CN114627679A - Target perception method, device, equipment and system based on active beacon - Google Patents

Target perception method, device, equipment and system based on active beacon Download PDF

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Publication number
CN114627679A
CN114627679A CN202210264679.XA CN202210264679A CN114627679A CN 114627679 A CN114627679 A CN 114627679A CN 202210264679 A CN202210264679 A CN 202210264679A CN 114627679 A CN114627679 A CN 114627679A
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risk area
information
alarm
vehicle
target object
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CN114627679B (en
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王昊艋
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Guoqi Intelligent Control Beijing Technology Co Ltd
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Guoqi Intelligent Control Beijing Technology Co Ltd
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application provides a target perception method, a device, equipment and a system based on an active beacon, which relate to the technical field of vehicle networks, and the method comprises the following steps: the method comprises the steps of obtaining position information of a target object, detecting whether the target object is currently located in a preset risk area or moves towards the preset risk area according to the position information, and sending alarm information to an alarm device when the target object is detected to be currently located in the risk area or moves towards the risk area. In the technical scheme, whether the pedestrian passes the road or not is detected through the mobile device actively carried by the pedestrian, when the pedestrian passes the road, the position information of the pedestrian is actively sent to the road test unit or the cloud server, the passing vehicle is prompted to avoid timely through the road test unit or the cloud server, and the probability of traffic accidents can be effectively reduced.

Description

Target perception method, device, equipment and system based on active beacon
Technical Field
The application relates to the technical field of vehicle networking, in particular to a target sensing method, device, equipment and system based on active beacons.
Background
With the development and application of the car networking technology, real-time information of the road environment can be transmitted to a driver in the driving process of a car through drive test sensing, and the real-time information is used as an important basis for controlling the driving of the car by the driver, so that the traffic safety accident rate is effectively reduced.
In the prior art, sensing devices such as a large number of cameras and radars are generally deployed on the road side for drive test sensing, dead-corner-free coverage of the road side sensing range is achieved through the sensing devices, and therefore acquired information is transmitted to vehicles running on the road, and real-time information of the road environment is provided for drivers.
However, in the prior art, the sensing device cannot identify different crowds in the working process, and meanwhile, a fault may occur in the working process at any time, so that the vehicle cannot acquire information of nearby vulnerable groups, the vehicle cannot avoid the vulnerable groups in the road in time, and traffic accidents are easily caused.
Disclosure of Invention
The application provides a target sensing method, a target sensing device, target sensing equipment and a target sensing system based on active beacons, which are used for solving the problems that existing sensing equipment is poor in sensing effect and cannot timely inform vehicles of avoiding weak groups in roads.
In a first aspect, an embodiment of the present application provides a target sensing method based on an active beacon, which is applied to a mobile device, and the method includes:
acquiring position information of a target object, and detecting whether the target object is currently in a preset risk area or moves towards the preset risk area according to the position information;
when detecting that the vehicle is currently located in the risk area or moves towards the risk area, sending alarm information to an alarm device, wherein the alarm information at least comprises the position information, the alarm information is used for indicating the alarm device to prompt the vehicle passing through the risk area, and the alarm device is at least one of a road side unit and a cloud server.
In a possible design of the first aspect, detecting whether the target object is currently moving toward the preset risk area according to the position information includes:
acquiring the longitude and latitude of the position of the target object at the current moment and the longitude and latitude of the position of the historical moment according to the position information;
acquiring a moving track of the target object according to the longitude and latitude of the position at the current moment and the longitude and latitude of the position at the historical moment;
acquiring the current moving speed and the current moving direction of the target object according to the moving track;
and detecting whether the target object moves towards the preset risk area or not at present according to the current moving speed and the current moving direction, wherein the risk area at least comprises pedestrian passageways in a road.
In another possible design of the first aspect, the sending the warning information to the warning device includes:
acquiring user information of the mobile device, wherein the user information at least comprises an image of a user of the mobile device;
and sending alarm information to the alarm device, wherein the alarm information at least comprises the user information and the position information.
In yet another possible design of the first aspect, if the warning device is a cloud server, the sending a warning message to the warning device when detecting that the warning device is currently located in the risk area or moves towards the risk area includes:
when the current vehicle is detected to be in the risk area or move towards the risk area, the warning information is uploaded to the cloud server to instruct the cloud server to send prompt information to vehicles passing in the risk area.
In another possible design of the first aspect, if the warning device is a roadside unit, the sending a warning message to the warning device when detecting that the vehicle is currently located in the risk area or moves towards the risk area includes:
when the road side unit detects that the road side unit is currently located in the risk area or moves towards the risk area, the warning information is broadcasted to the road side unit through a broadcasting component of the mobile equipment so as to instruct the road side unit to prompt vehicles passing in the risk area.
In yet another possible design of the first aspect, the broadcasting the warning information to the roadside unit includes:
detecting whether more than two road side units exist in a preset range with the target object as the center;
if more than two road side units exist, acquiring the spacing distance between the target object and each road side unit;
and broadcasting the alarm information to the road side unit with the minimum spacing distance.
In yet another possible design of the first aspect, after detecting that the mobile device is currently in the risk area or moving towards the risk area, the method further includes:
acquiring whether a road side unit exists in a preset range with the target object as the center or not according to the position information of the target object;
and if the road side unit does not exist in the preset range, outputting an alarm prompt.
In yet another possible design of the first aspect, the method further includes:
and outputting vehicle prompt information in response to the feedback signal of the warning device, wherein the vehicle prompt information comprises at least one of position information, speed information and driving direction of vehicles passing through the risk area.
In yet another possible design of the first aspect, the method further includes:
when detecting that the mobile device is currently located in the risk area or moves towards the risk area, starting a communication component of the mobile device, wherein the communication component is used for sending the alarm information to the alarm device;
upon detecting that the communication component is not currently in the risk zone or moving toward the risk zone, shutting down the communication component.
In yet another possible design of the first aspect, the method further includes:
and sending the position information to the warning device once every preset time interval.
In a second aspect, a target sensing method based on active beacons is applied to an alarm device, and the method includes:
acquiring alarm information sent by mobile equipment, wherein the alarm information at least comprises the position of the mobile equipment;
detecting whether a passing vehicle exists in a preset risk area or not according to the position;
and if the passing vehicle exists in the preset risk area, sending prompt information to the vehicle.
In a third aspect, an embodiment of the present application provides an active beacon-based target sensing apparatus, including:
the detection module is used for acquiring the position information of a target object and detecting whether the target object is currently in a preset risk area or moves towards the preset risk area according to the position information;
the sending module is used for sending alarm information to an alarm device when detecting that the vehicle is currently located in the risk area or moves towards the risk area, wherein the alarm information at least comprises the position information, the alarm information is used for indicating the alarm device to prompt the vehicle passing through the risk area, and the alarm device is at least one of a road side unit and a cloud server.
In a fourth aspect, an embodiment of the present application provides an active beacon-based target sensing apparatus, including:
the information acquisition module is used for acquiring alarm information sent by mobile equipment, wherein the alarm information at least comprises the position of the mobile equipment;
the vehicle detection module is used for detecting whether a passing vehicle exists in a preset risk area or not according to the position;
and the information sending module is used for sending prompt information to the vehicle if the vehicle passing through exists in the preset risk area.
In a fifth aspect, an embodiment of the present application provides a mobile device, including: a processor and a communication component;
the processor is used for acquiring current position information and sending alarm information to an alarm device through the communication assembly when detecting that the vehicle is located in a risk area or moves towards the risk area, wherein the alarm information at least comprises the position information, the alarm information is used for indicating the alarm device to prompt a vehicle passing through the risk area, and the alarm device is at least one of a road side unit and a cloud server.
In a sixth aspect, an embodiment of the present application provides an alarm device, where the alarm device sends a prompt message to a vehicle passing through a preset risk area when acquiring alarm information sent by a mobile device, where the alarm information at least includes location information of the mobile device.
In a seventh aspect, an embodiment of the present application provides a target sensing system based on an active beacon, including an alarm device and a mobile device;
the mobile equipment is used for sending alarm information to the alarm device when detecting that the mobile equipment is currently located in the risk area or moves towards the risk area, wherein the alarm information at least comprises the position information;
and the warning device is used for prompting vehicles passing through the risk area when the warning information is received.
In an eighth aspect, the present application provides a readable storage medium, in which computer instructions are stored, and when executed by a processor, the computer instructions are used to implement the method as described above.
According to the target perception method, device, equipment and system based on the active beacon, whether the pedestrian passes the road or not is actively detected through the mobile equipment carried by the pedestrian, when the pedestrian passes the road, the position information of the pedestrian is actively sent to the road testing unit or the cloud server, the passing vehicle is prompted to avoid timely through the road testing unit or the cloud server, and the probability of occurrence of traffic accidents can be effectively reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application;
fig. 1 is a scene schematic diagram of a first embodiment of a target sensing method based on an active beacon according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a first embodiment of a target sensing method based on an active beacon according to an embodiment of the present application;
fig. 3 is a schematic flowchart of a second active beacon-based target sensing method according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a first active beacon-based target sensing apparatus according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a second active beacon-based target sensing apparatus according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a mobile device according to an embodiment of the present application;
fig. 7 is a scene schematic diagram of a second embodiment of a target sensing method based on an active beacon according to the present application;
fig. 8 is an interaction diagram of a target sensing method based on active beacons according to an embodiment of the present application.
With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms referred to in the present application are explained first:
RSU：
the Road Side Unit (RSU) is a device which is installed at the Road Side, and is communicated with an On Board Unit (OBU) by adopting a special short-range communication technology to realize vehicle identification and electronic deduction. In the management of expressways and parking lots, RSUs are installed on the roadside, and unattended fast dedicated lanes are established.
OBU：
An On Board Unit (OBU) is a microwave device that is mounted On a vehicle and communicates with an RSU using a dedicated short-range communication technology.
Fig. 1 is a scene schematic diagram of a first embodiment of an active beacon-based target sensing method provided in the embodiment of the present application, where the method is applied to a mobile device, and for example, the mobile device may be a mobile terminal carried by a pedestrian, such as a mobile phone, or may also be an auxiliary device for assisting the pedestrian in walking, such as an intelligent wheelchair, an intelligent crutch, or a cart. The mobile terminal or the auxiliary device has a communication component capable of supporting communication, such as a data interface supporting dual modes of the RSU and 5G or other alarm receiving devices to inform the RSU and the cloud server or other alarm receiving devices of the location of the alarm receiving devices. As shown in fig. 1, taking a mobile device as a mobile phone carried by a pedestrian as an example, when the pedestrian needs to pass through a pedestrian passageway on a road, the pedestrian may encounter a vehicle 11 running on the road, and at this time, the mobile phone may send its own position to the warning device 12 through the communication component, and then communicate with the vehicle through the warning device 12 to inform that there is a pedestrian currently passing through the road.
In the correlation technique, in order to guarantee that the pedestrian can timely remind the vehicle passing the road when passing the road, mainly set up sensors such as some cameras, laser radar and millimeter wave radar in the roadside and come perception pedestrian information, then transmit for the vehicle. However, the pedestrian information sensed by the devices is often not specific enough, and is only some simple images or outlines, so that the vulnerable groups with inconvenient actions, such as infants, old people, blind people and the like in the crowd, cannot be distinguished, but often the vulnerable groups are not sensitive enough to the perception of danger, the action speed is relatively slow when the people pass through the road, and if the weak groups are not informed of vehicles passing through the road in a targeted manner, potential safety hazards are easily generated.
In view of the above problems, the active beacon-based target sensing method, device, equipment and system provided in the embodiments of the present application may install a special beacon in an auxiliary device (e.g., a wheelchair, a cart, a walking stick) used by a vulnerable group or a mobile terminal device carried by the vulnerable group, actively expose the position of the vulnerable group to an alarm device through the beacon, and prompt a vehicle through the alarm device, thereby achieving active sensing.
The technical solution of the present application will be described in detail below with reference to specific examples. It should be noted that the following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.
Fig. 2 is a flowchart of a first embodiment of a target sensing method based on an active beacon according to an embodiment of the present application, where the method may be applied to a mobile device, and specifically may be an auxiliary device or a mobile terminal. The auxiliary equipment can be an intelligent wheelchair, an intelligent crutch or a trolley and the like used by the vulnerable group. As shown in fig. 2, the method may specifically include the following steps:
s201, position information of the target object is obtained, and whether the target object is located in a preset risk area or moves towards the preset risk area is detected according to the position information.
In this embodiment, the target object may be a crowd who will cross the road or is crossing the road, for example, a child who is crossing the road, where the child carries a mobile device, and the mobile device may directly position the position coordinates of the child in real time through a positioning function as position information.
For example, the risk area may be an area occupied by a pedestrian passageway in a road, and the pedestrian passageway is generally indicated by a zebra crossing, that is, the area occupied by the zebra crossing is the risk area. For example, the risk area may also be other pedestrian accessible areas in the roadway.
In this embodiment, the movement of the target object toward the risk area may mean that the moving direction of the target object is directed to the risk area and is about to enter the risk area. The determination may specifically be made according to the separation distance between the target object and the risk area and the moving speed of the target object. For example, the moving speed of the target object is 1 meter per second, and the target object is currently moving toward the risk area and spaced from the risk area by only 3 meters, it can be determined that the target object is moving toward the risk area and is likely to enter the risk area.
S202, when detecting that the mobile terminal is currently in the risk area or moves towards the risk area, sending alarm information to an alarm device.
The warning information at least comprises position information, the warning information is used for indicating a warning device to prompt vehicles passing in the risk area, and the warning device is at least one of a road side unit and a cloud server.
In this embodiment, if the warning device is a road side unit, the warning device is directly arranged at the side of the road, and can perform short-range communication with a vehicle passing on the road, and after the vehicle enters a short-range communication range, the road side unit sends warning information to the vehicle to inform a driver of the vehicle of the existence of a vulnerable group in front of the vehicle to cross the road or the coming cross the road.
For example, the warning device may also be the sensing device, when the vulnerable group crosses the road, the mobile device carried by the vulnerable group may actively notify the location of the vulnerable group of the sensing device, and the sensing device may obtain an image contour and the like of the vulnerable group based on the location in a targeted manner, and then transmit the sensing information of the vulnerable group to the passing vehicle to prompt the passing vehicle to avoid in time.
In this embodiment, if the warning device is a cloud server, the warning information can be directly uploaded to the cloud server. The driver of vehicle can be through the corresponding software APP of intelligent terminal installation such as cell-phone, and the position of vehicle can be uploaded in real time to the high in the clouds server to software APP, and then high in the clouds server will indicate the vehicle that will pass at this risk area, and the notice driver has the vulnerable group or will have the vulnerable group to get into at this risk area present.
The embodiment of the application detects whether the vulnerable group passes a road through the mobile device actively carried by the vulnerable group, actively sends the position information of the vulnerable group to the road test unit or the cloud server when the vulnerable group passes the road, and prompts passing vehicles to avoid timely through the road test unit or the cloud server, so that the traffic accident occurrence probability can be effectively reduced.
In some embodiments, the step S201 of "detecting whether to move to the preset risk area currently according to the position information" may specifically be implemented by the following steps:
acquiring the longitude and latitude of the position of the target object at the current moment and the longitude and latitude of the position of the target object at the historical moment according to the position information;
acquiring a moving track of a target object according to the longitude and latitude of the position where the current moment is located and the longitude and latitude of the position where the historical moment is located;
acquiring the current moving speed and the current moving direction of the target object according to the moving track;
and detecting whether the target object moves towards a preset risk area currently or not according to the current moving speed and the current moving direction.
Wherein the risk area comprises at least a pedestrian corridor in the road. For example, the risk area may also be an accident-prone area in some roads, such as a blind field of view, etc.
For example, taking a mobile device as a mobile phone, the longitude and latitude of the mobile phone at each time can be obtained through a GPS global positioning system or a north absolute positioning or ultra-wideband relative positioning technology, and the longitude and latitude of the position of a target object carrying the mobile phone at the current time and the longitude and latitude of the position of the target object at the historical time can be obtained through the longitude and latitude of the mobile phone at each time.
In the present embodiment, a determination condition may be set, for example, if the current moving direction of the target object is directed to the risk area and the moving speed exceeds 3 meters per second, it is determined that the target object is moving toward the risk area and is about to enter the risk area.
According to the embodiment of the application, whether the target object moves towards the risk area or not is detected, early warning can be performed in advance before the target object enters the risk area, vehicles passing through the risk area are informed in advance, a driver can conveniently have sufficient time to prepare avoidance, and safety accidents are prevented.
In some embodiments, the step S202 of sending the warning information to the warning device may specifically be implemented by the following steps:
acquiring user information of the mobile equipment, and sending alarm information to an alarm device, wherein the alarm information at least comprises the user information and the position information.
Wherein the user information comprises at least an image of a user of the mobile device. For example, the user's image may be stored in a specific directory of the mobile device in advance, and may be directly retrieved from the specific directory when the user needs to use the mobile device.
Illustratively, the user information may further include height, age, sex, color of the clothing worn, whether the user is inconvenient to move, and a specific reason for the inconvenient to move. In this embodiment, the warning information may include the user information described above in addition to the location information of the user. After receiving the user information and the position information, the warning device can directly forward the information to vehicles passing through the risk area.
According to the embodiment of the application, the user information and the position information are jointly sent to the warning device, and then the warning device forwards the vehicle passing through the risk area, so that when various groups are in the risk area or move towards the risk area at the same time, a driver can avoid the users belonging to the vulnerable groups according to the user information in a targeted manner, and traffic accidents are prevented.
In some embodiments, if the warning device is a cloud server, the step S202 may be specifically implemented by the following steps:
when the current vehicle is detected to be in the risk area or move towards the risk area, the alarm information is uploaded to the cloud server to instruct the cloud server to send prompt information to the vehicles passing through the risk area.
In this embodiment, the cloud server may set a trigger program, that is, when the warning message is received, the trigger program triggers sending of the prompt message to the vehicle passing through the risk area. For example, the prompt message may include any one of text message and voice message, and the specific content of the prompt message is to prompt that a vulnerable group or an imminent vulnerable group exists in a certain position of the risk area.
For example, the cloud server may send the prompt information to the RSU in the risk area, and then the RSU forwards the prompt information to the vehicle passing through the risk area, and may also directly send the prompt information to the APP software on the vehicle, so that the driver can directly see the prompt information when opening the APP software.
According to the embodiment of the application, the cloud server is arranged, the gathering of the alarm information of each mobile device can be realized, the uploading of the alarm information of the batched mobile devices and the distribution of the prompt messages of the corresponding quantity to different vehicles in different risk areas can be realized, the cloud server is relatively easier to erect, and the cost of the whole target perception scheme can be reduced.
In some embodiments, if the warning device is a road side unit, the step S202 may be specifically implemented by the following steps:
when the vehicle is detected to be in the risk area or move towards the risk area, the alarm information is broadcasted to the road side unit through the broadcasting component of the mobile device so as to instruct the road side unit to prompt the vehicle passing through the risk area.
In this embodiment, if the warning device is a road test unit, since the roadside unit uses a short-range communication technology, it is necessary to correspondingly install at least one roadside unit in each risk area of the road, and when the vulnerable group is currently located in a certain risk area or moves towards a certain risk area, the roadside unit corresponding to the risk area receives the warning information broadcasted by the broadcasting component of the mobile device, and prompts vehicles passing through the risk area.
Further, on the basis of the foregoing embodiments, in some embodiments, the step of "broadcasting the warning information to the roadside unit" may be specifically implemented by the following steps:
detecting whether more than two road side units exist in a preset range with a target object as a center;
if more than two road side units exist, acquiring the spacing distance between the target object and each road side unit;
and broadcasting the alarm information to the road side unit with the minimum spacing distance.
In this embodiment, different risk areas may be provided with corresponding roadside units, for example, a first roadside unit is provided on a pedestrian passageway on a road, and a second road measurement unit is provided in an accident-prone area of the road. When the vulnerable group enters the pedestrian passageway or moves towards the pedestrian passageway, the spacing distance between the target object and the first roadside unit is minimum, and the alarm information cannot be broadcast to the second roadside unit. After receiving the broadcasted warning information, the first road side unit prompts vehicles passing through the pedestrian passage to pay attention to avoiding the vulnerable group.
According to the embodiment of the application, the warning information is broadcasted to the road side unit with the minimum spacing distance with the target object, so that the warning information can be sent to the correct road side unit, and the road side unit can be effectively prompted to avoid vehicles in time.
Further, on the basis of the above embodiments, in some embodiments, the method further includes the following steps:
acquiring whether a road side unit exists in a preset range with the target object as the center or not according to the position information of the target object;
and if the road side unit does not exist in the preset range, outputting an alarm prompt.
In this embodiment, when the mobile device broadcasts the warning information, it may be determined whether a reception confirmation signal fed back by the warning device is received, and if no reception confirmation signal fed back by any warning device is received after a period of time, it may be determined that the corresponding roadside unit is not installed in the risk area, and at this time, the mobile device actively outputs a warning prompt to prompt the carrier of the mobile device to increase attention and pay close attention to the vehicle in the risk area.
Illustratively, the alert prompt may be one or more of a voice prompt or a vibration prompt or an audible and visual prompt. For example, the voice prompt may be "no warning device is installed in the current area, please note the passing vehicle".
According to the embodiment of the application, when the road side unit is not transmitted through confirming the alarm information, the alarm prompt is actively output to inform the vulnerable group, so that the vulnerable group can timely know the situation, actively pay attention to vehicles in a risk area, and the safety is improved.
In some embodiments, the method may further include the steps of:
and outputting vehicle prompt information in response to the feedback signal of the warning device.
Wherein the vehicle prompt information includes at least one of position information, speed information, and a driving direction of a vehicle passing through the risk area.
In this embodiment, the warning device may also collect position information, speed information, driving direction, and the like of the vehicle passing through the risk area, and then feed back the position information, speed information, driving direction, and the like to the mobile device, and the mobile device outputs vehicle prompt information. For example, the vehicle alert information may include an alert in the form of a voice or text.
In some embodiments, the method may further include the steps of:
starting a communication component of the mobile device when detecting that the mobile device is currently in the risk area or moves towards the risk area;
upon detecting that it is not currently in or moving towards the risk area, the communication component is turned off.
Wherein, the communication component is used for sending alarm information to the alarm device.
In this embodiment, the communication component may be a data interface supporting RSU and 5G dual modes or other alarm receiving devices (such as the sensing device described above) for informing the alarm device of alarm information. When the vulnerable group (i.e. the target object) does not enter the risk area or moves towards the risk area, the communication component may not need to send the alarm information to the alarm device, and may be turned off (e.g. power is cut off or a sleep mode is entered) at this time, so as to reduce power consumption of the entire mobile device.
In some embodiments, the communication component of the mobile device may also send the position information of the target object to the warning device once every preset time interval, and the warning device forwards the position information to the vehicle passing through the risk area, so that the driver knows the position of the target object in real time to acquire the corresponding avoidance strategy.
Fig. 3 is a schematic flowchart of a second embodiment of the target sensing method based on an active beacon according to the present application, where the target sensing method based on an active beacon provided in this embodiment is applied to the above-mentioned warning device. As shown in fig. 3, the method may specifically include the following steps:
s301, acquiring alarm information sent by the mobile equipment;
s302, detecting whether a passing vehicle exists in a preset risk area or not according to the position;
and S303, if the passing vehicle exists in the preset risk area, sending prompt information to the vehicle.
Wherein the alert information includes at least a location of the mobile device.
The following are embodiments of the apparatus of the present application that may be used to perform embodiments of the method of the present application. For details which are not disclosed in the embodiments of the apparatus of the present application, reference is made to the embodiments of the method of the present application.
Fig. 4 is a schematic structural diagram of a first embodiment of an active beacon-based target sensing apparatus provided in the present application, where the apparatus may be integrated on a mobile device, or may be independent of the mobile device and cooperate with the mobile device to implement the active beacon-based target sensing method. As shown in fig. 4, the apparatus includes a detection module 41 and a transmission module 42.
The detection module 41 is configured to obtain position information of the target object, and detect whether the target object is currently located in a preset risk area or moves towards the preset risk area according to the position information. The sending module 42 is configured to send the warning information to the warning device when detecting that the mobile terminal is currently in the risk area or moves towards the risk area. The warning information at least comprises position information, the warning information is used for indicating a warning device to prompt vehicles passing in the risk area, and the warning device is at least one of a road side unit and a cloud server.
In some embodiments, the detection module may be specifically configured to:
acquiring the longitude and latitude of the position of the target object at the current moment and the longitude and latitude of the position of the target object at the historical moment according to the position information;
acquiring a moving track of a target object according to the longitude and latitude of the position where the current moment is located and the longitude and latitude of the position where the historical moment is located;
acquiring the current moving speed and the current moving direction of the target object according to the moving track;
and detecting whether the target object moves towards a preset risk area currently or not according to the current moving speed and the current moving direction.
Wherein the risk area comprises at least a pedestrian corridor in the road.
In some embodiments, the sending module may be specifically configured to:
and acquiring user information of the mobile equipment, and sending alarm information to an alarm device.
The user information at least comprises an image of a user of the mobile equipment, and the alarm information at least comprises user information and position information.
In some embodiments, if the warning device is a cloud server, the sending module may be specifically configured to upload the warning message to the cloud server when detecting that the vehicle is currently located in the risk area or moves toward the risk area, so as to instruct the cloud server to send a prompt message to a vehicle passing through the risk area.
In some embodiments, if the warning device is a roadside unit, the sending module may be specifically configured to broadcast, when it is detected that the vehicle is currently located in a risk area or moves towards the risk area, warning information to the roadside unit through a broadcasting component of the mobile device to instruct the road test unit to prompt the vehicle passing through the risk area.
In some embodiments, the apparatus further comprises a broadcasting module configured to:
detecting whether more than two road side units exist in a preset range with a target object as a center;
if more than two road side units exist, acquiring the spacing distance between the target object and each road side unit;
and broadcasting the alarm information to the road side unit with the minimum spacing distance.
In some embodiments, the apparatus further comprises a prompt module configured to:
acquiring whether a road side unit exists in a preset range with the target object as the center or not according to the position information of the target object;
and if the road side unit does not exist in the preset range, outputting an alarm prompt.
In some embodiments, the device further comprises an information output module for outputting vehicle prompt information in response to the feedback signal of the warning device.
Wherein the vehicle prompt information includes at least one of position information, speed information, and a driving direction of a vehicle passing through the risk area.
In some embodiments, the apparatus further comprises a switch module configured to:
starting a communication component of the mobile device when detecting that the mobile device is currently in the risk area or moves towards the risk area;
upon detecting that it is not currently in or moving towards the risk area, the communication component is turned off.
Wherein, the communication component is used for sending alarm information to the alarm device.
In some embodiments, the apparatus further includes a period sending module, configured to send the location information to the alarm apparatus once every preset time interval.
Fig. 5 is a schematic structural diagram of a second embodiment of the target sensing device based on an active beacon according to the present application, where the device may be integrated on an alarm device, or may be independent of the alarm device and cooperate with the alarm device to implement the target sensing method based on the active beacon. As shown in fig. 5, the apparatus includes an information acquisition module 51, a vehicle detection module 52, and an information transmission module 53.
The information obtaining module 51 is configured to obtain alarm information sent by the mobile device. The vehicle detection module 52 is configured to detect whether there is a passing vehicle in a preset risk area according to the position. The information sending module 53 is configured to send a prompt message to the vehicle if the vehicle passing through exists in the preset risk area.
Wherein the alert information includes at least a location of the mobile device.
The apparatus provided in the embodiment of the present application may be used to execute the method in the above embodiments, and the implementation principle and the technical effect are similar, which are not described herein again.
It should be noted that the division of the modules of the above apparatus is only a logical division, and the actual implementation may be wholly or partially integrated into one physical entity, or may be physically separated. And these modules can be realized in the form of software called by processing element; or may be implemented entirely in hardware; and part of the modules can be realized in the form of calling software by the processing element, and part of the modules can be realized in the form of hardware. For example, the detection module may be a processing element separately set up, or may be implemented by being integrated in a chip of the apparatus, or may be stored in a memory of the apparatus in the form of program code, and the function of the detection module may be called and executed by a processing element of the apparatus. Other modules are implemented similarly. In addition, all or part of the modules can be integrated together or can be independently realized.
Fig. 6 is a schematic structural diagram of a mobile device according to an embodiment of the present application. As shown in fig. 6, the mobile device 60 includes at least: at least one processor 61 and a communication component 62. Illustratively, the processor 61 and the communication component 62 may communicate with each other via a bus 63.
The processor is configured to execute the program instructions stored in the memory, and may specifically execute the relevant steps in the methods described in the above embodiments. The processor may be a central processing unit, or an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement an embodiment of the present invention. The mobile device includes one or more processors, which may be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs. The memory is used for storing programs. The memory may comprise high speed RAM memory and may also include non-volatile memory, such as at least one disk memory.
Fig. 7 is a schematic view of a scene of a second embodiment of the active beacon-based target sensing method provided in the embodiment of the present application, and as shown in fig. 7, when a vulnerable group moves towards a pedestrian path in a road, a mobile phone 71 carried by the vulnerable group may upload warning information to a cloud server 72, and the cloud server 72 prompts a vehicle 73 to avoid the vulnerable group.
The embodiment of the application also provides a target perception system based on the active beacon, which comprises an alarm device and a mobile device, wherein the mobile device is used for sending alarm information to the alarm device when detecting that the mobile device is currently in the risk area or moves towards the risk area. And the warning device is used for prompting vehicles passing through the risk area when the warning information is received. Wherein the warning information at least comprises position information.
Fig. 8 is an interaction diagram of a target sensing method based on active beacons according to an embodiment of the present application, as shown in fig. 8, which includes the following steps:
s801, when detecting that the mobile terminal is currently in the risk area or moves towards the risk area, sending alarm information.
S802, detecting whether the passing vehicles exist in the risk area.
And S803, when the passing vehicle exists in the risk area, sending the prompt information.
The embodiment of the application further provides an alarm device, when the alarm device obtains the alarm information sent by the mobile device, the alarm device sends prompt information to vehicles passing through a preset risk area, and the alarm information at least comprises the position information of the mobile device. For example, the warning device may be the road side unit or the cloud server.
The present embodiment also provides a readable storage medium, in which computer instructions are stored, and when the at least one processor of the mobile device executes the computer instructions, the mobile device executes the active beacon-based target sensing method provided in the foregoing embodiment.
The present embodiments also provide a program product comprising computer instructions stored in a readable storage medium. The computer instructions may be readable from a readable storage medium by at least one processor of a mobile device, execution of which by the at least one processor causes the mobile device to implement the active beacon-based target awareness method provided by the above-described embodiments.
In the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship; in the formula, the character "/" indicates that the preceding and following related objects are in a relationship of "division". "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or multiple.
It is to be understood that the various numerical references referred to in the embodiments of the present application are merely for convenience of description and distinction and are not intended to limit the scope of the embodiments of the present application. In the embodiment of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiment of the present application.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims (17)

1. An active beacon-based target awareness method, applied to a mobile device, the method comprising:
acquiring position information of a target object, and detecting whether the target object is currently in a preset risk area or moves towards the preset risk area according to the position information;
when detecting that the vehicle is currently located in the risk area or moves towards the risk area, sending alarm information to an alarm device, wherein the alarm information at least comprises the position information, the alarm information is used for indicating the alarm device to prompt the vehicle passing through the risk area, and the alarm device is at least one of a road side unit and a cloud server.
2. The method of claim 1, wherein detecting whether the target object is currently moving towards the preset risk zone according to the position information comprises:
acquiring the longitude and latitude of the position of the target object at the current moment and the longitude and latitude of the position of the historical moment according to the position information;
acquiring a moving track of the target object according to the longitude and latitude of the position at the current moment and the longitude and latitude of the position at the historical moment;
acquiring the current moving speed and the current moving direction of the target object according to the moving track;
and detecting whether the target object moves towards the preset risk area or not at present according to the current moving speed and the current moving direction, wherein the risk area at least comprises a pedestrian passageway in a road.
3. The method of claim 1, wherein sending the alert message to an alert device comprises:
acquiring user information of the mobile device, wherein the user information at least comprises an image of a user of the mobile device;
and sending alarm information to the alarm device, wherein the alarm information at least comprises the user information and the position information.
4. The method of claim 1, wherein if the alert device is a cloud server, the sending an alert message to the alert device when detecting that the device is currently in the risk area or moving towards the risk area comprises:
when the current vehicle is detected to be in the risk area or move towards the risk area, the warning information is uploaded to the cloud server to instruct the cloud server to send prompt information to vehicles passing in the risk area.
5. The method of claim 1, wherein if the warning device is a roadside unit, the sending a warning message to the warning device when detecting that the vehicle is currently in the risk area or moving towards the risk area comprises:
when the road side unit detects that the road side unit is currently in the risk area or moves towards the risk area, the warning information is broadcasted to the road side unit through a broadcasting component of the mobile equipment to instruct the road side unit to prompt vehicles passing in the risk area.
6. The method of claim 5, wherein the broadcasting the warning information to a roadside unit comprises:
detecting whether more than two road side units exist in a preset range with the target object as the center;
if more than two road side units exist, acquiring the spacing distance between the target object and each road side unit;
and broadcasting the alarm information to the road side unit with the minimum spacing distance.
7. The method of claim 5, further comprising, after said detecting when currently in or moving toward the risk zone:
acquiring whether a road side unit exists in a preset range with the target object as the center or not according to the position information of the target object;
and if the road side unit does not exist in the preset range, outputting an alarm prompt.
8. The method of claim 1, further comprising:
and outputting vehicle prompt information in response to the feedback signal of the warning device, wherein the vehicle prompt information comprises at least one of position information, speed information and driving direction of vehicles passing through the risk area.
9. The method of claim 1, further comprising:
when detecting that the mobile device is currently located in the risk area or moves towards the risk area, starting a communication component of the mobile device, wherein the communication component is used for sending the alarm information to the alarm device;
upon detecting that the communication component is not currently in the risk area or moving toward the risk area, shutting down the communication component.
10. The method of claim 1, further comprising:
and sending the position information to the warning device once every preset time interval.
11. An active beacon-based target perception method is applied to an alarm device, and comprises the following steps:
acquiring alarm information sent by mobile equipment, wherein the alarm information at least comprises the position of the mobile equipment;
detecting whether a passing vehicle exists in a preset risk area or not according to the position;
and if the vehicles passing through exist in the preset risk area, sending prompt information to the vehicles.
12. An active beacon based target awareness apparatus, comprising:
the detection module is used for acquiring the position information of a target object and detecting whether the target object is currently in a preset risk area or moves towards the preset risk area according to the position information;
the sending module is used for sending alarm information to an alarm device when detecting that the vehicle is currently located in the risk area or moves towards the risk area, wherein the alarm information at least comprises the position information, the alarm information is used for indicating the alarm device to prompt the vehicle passing through the risk area, and the alarm device is at least one of a road side unit and a cloud server.
13. An active beacon based target sensing apparatus, comprising:
the information acquisition module is used for acquiring alarm information sent by mobile equipment, wherein the alarm information at least comprises the position of the mobile equipment;
the vehicle detection module is used for detecting whether a passing vehicle exists in a preset risk area or not according to the position;
and the information sending module is used for sending prompt information to the vehicle if the vehicle passing through exists in the preset risk area.
14. A mobile device, comprising: a processor and a communication component;
the processor is used for acquiring current position information and sending alarm information to an alarm device through the communication assembly when detecting that the vehicle is currently located in a risk area or moves towards the risk area, wherein the alarm information at least comprises the position information, the alarm information is used for indicating the alarm device to prompt vehicles passing in the risk area, and the alarm device is at least one of a road side unit and a cloud server.
15. The warning device is characterized in that when the warning device obtains warning information sent by a mobile device, the warning device sends prompt information to vehicles passing through a preset risk area, wherein the warning information at least comprises position information of the mobile device.
16. An active beacon-based target perception system is characterized by comprising an alarm device and a mobile device;
the mobile equipment is used for sending alarm information to the alarm device when detecting that the mobile equipment is currently located in the risk area or moves towards the risk area, wherein the alarm information at least comprises the position information;
and the warning device is used for prompting vehicles passing through the risk area when the warning information is received.
17. A readable storage medium having stored therein computer instructions for implementing the method of any one of claims 1-10 when executed by a processor.
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