CN115158358A

CN115158358A - Bus and emergency stop system

Info

Publication number: CN115158358A
Application number: CN202210926462.0A
Authority: CN
Inventors: 沈超; 鲁肇宣; 秦文刚; 殷承良
Original assignee: Shanghai Intelligent and Connected Vehicle R&D Center Co Ltd
Current assignee: Shanghai Intelligent and Connected Vehicle R&D Center Co Ltd
Priority date: 2022-08-03
Filing date: 2022-08-03
Publication date: 2022-10-11

Abstract

The invention discloses a bus emergency stop system, which comprises a bus driving control system; the automatic driving computer is connected to the bus driving control system and is used for automatically controlling the bus driving; the first camera is connected to the automatic driving computer, and a lens of the first camera is arranged to face a driving position of a bus driver. The automatic driving computer acquires the face and/or posture image of the driver in real time through the first camera and judges whether the state of the driver is normal or not. When the state of the driver is judged to be abnormal, prompting the driver to reply by pressing a confirmation button or giving a clear gesture; and when the driver does not give a reply within the preset time, the automatic driving computer automatically takes over the bus driving control system to stop the bus.

Description

Bus and emergency stop system

Technical Field

The invention belongs to the technical field of automatic driving, and particularly relates to a bus and an emergency stop system.

Background

In recent years, a safety accident related to a bus driver occurs. For example, in a bus, there are some dangerous situations in which a driver is not driving or out of control due to unexpected situations such as a passenger robbing a steering wheel or a driver getting an accident. Once this occurs, the consequences are often very severe, even causing group injuries in the group. However, for the existing bus, due to the lack of corresponding means in the technology, the bus often has no precaution.

Disclosure of Invention

In one embodiment of the invention, a bus is provided with a bus emergency stop system, which comprises a bus driving control system;

the automatic driving computer is connected to the bus driving control system and is used for automatically controlling the bus driving;

a first camera connected to the automatic driving computer, the lens of the first camera is arranged to face the driving position of a bus driver,

a second camera connected to the automatic driving computer, the second camera being arranged to face a road scene outside the bus,

the automatic driving computer acquires the face and/or posture image of the driver in real time through the first camera, judges whether the state of the driver is normal or not,

the automatic driving computer acquires the image of the first camera and the image of the second camera at the same time, judges whether the driving state of the bus is abnormal or not,

and when the state of the driver and/or the state of the bus are/is judged to be abnormal, the automatic driving computer automatically takes over the bus driving control system to carry out parking processing on the bus.

The embodiment of the invention has the advantages that when a bus driver cannot normally drive the bus in the driving process of the bus, the bus is controlled to safely stop by automatic driving intervention, and the life safety of people is guaranteed.

Drawings

The above and other objects, features and advantages of exemplary embodiments of the present invention will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. Several embodiments of the invention are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which:

fig. 1 is a schematic diagram of a bus emergency stop system according to one embodiment of the invention.

Fig. 2 is a schematic diagram of a bus emergency stop system according to one embodiment of the invention.

Detailed Description

Automatic driving, which is completed by a computer and an artificial intelligence technology under the condition of no artificial control, and complete, safe and effective vehicle driving. The automatic driving has 6 levels, and the L0 level is completely driven by a driver; the L1 level refers to that the automobile can assist a driver to complete some driving tasks under specific conditions; when reaching the L2 level, the automatic driving can complete some driving tasks, but the driver needs to monitor the change of the surrounding environment all the time, and prepares to take over at any time when encountering dangerous conditions; the L3 level is that the driver almost does not need to prepare for taking over all the time, and the automobile can independently complete all the actions; the L4 and L5 levels are fully automatic driving techniques, and the car has been completely free of driver's manipulation, except that the L4 level can be completely independent only under certain conditions such as highway, while the L5 level is true under any conditions. Under the existing technology and regulation conditions, it is not practical to adopt real automatic driving on buses. In order to solve the problem of handling the accident situation of the bus, a technical scheme different from the existing automatic driving concept is required to be adopted.

In accordance with one or more embodiments, as shown in fig. 1, a bus emergency stop system, the system comprising,

a bus driving control system;

a second camera positioned at the head of the bus facing the front of the bus driving road and connected to the automatic driving computer, the second camera being arranged to face the scene of the bus external road,

Here, the bus body can be equipped with the alarm, takes over when the autopilot computer behind the bus, through the alarm sound or illumination warning, the suggestion vehicle around notices.

In accordance with one or more embodiments, a bus emergency stop system is shown in fig. 2. The system comprises a plurality of devices which are connected with each other,

a bus driving control system;

the second camera is positioned at the head of the bus, faces the front of a bus running road and is connected into the automatic driving computer, the second camera is arranged to face a road scene outside the bus,

and when the state of the driver and/or the state of the bus are/is judged to be abnormal, the automatic driving computer automatically takes over the bus driving control system to stop the bus. And after the vehicle is stopped and the door is opened, the rescue is automatically called.

After the automatic driving computer takes over the bus driving control system automatically, vehicle warning information is reported through the V2X communication network, the vehicle warning information is broadcasted to surrounding vehicles, pedestrians, roadside equipment or rescue institutions, and meanwhile external auxiliary information required by the automatic driving computer is obtained from the V2X communication network. And, a driving route and an optimal parking position are planned by a high-precision map or a local dynamic map LDM. V2X, namely Vehicle-to-Everything, is one of support technologies of intelligent automobiles and intelligent transportation. V2X includes various application communication application scenarios such as Vehicle-to-Vehicle V2V (Vehicle-to-Vehicle), vehicle-to-Infrastructure V2I (Vehicle-to-Infrastructure), vehicle-to-Pedestrian V2P (Vehicle-to-Pedestrian), vehicle-to-external Network V2N (Vehicle-to-Network), and the like. At present, vehicles can realize front collision early warning, lane change assistance, left turn assistance, cooperative adaptive cruise control and the like based on V2V communication, and can realize applications of speed suggestion, traffic priority, road condition early warning, red light running early warning, current weather influence early warning, parking space and charging pile position finding and the like based on V2I communication; based on V2P communication, early warning and protection of vulnerable road users can be realized, and services such as real-time traffic route planning and map updating can be realized based on V2N communication.

In addition, a sound pick-up can be arranged at the position of a driver and connected to the automatic driving computer, and the automatic driving computer analyzes the sound in the bus in real time and is used for assisting in judging the state of the bus driver.

According to one or more embodiments, the emergency stop system for the bus in the emergency situation is based on a V2X, high-precision map or local dynamic map LDM and an in-vehicle camera. Local Dynamic Map (LDM) is one of the key technologies in C-ITS, and the concept thereof was originally proposed in the SAFESPOT project and widely applied and developed in the later intelligent transportation projects such as CVIS, DRIVE-C2X, eCoMove.

In the process of normal driving of the bus, two cameras analyze the safety condition in real time. Aimed at the driver is a camera 1 for determining whether the driver is suddenly syncope, heart disease, whether someone is robbing the steering wheel, etc. The camera 2 is arranged right in front of the bus and used for judging whether the bus has abnormal tracks, such as left-right shaking when a steering wheel is robbed, yawing when a driver breaks a disease, and the like.

If the camera detects an abnormal condition, the two conditions are divided into two conditions:

(1) only one camera detects the abnormal condition, which indicates that the abnormal condition is possibly not unexpected;

(2) the two cameras detect the abnormal conditions at the same time, and the possibility that an accident occurs is high.

If the first condition is present, the bus will issue an alarm, and if the driver does not confirm safety within the prescribed time, the bus will be taken over automatically. If the second case is, the autonomous drive takes over the vehicle directly.

Immediately after the autonomous driving takes over the vehicle, the twin flashes and whistles are turned on, informing surrounding vehicles and pedestrians. While also broadcasting to vehicles and roadside devices via V2X. And after the automatic driving takes over, judging the position of the self according to the information of the high-precision map. If the vehicle is on an urban road, the vehicle is directly parked. If the vehicle is an expressway, the vehicle is parked beside the expressway. The reason is that on urban roads, the speed is relatively slow, more pedestrians and complex road conditions exist, unnecessary traffic accidents may be caused if the vehicles stop alongside, and on expressways, the vehicles are very dangerous if the vehicles stop directly in the middle of the roads. And after the parking is finished, waiting for rescue.

The invention has the beneficial effect that for the existing bus, before the automatic driving of the L5 level is completely popularized, when the driver accidentally loses the driving capability, the traffic accident can be effectively avoided. The safety of passengers is guaranteed, and the safety of other vehicles and pedestrians on the road is also guaranteed.

It should be noted that while the foregoing has described the spirit and principles of the invention with reference to several specific embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, nor is the division of aspects, which is for convenience only as the features in these aspects cannot be combined. The invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. An emergency stop system for buses is characterized by comprising,

a bus driving control system;

when the state of the driver is judged to be abnormal, the driver is prompted to reply by pressing a confirmation button or giving a definite gesture,

and when the driver does not give a reply within the preset time, the automatic driving computer automatically takes over the bus driving control system to stop the bus.

2. The bus emergency stop system of claim 1, further comprising,

and when the state of the driver and/or the state of the bus are/is judged to be abnormal, the automatic driving computer automatically takes over the bus driving control system.

3. The bus emergency stop system according to claim 2, wherein the second camera is located at the head of the bus facing the front of the bus's travel path.

4. The bus emergency stop system according to claim 1, wherein the bus body is provided with an alarm, and when the automatic driving computer takes over the bus, the alarm gives out a sound or light alarm to prompt surrounding vehicles to pay attention.

5. The bus emergency stop system according to claim 1, wherein the automatic driving computer automatically takes over the bus driving control system, and then reports the vehicle alarm through the V2X communication network, and broadcasts the vehicle alarm to surrounding vehicles, pedestrians, roadside devices or rescue agencies, and simultaneously obtains external auxiliary information required by the automatic driving computer from the V2X communication network.

6. The bus emergency stop system according to claim 1, wherein the automatic driving computer automatically takes over the bus driving control system and plans a driving route and an optimal stop position through a high-precision map or a local dynamic map LDM.

7. The bus emergency stop system according to claim 1, wherein the automatic driving computer automatically takes over the bus driving control system, stops to open a door, and automatically calls for rescue.

8. The bus emergency stop system according to claim 2, wherein the first camera or the second camera has a fill light source.

9. The bus emergency stop system of claim 1, further comprising a microphone located at a driver's station, the microphone being connected to the autopilot computer,

the automatic driving computer analyzes the sound in the bus in real time and is used for assisting in judging the state of a bus driver.

10. A bus characterized in that it comprises a bus emergency stop system according to claim 1.