area is judged. The accuracy of detection of pedestrian traffic can be improved by sensing the human body signal in the target detection area with the pedestrian detection device 12 based on millimeter wave signals.
In one embodiment, based on the vehicle avoidance system 10, the first millimeter wave radar receiver 16 further includes a clock synchronization module, and the first millimeter wave radar receiver 16 is further configured to perform clock synchronization through the clock synchronization module after receiving the millimeter wave continuous wave signaling. The clock synchronization module may specifically perform clock synchronization on each element inside the first millimeter-wave radar receiver 16 through a clock engine TimingEngine based on a 1588V2 protocol. After the millimeter wave continuous wave signaling is received, the clock synchronization module is utilized to perform clock synchronization, so that delay of the first millimeter wave radar receiver 16 in executing relevant instructions can be avoided, real-time early warning of the vehicle is realized, and a central controller of the vehicle can feed back the pedestrian traffic situation in time.
In one embodiment, based on the vehicle avoidance system 10 described above, the vehicle avoidance system 10 further includes a CAN bus over which the first millimeter wave radar receiver 16 communicates with the vehicle central controller. Specifically, the first millimeter wave radar receiver 16 communicates with the vehicle central controller through the CAN bus, and sends an early warning signal to the vehicle central controller in time. Further, for a vehicle equipped with an automatic auxiliary braking AEB (automated ignition braking) system, the vehicle central controller may be the vehicle central controller in the AEB system. In this application, the vehicle only needs to increase this first millimeter wave radar receiver 16 to and be used for with the CAN bus of vehicle central controller communication, holistic application cost is lower, and the installation is nimble convenient, consequently the vehicle of this application dodges the system and easily popularizes and applies in the vehicle.
In one embodiment, based on the vehicle avoidance system 10, the first millimeter wave radar receiver 16 is further configured to trigger a warning device mounted on the vehicle to perform an avoidance warning after receiving the millimeter wave continuous wave signaling. Specifically, the first millimeter wave radar receiver 16 may trigger a warning device connected thereto to perform avoidance warning through a central controller of the vehicle, or may directly trigger other warning devices mounted on the vehicle to perform avoidance warning. The warning device may be embodied as an acoustic warning device, and the warning device may be triggered to perform a voice prompt warning or other acoustic warning indicating pedestrian traffic. After the millimeter wave continuous wave signaling is received by the first millimeter wave radar receiver 16, the warning device loaded by the vehicle is triggered to carry out avoidance warning, so that a driver can be reminded of avoiding pedestrians in time, and the driving safety is improved.
In the embodiment, a vehicle avoidance method is further provided, and is used for the vehicle avoidance system provided by the embodiment. Fig. 3 is a flowchart of a vehicle avoidance method according to the embodiment, and as shown in fig. 3, the method includes the following steps:
step S310, a pedestrian detection device is used for sensing the human body signal of the target detection area, and after the pedestrian is sensed to enter the detection area, the millimeter wave continuous wave signaling is sent through the first millimeter wave radar transmitter.
Step S320, after the millimeter wave continuous wave signaling is received by the first millimeter wave radar receiver, a pedestrian avoidance early warning signal is sent to a vehicle central controller of the vehicle through the first millimeter wave radar receiver.
In the steps S310 to S320, the pedestrian detection device is used to sense the human body signal in the target detection area, after sensing that the pedestrian enters the detection area, the first millimeter wave radar transmitter is used to transmit a millimeter wave continuous wave signaling, and after the first millimeter wave radar receiver receives the millimeter wave continuous wave signaling, the first millimeter wave radar receiver is used to transmit a pedestrian avoidance early warning signal to the vehicle central controller of the vehicle in which the pedestrian is located; therefore, accurate induction of pedestrian passing in the target detection area is achieved, early warning signals are sent to vehicles in time, and therefore the vehicles can be subjected to avoidance prompting in time when the pedestrian passing is detected, and the safety of vehicle driving is improved.
It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to be limiting. All other embodiments, which can be derived by a person skilled in the art from the examples provided herein without any inventive step, shall fall within the scope of protection of the present application.
It is obvious that the drawings are only examples or embodiments of the present application, and it is obvious to those skilled in the art that the present application can be applied to other similar cases according to the drawings without creative efforts. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
The term "embodiment" is used herein to mean that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is to be expressly or implicitly understood by one of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the patent protection. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (10)
1. A vehicle avoidance system, characterized by comprising: the device comprises a pedestrian detection device, a first millimeter wave radar transmitter and a first millimeter wave radar receiver; wherein:
the pedestrian detection device is used for sensing a human body signal of a target detection area;
the first millimeter wave radar transmitter is used for transmitting a millimeter wave continuous wave signaling after the pedestrian detection device senses that a pedestrian enters the target detection area;
the first millimeter wave radar receiver is installed on the vehicle and used for sending a pedestrian avoidance early warning signal to a vehicle central controller of the vehicle after receiving the millimeter wave continuous wave signaling.
2. The vehicle avoidance system according to claim 1, wherein the first millimeter wave radar receiver is further configured to send an automatic brake warning signal to the vehicle central controller after receiving the millimeter wave continuous wave signaling, so as to control the vehicle central controller to automatically brake the target vehicle.
3. The vehicle avoidance system according to claim 1, wherein the pedestrian detection device is disposed within a preset range of a stop line of a target lane, and the target detection region includes a pedestrian crossing region corresponding to the target lane;
and the area of the first millimeter wave radar receiver for receiving the millimeter wave continuous wave signaling is a preset area in the target lane.
4. The vehicle avoidance system according to claim 3, wherein the pedestrian detection device is provided on the ground within a predetermined range of the stop line.
5. The vehicle avoidance system according to claim 3, wherein the pedestrian detection device is provided on a pillar of the preset range of the stop line.
6. The vehicle avoidance system according to claim 1, wherein the pedestrian detection device includes a second millimeter wave radar transmitter, a second millimeter wave radar receiver, and a millimeter wave radar chip;
the second millimeter wave radar transmitter is used for transmitting millimeter wave signals to the target detection area;
the second millimeter wave radar receiver is used for receiving an echo signal of the millimeter wave signal in the target detection area;
the millimeter wave radar chip is used for sensing the human body signal in the target detection area based on the millimeter wave signal sent by the second millimeter wave radar sender and the echo signal received by the second millimeter wave radar receiver.
7. The vehicle avoidance system according to claim 1, wherein the first millimeter wave radar receiver further comprises a clock synchronization module, and the first millimeter wave radar receiver is further configured to perform clock synchronization through the clock synchronization module after receiving the millimeter wave continuous wave signaling.
8. The vehicle avoidance system of claim 1 further comprising a CAN bus, said first millimeter wave radar receiver communicating with said vehicle central controller via said CAN bus.
9. The vehicle avoidance system according to any one of claims 1 to 8, wherein the first millimeter wave radar receiver is further configured to trigger an alarm device mounted on the vehicle to perform an avoidance alarm after receiving the millimeter wave continuous wave signaling.
10. A vehicle avoidance method for use in the vehicle avoidance system according to any one of claims 1 to 9, characterized by comprising:
sensing a human body signal of a target detection area by using a pedestrian detection device, and sending a millimeter wave continuous wave signaling through the first millimeter wave radar transmitter after sensing that a pedestrian enters the detection area;
and after the first millimeter wave radar receiver receives the millimeter wave continuous wave signaling, sending a pedestrian avoidance early warning signal to a vehicle central controller of the vehicle through the first millimeter wave radar receiver.
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