CN116246489A - Pedestrian protection method, device and equipment - Google Patents
Pedestrian protection method, device and equipment Download PDFInfo
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Abstract
The embodiment of the specification discloses a pedestrian protection method, a device and equipment. The scheme may include: acquiring vehicle information of a target vehicle; the target vehicle is a vehicle positioned on a target road section; acquiring pedestrian information in a target road section acquired by road side sensing equipment of the target road section; judging whether the target vehicle has collision risk or not according to the vehicle information and pedestrian information in the target road section; if there is a risk of collision of the target vehicle, a running instruction for controlling deceleration or stopping of the target vehicle is generated so as to prevent the collision of the target vehicle.
Description
Technical Field
The present disclosure relates to the field of computer data processing technologies, and in particular, to a pedestrian protection method, device, and equipment.
Background
The accident involving pedestrians in the traffic accident is one of the most serious accidents. In the prior art, an active pedestrian protection system based on bicycle intelligence can trigger automatic emergency braking, can prevent or reduce the frontal collision with pedestrians, and remarkably reduces the risk of pedestrian injury. An active pedestrian protection system based on bicycle intelligence must know at any time whether any object is in the front dangerous range in order to trigger automatic emergency braking before an accident occurs. Radar sensors installed in vehicles are able to detect other road users. The active pedestrian protection system needs to pay attention to coming vehicles and pedestrians in all directions when carrying out automatic emergency braking, a sensor in a bicycle is easy to sense a front vehicle, the view angle of the bicycle is limited, and the sensing range is limited, so that the vehicle cannot accurately avoid the pedestrians.
Disclosure of Invention
The embodiment of the specification provides a pedestrian protection method, device and equipment, which are used for solving the problem that the existing pedestrian protection method is inaccurate in avoiding pedestrians.
In order to solve the above technical problems, the embodiments of the present specification are implemented as follows:
the pedestrian protection method provided in the embodiment of the present specification may include:
acquiring vehicle information of a target vehicle; the target vehicle is a vehicle positioned on a target road section;
acquiring pedestrian information in the target road section, which is acquired by road side sensing equipment of the target road section;
judging whether the target vehicle has collision risk or not according to the vehicle information and pedestrian information in the target road section;
if the target vehicle is at risk of collision, a running command for controlling the target vehicle to decelerate or stop is generated so as to prevent the target vehicle from collision.
The pedestrian protection apparatus provided in the embodiment of the present specification may include:
the vehicle information acquisition module is used for acquiring vehicle information of the target vehicle; the target vehicle is a vehicle positioned on a target road section;
the pedestrian information acquisition module is used for acquiring pedestrian information in the target road section, which is acquired by road side sensing equipment of the target road section;
The collision risk judging module is used for judging whether the target vehicle has collision risk or not according to the vehicle information and pedestrian information in the target road section;
and the running instruction generation module is used for generating a running instruction for controlling the target vehicle to decelerate or stop if the target vehicle has collision risk so as to prevent the target vehicle from collision.
The pedestrian protection apparatus provided in the embodiment of the present specification may include:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores instructions executable by the at least one processor to enable the at least one processor to:
acquiring vehicle information of a target vehicle; the target vehicle is a vehicle positioned on a target road section;
acquiring pedestrian information in the target road section, which is acquired by road side sensing equipment of the target road section;
judging whether the target vehicle has collision risk or not according to the vehicle information and pedestrian information in the target road section;
if the target vehicle is at risk of collision, a running command for controlling the target vehicle to decelerate or stop is generated so as to prevent the target vehicle from collision.
At least one embodiment of the present disclosure can achieve the following beneficial effects: acquiring vehicle information of a target vehicle; acquiring pedestrian information in a target road section acquired by road side sensing equipment of the target road section; judging whether the target vehicle has collision risk or not according to the vehicle information and pedestrian information in the target road section; if there is a risk of collision of the target vehicle, a running instruction for controlling deceleration or stopping of the target vehicle is generated so as to prevent the collision of the target vehicle. Therefore, the vehicle can more accurately avoid pedestrians.
Drawings
In order to more clearly illustrate the embodiments of the present description or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
Fig. 1 is a schematic diagram of an overall scheme architecture of a pedestrian protection method in an actual application scenario according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart of a pedestrian protection method according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a method for pedestrian determination to be detected provided in an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of a decision position versus time for avoiding pedestrians provided in an embodiment of the present disclosure;
FIG. 5 is a flow chart of pedestrian information resolution storage provided by an embodiment of the present disclosure;
fig. 6 is a schematic diagram of an execution flow of a pedestrian protection system based on a high-precision map and a road side sensing device according to an embodiment of the present disclosure;
fig. 7 is a schematic structural view of a pedestrian protection apparatus provided in an embodiment of the present disclosure;
fig. 8 is a schematic structural view of a pedestrian protection apparatus provided in an embodiment of the present specification.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of one or more embodiments of the present specification more clear, the technical solutions of one or more embodiments of the present specification will be clearly and completely described below in connection with specific embodiments of the present specification and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present specification. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without undue burden, are intended to be within the scope of one or more embodiments herein.
The following describes in detail the technical solutions provided by the embodiments of the present specification with reference to the accompanying drawings.
In the prior art, an active pedestrian protection system based on bicycle intelligence can trigger automatic emergency braking, can prevent or reduce the frontal collision with pedestrians, and remarkably reduces the risk of pedestrian injury. An active pedestrian protection system based on bicycle intelligence must know at any time whether any object is in the front dangerous range in order to trigger automatic emergency braking before an accident occurs. Radar sensors installed in vehicles are able to detect other road users. The active pedestrian protection system needs to pay attention to coming vehicles and pedestrians in all directions when carrying out automatic emergency braking, a sensor in a bicycle is easy to sense a front vehicle, the view angle of the bicycle is limited, and the sensing range is limited, so that the vehicle cannot accurately avoid the pedestrians.
In order to solve the drawbacks of the prior art, the present solution provides the following embodiments:
fig. 1 is a schematic diagram of an overall scheme architecture of a pedestrian protection method in an actual application scenario in an embodiment of the present disclosure.
As shown in fig. 1, the scheme mainly may include: a roadside sensing device 1, a server 2, and a target vehicle 3. In practical application, pedestrian information of a pedestrian can be collected through the road side sensing device 1, and the pedestrian information can comprise walking direction information of the pedestrian, walking speed information of the pedestrian and position information of the pedestrian; the road side sensing device 1 uploads the pedestrian information of the pedestrians to the server 2 at a set frequency, and the server 2 can update the pedestrian information of the pedestrians in real time according to the information uploaded by the road side sensing device 1. The vehicle information of the target vehicle 3 may be collected through the vehicle-mounted intelligent terminal, and the vehicle information may include vehicle traveling direction information, vehicle traveling speed information, and position information of the vehicle of the target vehicle; the server 2 can receive the vehicle information uploaded by the target vehicle 3, and the server 2 performs pedestrian avoidance planning according to the vehicle information of the target vehicle 3 and the pedestrian information of the pedestrians, so that the automatic driving vehicle can drive according to the pedestrian avoidance planning, and the pedestrians can be accurately avoided in the driving process, so that the purpose of protecting the pedestrians is achieved. It will be appreciated that the pedestrian avoidance planning is performed at the frequency of uploading by the vehicle 3, i.e. the server 2 immediately performs a new pedestrian avoidance planning when receiving the vehicle information of the vehicle 3.
Fig. 2 is a schematic flow chart of a pedestrian protection method according to an embodiment of the present disclosure. From the program perspective, the execution subject of the flow may be a program or an application client that is installed on an application server.
As shown in fig. 2, the process may include the steps of:
step 202: acquiring vehicle information of a target vehicle; the target vehicle is a vehicle located at a target road section.
In the embodiment of the present disclosure, the vehicle information of the target vehicle may be acquired by a road side sensing device located in the target road section, or may be acquired by a vehicle-mounted intelligent terminal of the target vehicle.
Step 204: and acquiring pedestrian information in the target road section, which is acquired by road side sensing equipment of the target road section.
According to the embodiment of the specification, the pedestrian information in the target road section collected by the road side sensing equipment in the target road section can be obtained, the influence of the road side sensing equipment in the rainy and snowy weather is small, the pedestrian information can be accurately collected, and the sensing range of all the road side sensing equipment in the target road section can cover the whole target road section. And the method provides comprehensive and accurate reference information for avoiding pedestrians for the subsequent automatic driving vehicle, and improves the accuracy of avoiding pedestrians for the vehicle.
Step 206: and judging whether the target vehicle has collision risk or not according to the vehicle information and the pedestrian information in the target road section.
In the embodiment of the specification, pedestrians can be respectively judged according to the pedestrian information and the vehicle information, so that whether the target vehicle collides with the pedestrians or not is obtained. The collision risk can be calculated by adopting geometric operation, so that the time consumption of calculation is reduced, and the calculation speed of calculation is increased. When the target vehicles are a plurality of vehicles, a multithreading mode can be adopted to enable one thread to calculate collision risk corresponding to one target vehicle, so that the processing speed is increased, and the situation that pedestrians cannot be judged in time and collide is avoided.
Step 208: if the target vehicle is at risk of collision, a running command for controlling the target vehicle to decelerate or stop is generated so as to prevent the target vehicle from collision.
In the embodiment of the specification, after calculation, when it is determined that the target vehicle has a collision risk, the server may perform a vehicle deceleration driving plan or a vehicle stop driving plan according to the vehicle information, the pedestrian information, and the road information of the road on which the vehicle is located, so as to generate a driving instruction for controlling the vehicle to decelerate or stop, thereby enabling the vehicle to avoid the pedestrian and avoiding the collision. When the target vehicle does not have collision risk, the pedestrian cannot be collided, a running instruction for controlling the target vehicle to decelerate or stop is not required to be generated, and the vehicle can normally run. The road information may include information such as identification information of a road, lane information of the road, and obstacle information on the road.
It should be understood that the method according to one or more embodiments of the present disclosure may include the steps in which some of the steps are interchanged as needed, or some of the steps may be omitted or deleted.
The method of fig. 2, by acquiring vehicle information of a target vehicle; acquiring pedestrian information in a target road section acquired by road side sensing equipment of the target road section; judging whether the target vehicle has collision risk or not according to the vehicle information and pedestrian information in the target road section; if there is a risk of collision of the target vehicle, a running instruction for controlling deceleration or stopping of the target vehicle is generated so as to prevent the collision of the target vehicle. Therefore, the vehicle can more accurately avoid pedestrians.
Based on the method of fig. 2, the present description examples also provide some specific implementations of the method, as described below.
Optionally, in the embodiment of the present disclosure, the vehicle information may at least include first position information and first driving direction information of the target vehicle, the pedestrian information may at least include second position information and second driving direction information of a pedestrian, and the method may further include:
extending from the position indicated by the first position information along the first driving direction to obtain an expected driving path of the vehicle;
Extending from the position represented by the second position information along the second running direction to obtain an expected walking path of the pedestrian;
judging whether an intersection point exists between the expected running path of the vehicle and the expected running path of the pedestrian;
and if the expected running path of the vehicle and the expected running path of the pedestrian have an intersection point, determining that the pedestrian is the pedestrian to be detected.
In the embodiment of the present disclosure, the pedestrian to be detected may be a pedestrian with a risk of collision or a pedestrian without a risk of collision, but the expected travel path of the pedestrian to be detected and the vehicle travel path of the vehicle must have an intersection. Whether the pedestrian to be detected has a collision risk or not may be determined according to pedestrian information of the pedestrian to be detected and vehicle information of the vehicle. The preset distance length may be extended forward in the traveling direction of the vehicle from the current position of the vehicle, thereby obtaining the expected traveling path of the vehicle. Whether the pedestrian is a pedestrian to be detected or not may be calculated from pedestrian information in a road section corresponding to the expected travel path, whether or not there is an intersection between the pedestrian and the vehicle. It can be understood that the calculation process is continuous calculation, so that the calculation result is effective, whether the pedestrian is the pedestrian to be detected or not can be accurately calculated, the accuracy and the success rate of avoiding the pedestrian can be improved, and the road pedestrian accident is reduced.
In practical application, if the driving road of the target vehicle is a curve or an S-shaped road, the current position of the vehicle can be extended forward along the center line of the lane by a preset distance length according to the nominal driving direction of the lane, so as to obtain the expected driving path of the vehicle. If a turnout occurs within the extending preset distance length range of the vehicle, a planned to-be-driven path of the vehicle can be obtained, and the road at the turnout position corresponding to the to-be-driven path is selected for extension calculation, so that an accurate expected driving path of the vehicle is obtained, and the accuracy of calculating collision risks is improved.
Fig. 3 in the embodiment of the present disclosure provides a schematic diagram of a method for determining a pedestrian to be detected. As shown in fig. 3, where 30 may represent a vehicle, 31 may represent a pedestrian, a dotted line 303 may represent an extension line of the vehicle extending forward 100 meters in the vehicle traveling direction, may represent a vehicle expected traveling path, an arrow may represent a current traveling direction of the pedestrian, a dotted line 302 may represent an extension line of the pedestrian extending forward in the pedestrian traveling direction, may represent a pedestrian expected traveling path, and a point a may represent an intersection point at which the vehicle expected traveling path intersects the pedestrian expected traveling path, so that it may be known that the pedestrian 31 is a pedestrian to be detected. It will be appreciated that the figure is only illustrative, and in practical application, the road contains more pedestrians, so that the pedestrians to be detected can be jointly confirmed, and the pedestrians can be confirmed one by one.
In order to improve accuracy of detecting collision risk, in the embodiment of the present disclosure, determining whether the target vehicle has collision risk may specifically include:
determining the time for the pedestrian to reach the intersection point according to the second traveling speed information of the pedestrian; the intersection point represents a point at which an expected travel path of the target vehicle intersects with an expected travel path of the pedestrian;
determining a third position expected to be reached after the target vehicle runs for the time according to the time and the first running speed information of the target vehicle;
judging whether the distance between the third position and the intersection point is smaller than a preset distance or not;
if the distance between the third position and the intersection point is smaller than the preset distance, adding a risk tag to the pedestrian; the risk tag is used to indicate that the target vehicle is at risk of impacting the pedestrian.
In the embodiment of the specification, the time for the pedestrian to reach the intersection point of the expected walking path of the pedestrian and the expected running path of the vehicle can be calculated according to the running speed information of the pedestrian contained in the pedestrian information, and in order to enable the vehicle to avoid the pedestrian accurately, whether the time for the pedestrian to reach the intersection point is smaller than or equal to the preset time can be judged; if the time for the pedestrian to reach the intersection point is longer than the preset time, stopping calculation, and temporarily listing the pedestrian as a pedestrian without collision risk; if the time for the pedestrian to reach the intersection point is less than or equal to the preset time, continuing to calculate; and calculating the distance length of the vehicle running according to the current running speed information of the vehicle and the time of the pedestrian reaching the intersection point, so as to determine the position reached by the vehicle after the running time, calculating the distance between the position and the intersection point, judging whether the distance is in a preset range, and determining the pedestrian as a risk pedestrian if the distance is in the preset range.
Fig. 4 in the embodiment of the present disclosure provides a schematic diagram of decision position-time for avoiding pedestrians. As shown in fig. 4, a coordinate system of position-time can be established with time as a horizontal axis and a distance between a position where the vehicle is located after the predicted vehicle runs corresponding to the time and a current position of the vehicle as a vertical axis; the diagonal line in the coordinate system may be the distance of the position at which the change of the vehicle with time is expected to be located from the current position of the vehicle; black points 41, 42, and 43 may each be pedestrians less than or equal to 5 seconds when expected to reach the intersection; since traffic conditions and vehicle behaviors change at any time and are difficult to predict, pedestrian information having too long arrival time at the intersection is not counted, and unnecessary calculation load is increased. The preset range can be set to be 10 meters, when a pedestrian arrives at an intersection, the distance between the pedestrian 41 and the vehicle is 20 meters, the distance between the pedestrian 42 and the vehicle is 2 meters, and the distance between the pedestrian 43 and the vehicle is 3 meters, so that the pedestrian 42 and the pedestrian 43 can be listed as the pedestrians possibly collided by the vehicle, risk labels are added for the pedestrian 42 and the pedestrian 43, and avoidance planning is conveniently made according to the pedestrians corresponding to the risk labels.
In practical application, the signal lamp can be combined to judge whether the pedestrian to be detected has risks. Determining whether a road section between two positions contains a signal lamp or not according to the current position of the target vehicle and the current position of the pedestrian to be detected; if no signal lamp exists, determining the risk of the pedestrian to be detected according to the method; if the signal lamp exists, determining the risk pedestrians according to the phase of the signal lamp and the duration of the corresponding phase. For example: a signal lamp exists between the pedestrian to be detected and the target vehicle, and the signal lamp is 3s red light in the process that the target vehicle drives to the intersection point, 3s is subtracted on the basis of the time of the pedestrian driving to the intersection point, so that the first time when the vehicle is in a driving state is obtained, the first time is multiplied by the speed of the target vehicle, a third position reached after the first time when the target vehicle drives is obtained, and the risk of the pedestrian to be detected is determined according to the third position and the position of the intersection point.
In order to accelerate the calculation speed and screen pedestrian information collected by the road side sensing device, in this embodiment of the present disclosure, the vehicle information includes at least first position information of the target vehicle, and the method may further include:
determining road information of a road where the target vehicle is located according to the first position information; the road information at least comprises intersection position information of the road;
judging whether the distance between the position represented by the first position information and the intersection represented by the intersection position information is smaller than or equal to a preset distance;
if the distance between the position indicated by the first position information and the intersection indicated by the intersection position information is smaller than or equal to a preset distance, determining that the target road section contains the intersection;
if the distance between the position indicated by the first position information and the intersection indicated by the intersection position information is greater than a preset distance, determining that the target road section does not contain the intersection;
the step of determining pedestrian information in the target road section, collected by the road side sensing equipment of the target road section, specifically includes:
if the target road section contains an intersection, acquiring road pedestrian information and intersection pedestrian information of the target road section;
And if the target road section does not contain the intersection, acquiring the road pedestrian information of the target road section.
The road pedestrian information in the embodiment of the present disclosure may be pedestrian information contained in a road section corresponding to a preset distance extending from a current position of a vehicle; the intersection pedestrian information may be pedestrian information contained in an intersection where a target road section where the vehicle is located exists. The server can determine road identification information of the road where the vehicle is currently located according to the acquired position information of the vehicle, and obtain road information of the corresponding road according to the road identification information; the road information may include at least one of identification information of a road, lane information of the road, intersection position information existing in the road, name information of the road, and the like. Whether the information of the pedestrians at the intersection position acquired by the road side sensing device needs to be acquired or not can be determined by judging whether the distance between the current position of the vehicle and the intersection position of the road is smaller than or equal to a preset distance. Because traffic conditions change from time to time, it is difficult to predict, and only the risk of pedestrians within a preset distance range is calculated. When the target road section does not contain the intersection, only pedestrian information contained in the road section within a corresponding preset distance range in the road can be obtained; if the target road section contains the intersection, pedestrian information of the road section where the current position of the vehicle in the road extends to the intersection position and pedestrian information contained in the intersection can be obtained. The method can reduce the calculation amount for calculating the influence of other irrelevant pedestrians on the vehicle, and improve the accuracy of pedestrian protection of the pedestrian protection system.
The instruction information for controlling the vehicle to perform the deceleration running or the stop running may be generated to achieve the purpose of protecting the pedestrian, and the generation of the running instruction for deceleration or stop in the embodiment of the present specification may specifically include:
judging whether the distance between the first position of the target vehicle and the intersection point is within a first preset range or not; the intersection point represents a point at which an expected travel path of the target vehicle intersects with an expected travel path of the pedestrian;
if the distance between the first position of the target vehicle and the intersection point is in a first preset range, planning a deceleration track of the target vehicle;
and generating a deceleration driving instruction according to the deceleration track planning.
The position of the intersection point where the expected travel path of the pedestrian with the risk tag intersects with the expected travel path of the target vehicle may be acquired in the embodiment of the present specification; judging whether the distance between the current position of the vehicle and the intersection point is within a preset range, if so, planning a deceleration track of the vehicle according to the distance between the current position of the vehicle and the intersection point, the running speed of the vehicle, the running direction of the vehicle, the comfortable acceleration of the vehicle and the jerk of the vehicle, and generating a deceleration running instruction according to the deceleration track plan so as to ensure that the vehicle can run at a reduced speed and avoid the risk of collision with pedestrians. The comfort acceleration is understood to mean that the vehicle does not cause discomfort to the rider when accelerating or decelerating according to the acceleration. The comfort acceleration may be positive or negative.
When the decelerating running of the vehicle is insufficient for protecting the pedestrian, the generating the decelerating running instruction in the embodiment of the present specification may further include:
transmitting the deceleration driving instruction to the target vehicle so that the target vehicle executes the deceleration driving instruction to reduce the vehicle speed;
judging whether the target vehicle has risk of collision with pedestrians after executing the deceleration running instruction;
if the target vehicle has risk of collision with pedestrians after executing the deceleration running instruction, planning a parking track of the target vehicle;
and generating a driving stopping instruction according to the parking track planning.
In the embodiment of the specification, when the vehicle is not decelerated enough to achieve the purpose of not colliding with a pedestrian, the speed of the vehicle can be reduced according to the deceleration instruction, and then the parking plan is made according to the speed after deceleration, so that the pedestrian can be protected to the greatest extent. The parking planning can firstly determine the distance between the position of the vehicle after deceleration and the intersection point, subtract a set value on the basis of the distance to obtain the position of the vehicle expected to stop, and then plan the parking track of the vehicle according to the position of the vehicle after deceleration, the position of the vehicle expected to stop, the running speed of the vehicle after deceleration, the allowed acceleration category of the vehicle, the jerk and the like, so as to generate a parking running instruction, and the vehicle can be controlled to park at the position of the expected stop according to the parking running instruction, thereby protecting pedestrians from collision.
The pedestrian protection method in the embodiments of the present disclosure may further include:
judging whether a pedestrian corresponding to the pedestrian information is in an intersection of a road or not according to the pedestrian information acquired by the road side sensing equipment;
if the pedestrian is in the intersection of the road, the pedestrian information is mounted on the intersection of the road;
and if the pedestrian is not in the intersection of the road, the pedestrian information is hung on the road.
In the embodiment of the present disclosure, the road may be composed of a target road section, other irrelevant road sections, and an intersection, where the pedestrian information mounted on the road may not include the pedestrian information of the intersection. The target road segment may also include an intersection in the road. Mount may refer to a process by which a computer file and directory on a storage device is made available to a user for access by the computer's file system by the operating system; i.e. a storage device is attached to an existing directory. The pedestrian information collected by the road side sensing device can be mounted on the corresponding road or intersection, the road and the intersection are provided with unique identifications, the vehicle is convenient to call and update, the road or the intersection in front of the vehicle can be searched out as long as the road or the intersection in front of the vehicle is determined by combining the longitude and latitude positions reported by the vehicle with the high-precision map, otherwise, the position data of all pedestrians need to be traversed to judge whether each pedestrian is related to the vehicle, and the calculation speed is increased.
In practical application, the pedestrian information reported by the road side sensing equipment can be analyzed, and the analyzed pedestrian information is mounted on a corresponding road or intersection. Fig. 5 is a flowchart of pedestrian information analysis and storage according to an embodiment of the present disclosure. As shown in fig. 5:
step 502: and acquiring pedestrian information acquired by the road side sensing equipment.
Step 504: and judging whether the intersection where the pedestrian is located can be found according to the position information contained in the pedestrian information.
Step 506: if the intersection where the pedestrian is located cannot be found, the road where the pedestrian is located is found.
Step 508: pedestrian information is stored in a corresponding road or intersection directory in a high-precision map database. It is also understood that pedestrian information is mounted on a corresponding road or intersection.
Fig. 6 is a schematic diagram of an execution flow of a pedestrian protection system based on a high-precision map and a road side sensing device according to an embodiment of the present disclosure. As shown in fig. 6:
step 602: the road side sensing equipment collects pedestrian information and sends the pedestrian information to the server.
Step 604: and the server analyzes the perception data of the received pedestrian information.
Step 606: and loading the pedestrian information on the corresponding road or intersection in the map database according to the sensing result.
Step 608: and searching related pedestrian information according to the vehicle information of the target vehicle and the pedestrian information in the database, and determining risk pedestrian information.
Step 610: and planning a track for decelerating or stopping the vehicle according to the risk pedestrian information, the vehicle information and the avoidance algorithm to obtain a decelerating or stopping driving instruction.
Step 612: and deciding the target vehicle according to the running instruction of deceleration or stopping, and controlling the target vehicle to decelerate or stop so as to protect pedestrians.
By the method, the pedestrian information can be rapidly extracted, the calculation speed is increased, meanwhile, the comprehensive and accurate pedestrian information can be obtained, the accuracy of avoiding pedestrians by the vehicle is improved, and the occurrence probability of traffic accidents that the vehicle collides with the pedestrians can be effectively reduced.
Based on the same thought, the embodiment of the specification also provides a device corresponding to the method. Fig. 7 is a schematic structural view of a pedestrian protection apparatus corresponding to fig. 2 according to an embodiment of the present disclosure. As shown in fig. 7, the apparatus may include:
a vehicle information acquisition module 702 for acquiring vehicle information of a target vehicle; the target vehicle is a vehicle positioned on a target road section;
A pedestrian information acquisition module 704, configured to acquire pedestrian information in the target road segment acquired by a road side sensing device of the target road segment;
a collision risk judging module 706, configured to judge whether the target vehicle has a collision risk according to the vehicle information and pedestrian information in the target road section;
and a driving instruction generating module 708, configured to generate a driving instruction for controlling the target vehicle to slow down or stop if the target vehicle has a collision risk, so as to prevent the target vehicle from colliding.
The present examples also provide some embodiments of the method based on the apparatus of fig. 7, as described below.
Optionally, the device may further include a pedestrian determination module to be detected, which may specifically be used for:
extending from the position indicated by the first position information along the first driving direction to obtain an expected driving path of the vehicle;
extending from the position represented by the second position information along the second running direction to obtain an expected walking path of the pedestrian;
judging whether an intersection point exists between the expected running path of the vehicle and the expected running path of the pedestrian;
and if the expected running path of the vehicle and the expected running path of the pedestrian have an intersection point, determining that the pedestrian is the pedestrian to be detected.
Optionally, the collision risk judging module may be specifically configured to:
determining the time for the pedestrian to reach the intersection point according to the second traveling speed information of the pedestrian; the intersection point represents a point at which an expected travel path of the target vehicle intersects with an expected travel path of the pedestrian;
determining a third position expected to be reached after the target vehicle runs for the time according to the time and the first running speed information of the target vehicle;
judging whether the distance between the third position and the intersection point is smaller than a preset distance or not;
if the distance between the third position and the intersection point is smaller than the preset distance, adding a risk tag to the pedestrian; the risk tag is used to indicate that the target vehicle is at risk of impacting the pedestrian.
Optionally, the device may further include an intersection module for determining that the target road segment includes an intersection, specifically:
determining road information of a road where the target vehicle is located according to the first position information; the road information at least comprises intersection position information of the road;
judging whether the distance between the position represented by the first position information and the intersection represented by the intersection position information is smaller than or equal to a preset distance;
If the distance between the position indicated by the first position information and the intersection indicated by the intersection position information is smaller than or equal to a preset distance, determining that the target road section contains the intersection;
if the distance between the position indicated by the first position information and the intersection indicated by the intersection position information is greater than a preset distance, determining that the target road section does not contain the intersection;
the step of determining pedestrian information in the target road section, collected by the road side sensing equipment of the target road section, specifically includes:
if the target road section contains an intersection, acquiring road pedestrian information and intersection pedestrian information of the target road section;
and if the target road section does not contain the intersection, acquiring the road pedestrian information of the target road section.
Optionally, the driving instruction generating module may be specifically configured to:
judging whether the distance between the first position of the target vehicle and the intersection point is within a first preset range or not; the intersection point represents a point at which an expected travel path of the target vehicle intersects with an expected travel path of the pedestrian;
if the distance between the first position of the target vehicle and the intersection point is in a first preset range, planning a deceleration track of the target vehicle;
And generating a deceleration driving instruction according to the deceleration track planning.
Optionally, the driving instruction generating module may be specifically configured to:
transmitting the deceleration driving instruction to the target vehicle so that the target vehicle executes the deceleration driving instruction to reduce the vehicle speed;
judging whether the target vehicle has risk of collision with pedestrians after executing the deceleration running instruction;
if the target vehicle has risk of collision with pedestrians after executing the deceleration running instruction, planning a parking track of the target vehicle;
and generating a driving stopping instruction according to the parking track planning.
Based on the same thought, the embodiment of the specification also provides equipment corresponding to the method.
Fig. 8 is a schematic structural view of a pedestrian protection apparatus corresponding to fig. 2 provided in the embodiment of the present disclosure. As shown in fig. 8, the device 800 may include:
at least one processor 810; the method comprises the steps of,
a memory 830 communicatively coupled to the at least one processor; wherein,,
the memory 830 stores instructions 820 executable by the at least one processor 810 to enable the at least one processor 810 to:
Acquiring vehicle information of a target vehicle; the target vehicle is a vehicle positioned on a target road section;
acquiring pedestrian information in the target road section, which is acquired by road side sensing equipment of the target road section;
judging whether the target vehicle has collision risk or not according to the vehicle information and pedestrian information in the target road section;
if the target vehicle is at risk of collision, a running command for controlling the target vehicle to decelerate or stop is generated so as to prevent the target vehicle from collision.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the apparatus shown in fig. 8, the description is relatively simple, as it is substantially similar to the method embodiment, with reference to the partial description of the method embodiment.
In the 90 s of the 20 th century, improvements to one technology could clearly be distinguished as improvements in hardware (e.g., improvements to circuit structures such as diodes, transistors, switches, etc.) or software (improvements to the process flow). However, with the development of technology, many improvements of the current method flows can be regarded as direct improvements of hardware circuit structures. Designers almost always obtain corresponding hardware circuit structures by programming improved method flows into hardware circuits. Therefore, an improvement of a method flow cannot be said to be realized by a hardware entity module. For example, a programmable logic device (ProgrammableLogicDevice, PLD), such as a Field programmable gate array (Field ProgrammableGateArray, FPGA), is an integrated circuit whose logic function is determined by the programming of the device by a user. A designer programs to "integrate" a digital system onto a PLD without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Moreover, nowadays, instead of manually manufacturing integrated circuit chips, such programming is mostly implemented by using "logic compiler" software, which is similar to the software compiler used in program development and writing, and the original code before the compiling is also written in a specific programming language, which is called hardware description language (HardwareDescriptionLanguage, HDL), and HDL is not only one but a plurality of kinds, such as ABEL (AdvancedBooleanExpressionLanguage), AHDL (Altera HardwareDescriptionLanguage), confluence, CUPL (CornellUniversity ProgrammingLanguage), HDCal, JHDL (javahard description language), lava, lola, myHDL, PALASM, RHDL (rubyhardhard description language), and so on, and VHDL (Very-High-SpeedIntegratedCircuitHardware DescriptionLanguage) and Verilog are most commonly used at present. It will also be apparent to those skilled in the art that a hardware circuit implementing the logic method flow can be readily obtained by merely slightly programming the method flow into an integrated circuit using several of the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer readable medium storing computer readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, application specific integrated circuits (Application SpecificIntegratedCircuit, ASIC), programmable logic controllers, and embedded microcontrollers, examples of which include, but are not limited to, the following microcontrollers: ARC625D, atmelAT91SAM, microchipPIC F26K20 and silicane labsc8051F320, the memory controller may also be implemented as part of the control logic of the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller in a pure computer readable program code, it is well possible to implement the same functionality by logically programming the method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Such a controller may thus be regarded as a kind of hardware component, and means for performing various functions included therein may also be regarded as structures within the hardware component. Or even means for achieving the various functions may be regarded as either software modules implementing the methods or structures within hardware components.
The system, apparatus, module or unit set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. One typical implementation is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being functionally divided into various units, respectively. Of course, the functions of each element may be implemented in one or more software and/or hardware elements when implemented in the present application.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (10)
1. A pedestrian protection method, comprising:
acquiring vehicle information of a target vehicle; the target vehicle is a vehicle positioned on a target road section;
acquiring pedestrian information in the target road section, which is acquired by road side sensing equipment of the target road section;
judging whether the target vehicle has collision risk or not according to the vehicle information and pedestrian information in the target road section;
if the target vehicle is at risk of collision, a running command for controlling the target vehicle to decelerate or stop is generated so as to prevent the target vehicle from collision.
2. The method of claim 1, wherein the vehicle information includes at least first location information and first travel direction information of the target vehicle, the pedestrian information includes at least second location information and second travel direction information of a pedestrian, the method further comprising:
extending from the position indicated by the first position information along the first driving direction to obtain an expected driving path of the vehicle;
extending from the position represented by the second position information along the second running direction to obtain an expected walking path of the pedestrian;
judging whether an intersection point exists between the expected running path of the vehicle and the expected running path of the pedestrian;
And if the expected running path of the vehicle and the expected running path of the pedestrian have an intersection point, determining that the pedestrian is the pedestrian to be detected.
3. The method according to claim 1, wherein said determining whether said target vehicle is at risk of collision comprises:
determining the time for the pedestrian to reach the intersection point according to the second traveling speed information of the pedestrian; the intersection point represents a point at which an expected travel path of the target vehicle intersects with an expected travel path of the pedestrian;
determining a third position expected to be reached after the target vehicle runs for the time according to the time and the first running speed information of the target vehicle;
judging whether the distance between the third position and the intersection point is smaller than a preset distance or not;
if the distance between the third position and the intersection point is smaller than the preset distance, adding a risk tag to the pedestrian; the risk tag is used to indicate that the target vehicle is at risk of impacting the pedestrian.
4. The method of claim 1, wherein the vehicle information includes at least first location information of the target vehicle, the method further comprising:
determining road information of a road where the target vehicle is located according to the first position information; the road information at least comprises intersection position information of the road;
Judging whether the distance between the position represented by the first position information and the intersection represented by the intersection position information is smaller than or equal to a preset distance;
if the distance between the position indicated by the first position information and the intersection indicated by the intersection position information is smaller than or equal to a preset distance, determining that the target road section contains the intersection;
if the distance between the position indicated by the first position information and the intersection indicated by the intersection position information is greater than a preset distance, determining that the target road section does not contain the intersection;
the step of determining pedestrian information in the target road section, collected by the road side sensing equipment of the target road section, specifically includes:
if the target road section contains an intersection, acquiring road pedestrian information and intersection pedestrian information of the target road section;
and if the target road section does not contain the intersection, acquiring the road pedestrian information of the target road section.
5. The method according to claim 1, characterized in that said generating a driving command for deceleration or stopping, in particular comprises:
judging whether the distance between the first position of the target vehicle and the intersection point is within a first preset range or not; the intersection point represents a point at which an expected travel path of the target vehicle intersects an expected travel path of a pedestrian;
If the distance between the first position of the target vehicle and the intersection point is in a first preset range, planning a deceleration track of the target vehicle;
and generating a deceleration driving instruction according to the deceleration track planning.
6. The method of claim 5, wherein after generating the deceleration driving instruction, further comprising:
transmitting the deceleration driving instruction to the target vehicle so that the target vehicle executes the deceleration driving instruction to reduce the vehicle speed;
judging whether the target vehicle has risk of collision with pedestrians after executing the deceleration running instruction;
if the target vehicle has risk of collision with pedestrians after executing the deceleration running instruction, planning a parking track of the target vehicle;
and generating a driving stopping instruction according to the parking track planning.
7. The method according to claim 1, wherein the method further comprises:
judging whether a pedestrian corresponding to the pedestrian information is in an intersection of a road or not according to the pedestrian information acquired by the road side sensing equipment;
if the pedestrian is in the intersection of the road, the pedestrian information is mounted on the intersection of the road;
And if the pedestrian is not in the intersection of the road, the pedestrian information is hung on the road.
8. A pedestrian protection apparatus, comprising:
the vehicle information acquisition module is used for acquiring vehicle information of the target vehicle; the target vehicle is a vehicle positioned on a target road section;
the pedestrian information acquisition module is used for acquiring pedestrian information in the target road section, which is acquired by road side sensing equipment of the target road section;
the collision risk judging module is used for judging whether the target vehicle has collision risk or not according to the vehicle information and pedestrian information in the target road section;
and the running instruction generation module is used for generating a running instruction for controlling the target vehicle to decelerate or stop if the target vehicle has collision risk so as to prevent the target vehicle from collision.
9. The apparatus of claim 8, wherein the vehicle information includes at least first location information and first travel direction information of the target vehicle, the pedestrian information includes at least second location information and second travel direction information of a pedestrian, the apparatus further comprising a pedestrian determination module to be detected:
Extending from the position indicated by the first position information along the first driving direction to obtain an expected driving path of the vehicle;
extending from the position represented by the second position information along the second running direction to obtain an expected walking path of the pedestrian;
judging whether an intersection point exists between the expected running path of the vehicle and the expected running path of the pedestrian;
and if the expected running path of the vehicle and the expected running path of the pedestrian have an intersection point, determining that the pedestrian is the pedestrian to be detected.
10. A pedestrian protection apparatus, characterized by comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores instructions executable by the at least one processor to enable the at least one processor to:
acquiring vehicle information of a target vehicle; the target vehicle is a vehicle positioned on a target road section;
acquiring pedestrian information in the target road section, which is acquired by road side sensing equipment of the target road section;
judging whether the target vehicle has collision risk or not according to the vehicle information and pedestrian information in the target road section;
If the target vehicle is at risk of collision, a running command for controlling the target vehicle to decelerate or stop is generated so as to prevent the target vehicle from collision.
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