CN114627679B - 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
CN114627679B
CN114627679B CN202210264679.XA CN202210264679A CN114627679B CN 114627679 B CN114627679 B CN 114627679B CN 202210264679 A CN202210264679 A CN 202210264679A CN 114627679 B CN114627679 B CN 114627679B
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risk area
target object
information
road
alarm
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CN114627679A (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, device, equipment and system based on an active beacon, and relates to the technical field of vehicle networks, wherein the method comprises the following steps: acquiring the 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 detecting that the target object is currently located in the risk area or moves towards the risk area. According to the technical scheme, whether the pedestrian passes through the road or not is detected through the mobile device actively carried by the pedestrian, and when the pedestrian passes through the road, the position information of the pedestrian is actively sent to the road test unit or the cloud server, and the passing vehicle is prompted to timely avoid through the road test unit or the cloud server, so that the occurrence 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 internet of vehicles, in particular to a target perception method, device, equipment and system based on an active beacon.
Background
With the development and application of the internet of vehicles technology, real-time information of the road environment can be transmitted to a driver in the running process of the vehicle through drive test sensing, and the real-time information is used as an important basis for controlling the running of the vehicle by the driver, so that the traffic safety accident rate is effectively reduced.
In the prior art, road test sensing is generally to deploy a large number of sensing devices such as cameras and radars on a road, and the dead angle-free coverage of a road side sensing range is realized through the sensing devices, so that acquired information is transmitted to a vehicle running on the road, and real-time information of a road environment is provided for a driver.
However, the sensing equipment in the prior art cannot identify different people in the working process, and meanwhile, the working process can also fail at any time, so that the vehicles cannot acquire information of the nearby vulnerable groups, and the vehicles cannot timely avoid the vulnerable groups in the road, thereby easily causing traffic accidents.
Disclosure of Invention
The application provides a target perception method, device, equipment and system based on an active beacon, which are used for solving the problems that the existing perception equipment is poor in perception effect and can not inform vehicles to avoid vulnerable groups in a road in time.
In a first aspect, an embodiment of the present application provides an active beacon-based target awareness method, applied to a mobile device, the method including:
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 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 one 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 target object at 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 currently according to the current moving speed and the current moving direction, wherein the risk area at least comprises a pedestrian passageway in a road.
In another possible design of the first aspect, the sending the alarm information to the alarm 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 still another possible design of the first aspect, if the alarm device is a cloud server, the sending alarm information to the alarm device when detecting that the alarm device is currently located in the risk area or moving towards the risk area includes:
when the situation that the vehicle is currently located in the risk area or moves towards the risk area is detected, the warning information is uploaded to the cloud server to instruct the cloud server to send prompt information to vehicles passing through the risk area.
In yet another possible design of the first aspect, if the warning device is a road side unit, the sending, when detecting that the warning device is currently located in the risk area or moving towards the risk area, warning information to the warning device includes:
and when detecting that the vehicle is currently in the risk area or moves towards the risk area, broadcasting the alarm information 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 through the risk area.
In yet another possible design of the first aspect, the broadcasting the alert information to a roadside unit includes:
detecting whether more than two road side units exist in a preset range taking the target object as the center;
if more than two road side units exist, acquiring the interval distance between the target object and each road side unit;
broadcasting the alarm information to the road side unit with the minimum interval distance.
In yet another possible design of the first aspect, after detecting that the object is currently in or moving towards the risk area, the method further includes:
acquiring whether a road side unit exists in a preset range taking the target object as a center 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 comprises:
and responding to the feedback signal of the alarm device, and outputting vehicle prompt information, wherein the vehicle prompt information comprises at least one of position information, speed information and running direction of vehicles passing through the risk area.
In yet another possible design of the first aspect, the method further comprises:
When detecting that the mobile device is currently 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;
the communication component is turned off upon detecting that it is not currently in or moving towards the risk area.
In yet another possible design of the first aspect, the method further comprises:
and sending the position information to the alarm device once every preset time interval.
In a second aspect, an active beacon-based target awareness method 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 according to the position;
if a 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 the 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 system comprises a sending module, a warning device and a warning module, wherein the sending module is used for sending warning information to the warning device when detecting that the vehicle is currently in or moves towards a risk area, the warning information at least comprises the position information, the warning information is used for indicating the warning device to prompt vehicles passing through the risk area, and the warning device is at least one of a road side unit and a cloud server.
In a fourth aspect, embodiments of the present application provide an active beacon-based target awareness apparatus, including:
the information acquisition module is used for acquiring alarm information sent by the 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 according to the position;
the information sending module is used for sending prompt information to the vehicles if the vehicles passing through exist in the preset risk area.
In a fifth aspect, embodiments of the present application provide 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 component when detecting that the vehicle is currently in a risk area or moves towards the risk area, the alarm information at least comprises the position information, the alarm information is used for indicating the alarm device to prompt vehicles 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 alert device, where the alert device sends alert information to a vehicle passing through a preset risk area when obtaining alert information sent by a mobile device, where the alert information includes at least location information of the mobile device.
In a seventh aspect, embodiments of the present application provide an active beacon-based target awareness system, including an alert device and a mobile device;
the mobile device is used for sending alarm information to the alarm device when detecting that the mobile device is currently located in the risk area or moves towards the risk area, and the alarm information at least comprises the position information;
the warning device is used for prompting vehicles passing through the risk area when receiving the warning information.
In an eighth aspect, embodiments of the present application provide a readable storage medium having stored therein computer instructions which, when executed by a processor, are adapted to carry out a method as described above.
According to the target sensing method, device, equipment and system based on the active beacon, whether the pedestrian passes through a road is actively detected through the mobile equipment carried by the pedestrian, and when the pedestrian passes through the road, the pedestrian actively sends the position information of the pedestrian to the road test unit or the cloud server, and the passing vehicle is prompted to timely avoid through the road test unit or the cloud server, so that the probability 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 application and together with the description, serve to explain the principles of the application;
fig. 1 is a schematic view of a scenario of a first embodiment of an active beacon-based target sensing method provided in an embodiment of the present application;
fig. 2 is a flowchart of an embodiment one of an active beacon-based target sensing method provided in an embodiment of the present application;
fig. 3 is a schematic flow chart of a second embodiment of an active beacon-based target sensing method provided in the embodiments of the present application;
fig. 4 is a schematic structural diagram of an embodiment one of an active beacon-based target sensing device according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a second embodiment of an active beacon-based target sensing device according to the present disclosure;
fig. 6 is a schematic structural diagram of a mobile device according to an embodiment of the present application;
fig. 7 is a schematic view of a scenario of a second embodiment of an active beacon-based target sensing method provided in the embodiments of the present application;
fig. 8 is an interaction schematic diagram of an active beacon-based target sensing method according to an embodiment of the present application.
Specific embodiments thereof have been shown by way of example in the drawings and will herein be described in more detail. These drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of 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 apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
The terms referred to in this application are explained first:
RSU：
the Road Side Unit (RSU) is a device installed On the Road Side, and uses a special short-range communication technology to communicate with the On Board Unit (OBU) to realize vehicle identification and electronic deduction. In the management of highways and yards, RSUs are installed on road sides, and unattended fast special lanes are established.
OBU：
An On Board Unit (OBU) is a microwave device mounted On a vehicle and communicating with the RSU using a dedicated short range communication technology.
Fig. 1 is a schematic view of a scenario of an embodiment of an active beacon-based target sensing method provided in an embodiment of the present application, where the method is applied to a mobile device, and the mobile device may be a mobile terminal such as a mobile phone carried by a pedestrian, or may be an auxiliary device for assisting the pedestrian to walk, for example, an intelligent wheelchair, an intelligent crutch, or a cart. The mobile terminal or the auxiliary equipment is provided with a communication component which can support communication, such as a data interface supporting the RSU and the 5G dual-mode or other alarm receiving device so as to inform the RSU and a cloud server or other alarm receiving device of the position of the RSU and the cloud server or other alarm receiving device. As shown in fig. 1, taking a mobile phone carried by a mobile device as 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, at this time, the mobile phone may send its position to the alarm device 12 through the communication component, and then communicate with the vehicle through the alarm device 12 to inform that the pedestrian is currently passing through the road.
In the related art, in order to ensure that pedestrians can timely remind the pedestrians of crossing a road, sensors such as cameras, laser radars, millimeter wave radars and the like are mainly arranged on the road side to sense pedestrian information, and then the pedestrian information is transmitted to the vehicle. However, the pedestrian information perceived by the devices is often not specific enough, but is simply images or outlines, which cannot distinguish the impaired groups of infants, old people, blind people and the like in the crowd, and the impaired groups are often not sensitive enough to the perception of danger, meanwhile, the action speed is relatively slow when the people pass through a road, and potential safety hazards are easily generated if the impaired groups do not specifically inform the vehicles passing through the road.
Aiming at the problems, the target sensing method, the device, the equipment and the system based on the active beacon can install a special beacon on auxiliary equipment (such as a wheelchair, a cart and a walking stick) or portable mobile terminal equipment used by a weak group, the position of the weak group is actively exposed to the alarm device through the beacon, and the alarm device prompts a vehicle, so that active sensing can be realized, and the vehicle can still sense that the nearby weak group travels without sensing the weak group capability or even without equipment such as a roadside camera, a laser radar and the like, and needs to avoid.
The following describes the technical scheme of the present application in detail through specific embodiments. It should be noted that the following 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 an embodiment one of an active beacon-based target awareness method provided in an embodiment of the present application, where the method may be applied to a mobile device, and in particular, may be an auxiliary device or a mobile terminal. The auxiliary equipment can be an intelligent wheelchair, an intelligent crutch or a cart used by a weak group, and the like. As shown in fig. 2, the method specifically may include the following steps:
s201, 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.
In this embodiment, the target object may be a crowd that will cross a road or is crossing a road, for example, a child that is crossing a road, where the child carries a mobile device, and the mobile device may locate, in real time, the position coordinates of the child as the position information directly through a positioning function.
By way of example, the risk area may be the area occupied by a pedestrian passageway in the road, which is generally indicated by a zebra crossing, i.e., the area occupied by the zebra crossing is the risk area. By way of example, the risk zone may also be other areas of the road where pedestrians may pass.
In this embodiment, the movement of the target object towards the risk area may mean that the movement direction of the target object is directed towards the risk area and is about to enter the risk area. In particular, the distance between the target object and the risk area and the moving speed of the target object can be determined. For example, if the moving speed of the target object is 1 m/s, and the target object is currently moving toward the risk area with a distance of only 3 m from the risk area, it may be determined that the target object is moving toward the risk area and possibly entering the risk area.
And S202, sending alarm information to an alarm device when detecting that the current risk area is located or the current risk area moves towards the risk area.
The warning information at least comprises position information, and is used for indicating a warning device to prompt vehicles passing through a risk area, wherein 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 disposed at a side of a road, and can perform short-range communication with vehicles passing through the road, and when the vehicles enter the short-range communication range, the road side unit sends warning information to the vehicles, so as to inform the vehicle driver that a vulnerable group is on the road or is about to pass the road in front.
The warning device may be the above-mentioned sensing device, and when the vulnerable group crosses the road, the mobile device carried by the vulnerable group may actively inform the location of the vulnerable group of the sensing device, and the sensing device may obtain, based on the location, the image profile of the vulnerable group in a targeted manner, and then transmit the sensing information of the vulnerable group to the passing vehicle, so as to prompt the passing vehicle to avoid in time.
In this embodiment, if the alarm device is a cloud server, the alarm information may be directly uploaded to the cloud server. A driver of the vehicle can install corresponding software APP through intelligent terminals such as mobile phones, the software APP can upload the position of the vehicle to a cloud server in real time, and then the cloud server can prompt the vehicle to pass through the risk area and inform the driver that a vulnerable group exists in the risk area currently or enters the vulnerable group.
According to the method and the device, whether the vulnerable group passes through the road or not is detected through the mobile device actively carried by the vulnerable group, when the mobile device passes through the road, the position information of the vulnerable group is actively sent to the road test unit or the cloud server, the passing vehicles are prompted to timely avoid through the road test unit or the cloud server, and the occurrence probability of traffic accidents can be effectively reduced.
In some embodiments, the step S201 of detecting whether the mobile device is currently moving toward the preset risk area according to the location information may 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 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 a preset risk area or not according to the current moving speed and the current moving direction.
Wherein the risk area comprises at least a pedestrian passageway in the road. By way of example, the risk area may also be accident-prone areas in some roads, such as blind areas of view, etc.
By taking mobile equipment as an example of a mobile phone, the longitude and latitude of the mobile phone at each moment 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 moment and the longitude and latitude of the position of a historical moment can be obtained through the longitude and latitude of the mobile phone at each moment.
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 method and the device, whether the target object moves towards the risk area or not is detected, early warning can be carried out 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 enough time to make avoidance preparation, and safety accidents are prevented.
In some embodiments, the "send alert information to alert device" in step S202 may be specifically implemented by the following steps:
user information of the mobile equipment is obtained, alarm information is sent to the alarm device, and the alarm information at least comprises user information and position information.
Wherein the user information comprises at least an image of a user of the mobile device. For example, the image of the user may be stored in a specific catalog of the mobile device in advance, and the image of the user may be directly called from the specific catalog when the user needs to use the image.
By way of example, the user information may also include the user's height, age, gender, color of clothing worn, whether to act inconveniently, and specific cause description of the act inconveniently, etc. In this embodiment, the alert information may include the above-described user information in addition to the location information of the user. The warning device, after receiving the user information and the location information, may be forwarded directly to vehicles traveling in the risk area.
According to the method and the device, the user information and the position information are sent to the warning device together, and then the warning device forwards the user information and the position information to vehicles passing through the risk area, so that when various groups are simultaneously located in the risk area or move towards the risk area, a driver can avoid users belonging to the weak groups according to the user information in a targeted manner, and traffic accidents are prevented.
In some embodiments, if the alarm device is a cloud server, the step S202 may be specifically implemented as follows:
when the situation that the vehicle is currently in the risk area or moves towards the risk area is detected, the alarm information is uploaded to the cloud server to instruct the cloud server to send prompt information to vehicles passing through the risk area.
In this embodiment, the cloud server may set a triggering program, that is, trigger sending the prompt information to the vehicles passing through the risk area when receiving the alarm information. For example, the prompt information may include any one of text information and voice information, and the specific content is to prompt that the vehicle has a weakness group at a certain position of the risk area or that the risk area is about to have a weakness group.
The cloud server can send the prompt information to the RSU of the risk area firstly, then the RSU forwards the prompt information to vehicles passing through the risk area, and the prompt information can be directly sent to APP software on the vehicles, so that a driver can directly see the prompt information when opening the APP software.
According to the method and the device for reporting the alarm information of the mobile equipment, the cloud server is arranged, the alarm information of each mobile equipment can be summarized, the alarm information of the mobile equipment in batches can be uploaded and the corresponding quantity of the alarm information is distributed to different vehicles in different risk areas, 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 alarm device is a road side unit, the step S202 may be specifically implemented as follows:
when the current risk area or the vehicle moves towards the risk area is detected, the warning information is broadcast 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 alarm device is a road test unit, because the road side unit uses a short-range communication technology, at least one road side unit needs to be installed correspondingly in each risk area of the road, and when the vulnerable group is currently located in or moves towards a certain risk area, the road side unit corresponding to the risk area will receive the alarm information broadcast by the broadcast component of the mobile device and prompt the vehicles passing through the risk area.
Further, based on the above 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 taking a target object as a center;
if more than two road side units exist, the interval distance between the target object and each road side unit is acquired;
and broadcasting the alarm information to the road side unit with the minimum interval distance.
In this embodiment, corresponding road side units are set in different risk areas, for example, a first road side unit is set on a pedestrian path on a road, and a second road test unit is set in an accident-prone area of the road. When the vulnerable group enters the pedestrian passageway or moves towards the pedestrian passageway, the distance between the target object and the first road side unit is minimum, and the alarm information is not broadcast to the second road side unit. After the first road side unit receives the broadcast alarm information, vehicles passing through the pedestrian passageway are prompted to pay attention to avoid the vulnerable group.
According to the method and the device, the warning information is broadcast to the road side unit with the smallest distance to the target object, so that the warning information can be guaranteed to be sent to the correct road side unit, and the road side unit can be guaranteed to effectively prompt vehicles to avoid in time.
Further, on the basis of the above embodiments, in some embodiments, the above method further includes the following steps:
acquiring whether a road side unit exists in a preset range taking the target object as a center 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 alarm information, it may be determined whether a reception confirmation signal fed back by the alarm device is received, and if no reception confirmation signal fed back by any alarm device is received after a period of time, it may be determined that no corresponding road side unit is installed in the risk area, and at this time, the mobile device actively outputs an alarm prompt to prompt the carrier of the mobile device to increase attention, and pay close attention to the vehicle in the risk area.
The alert cues may be, for example, one or more of a voice cue or a vibration cue or an audible and visual cue. For example, the voice prompt may be "no warning device is installed in the current area, please note the passing vehicle".
According to the method and the device, when the warning information is not transmitted to the road side unit, the warning prompt is actively output to inform the weak group, so that the weak group can know the situation in time, actively pay attention to vehicles in the risk area, and safety is improved.
In some embodiments, the above method may further comprise the steps of:
and responding to the feedback signal of the alarm device, and outputting vehicle prompt information.
The vehicle prompt information comprises at least one of position information, speed information and running direction of vehicles passing through the risk area.
In this embodiment, the warning device may also collect position information, speed information, traveling direction, and the like of the vehicle passing through the risk area, and then feed back the position information, speed information, traveling direction, and the like to the mobile device, and the mobile device outputs vehicle prompt information. For example, the vehicle prompt may include a prompt in the form of voice or text.
In some embodiments, the above method may further comprise the steps of:
when detecting that the mobile device is currently in a risk area or moves towards the risk area, starting a communication component of the mobile device;
the communication component is turned off upon detecting that it is not currently at risk area or moving towards the risk area.
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 mode or other alert receiving apparatus (e.g., the sensing device described above) for informing the alert apparatus of the alert information. When the vulnerable group (i.e. the target object) does not enter the risk area or does not move 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 turned off or a sleep mode is entered) at this time, so as to reduce the power consumption of the whole mobile device.
In some embodiments, the communication component of the mobile device may also send the position information of the target object to the alarm device once every preset time interval, and the position information is forwarded to the vehicle passing through the risk area by the alarm device, 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 flow chart of a second embodiment of an active beacon-based target sensing method according to an embodiment of the present application, where the active beacon-based target sensing method provided in the embodiment is applied to the alarm device. As shown in fig. 3, the method specifically may include the following steps:
s301, acquiring alarm information sent by mobile equipment;
s302, detecting whether a passing vehicle exists in a preset risk area according to the position;
s303, if a 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 device embodiments of the present application, which may be used to perform method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.
Fig. 4 is a schematic structural diagram of an embodiment one of an active beacon-based target sensing apparatus provided in an embodiment of 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 location information of the target object, and detect whether the target object is currently in a preset risk area or moves towards the preset risk area according to the location information. The sending module 42 is configured to send alarm information to the alarm device when detecting that the alarm device is currently in the risk area or moving towards the risk area. The warning information at least comprises position information, and is used for indicating a warning device to prompt vehicles passing through a risk area, wherein the warning device is at least one of a road side unit and a cloud server.
In some embodiments, the detection module may specifically be 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 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 a preset risk area or not according to the current moving speed and the current moving direction.
Wherein the risk area comprises at least a pedestrian passageway in the road.
In some embodiments, the sending module may specifically be configured to:
user information of the mobile equipment is acquired, and alarm information is sent to an alarm device.
The user information at least comprises an image of a user of the mobile device, and the alarm information at least comprises user information and position information.
In some embodiments, if the alert device is a cloud server, the sending module may be specifically configured to upload alert information to the cloud server to instruct the cloud server to send prompt information to vehicles passing through the risk area when detecting that the alert device is currently in the risk area or moving towards the risk area.
In some embodiments, if the warning device is a road side unit, the sending module may be specifically configured to, when detecting that the vehicle is currently in a risk area or moving towards the risk area, broadcast warning information to the road side unit through a broadcasting component of the mobile device to instruct the road side unit to prompt the vehicle passing through the risk area.
In some embodiments, the apparatus further comprises a broadcasting module for:
detecting whether more than two road side units exist in a preset range taking a target object as a center;
if more than two road side units exist, the interval distance between the target object and each road side unit is acquired;
And broadcasting the alarm information to the road side unit with the minimum interval distance.
In some embodiments, the apparatus further includes a prompt module configured to:
acquiring whether a road side unit exists in a preset range taking the target object as a center 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 apparatus further comprises an information output module for outputting a vehicle prompt in response to a feedback signal from the alert device.
The vehicle prompt information comprises at least one of position information, speed information and running direction of vehicles passing through the risk area.
In some embodiments, the apparatus further comprises a switch module for:
when detecting that the mobile device is currently in a risk area or moves towards the risk area, starting a communication component of the mobile device;
the communication component is turned off upon detecting that it is not currently at risk area or moving towards the risk area.
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 device once every predetermined time interval.
Fig. 5 is a schematic structural diagram of a second embodiment of an active beacon-based target sensing device according to an embodiment of 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 active beacon-based target sensing method. 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 alert information sent by the mobile device. The vehicle detection module 52 is configured to detect whether a passing vehicle exists in a preset risk area according to the location. The information sending module 53 is configured to send a prompt message to a vehicle if a passing vehicle exists in a preset risk area.
Wherein the alert information includes at least a location of the mobile device.
The device provided in the embodiment of the present application may be used to perform the method in the foregoing embodiment, and its implementation principle and technical effects are similar, and are not described herein again.
It should be noted that, it should be understood that the division of the modules of the above apparatus is merely a division of a logic function, and may be fully or partially integrated into a physical entity or may be physically separated. And these modules may all be implemented in software in the form of calls by the processing element; or can be realized in hardware; the method can also be realized in a form of calling software by a processing element, and the method can be realized in a form of hardware by a part of modules. For example, the detection module may be a processing element that is set up separately, may be implemented in a chip of the above-mentioned apparatus, or may be stored in a memory of the above-mentioned apparatus in the form of program codes, and the functions of the above-mentioned detection module may be called and executed by a processing element of the above-mentioned apparatus. The implementation of the other modules is similar. In addition, all or part of the modules can be integrated together or can be independently implemented.
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.
A processor for executing program instructions stored in the memory, and in particular for performing relevant steps in the method described in the above embodiments. The processor may be a central processing unit, or a specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits configured to implement embodiments of the present invention. The one or more processors comprised by the mobile device may be the same type of processor, such as one or more CPUs; but may also 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 or may also comprise non-volatile memory, such as at least one disk memory.
Fig. 7 is a schematic view of a scenario of a second embodiment of an active beacon-based target sensing method provided in the embodiment of the present application, as shown in fig. 7, a mobile phone 71 carried by a weak group when moving towards a pedestrian path in a road may upload alert information to a cloud server 72, and the cloud server 72 prompts a vehicle 73 to pay attention to avoid the weak group.
The embodiment of the application also provides a target perception system based on the active beacon, which comprises an alarm device and mobile equipment, wherein the mobile equipment is used for sending alarm information to the alarm device when detecting that the mobile equipment is currently in a risk area or moves towards the risk area. The warning device is used for prompting vehicles passing through the risk area when receiving the warning information. Wherein the alert information includes at least location information.
Fig. 8 is an interaction schematic diagram of an active beacon-based target sensing method according to an embodiment of the present application, as shown in fig. 8, including the following steps:
s801, when detecting that the current risk area is located or moves towards the risk area, alarm information is sent.
S802, detecting whether a passing vehicle exists in the risk area.
S803, when the passing vehicles exist in the risk area, prompt information is sent.
The embodiment of the application also provides an alarm device, when the alarm device acquires 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. The alarm device may be the above-mentioned road side unit or cloud server, for example.
The present embodiment also provides a readable storage medium, in which computer instructions are stored, which when executed by at least one processor of a mobile device, the mobile device performs the active beacon-based target awareness method provided in the above embodiment.
The present embodiment also provides a program product comprising computer instructions stored in a readable storage medium. The at least one processor of the mobile device may read the computer instructions from the readable storage medium, and execution of the computer instructions by the at least one processor causes the mobile device to implement the active beacon-based target awareness method provided by the above embodiments.
In the present application, "at least one" means one or more, and "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a alone, a and B together, and B alone, wherein a, B may be singular or plural. The character "/" generally indicates that the front and rear associated objects are an "or" relationship; in the formula, the character "/" indicates that the front and rear associated objects are a "division" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). 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 plural.
It will be appreciated that the various numerical numbers referred to in the embodiments of the present application are merely for ease of description and are not intended to limit the scope of the embodiments of the present application. In the embodiments of the present application, the sequence number of each process does not mean the sequence of execution sequence, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution 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 scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims (13)

1. A target awareness method based on an active beacon, applied to a mobile device, the mobile device including an auxiliary device that assists in walking of a target object, the method comprising:
Acquiring the position information of the target object through a beacon installed in the mobile device, and detecting whether the target object is currently in or moves towards a preset risk area according to the position information to determine whether the target object is crossing a road or is about to cross the road, wherein the risk area is an area occupied by a pedestrian passageway in the road;
when detecting that the vehicle is currently 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 that a target object exists in the risk area of a vehicle passing through the risk area and is crossing a road or is about to cross the road, and the alarm device is a road side unit;
the sending the alarm information to the alarm device when detecting that the alarm device is currently located in the risk area or moves towards the risk area comprises the following steps:
when detecting that the vehicle is currently in the risk area or moves towards the risk area, broadcasting the alarm information to the road side unit through a broadcasting component of the mobile equipment to instruct the road side unit to prompt vehicles passing through the risk area, and informing the road side unit of the position of the target object, so that the road side unit acquires the image contour of the target object based on the position of the target object, and prompts the image contour of the target object to vehicles passing through the risk area;
The broadcasting the alarm information to the road side unit comprises the following steps:
detecting whether more than two road side units exist in a preset range taking the target object as the center;
if more than two road side units exist, acquiring the interval distance between the target object and each road side unit;
broadcasting the alarm information to a road side unit with the minimum interval distance;
the method further comprises, after detecting that the risk area is currently in or moving towards the risk area:
acquiring whether a road side unit exists in a preset range taking the target object as a center 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.
2. The method of claim 1, wherein detecting whether the target object is currently moving toward the preset risk area based on the location 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 target object at 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 currently 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 the sending the alert information to the 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 according to claim 1, wherein the method further comprises:
and responding to the feedback signal of the alarm device, and outputting vehicle prompt information, wherein the vehicle prompt information comprises at least one of position information, speed information and running direction of vehicles passing through the risk area.
5. The method according to claim 1, wherein the method further comprises:
when detecting that the mobile device is currently 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;
The communication component is turned off upon detecting that it is not currently in or moving towards the risk area.
6. The method according to claim 1, wherein the method further comprises:
and sending the position information to the alarm device once every preset time interval.
7. An active beacon-based target perception method, which is characterized by being applied to an alarm device, wherein the alarm device is a road side unit, and the method comprises the following steps:
acquiring alarm information sent by mobile equipment, wherein the alarm information at least comprises the position of the mobile equipment and the image contour of a target object; the mobile device comprises auxiliary equipment for assisting a target object to walk, the alarm information is obtained by the mobile device through a beacon installed in the mobile device, whether the target object is currently located in a preset risk area or moves towards the preset risk area is detected according to the position information to determine whether the target object is passing a road or is about to pass the road, the alarm information is broadcasted to a road side unit through a broadcasting component of the mobile device when the situation that the target object is currently located in the risk area or moves towards the risk area is detected, the image outline of the target object is obtained by the road side unit based on the position of the target object, the risk area is an area occupied by a pedestrian passageway in a road, and if more than two road side units exist in a preset range with the target object as a center, the mobile device obtains the distance between the target object and each road side unit, and broadcasts the alarm information to the road side unit with the minimum distance; if the road side unit does not exist in the preset range taking the target object as the center, the mobile equipment outputs an alarm prompt;
Detecting whether a passing vehicle exists in a preset risk area according to the position;
if a passing vehicle exists in a preset risk area, sending prompt information to the vehicle to prompt that a target object exists in the risk area passing through the risk area or is about to pass through a road.
8. An active beacon-based target awareness apparatus, comprising:
the detection module is used for acquiring the position information of a target object through a beacon installed in the mobile device, detecting whether the target object is currently in a preset risk area or moves towards the preset risk area according to the position information so as to determine whether the target object is crossing a road or is about to cross the road, wherein the risk area is an area occupied by a pedestrian passageway in the road, and the mobile device comprises auxiliary equipment for assisting the target object to walk;
the system comprises a sending module, a warning device and a warning module, wherein the sending module is used for sending warning information to the warning device when detecting that a vehicle currently located in or moving towards a risk area is detected, the warning information at least comprises the position information, the warning information is used for indicating the warning device to prompt that a target object exists in the risk area of a vehicle passing through the risk area to cross a road or is about to cross the road, and the warning device is a road side unit;
The sending module is specifically configured to, when detecting that the vehicle is currently in the risk area or moving towards the risk area, broadcast the warning information to the road side unit through a broadcasting component of the mobile device to instruct the road side unit to prompt vehicles passing through the risk area, and actively inform the road side unit of the position of the target object, so that the road side unit obtains an image contour of the target object based on the position of the target object, and prompts the image contour of the target object to vehicles passing through the risk area;
the sending module is specifically configured to detect whether more than two road side units exist in a preset range centered on the target object when the sending module is aimed at broadcasting the alarm information to the road side units; if more than two road side units exist, acquiring the interval distance between the target object and each road side unit; broadcasting the alarm information to a road side unit with the minimum interval distance;
the sending module is further used for obtaining whether a road side unit exists in a preset range taking the target object as the center 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.
9. An active beacon-based target awareness apparatus, comprising:
the information acquisition module is used for acquiring alarm information sent by the mobile equipment, wherein the alarm information at least comprises the position of the mobile equipment and the image contour of the target object; the mobile device comprises auxiliary equipment for assisting a target object to walk, the alarm information is obtained by the mobile device through a beacon installed in the mobile device, whether the target object is currently located in a preset risk area or moves towards the preset risk area is detected according to the position information to determine whether the target object is passing a road or is about to pass the road, the alarm information is broadcast to road side units through a broadcast component of the mobile device when the situation that the target object is currently located in the risk area or moves towards the risk area is detected, the image outline of the target object is obtained by the road side units based on the position of the target object, the risk area is an area occupied by a pedestrian passageway in a road, and if more than two road side units exist in the preset range with the target object as the center, the mobile device obtains the distance between the target object and each road side unit, and broadcasts the alarm information to the road side unit with the minimum distance; if the road side unit does not exist in the preset range taking the target object as the center, the mobile equipment outputs an alarm prompt;
The vehicle detection module is used for detecting whether a passing vehicle exists in a preset risk area according to the position;
the information sending module is used for sending prompt information to the vehicles to prompt that the target object is crossing a road or is about to cross the road in the risk area if the vehicles passing through the risk area exist in the preset risk area.
10. A mobile device, comprising: a processor and a communication component;
the processor is configured to obtain current location information and send, when detecting that the vehicle is currently in a risk area or moving towards the risk area, alarm information to an alarm device through the communication component to implement the method according to claim 1, where the alarm information includes at least the location information, the alarm information is used to instruct 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.
11. An alert device, wherein upon acquiring alert information sent by a mobile device, the alert device will send alert information to vehicles traveling in a preset risk area to perform the method of claim 7, the alert information comprising at least location information of the mobile device.
12. An active beacon based target awareness system comprising the alert device of claim 11 and the mobile device of claim 10.
13. A readable storage medium having stored therein computer instructions which, when executed by a processor, are adapted to carry out the method of any one of claims 1-6.
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