CN207328264U - Available for unmanned and manned vehicle road pedestrian system for prompting - Google Patents

Available for unmanned and manned vehicle road pedestrian system for prompting Download PDF

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Publication number
CN207328264U
CN207328264U CN201720884554.1U CN201720884554U CN207328264U CN 207328264 U CN207328264 U CN 207328264U CN 201720884554 U CN201720884554 U CN 201720884554U CN 207328264 U CN207328264 U CN 207328264U
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sound
modular converter
pedestrian
unmanned
prompting
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陈升东
陆聪
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Guangzhou Institute of Software Application Technology Guangzhou GZIS
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Guangzhou Institute of Software Application Technology Guangzhou GZIS
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Abstract

It can be used for the unmanned and road pedestrian system for prompting of manned vehicle the utility model discloses a kind of, including at least one detector, analysis judgment module, modular converter, sound-producing device, fixed repertorie, analysis judgment module is connected with detector, modular converter respectively, and modular converter is connected with fixed repertorie, sound-producing device respectively.The utility model segments road ahead scene, according to scene and using sound bank and speech engine technologies broadcast be more intelligent, diversified voice reminder information, to substitute or supplement conventional horn.User-friendliness is lifted, lifts traffic safety.The directional sound that the utility model uses is broadcasted by ultrasonic wave.Ultrasonic wave in the sector region formed of transmission positive direction about 0 10 degree of side by being propagated.Therefore, only the pedestrian of vehicle front can hear warning.Pedestrian outside the scope will not hear broadcast.The sound wave that conventional horn is sent generally can be along 360 degree of propagation around sound source.It is smaller compared to the noise that the utility model produces.

Description

Available for unmanned and manned vehicle road pedestrian system for prompting
Technical field
It the utility model is related to automatic control technology field, and in particular to one kind can be used for unmanned and manned car Road pedestrian system for prompting.
Background technology
Through investigation, current various unmanned vehicles, auxiliary drive vehicle and still mainly send police to Pedestrians and vehicles around using loudspeaker Accuse.
All vehicle-mounted horn systems all use audible sound both at home and abroad at present.The 360 degree of propagation of audible sound energy, spread scope Extensively.It is outdoor vehicle-mounted loudspeaker in broadcast area and the orientation technology of acoustic wave with high directionality is few in transportation industry application Do not apply in field.
Patent CN204795561U proposes a kind of technical solution of ultrasonic wave directive property car audio system.But the program The broadcast area of middle ultrasonic wave is different from the application field of this patent in car steering room.
Although unmanned technology obtains significant development at present, unmanned vehicle, auxiliary driving are to road vehicle pedestrian's Warning reminding technology still lags.Current road pedestrian system for prompting state-of-the-art in the world is the intelligent horn of Google's unmanned vehicle System.Around when pedestrian, vehicle and itself hypotelorism, which can send police automatically by very brief or lasting tucket Accuse, there is certain intelligent level.Vehicle-mounted horn system both domestic and external, including the system of Google's unmanned vehicle have as follows not Foot:
1. carrier is used as using common audible sound.Since audible sound is generally along 360 degree of propagation, not only car around sound source Pedestrian in front of can hear that the pedestrian in other regions can also hear.Therefore especially for urban district for, the vehicle-mounted loudspeaker of audible sound Generate larger noise.It currently there are the orientation sound technique that sounding is oriented using ultrasonic wave, but the skill Art is few in field of traffic application, and vehicle-mounted horn art is not applied outdoors.
2. the information content of broadcast is single, mode is simple, and the warning effect of generation is limited, and user-friendliness is relatively low.For For the intelligent horn system of the state-of-the-art Google's unmanned vehicle in the world, broadcasted content is limited, only very brief whistle and lasting whistle Deng several types.But in real complicated traffic environment, vehicle can face complicated and diversified dangerous and emergency case.Such as When the danger that front collides with the presence of barrier with vehicle, vehicle need to be judged from a variety of different scenes, such as should Barrier is pedestrian or vehicle, the two is distant or nearer etc..The coping style and warning mode of each scene All it is possible to different.In face of complicated emergency case, developing more diversified, intelligentized road pedestrian system for prompting can be significantly Lift the security of vehicle.
Utility model content
In view of this, in order to solve the above problem of the prior art, driven the utility model proposes one kind available for nobody Sail the road pedestrian system for prompting with manned vehicle.
The utility model is solved the above problems by following technological means:
It is a kind of to can be used for the unmanned and road pedestrian system for prompting of manned vehicle, including at least one detection Device, analysis judgment module, modular converter, sound-producing device, fixed repertorie, analysis judgment module respectively with detector, modular converter Connection, modular converter are connected with fixed repertorie, sound-producing device respectively;
The detector is used for the traffic information for collecting vehicle periphery, and traffic information is sent to analysis judgment module;
The analysis judgment module is used to be analyzed and processed the traffic information received, judges whether vehicle front has Pedestrian, if there is pedestrian in front, the control signal for playing Audio Alert information is sent to modular converter, afterwards, when judging vehicle When front is without pedestrian, the control signal for stopping playing Audio Alert information is sent to modular converter;
The fixed repertorie, which is used to store, reminds sentence and warning sound, and sentence and warning sound will be reminded to be changed into sound Frequency file is sent to modular converter;
The modular converter is used for the audio file that when receiving the control signal for playing Audio Alert information, will be received Electric signal is modulated to, is sent to sound-producing device;When receiving the control signal for stopping broadcasting Audio Alert information, stop modulation electricity Signal;
The sound-producing device is used to orient sounding forwards according to the electric signal received.
Further, the analysis judgment module is also connected with fixed repertorie;
The analysis judgment module is additionally operable in the case of having pedestrian in front, further analyzes road ahead scene, bag Include the front distance of pedestrian, number number, obstacle identity be pedestrian or vehicle;And road ahead scene is sent to solid Attribute storehouse;
The fixed repertorie is additionally operable to remind sentence according to the road ahead scene selection received is corresponding, by reminding language Sentence is changed into audio file and is sent to modular converter.
Further, it is described to can be used for unmanned and manned vehicle road pedestrian system for prompting to further include voice Engine and language library, the speech engine are connected with analysis judgment module, language library, modular converter respectively;
The analysis judgment module is additionally operable to after analysis road ahead scene, further determines whether that voice to be called draws Hold up, if it is send road ahead scene to speech engine;If road ahead scene is otherwise sent to fixed repertorie;
The language library is used to store substantial amounts of word, vocabulary, sentence, and is downloaded by network and cloud platform, renewal;
The speech engine is used to select appropriate text synthesis from language library according to the road ahead scene received, turns It is changed into audio file, then audio file is sent to modular converter.
Further, the detector is camera, laser radar, millimetre-wave radar or differential GPS.
Further, the modular converter is power amplifier.
Further, the sound-producing device is directional sound.
Further, the sound-producing device is installed near vehicle roof or headstock.
Further, the detector sends traffic information by wire communication or wireless communication to analysis judgment module.
Further, the wire communication is fiber optic communication or serial communication.
Further, the wireless communication is vehicle-mounted wifi, cellular mobile network or bluetooth.
Compared with prior art, the beneficial effects of the utility model are as follows:
The hysteresis that the utility model is automatically reminded to periphery pedestrian on unmanned vehicle, auxiliary driving vehicle warning technology carries out weight Supplement.Road ahead scene is segmented, it is according to scene and more intelligent, diversified using sound bank and speech engine technologies broadcast Voice reminder information, to substitute or supplement conventional horn.User-friendliness is lifted, lifts traffic safety.
The directional sound that the utility model uses is broadcasted by ultrasonic wave.Ultrasonic wave is by transmission positive direction side about 0- Propagated in 10 degree of sector regions formed.Therefore, only the pedestrian of vehicle front can hear warning.Outside the scope Pedestrian will not hear broadcast.The sound wave that conventional horn is sent generally can be along 360 degree of propagation around sound source.In contrast, this practicality The noise of new generation is smaller.
Brief description of the drawings
It is required in being described below to embodiment in order to illustrate more clearly of the technical scheme in the embodiment of the utility model Attached drawing to be used is briefly described, it should be apparent that, drawings in the following description are only some realities of the utility model Example is applied, for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings Obtain other attached drawings.
Fig. 1 is the structure diagram of the utility model;
Fig. 2 is the physical connection mode figure of each component of the utility model;
Appearance figure when Fig. 3 is the utility model operation.
Embodiment
To enable the above-mentioned purpose of the utility model, feature and advantage more obvious understandable, below in conjunction with attached drawing and The technical solution of the utility model is described in detail in specific embodiment.It is pointed out that described embodiment is only Only it is the utility model part of the embodiment, instead of all the embodiments, based on the embodiment in the utility model, this area Those of ordinary skill's all other embodiments obtained without making creative work, belong to the utility model The scope of protection.
As shown in Figure 1 and Figure 2, the utility model provides a kind of available for the unmanned and road of manned vehicle Pedestrian's system for prompting, including detector 1 (include the spy of all forms such as camera, laser radar, millimetre-wave radar, differential GPS Survey device/sensor), analysis judgment module 2, modular converter 3, sound-producing device 4, fixed repertorie 5, speech engine 6 and language library 7.
Detector 1 collects the traffic information of vehicle periphery by various kinds of sensors.Including the road needed for the utility model The feature and information of upper pedestrian.Heat transfer agent is sent to analysis judgment module 2 by detector 1.Detector 1 can pass through various shapes The wire communication of formula, such as fiber optic communication, serial communication, or wireless communication, such as vehicle-mounted wifi, cellular mobile network, bluetooth, to point Analyse judgment module 2 and send heat transfer agent.
Analysis judgment module 2 has two functions in the utility model:Function one:The information that all kinds of detectors 1 are sent Analyzing and processing is (such as by way of video identification) and judges whether vehicle front has pedestrian.Function two:Have pedestrian's in front In the case of, determine whether road ahead scene, the distance, number such as front pedestrian number, obstacle identity for pedestrian also It is vehicle etc..Function one is to analyze the basic function of judgment module 2, and necessary function.Function two is a Premium Features. When not possessing function two, the utility model still can be with normal operation;When possessing function two, the intelligent journey of the utility model Degree will greatly improve.
If front will not be broadcasted without pedestrian, the utility model.Judgment module 2 is analyzed if pedestrian in front The control signal for playing Audio Alert information is sent to modular converter 3.
Meanwhile analyze judgment module 2 and the road scene in front is judged by the data of collection, i.e., above-mentioned function Two.Judge front for after which kind of road scene, analysis judgment module 2 sends scene to fixed repertorie 5.
Fixed repertorie 5 selects corresponding prompting sentence or warning sound according to scene, and sentence or warning sound are changed into Audio file is sent to modular converter 3.(the function when analyzing judgment module 2 and not having the function of judging road ahead scene Two), fixed repertorie 5 can control from analysis judgment module 2, independently transmitted audio file to modular converter 3.Fixation carries at this time Awake repertorie need to only store a sentence.
Except fixed repertorie 5, also expansible two modules of the utility model:Speech engine 6 and language library 7, with further Automation, the selection and synthesis of intelligent text, audio.Language library 7 contains word, vocabulary, sentence under a large amount of text formattings. Language library can be downloaded by network and cloud platform and renewal sentence.Speech engine 6 receives road ahead from analysis judgment module 2 Scene, selects appropriate text to synthesize, is changed into audio file according to scene from language library 7, then by audio file send to turn Change the mold block 3.
Audio file is modulated to telecommunications by modular converter 3 after the audio file of speech engine 6 or fixed repertorie 5 is received Number, send to sound-producing device 4.When analyzing 2 command conversion module 3 of judgment module stopping broadcasting audio, modular converter 3 stops adjusting Audio signal processed.The function of modular converter can be, but not limited to be realized by power amplifier.
After sound-producing device 4 receives the electric signal that modular converter 3 is sent, sounding is oriented according to electric signal forwards.Sounding fills The function of putting 4 is realized by the directional sound of transmitting ultrasonic wave.The ultrasonic wave of the directional sound transmitting of the utility model is along ultrasonic wave Propagated in the sector region formed at left and right sides of advance positive direction within about 5 degree, as shown in Figure 3.Pedestrian outside sector region without Method hears broadcast.
The utility model includes detector 1, analysis judgment module 2, modular converter 3, sound-producing device 4, fixed repertorie 5, language Sound engine 6 and language library 7.Wherein detector 1, analysis judgment module 2, modular converter 3, sound-producing device 4, fixed repertorie 5 belong to The core component of system.The operation important role of speech engine 6 and language library 7 to system, but belong to extendable member, In the case that both parts are not present, system still can be with normal operation.The step of being run below for the utility model.
Step 1:Be provided with the utility model describe device automatic driving vehicle or manned vehicle in road uplink Sail.Detector 1 (including the various forms of sensing equipments such as camera, laser radar, millimetre-wave radar) is in real time to vehicle periphery Environment perceived and detected, and by sensing data send to analysis judgment module 2.
Step 2:The road information that analysis judgment module 2 transmits detector 1 judges.When analysis judgment module 2 is sentenced When breaking in front of without Pedestrians and vehicles, the control signal of broadcast is not sent to modular converter 3.Before analysis judgment module 2 is judged When there is Pedestrians and vehicles in side, the control signal broadcasted is sent to modular converter 3.Meanwhile analyze judgment module and determine whether Road ahead scene, such as pedestrian and the distance of car distance, barrier is pedestrian or vehicle etc..
Step 3:After determining road ahead scene, analysis judgment module 2 sends scene to fixed repertorie 5 or speech engine 6.The function of fixed repertorie 5 and speech engine 6 is all to select corresponding text or warning sound according to the scene of transmission and change Send to modular converter and broadcasted for audio-frequency information.The two is distinguished as the statement text that fixed repertorie 5 stores fixed qty, And speech engine can synthesize statement text by the word in language library, word, sentence.In the case of most basic, fixed repertorie A statement text is only stored, such as " back car, please avoid!" signal language.
Step 4:Modular converter 3 receives the control signal of broadcast from analysis judgment module 2, and draws from fixed repertorie or voice Hold up after receiving audio-frequency information, audio-frequency information is modulated to electric signal and is sent to sound-producing device 4.The function of modular converter 3 can with but It is not limited to be realized by power amplifier.
Step 5:The electric signal of modular converter 5 is converted to ultrasonic wave by sound-producing device 4, is launched to vehicle front, such as Fig. 3 institutes Show.Fig. 3 provides the position mount scheme of two sound-producing devices 4, and one is mounted to vehicle roof, and two to be mounted to headstock attached Closely.The key of sound-producing device installation site and mode is that loudspeaker must face road ahead.The reality of the system sound-producing device Installation site is not limited to two positions of Fig. 3 offers.Ultrasonic wave energy is in front each about 0-10 degree (this implementation to left and right Example is 5 degree) in the sector region interior orientation propagation (as shown in Figure 3) that is formed, the pedestrian in the region can hear warning.The area Overseas pedestrian will not hear warning.
Step 6:When analysis judgment module 6 judges vehicle front without pedestrian, 2 command conversion module 3 of judgment module is analyzed Stop modulation signal, broadcast stops.
The hysteresis that the utility model is automatically reminded to periphery pedestrian on unmanned vehicle, auxiliary driving vehicle warning technology carries out weight Supplement.Road ahead scene is segmented, it is according to scene and more intelligent, diversified using sound bank and speech engine technologies broadcast Voice reminder information, to substitute or supplement conventional horn.User-friendliness is lifted, lifts traffic safety.
The directional sound that the utility model uses is broadcasted by ultrasonic wave.Ultrasonic wave is by transmission positive direction side about 0- Propagated in 10 degree of sector regions formed.Therefore, only the pedestrian of vehicle front can hear warning.Outside the scope Pedestrian will not hear broadcast.The sound wave that conventional horn is sent generally can be along 360 degree of propagation.In contrast, the utility model produces Noise it is smaller.
Embodiment described above only expresses the several embodiments of the utility model, its description is more specific and detailed, But it should not be interpreted as limiting the scope of the present invention.It should be pointed out that for the common of this area For technical staff, without departing from the concept of the premise utility, various modifications and improvements can be made, these all belong to In the scope of protection of the utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.

Claims (10)

1. a kind of can be used for the unmanned and road pedestrian system for prompting of manned vehicle, it is characterised in that including at least One detector, analysis judgment module, modular converter, sound-producing device, fixed repertorie, analysis judgment module respectively with detector, Modular converter connects, and modular converter is connected with fixed repertorie, sound-producing device respectively;
The detector is used for the traffic information for collecting vehicle periphery, and traffic information is sent to analysis judgment module;
The analysis judgment module is used to be analyzed and processed the traffic information received, judges whether vehicle front has row People, if there is pedestrian in front, the control signal for playing Audio Alert information is sent to modular converter, afterwards, before vehicle is judged When side is without pedestrian, the control signal for stopping playing Audio Alert information is sent to modular converter;
The fixed repertorie, which is used to store, reminds sentence and warning sound, and sentence and warning sound will be reminded to be changed into audio text Part is sent to modular converter;
The modular converter is used to, when receiving the control signal for playing Audio Alert information, the audio file received be modulated For electric signal, sound-producing device is sent to;When receiving the control signal for stopping broadcasting Audio Alert information, stop modulation telecommunications Number;
The sound-producing device is used to orient sounding forwards according to the electric signal received.
2. according to claim 1 can be used for the unmanned and road pedestrian system for prompting of manned vehicle, it is special Sign is that the analysis judgment module is also connected with fixed repertorie;
The analysis judgment module is additionally operable in the case of having pedestrian in front, further analyzes road ahead scene, including preceding The distance of square pedestrian, the number of number, obstacle identity are pedestrian or vehicle;And road ahead scene is sent to fixed language Storehouse;
The fixed repertorie is additionally operable to remind sentence according to the road ahead scene selection received is corresponding, and sentence will be reminded to turn It is changed into audio file and is sent to modular converter.
3. according to claim 2 can be used for the unmanned and road pedestrian system for prompting of manned vehicle, it is special Sign is, described to can be used for unmanned and manned vehicle road pedestrian system for prompting to further include speech engine and language Storehouse, the speech engine are connected with analysis judgment module, language library, modular converter respectively;
The analysis judgment module is additionally operable to after analysis road ahead scene, further determines whether speech engine to be called, If it is road ahead scene is sent to speech engine;If road ahead scene is otherwise sent to fixed repertorie;
The language library is used to store substantial amounts of word, vocabulary, sentence, and is downloaded by network and cloud platform, renewal;
The speech engine is used to select appropriate text synthesis from language library according to the road ahead scene received, is changed into Audio file, then audio file is sent to modular converter.
4. according to claim 1 can be used for the unmanned and road pedestrian system for prompting of manned vehicle, it is special Sign is that the detector is camera, laser radar, millimetre-wave radar or differential GPS.
5. according to claim 1 can be used for the unmanned and road pedestrian system for prompting of manned vehicle, it is special Sign is that the modular converter is power amplifier.
6. according to claim 1 can be used for the unmanned and road pedestrian system for prompting of manned vehicle, it is special Sign is that the sound-producing device is directional sound.
7. according to claim 1 can be used for the unmanned and road pedestrian system for prompting of manned vehicle, it is special Sign is that the sound-producing device is installed near vehicle roof or headstock.
8. according to claim 1 can be used for the unmanned and road pedestrian system for prompting of manned vehicle, it is special Sign is that the detector sends traffic information by wire communication or wireless communication to analysis judgment module.
9. according to claim 8 can be used for the unmanned and road pedestrian system for prompting of manned vehicle, it is special Sign is that the wire communication is fiber optic communication or serial communication.
10. according to claim 8 can be used for the unmanned and road pedestrian system for prompting of manned vehicle, it is special Sign is that the wireless communication is vehicle-mounted wifi, cellular mobile network or bluetooth.
CN201720884554.1U 2017-07-19 2017-07-19 Available for unmanned and manned vehicle road pedestrian system for prompting Active CN207328264U (en)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109032043A (en) * 2018-09-12 2018-12-18 长安大学 A kind of device and method reminded using cab signal lamp to the pedestrian in front of unmanned vehicle
CN109410536A (en) * 2018-11-30 2019-03-01 北京小马智行科技有限公司 A kind of voice prompt method, device and storage medium
CN110096062A (en) * 2019-06-05 2019-08-06 北京百度网讯科技有限公司 Control method for vehicle, device and vehicle
CN110103815A (en) * 2019-03-05 2019-08-09 北京车和家信息技术有限公司 The method and device of voice reminder
CN111193987A (en) * 2019-12-27 2020-05-22 新石器慧通(北京)科技有限公司 Method and device for directionally playing sound by vehicle and unmanned vehicle
CN112124194A (en) * 2020-08-24 2020-12-25 贵阳清文云科技有限公司 Driving safety warning system
CN112200616A (en) * 2020-10-26 2021-01-08 新石器慧义知行智驰(北京)科技有限公司 Investigation method and device, electronic equipment and storage medium
CN113428080A (en) * 2021-06-22 2021-09-24 阿波罗智联(北京)科技有限公司 Method and device for reminding pedestrians or vehicles to avoid by unmanned vehicle and unmanned vehicle

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109032043A (en) * 2018-09-12 2018-12-18 长安大学 A kind of device and method reminded using cab signal lamp to the pedestrian in front of unmanned vehicle
CN109410536A (en) * 2018-11-30 2019-03-01 北京小马智行科技有限公司 A kind of voice prompt method, device and storage medium
CN110103815A (en) * 2019-03-05 2019-08-09 北京车和家信息技术有限公司 The method and device of voice reminder
CN110103815B (en) * 2019-03-05 2021-05-07 北京车和家信息技术有限公司 Voice reminding method and device
CN110096062A (en) * 2019-06-05 2019-08-06 北京百度网讯科技有限公司 Control method for vehicle, device and vehicle
CN110096062B (en) * 2019-06-05 2022-10-14 阿波罗智联(北京)科技有限公司 Vehicle control method and device and vehicle
CN111193987A (en) * 2019-12-27 2020-05-22 新石器慧通(北京)科技有限公司 Method and device for directionally playing sound by vehicle and unmanned vehicle
CN112124194A (en) * 2020-08-24 2020-12-25 贵阳清文云科技有限公司 Driving safety warning system
CN112200616A (en) * 2020-10-26 2021-01-08 新石器慧义知行智驰(北京)科技有限公司 Investigation method and device, electronic equipment and storage medium
CN113428080A (en) * 2021-06-22 2021-09-24 阿波罗智联(北京)科技有限公司 Method and device for reminding pedestrians or vehicles to avoid by unmanned vehicle and unmanned vehicle

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