CN116691496A - Pedestrian collision prediction reminding method and device - Google Patents

Pedestrian collision prediction reminding method and device Download PDF

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Publication number
CN116691496A
CN116691496A CN202310709623.5A CN202310709623A CN116691496A CN 116691496 A CN116691496 A CN 116691496A CN 202310709623 A CN202310709623 A CN 202310709623A CN 116691496 A CN116691496 A CN 116691496A
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China
Prior art keywords
new energy
energy automobile
detection object
collision prediction
running
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CN202310709623.5A
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晏小强
周开平
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Super Communications Co ltd
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Super Communications Co ltd
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Priority to CN202310709623.5A priority Critical patent/CN116691496A/en
Publication of CN116691496A publication Critical patent/CN116691496A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q5/00—Arrangement or adaptation of acoustic signal devices
    • B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
    • B60Q5/006—Arrangement or adaptation of acoustic signal devices automatically actuated indicating risk of collision between vehicles or with pedestrians
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q11/00—Arrangement of monitoring devices for devices provided for in groups B60Q1/00 - B60Q9/00
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q5/00—Arrangement or adaptation of acoustic signal devices
    • B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
    • B60Q5/008—Arrangement or adaptation of acoustic signal devices automatically actuated for signaling silent vehicles, e.g. for warning that a hybrid or electric vehicle is approaching

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application provides a pedestrian collision prediction reminding method and device, which are used for solving the technical problems that a new energy automobile is difficult to draw attention of a pedestrian and traffic accidents are easy to cause when running at a low speed. Specifically, according to the pedestrian collision prediction reminding scheme, a collision prediction result is generated, and a loudspeaker is controlled to send out prompt tones, so that the probability of occurrence of traffic accidents due to the fact that pedestrians are difficult to notice due to low-speed running of a new energy automobile is reduced; the decibel value of the prompt tone is adjusted according to the running speed of the new energy automobile, so that pedestrians can perceive the speed of the new energy automobile through the decibel value of the prompt tone, and the possibility of timely avoiding of the pedestrians is improved. The second prompt tone is used for simulating the audio frequency of the acceleration operation of the traditional fuel engine, so that the probability that pedestrians are difficult to perceive the running speed of the new energy automobile through the first prompt tone and the running speed corresponding to the first prompt tone is higher, and traffic accidents are caused because the pedestrians do not take evading measures in time is reduced.

Description

Pedestrian collision prediction reminding method and device
Technical Field
The application relates to the technical field of new energy automobiles, in particular to a pedestrian collision prediction reminding method and device.
Background
The new energy automobile comprises a pure electric automobile, a range-extended electric automobile, a hybrid electric automobile, a fuel cell electric automobile, a hydrogen engine automobile, other new energy automobiles and the like. Along with the increasingly prominent problems of energy shortage and environmental pollution, the new energy automobile has very wide application prospect and accords with the national regulation energy-saving and environment-friendly trend, so the market share of the new energy automobile rises year by year.
In implementing the prior art, the inventors found that:
when the new energy automobile runs at a low speed, the sound of the engine is very small, the noise of the tire is very small, and certain potential safety hazards can be brought in a plurality of places. For example, when a new energy automobile and a pedestrian are on the same road, the pedestrian is hard to perceive the new energy automobile running at a low speed, and then the new energy automobile moves randomly and is hard to take evasive action, and traffic accidents are easy to occur. If the driver reminds the pedestrian by the loudspeaker, the pedestrian is easily frightened or caused to collide with the pedestrian. Or the new energy automobile runs on the section where whistling is forbidden, and the driver can not remind pedestrians to avoid according to the horn.
Therefore, a pedestrian collision prediction reminding scheme is needed to be provided, so that the technical problems that a new energy automobile is difficult to draw attention of a pedestrian and traffic accidents are easy to cause when the new energy automobile runs at a low speed are solved.
Disclosure of Invention
The embodiment of the application provides a pedestrian collision prediction reminding scheme, which is used for solving the technical problems that a new energy automobile is difficult to draw attention of a pedestrian and easy to form a traffic accident when running at a low speed.
Specifically, a pedestrian collision prediction reminding method is applied to a new energy automobile, and comprises the following steps:
at a first moment, transmitting a first detection wave through a microwave radar, and receiving a first feedback wave corresponding to a detection object to obtain a first feedback result;
transmitting a second detection wave through the microwave radar at a second moment, and receiving a second feedback wave corresponding to the detection object to obtain a second feedback result; a preset time interval exists between the second moment and the first moment;
determining the moving direction of the detection object, the moving speed of the detection object and the interval distance between the detection object and the new energy automobile through the first feedback result, the second feedback result and the preset time interval;
acquiring the running speed and the running direction of the new energy automobile;
generating a collision prediction result of the new energy automobile and the detection object according to the running speed of the new energy automobile, the running direction of the new energy automobile, the moving direction of the detection object, the moving speed of the detection object and the interval distance between the detection object and the new energy automobile;
And when the collision prediction result is the first emergency level, controlling the loudspeaker to send out a first prompt tone.
Further, the acquiring the running speed and the running direction of the new energy automobile specifically includes:
at a first moment, acquiring a first space coordinate of the new energy automobile through a GPS;
at a second moment, acquiring a second space coordinate of the new energy automobile through a GPS;
a preset time interval exists between the second moment and the first moment;
and determining the running speed and the running direction of the new energy automobile through the first space coordinate, the second space coordinate and the preset time interval.
Further, the acquiring the running speed and the running direction of the new energy automobile specifically includes:
determining the running speed of the new energy automobile according to the number of wheel rotation turns of the new energy automobile in a preset time interval;
and determining the running direction of the new energy automobile according to the steering wheel rotation angle of the new energy automobile in a preset time interval.
Further, the pedestrian collision prediction reminding method further comprises the following steps:
and when the collision prediction result is the second emergency level, controlling the loudspeaker to send out a second prompt tone.
Further, the pedestrian collision prediction reminding method further comprises the following steps:
and when the interval distance between the detection object and the new energy automobile is smaller than the preset distance, controlling the loudspeaker to send out a third prompt tone.
Further, the pedestrian collision prediction reminding method further comprises the following steps:
when the number of the detection objects is larger than a preset threshold value, judging that the new energy automobile runs on a walking road section;
when the new energy automobile runs on the walking road section, the running speed of the new energy automobile is controlled not to exceed the first preset speed.
Further, when the collision prediction result is the first emergency level, the speaker is controlled to send out a first alert sound, which specifically includes:
when the collision prediction result is the first emergency level, determining the direction of the detection object relative to the new energy automobile according to the second feedback result;
and controlling the loudspeaker to send out a first prompt tone towards the direction of the detected object relative to the new energy automobile.
The embodiment of the application also provides a pedestrian collision prediction reminding device.
Specifically, a pedestrian collision prediction reminding device, the device is applied to new energy automobile, includes:
the detection object detection module is used for transmitting a first detection wave through the microwave radar at a first moment, receiving a first feedback wave corresponding to the detection object and obtaining a first feedback result; the method is also used for transmitting a second detection wave through the microwave radar at a second moment, receiving a second feedback wave corresponding to the detection object and obtaining a second feedback result; a preset time interval exists between the second moment and the first moment; the method is also used for determining the moving direction of the detection object, the moving speed of the detection object and the interval distance between the detection object and the new energy automobile through the first feedback result, the second feedback result and the preset time interval;
The driving state acquisition module is used for acquiring the driving speed and the driving direction of the new energy automobile;
the control module is used for generating a collision prediction result of the new energy automobile and the detection object according to the running speed of the new energy automobile, the running direction of the new energy automobile, the moving direction of the detection object, the moving speed of the detection object and the interval distance between the detection object and the new energy automobile; and the loudspeaker is also used for controlling the loudspeaker to send out a first prompt tone when the collision prediction result is the first emergency level.
Further, the acquiring the running speed and the running direction of the new energy automobile specifically includes:
at a first moment, acquiring a first space coordinate of the new energy automobile through a GPS;
at a second moment, acquiring a second space coordinate of the new energy automobile through a GPS;
a preset time interval exists between the second moment and the first moment;
and determining the running speed and the running direction of the new energy automobile through the first space coordinate, the second space coordinate and the preset time interval.
Further, the acquiring the running speed and the running direction of the new energy automobile specifically includes:
Determining the running speed of the new energy automobile according to the number of wheel rotation turns of the new energy automobile in a preset time interval;
and determining the running direction of the new energy automobile according to the steering wheel rotation angle of the new energy automobile in a preset time interval.
The technical scheme provided by the embodiment of the application has at least the following beneficial effects:
the collision prediction result is generated, so that the loudspeaker is controlled to give out a prompt tone, and the probability of traffic accidents caused by the fact that pedestrians are difficult to notice due to low-speed running of the new energy automobile is reduced; the decibel value of the prompt tone is adjusted according to the running speed of the new energy automobile, so that pedestrians can perceive the speed of the new energy automobile through the decibel value of the prompt tone, and the possibility of timely avoiding of the pedestrians is improved. The second prompt tone is used for simulating the audio frequency of the acceleration operation of the traditional fuel engine, so that the probability that pedestrians are difficult to perceive the running speed of the new energy automobile through the first prompt tone and the running speed corresponding to the first prompt tone is higher, and traffic accidents are caused because the pedestrians do not take evading measures in time is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a flow chart diagram of a pedestrian collision prediction reminding method provided by an embodiment of the application;
fig. 2 is a schematic structural diagram of a pedestrian collision prediction reminding device according to an embodiment of the present application.
The reference numerals in the drawings are as follows:
100. pedestrian collision prediction reminding device
11. Detection object detection module
12. Driving state acquisition module
13. And a control module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to fall within the scope of the application.
Referring to fig. 1, the pedestrian collision prediction reminding method provided by the application comprises the following steps:
s100: at a first moment, a first detection wave is transmitted through a microwave radar, a first feedback wave corresponding to a detection object is received, and a first feedback result is obtained.
S200: transmitting a second detection wave through the microwave radar at a second moment, and receiving a second feedback wave corresponding to the detection object to obtain a second feedback result; and a preset time interval exists between the second moment and the first moment.
It will be appreciated that the radar is able to detect the distance of a target object relative to the radar using the difference in physical characteristics between the transmitted and reflected waves. The radar may employ ultrasonic waves, electromagnetic waves (including microwaves), and the like as the transmission waves. Although different kinds of waves can be used for the radar emission, different kinds of emission are selected according to different detection purposes and detection objects.
The microwave radar of the application adopts microwaves as emission waves. The microwaves refer to electromagnetic waves with the wavelength of 1mm to 1m, have the characteristics of easy aggregation into a beam, high directivity and difficult interference of other electromagnetic waves, and are suitable for detecting obstacles around new energy automobiles when the new energy automobiles run on roads. The preset time interval can be adjusted according to the requirement, the shorter the time length is, the more times the microwave radar transmits microwaves and the more times the microwave radar receives microwaves, and the higher the detection frequency of the microwave radar on the detection object is. The detection object may be a pedestrian, an animal, or the like.
In a specific application scenario, at a first moment, a microwave radar transmits a first detection wave through a transmitting antenna. When the first detection wave reaches the detection object, the first detection wave is reflected on the surface of the detection object, and the physical characteristics such as the frequency, the intensity and the like of the first detection wave are changed. The first detection wave reflected on the surface of the detection object is used as a first feedback wave. When the first feedback wave reaches the receiving antenna of the microwave radar, the difference of the physical characteristics between the first transmitting wave and the first feedback wave is calculated, and the information such as the direction, the distance and the like of the detection object relative to the microwave radar at the first moment is determined to be used as a first feedback result.
And after a preset time interval, the microwave radar transmits a second detection wave through the transmitting antenna at a second moment. When the second detection wave reaches the detection object, the second detection wave is reflected on the surface of the detection object, and the physical characteristics such as the frequency and the amplitude of the second detection wave are changed. The second detection wave reflected on the surface of the detection object serves as a second feedback wave. When the second feedback wave reaches the receiving antenna of the microwave radar, calculating the difference of physical characteristics between the second transmitting wave and the first feedback wave, and determining information such as the direction of the detection object relative to the microwave radar, the distance of the detection object relative to the microwave radar, the number of the detection objects and the like at the second moment, as a second feedback result.
S300: and determining the moving direction of the detection object, the moving speed of the detection object and the interval distance between the detection object and the new energy automobile through the first feedback result, the second feedback result and the preset time interval.
It should be noted that, the first feedback result refers to information such as a direction, a distance, etc. of the detection object relative to the microwave radar at the first moment; the second feedback result refers to information such as the direction, the distance and the like of the detection object relative to the microwave radar at the second moment. The distance between the detection object and the new energy automobile is the distance between the detection object and the microwave radar at the second moment.
In a specific application scene, according to the direction and distance of a detection object relative to a microwave radar at a first moment, the initial position of the detection object can be determined; the end position of the detection object can be determined according to the direction and distance of the detection object relative to the microwave radar at the second moment. The direction in which the initial position points to the end position is taken as the moving direction of the detection object, and the distance between the initial position and the end position is taken as the moving distance of the detection object in a preset time interval. And calculating the moving speed of the detection object according to the moving distance of the detection object in the preset time interval.
S400: and acquiring the running speed and the running direction of the new energy automobile.
It can be understood that the running speed of the new energy automobile refers to the running speed of the new energy automobile relative to the ground, and the running direction of the new energy automobile refers to the running direction of the new energy automobile relative to the ground.
The following describes in detail the implementation process of acquiring the running speed and the running direction of the new energy automobile.
Further, the acquiring the running speed and the running direction of the new energy automobile specifically includes:
at a first moment, acquiring a first space coordinate of the new energy automobile through a GPS;
at a second moment, acquiring a second space coordinate of the new energy automobile through a GPS;
a preset time interval exists between the second moment and the first moment;
and determining the running speed and the running direction of the new energy automobile through the first space coordinate, the second space coordinate and the preset time interval.
Note that GPS (Global Positioning System) refers to a global positioning system, and the current space coordinates can be obtained through GPS. Acquiring the current space coordinate of the new energy automobile through a GPS at a first moment, and taking the current space coordinate as a first space coordinate of the new energy automobile; after a preset time interval, the current space coordinate of the new energy automobile is obtained through the GPS at a second moment and is used as a second space coordinate of the new energy automobile. The driving direction of the new energy automobile is represented by the direction that the first space coordinate points to the second space coordinate, and the driving distance of the new energy automobile is represented by the difference value between the first space coordinate and the second space coordinate. And calculating the running speed of the new energy automobile according to the running distance of the new energy automobile and the preset time interval. The first space coordinate and the second space coordinate of the new energy automobile are acquired through the GPS, and the position of the new energy automobile at the first moment and the second moment can be accurately determined; and the running speed and the running direction of the new energy automobile are obtained through the difference of the positions of the new energy automobile at the first moment and the second moment, so that the accuracy of the obtained running speed and running direction of the new energy automobile is improved.
Further, the acquiring the running speed and the running direction of the new energy automobile specifically includes:
determining the running speed of the new energy automobile according to the number of wheel rotation turns of the new energy automobile in a preset time interval;
and determining the running direction of the new energy automobile according to the steering wheel rotation angle of the new energy automobile in a preset time interval.
In a specific embodiment provided by the application, the number of wheel rotations of the new energy automobile in a preset time interval can be calculated and determined according to the preset time interval and the wheel rotation speed data by collecting the wheel rotation speed data of the new energy automobile through the rotation speed sensor arranged on the new energy automobile. And calculating the distance traveled by the new energy automobile in a preset time interval through the circumference of the wheels and the rotation circles of the wheels of the new energy automobile. And finally determining the running speed of the new energy automobile according to the running distance of the new energy automobile and the preset time interval.
By installing the angle sensor on the steering wheel of the new energy automobile, the angle of the steering wheel at any moment can be determined, and the angle of the steering wheel at the second moment is taken as the steering wheel rotation angle. And determining the wheel rotation angle and the running direction of the new energy automobile according to the preset proportional relation between the steering wheel rotation angle and the wheel rotation angle of the new energy automobile. In the following, an exemplary embodiment of the present application provides that the preset ratio is 10:1. When the steering wheel rotation angle of the new energy automobile which runs forwards is 90 degrees clockwise, the wheel rotation angle is determined to be 9 degrees clockwise according to the preset proportional relation, and the running direction of the new energy automobile is 9 degrees forwards and rightwards
It should be noted that, by acquiring the number of turns of the wheels and the rotation angle of the steering wheel of the new energy automobile within the preset time interval, the running speed and the running direction of the new energy automobile are determined, and compared with the running speed and the running direction of the new energy automobile acquired by adopting the GPS, the implementation cost is lower.
S500: and generating a collision prediction result of the new energy automobile and the detection object according to the running speed of the new energy automobile, the running direction of the new energy automobile, the moving direction of the detection object, the moving speed of the detection object and the interval distance between the detection object and the new energy automobile.
S600: and when the collision prediction result is the first emergency level, controlling the loudspeaker to send out a first prompt tone.
It should be noted that, according to the running speed and running direction of the new energy automobile, the future running path of the new energy automobile can be predicted; according to the moving direction of the detection object, the moving speed of the detection object and the distance between the detection object and the new energy automobile, the future moving path of the detection object can be predicted. When the future running path of the new energy automobile and the future moving path of the detection object have crossing points, and the new energy automobile and the detection object arrive at the crossing points at the same time, the new energy automobile and the detection object are judged to be possibly collided.
Specifically, the collision prediction result may be determined according to the possibility of collision between the new energy automobile and the detection object, and the distance between the detection object and the new energy automobile. When the new energy automobile and the detection object are likely to collide, and the running speed of the new energy automobile is greater than the first preset speed and smaller than or equal to the second preset speed, the interval distance between the detection object and the new energy automobile is greater than the preset distance, and the collision prediction result is determined to be the first emergency level. The first alert tone may be an audio frequency simulating the low speed operation of a conventional fuel engine. The decibel value of the first prompt tone is larger than the first preset value and smaller than or equal to the second preset value, and the decibel value of the first prompt tone is adjusted according to the vehicle speed.
In a specific application scene, in the low-speed running process of the new energy automobile, the noise generated by an engine of the new energy automobile and the noise generated by rolling of a tire on the ground are very small, so that pedestrians hardly perceive the new energy automobile running nearby. The technical problem that the pedestrians who do not notice that the new energy automobiles nearby run have more random actions, so that drivers are difficult to judge the moving direction of the pedestrians and take avoidance measures in advance, and traffic accidents occur is solved. If the driver directly reminds pedestrians by the loudspeaker, the pedestrians are easily frightened and inapplicable to the pedestrians which are nearby and run by the vehicle or collide with the pedestrians. When the new energy automobile runs on some roads with whistle forbidden, a driver cannot remind pedestrians to avoid according to the horn.
Therefore, the application obtains the moving speed and the moving direction of the detection object through the microwave radar, obtains the running speed and the running direction of the new energy automobile through the GPS or obtains the running speed and the running direction of the new energy automobile through the rotating speed sensor and the angle sensor. And determining a collision prediction result according to the moving speed and moving direction of the detection object and the running speed and running direction of the new energy automobile. And controlling the loudspeaker to send out prompt tones according to the collision prediction result of the new energy automobile and the detection object. When the collision prediction result is the first emergency level, the loudspeaker is controlled to send out a first prompt tone, and the decibel value of the first prompt tone is adjusted according to the running speed of the new energy automobile to remind pedestrians of the fact that vehicles nearby the pedestrians are noticed to avoid in running. By predicting the collision prediction result, the speaker is controlled to send out prompt tone, so that the technical problems that the low-speed running of the new energy automobile is difficult to draw attention of pedestrians and traffic accidents are easy to cause are solved. By using the audio frequency simulating the low-speed running of the traditional fuel engine as the first prompt tone, the situation that pedestrians who do not notice the new energy automobile to run nearby are frightened is avoided. And adjusting the decibel value of the first prompt tone according to the running speed of the new energy automobile so that pedestrians can perceive the running speed of the new energy automobile through the decibel value of the first prompt tone.
Further, when the collision prediction result is the first emergency level, the speaker is controlled to send out a first alert sound, which specifically includes:
when the collision prediction result is the first emergency level, determining the direction of the detection object relative to the new energy automobile according to the second feedback result;
and controlling the loudspeaker to send out a first prompt tone towards the direction of the detected object relative to the new energy automobile.
It should be noted that the second feedback result includes information such as a direction, a distance, etc. of the detection object with respect to the microwave radar at the second moment. The loudspeaker adopts a loudspeaker capable of directionally sounding or adopts a loudspeaker which is formed by combining a plurality of loudspeakers and can sound in different directions.
In a specific application scene, when the collision prediction result judges that a pedestrian needs to be reminded, the loudspeaker is controlled to send out a prompt tone, so that the pedestrian can hear the prompt tone sent out by the loudspeaker of the new energy automobile, surrounding residents can hear the prompt tone, and surrounding environment noise pollution is caused. Therefore, according to the direction of the detection object relative to the new energy automobile, the application controls the loudspeaker to send out the prompt tone aiming at the detection object, reduces the prompt tone sent out by the loudspeaker towards the direction except the pedestrian direction, and relieves the noise pollution to the surrounding environment.
Further, the pedestrian collision prediction reminding method further comprises the following steps:
and when the collision prediction result is the second emergency level, controlling the loudspeaker to send out a second prompt tone.
Specifically, when the new energy automobile and the detection object may collide and the running speed of the new energy automobile is greater than the second preset speed, the interval distance between the detection object and the new energy automobile is greater than the preset distance, and the collision prediction result is determined as the second emergency level. The second prompting sound can be audio frequency simulating the acceleration operation of the traditional fuel engine. The decibel value of the second prompt tone is larger than the second preset value and smaller than or equal to the third preset value, and the decibel value of the second prompt tone is adjusted according to the vehicle speed.
In a specific application scene, when the new energy automobile runs at a low speed near a pedestrian, the pedestrian is difficult to perceive the running new energy automobile due to small running noise, and the running speed of the new energy automobile is not perceived. If the running speed of the new energy automobile is greater than the second preset speed, the pedestrian cannot perceive that the running speed of the new energy automobile exceeds the running speed corresponding to the first prompt tone through the first prompt tone. The pedestrian misjudges the running speed of the new energy automobile, so that the pedestrian cannot take avoidance measures in time, and traffic accidents occur.
Therefore, the application detects that the new energy automobile possibly collides with the detection object, the running speed is greater than the second preset speed, the interval distance between the detection object and the new energy automobile is greater than the preset distance, and the loudspeaker is controlled to send out the audio simulating the acceleration operation of the traditional fuel engine. By sending out the audio simulating the acceleration operation of the traditional fuel engine, the pedestrian is prompted that the running speed of the new energy automobile is higher, and avoidance measures are adopted in advance. The first prompt tone sent by the pedestrian through the new energy automobile is avoided, the running speed of the new energy automobile is difficult to perceive, compared with the running speed corresponding to the first prompt tone, the running speed of the new energy automobile is misjudged, and therefore the pedestrian does not take avoidance measures in time, and traffic accidents occur.
Further, the pedestrian collision prediction reminding method further comprises the following steps:
and when the interval distance between the detection object and the new energy automobile is smaller than the preset distance, controlling the loudspeaker to send out a third prompt tone.
Specifically, the third prompting sound adopts a warning sound which can remind pedestrians and prevent the pedestrians from being frightened, and can adopt a dripping sound similar to a reversing radar alarm. And adjusting the decibel value of the third prompting sound according to the distance between the detected object and the new energy automobile. And the decibel value of the third prompting sound is larger than the second preset value and smaller than or equal to the third preset value, and the decibel value of the third prompting sound is adjusted according to the distance between the detection object and the new energy automobile.
In a specific application scene, a pedestrian may have actions such as talking with other people and making a call in the walking process, and the attention of the pedestrian is not focused on observing the surrounding environment. Even if the new energy automobile emits a first prompt tone or a second prompt tone which simulates the operation of the traditional fuel engine, the pedestrians who are not paying attention to the observation environment still cannot notice the new energy automobile which runs, so that the pedestrians cannot avoid the new energy automobile which runs, and the technical problem of traffic accidents occurs. If the driver presses the horn directly at this time, the driver may frighten the pedestrian who is concentrating on the actions such as talking, making a call, etc., and the pedestrian is in conflict. When the new energy automobile runs on the whistle forbidden road section, pedestrians cannot be reminded of paying attention to the automobile to avoid by pressing a loudspeaker.
Therefore, the application proposes that when the interval distance between the detection object and the new energy automobile is smaller than the preset distance, the loudspeaker is controlled to emit the third prompting sound, and as the detection object is closer to the new energy automobile, the decibel value of the third prompting sound emitted by the loudspeaker is controlled to be larger. By sending out the third prompt tone, the pedestrian which is too close to the new energy automobile is reminded, and the technical problem that the pedestrian cannot avoid the vehicle due to the fact that the new energy automobile which is running is too close to the pedestrian is solved, and traffic accidents occur. And the pedestrians can also feel the new energy automobile running nearby by sending out the third prompting sound under the condition that the pedestrians are not frightened, so that the pedestrians which are too close to the new energy automobile and are not concentrated in attention.
Further, the pedestrian collision prediction reminding method further comprises the following steps:
when the number of the detection objects is larger than a preset threshold value, judging that the new energy automobile runs on a walking road section;
when the new energy automobile runs on the walking road section, the running speed of the new energy automobile is controlled not to exceed the first preset speed.
It is understood that the number of the detection objects may be determined by the second feedback result.
In a specific application scenario, when the new energy automobile runs on a road section with more pedestrians, more pedestrians correspond to more behaviors which are difficult to predict, if the new energy automobile runs on the road section with more pedestrians at a too high speed, a driver may not respond to the pedestrians who walk at will. Therefore, the method and the device judge that the new energy automobile runs on the walking road section by detecting that the number of the objects is larger than the preset threshold value, so that the running speed of the new energy automobile is controlled not to exceed the first running speed, and traffic accidents caused by the fact that the new energy automobile runs on the walking road section with more pedestrians at too high speed are avoided.
In a specific embodiment of the present application, the preset threshold is set to 5. When the number of detected objects detected by the new energy automobile is 2, the pedestrians in the road section are considered to be less, and the road section is not a walking road section; when the number of detected objects detected by the new energy automobile is 8, the road section is considered to be a walking road section, and the running speed of the new energy automobile is controlled not to exceed the first preset speed. The described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In summary, according to the pedestrian collision prediction reminding method provided by the application, the speaker is controlled to send out the prompt tone by generating the collision prediction result, so that the probability of occurrence of traffic accidents due to the fact that pedestrians are difficult to notice when a new energy automobile runs at a low speed is reduced; the decibel value of the prompt tone is adjusted according to the running speed of the new energy automobile, so that pedestrians can perceive the speed of the new energy automobile through the decibel value of the prompt tone, and the possibility of timely avoiding of the pedestrians is improved. The second prompt tone is used for simulating the audio frequency of the acceleration operation of the traditional fuel engine, so that the probability that pedestrians are difficult to perceive the running speed of the new energy automobile through the first prompt tone and the running speed corresponding to the first prompt tone is higher, and traffic accidents are caused because the pedestrians do not take evading measures in time is reduced.
Referring to fig. 2, in order to support a pedestrian collision prediction reminding method, the application further provides a pedestrian collision prediction reminding device 100, which is applied to a new energy automobile and includes:
the detection object detection module 11 is configured to transmit a first detection wave through the microwave radar at a first moment, and receive a first feedback wave corresponding to the detection object to obtain a first feedback result; the method is also used for transmitting a second detection wave through the microwave radar at a second moment, receiving a second feedback wave corresponding to the detection object and obtaining a second feedback result; a preset time interval exists between the second moment and the first moment; the method is also used for determining the moving direction of the detection object, the moving speed of the detection object and the interval distance between the detection object and the new energy automobile through the first feedback result, the second feedback result and the preset time interval;
The driving state obtaining module 12 is configured to obtain a driving speed of the new energy automobile and a driving direction of the new energy automobile;
the control module 13 is configured to generate a collision prediction result of the new energy automobile and the detection object according to the running speed of the new energy automobile, the running direction of the new energy automobile, the moving direction of the detection object, the moving speed of the detection object, and the distance between the detection object and the new energy automobile; and the loudspeaker is also used for controlling the loudspeaker to send out a first prompt tone when the collision prediction result is the first emergency level.
First, at a first moment, a first detection wave is transmitted through a microwave radar, and a first feedback wave corresponding to a detection object is received, so that a first feedback result is obtained.
Then, at a second moment, transmitting a second detection wave through the microwave radar, and receiving a second feedback wave corresponding to the detection object to obtain a second feedback result; and a preset time interval exists between the second moment and the first moment.
It will be appreciated that the radar is able to detect the distance of a target object relative to the radar using the difference in physical characteristics between the transmitted and reflected waves. The radar may employ ultrasonic waves, electromagnetic waves (including microwaves), and the like as the transmission waves. Although different kinds of waves can be used for the radar emission, different kinds of emission are selected according to different detection purposes and detection objects.
The microwave radar of the application adopts microwaves as emission waves. The microwaves refer to electromagnetic waves with the wavelength of 1mm to 1m, have the characteristics of easy aggregation into a beam, high directivity and difficult interference of other electromagnetic waves, and are suitable for detecting obstacles around new energy automobiles when the new energy automobiles run on roads. The preset time interval can be adjusted according to the requirement, the shorter the time length is, the more times the microwave radar transmits microwaves and the more times the microwave radar receives microwaves, and the higher the detection frequency of the microwave radar on the detection object is. The detection object may be a pedestrian, an animal, or the like.
In a specific application scenario, at a first moment, a microwave radar transmits a first detection wave through a transmitting antenna. When the first detection wave reaches the detection object, the first detection wave is reflected on the surface of the detection object, and the physical characteristics such as the frequency, the intensity and the like of the first detection wave are changed. The first detection wave reflected on the surface of the detection object is used as a first feedback wave. When the first feedback wave reaches the receiving antenna of the microwave radar, the difference of the physical characteristics between the first transmitting wave and the first feedback wave is calculated, and the information such as the direction, the distance and the like of the detection object relative to the microwave radar at the first moment is determined to be used as a first feedback result.
And after a preset time interval, the microwave radar transmits a second detection wave through the transmitting antenna at a second moment. When the second detection wave reaches the detection object, the second detection wave is reflected on the surface of the detection object, and the physical characteristics such as the frequency and the amplitude of the second detection wave are changed. The second detection wave reflected on the surface of the detection object serves as a second feedback wave. When the second feedback wave reaches the receiving antenna of the microwave radar, calculating the difference of physical characteristics between the second transmitting wave and the first feedback wave, and determining information such as the direction of the detection object relative to the microwave radar, the distance of the detection object relative to the microwave radar, the number of the detection objects and the like at the second moment, as a second feedback result.
And then, determining the moving direction of the detection object, the moving speed of the detection object and the interval distance between the detection object and the new energy automobile through the first feedback result, the second feedback result and the preset time interval.
It should be noted that, the first feedback result refers to information such as a direction, a distance, etc. of the detection object relative to the microwave radar at the first moment; the second feedback result refers to information such as the direction, the distance and the like of the detection object relative to the microwave radar at the second moment. The distance between the detection object and the new energy automobile is the distance between the detection object and the microwave radar at the second moment.
In a specific application scene, according to the direction and distance of a detection object relative to a microwave radar at a first moment, the initial position of the detection object can be determined; the end position of the detection object can be determined according to the direction and distance of the detection object relative to the microwave radar at the second moment. The direction in which the initial position points to the end position is taken as the moving direction of the detection object, and the distance between the initial position and the end position is taken as the moving distance of the detection object in a preset time interval. And calculating the moving speed of the detection object according to the moving distance of the detection object in the preset time interval.
And then, acquiring the running speed and the running direction of the new energy automobile.
It can be understood that the running speed of the new energy automobile refers to the running speed of the new energy automobile relative to the ground, and the running direction of the new energy automobile refers to the running direction of the new energy automobile relative to the ground.
The following describes in detail the implementation process of acquiring the running speed and the running direction of the new energy automobile.
Further, the acquiring the running speed and the running direction of the new energy automobile specifically includes:
At a first moment, acquiring a first space coordinate of the new energy automobile through a GPS;
at a second moment, acquiring a second space coordinate of the new energy automobile through a GPS;
a preset time interval exists between the second moment and the first moment;
and determining the running speed and the running direction of the new energy automobile through the first space coordinate, the second space coordinate and the preset time interval.
Note that GPS (Global Positioning System) refers to a global positioning system, and the current space coordinates can be obtained through GPS. Acquiring the current space coordinate of the new energy automobile through a GPS at a first moment, and taking the current space coordinate as a first space coordinate of the new energy automobile; after a preset time interval, the current space coordinate of the new energy automobile is obtained through the GPS at a second moment and is used as a second space coordinate of the new energy automobile. The driving direction of the new energy automobile is represented by the direction that the first space coordinate points to the second space coordinate, and the driving distance of the new energy automobile is represented by the difference value between the first space coordinate and the second space coordinate. And calculating the running speed of the new energy automobile according to the running distance of the new energy automobile and the preset time interval. The first space coordinate and the second space coordinate of the new energy automobile are acquired through the GPS, and the position of the new energy automobile at the first moment and the second moment can be accurately determined; and the running speed and the running direction of the new energy automobile are obtained through the difference of the positions of the new energy automobile at the first moment and the second moment, so that the accuracy of the obtained running speed and running direction of the new energy automobile is improved.
Further, the acquiring the running speed and the running direction of the new energy automobile specifically includes:
determining the running speed of the new energy automobile according to the number of wheel rotation turns of the new energy automobile in a preset time interval;
and determining the running direction of the new energy automobile according to the steering wheel rotation angle of the new energy automobile in a preset time interval.
In a specific embodiment provided by the application, the number of wheel rotations of the new energy automobile in a preset time interval can be calculated and determined according to the preset time interval and the wheel rotation speed data by collecting the wheel rotation speed data of the new energy automobile through the rotation speed sensor arranged on the new energy automobile. And calculating the distance traveled by the new energy automobile in a preset time interval through the circumference of the wheels and the rotation circles of the wheels of the new energy automobile. And finally determining the running speed of the new energy automobile according to the running distance of the new energy automobile and the preset time interval.
By installing the angle sensor on the steering wheel of the new energy automobile, the angle of the steering wheel at any moment can be determined, and the angle of the steering wheel at the second moment is taken as the steering wheel rotation angle. And determining the wheel rotation angle and the running direction of the new energy automobile according to the preset proportional relation between the steering wheel rotation angle and the wheel rotation angle of the new energy automobile. In the following, an exemplary embodiment of the present application provides that the preset ratio is 10:1. When the steering wheel rotation angle of the new energy automobile which runs forwards is 90 degrees clockwise, the wheel rotation angle is determined to be 9 degrees clockwise according to the preset proportional relation, and the running direction of the new energy automobile is 9 degrees forwards and rightwards
It should be noted that, by acquiring the number of turns of the wheels and the rotation angle of the steering wheel of the new energy automobile within the preset time interval, the running speed and the running direction of the new energy automobile are determined, and compared with the running speed and the running direction of the new energy automobile acquired by adopting the GPS, the implementation cost is lower.
And then, generating a collision prediction result of the new energy automobile and the detection object according to the running speed of the new energy automobile, the running direction of the new energy automobile, the moving direction of the detection object, the moving speed of the detection object and the interval distance between the detection object and the new energy automobile.
Finally, when the collision prediction result is the first emergency level, the loudspeaker is controlled to send out a first prompt tone.
It should be noted that, according to the running speed and running direction of the new energy automobile, the future running path of the new energy automobile can be predicted; according to the moving direction of the detection object, the moving speed of the detection object and the distance between the detection object and the new energy automobile, the future moving path of the detection object can be predicted. When the future running path of the new energy automobile and the future moving path of the detection object have crossing points, and the new energy automobile and the detection object arrive at the crossing points at the same time, the new energy automobile and the detection object are judged to be possibly collided.
Specifically, the collision prediction result may be determined according to the possibility of collision between the new energy automobile and the detection object, and the distance between the detection object and the new energy automobile. When the new energy automobile and the detection object are likely to collide, and the running speed of the new energy automobile is greater than the first preset speed and smaller than or equal to the second preset speed, the interval distance between the detection object and the new energy automobile is greater than the preset distance, and the collision prediction result is determined to be the first emergency level. The first alert tone may be an audio frequency simulating the low speed operation of a conventional fuel engine. The decibel value of the first prompt tone is larger than the first preset value and smaller than or equal to the second preset value, and the decibel value of the first prompt tone is adjusted according to the vehicle speed.
In a specific application scene, in the low-speed running process of the new energy automobile, the noise generated by an engine of the new energy automobile and the noise generated by rolling of a tire on the ground are very small, so that pedestrians hardly perceive the new energy automobile running nearby. The technical problem that the pedestrians who do not notice that the new energy automobiles nearby run have more random actions, so that drivers are difficult to judge the moving direction of the pedestrians and take avoidance measures in advance, and traffic accidents occur is solved. If the driver directly reminds pedestrians by the loudspeaker, the pedestrians are easily frightened and inapplicable to the pedestrians which are nearby and run by the vehicle or collide with the pedestrians. When the new energy automobile runs on some roads with whistle forbidden, a driver cannot remind pedestrians to avoid according to the horn.
Therefore, the application obtains the moving speed and the moving direction of the detection object through the microwave radar, obtains the running speed and the running direction of the new energy automobile through the GPS or obtains the running speed and the running direction of the new energy automobile through the rotating speed sensor and the angle sensor. And determining a collision prediction result according to the moving speed and moving direction of the detection object and the running speed and running direction of the new energy automobile. And controlling the loudspeaker to send out prompt tones according to the collision prediction result of the new energy automobile and the detection object. When the collision prediction result is the first emergency level, the loudspeaker is controlled to send out a first prompt tone, and the decibel value of the first prompt tone is adjusted according to the running speed of the new energy automobile to remind pedestrians of the fact that vehicles nearby the pedestrians are noticed to avoid in running. By predicting the collision prediction result, the speaker is controlled to send out prompt tone, so that the technical problems that the low-speed running of the new energy automobile is difficult to draw attention of pedestrians and traffic accidents are easy to cause are solved. By using the audio frequency simulating the low-speed running of the traditional fuel engine as the first prompt tone, the situation that pedestrians who do not notice the new energy automobile to run nearby are frightened is avoided. And adjusting the decibel value of the first prompt tone according to the running speed of the new energy automobile so that pedestrians can perceive the running speed of the new energy automobile through the decibel value of the first prompt tone.
Further, when the collision prediction result is the first emergency level, the speaker is controlled to send out a first alert sound, which specifically includes:
when the collision prediction result is the first emergency level, determining the direction of the detection object relative to the new energy automobile according to the second feedback result;
and controlling the loudspeaker to send out a first prompt tone towards the direction of the detected object relative to the new energy automobile.
It should be noted that the second feedback result includes information such as a direction, a distance, etc. of the detection object with respect to the microwave radar at the second moment. The loudspeaker adopts a loudspeaker capable of directionally sounding or adopts a loudspeaker which is formed by combining a plurality of loudspeakers and can sound in different directions.
In a specific application scene, when the collision prediction result judges that a pedestrian needs to be reminded, the loudspeaker is controlled to send out a prompt tone, so that the pedestrian can hear the prompt tone sent out by the loudspeaker of the new energy automobile, surrounding residents can hear the prompt tone, and surrounding environment noise pollution is caused. Therefore, according to the direction of the detection object relative to the new energy automobile, the application controls the loudspeaker to send out the prompt tone aiming at the detection object, reduces the prompt tone sent out by the loudspeaker towards the direction except the pedestrian direction, and relieves the noise pollution to the surrounding environment.
Further, the pedestrian collision prediction reminding method further comprises the following steps:
and when the collision prediction result is the second emergency level, controlling the loudspeaker to send out a second prompt tone.
Specifically, when the new energy automobile and the detection object may collide and the running speed of the new energy automobile is greater than the second preset speed, the interval distance between the detection object and the new energy automobile is greater than the preset distance, and the collision prediction result is determined as the second emergency level. The second prompting sound can be audio frequency simulating the acceleration operation of the traditional fuel engine. The decibel value of the second prompt tone is larger than the second preset value and smaller than or equal to the third preset value, and the decibel value of the second prompt tone is adjusted according to the vehicle speed.
In a specific application scene, when the new energy automobile runs at a low speed near a pedestrian, the pedestrian is difficult to perceive the running new energy automobile due to small running noise, and the running speed of the new energy automobile is not perceived. If the running speed of the new energy automobile is greater than the second preset speed, the pedestrian cannot perceive that the running speed of the new energy automobile exceeds the running speed corresponding to the first prompt tone through the first prompt tone. The pedestrian misjudges the running speed of the new energy automobile, so that the pedestrian cannot take avoidance measures in time, and traffic accidents occur.
Therefore, the application detects that the new energy automobile possibly collides with the detection object, the running speed is greater than the second preset speed, the interval distance between the detection object and the new energy automobile is greater than the preset distance, and the loudspeaker is controlled to send out the audio simulating the acceleration operation of the traditional fuel engine. By sending out the audio simulating the acceleration operation of the traditional fuel engine, the pedestrian is prompted that the running speed of the new energy automobile is higher, and avoidance measures are adopted in advance. The first prompt tone sent by the pedestrian through the new energy automobile is avoided, the running speed of the new energy automobile is difficult to perceive, compared with the running speed corresponding to the first prompt tone, the running speed of the new energy automobile is misjudged, and therefore the pedestrian does not take avoidance measures in time, and traffic accidents occur.
Further, the pedestrian collision prediction reminding method further comprises the following steps:
and when the interval distance between the detection object and the new energy automobile is smaller than the preset distance, controlling the loudspeaker to send out a third prompt tone.
Specifically, the third prompting sound adopts a warning sound which can remind pedestrians and prevent the pedestrians from being frightened, and can adopt a dripping sound similar to a reversing radar alarm. And adjusting the decibel value of the third prompting sound according to the distance between the detected object and the new energy automobile. And the decibel value of the third prompting sound is larger than the second preset value and smaller than or equal to the third preset value, and the decibel value of the third prompting sound is adjusted according to the distance between the detection object and the new energy automobile.
In a specific application scene, a pedestrian may have actions such as talking with other people and making a call in the walking process, and the attention of the pedestrian is not focused on observing the surrounding environment. Even if the new energy automobile emits a first prompt tone or a second prompt tone which simulates the operation of the traditional fuel engine, the pedestrians who are not paying attention to the observation environment still cannot notice the new energy automobile which runs, so that the pedestrians cannot avoid the new energy automobile which runs, and the technical problem of traffic accidents occurs. If the driver presses the horn directly at this time, the driver may frighten the pedestrian who is concentrating on the actions such as talking, making a call, etc., and the pedestrian is in conflict. When the new energy automobile runs on the whistle forbidden road section, pedestrians cannot be reminded of paying attention to the automobile to avoid by pressing a loudspeaker.
Therefore, the application proposes that when the interval distance between the detection object and the new energy automobile is smaller than the preset distance, the loudspeaker is controlled to emit the third prompting sound, and as the detection object is closer to the new energy automobile, the decibel value of the third prompting sound emitted by the loudspeaker is controlled to be larger. By sending out the third prompt tone, the pedestrian which is too close to the new energy automobile is reminded, and the technical problem that the pedestrian cannot avoid the vehicle due to the fact that the new energy automobile which is running is too close to the pedestrian is solved, and traffic accidents occur. And the pedestrians can also feel the new energy automobile running nearby by sending out the third prompting sound under the condition that the pedestrians are not frightened, so that the pedestrians which are too close to the new energy automobile and are not concentrated in attention.
Further, the pedestrian collision prediction reminding method further comprises the following steps:
when the number of the detection objects is larger than a preset threshold value, judging that the new energy automobile runs on a walking road section;
when the new energy automobile runs on the walking road section, the running speed of the new energy automobile is controlled not to exceed the first preset speed.
It is understood that the number of the detection objects may be determined by the second feedback result.
In a specific application scenario, when the new energy automobile runs on a road section with more pedestrians, more pedestrians correspond to more behaviors which are difficult to predict, if the new energy automobile runs on the road section with more pedestrians at a too high speed, a driver may not respond to the pedestrians who walk at will. Therefore, the method and the device judge that the new energy automobile runs on the walking road section by detecting that the number of the objects is larger than the preset threshold value, so that the running speed of the new energy automobile is controlled not to exceed the first running speed, and traffic accidents caused by the fact that the new energy automobile runs on the walking road section with more pedestrians at too high speed are avoided.
In a specific embodiment of the present application, the preset threshold is set to 5. When the number of detected objects detected by the new energy automobile is 2, the pedestrians in the road section are considered to be less, and the road section is not a walking road section; when the number of detected objects detected by the new energy automobile is 8, the road section is considered to be a walking road section, and the running speed of the new energy automobile is controlled not to exceed the first preset speed. The described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In summary, according to the pedestrian collision prediction reminding device 100 provided by the application, the speaker is controlled to send out the prompt tone by generating the collision prediction result, so that the probability of occurrence of traffic accidents due to difficulty in noticing pedestrians during low-speed running of the new energy automobile is reduced; the decibel value of the prompt tone is adjusted according to the running speed of the new energy automobile, so that pedestrians can perceive the speed of the new energy automobile through the decibel value of the prompt tone, and the possibility of timely avoiding of the pedestrians is improved. The second prompt tone is used for simulating the audio frequency of the acceleration operation of the traditional fuel engine, so that the probability that pedestrians are difficult to perceive the running speed of the new energy automobile through the first prompt tone and the running speed corresponding to the first prompt tone is higher, and traffic accidents are caused because the pedestrians do not take evading measures in time is reduced.
It should 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 foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.

Claims (10)

1. The pedestrian collision prediction reminding method is characterized by being applied to a new energy automobile and comprising the following steps of:
at a first moment, transmitting a first detection wave through a microwave radar, and receiving a first feedback wave corresponding to a detection object to obtain a first feedback result;
transmitting a second detection wave through the microwave radar at a second moment, and receiving a second feedback wave corresponding to the detection object to obtain a second feedback result; a preset time interval exists between the second moment and the first moment;
Determining the moving direction of the detection object, the moving speed of the detection object and the interval distance between the detection object and the new energy automobile through the first feedback result, the second feedback result and the preset time interval;
acquiring the running speed and the running direction of the new energy automobile;
generating a collision prediction result of the new energy automobile and the detection object according to the running speed of the new energy automobile, the running direction of the new energy automobile, the moving direction of the detection object, the moving speed of the detection object and the interval distance between the detection object and the new energy automobile;
and when the collision prediction result is the first emergency level, controlling the loudspeaker to send out a first prompt tone.
2. The pedestrian collision prediction reminding method according to claim 1, wherein the acquiring the running speed of the new energy automobile and the running direction of the new energy automobile specifically comprises:
at a first moment, acquiring a first space coordinate of the new energy automobile through a GPS;
at a second moment, acquiring a second space coordinate of the new energy automobile through a GPS;
a preset time interval exists between the second moment and the first moment;
and determining the running speed and the running direction of the new energy automobile through the first space coordinate, the second space coordinate and the preset time interval.
3. The pedestrian collision prediction reminding method according to claim 1, wherein the acquiring the running speed of the new energy automobile and the running direction of the new energy automobile specifically comprises:
determining the running speed of the new energy automobile according to the number of wheel rotation turns of the new energy automobile in a preset time interval;
and determining the running direction of the new energy automobile according to the steering wheel rotation angle of the new energy automobile in a preset time interval.
4. The pedestrian collision prediction reminding method according to claim 1, characterized in that the pedestrian collision prediction reminding method further comprises:
and when the collision prediction result is the second emergency level, controlling the loudspeaker to send out a second prompt tone.
5. The pedestrian collision prediction reminding method according to claim 1, characterized in that the pedestrian collision prediction reminding method further comprises:
and when the interval distance between the detection object and the new energy automobile is smaller than the preset distance, controlling the loudspeaker to send out a third prompt tone.
6. The pedestrian collision prediction reminding method according to claim 1, characterized in that the pedestrian collision prediction reminding method further comprises:
when the number of the detection objects is larger than a preset threshold value, judging that the new energy automobile runs on a walking road section;
When the new energy automobile runs on the walking road section, the running speed of the new energy automobile is controlled not to exceed the first preset speed.
7. The pedestrian collision prediction reminding method according to claim 1, wherein when the collision prediction result is a first emergency level, the speaker is controlled to send out a first alert sound, and the method specifically comprises:
when the collision prediction result is the first emergency level, determining the direction of the detection object relative to the new energy automobile according to the second feedback result;
and controlling the loudspeaker to send out a first prompt tone towards the direction of the detected object relative to the new energy automobile.
8. The utility model provides a pedestrian collision prediction reminding device which characterized in that, the device is applied to new energy automobile, includes:
the detection object detection module is used for transmitting a first detection wave through the microwave radar at a first moment, receiving a first feedback wave corresponding to the detection object and obtaining a first feedback result; the method is also used for transmitting a second detection wave through the microwave radar at a second moment, receiving a second feedback wave corresponding to the detection object and obtaining a second feedback result; a preset time interval exists between the second moment and the first moment; the method is also used for determining the moving direction of the detection object, the moving speed of the detection object and the interval distance between the detection object and the new energy automobile through the first feedback result, the second feedback result and the preset time interval;
The driving state acquisition module is used for acquiring the driving speed and the driving direction of the new energy automobile;
the control module is used for generating a collision prediction result of the new energy automobile and the detection object according to the running speed of the new energy automobile, the running direction of the new energy automobile, the moving direction of the detection object, the moving speed of the detection object and the interval distance between the detection object and the new energy automobile; and the loudspeaker is also used for controlling the loudspeaker to send out a first prompt tone when the collision prediction result is the first emergency level.
9. The pedestrian collision prediction reminding device according to claim 8, wherein the acquiring the running speed of the new energy automobile and the running direction of the new energy automobile specifically comprises:
at a first moment, acquiring a first space coordinate of the new energy automobile through a GPS;
at a second moment, acquiring a second space coordinate of the new energy automobile through a GPS;
a preset time interval exists between the second moment and the first moment;
and determining the running speed and the running direction of the new energy automobile through the first space coordinate, the second space coordinate and the preset time interval.
10. The pedestrian collision prediction reminding device according to claim 8, wherein the acquiring the running speed of the new energy automobile and the running direction of the new energy automobile specifically comprises:
Determining the running speed of the new energy automobile according to the number of wheel rotation turns of the new energy automobile in a preset time interval;
and determining the running direction of the new energy automobile according to the steering wheel rotation angle of the new energy automobile in a preset time interval.
CN202310709623.5A 2023-06-15 2023-06-15 Pedestrian collision prediction reminding method and device Pending CN116691496A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118131239A (en) * 2024-04-30 2024-06-04 天津港轮驳有限公司 Anti-collision method and system for inner top towing operation of full-rotation towing wheel port

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118131239A (en) * 2024-04-30 2024-06-04 天津港轮驳有限公司 Anti-collision method and system for inner top towing operation of full-rotation towing wheel port
CN118131239B (en) * 2024-04-30 2024-07-09 天津港轮驳有限公司 Anti-collision method and system for inner top towing operation of full-rotation towing wheel port

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