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Human body detection device and method in automatic driving

A technology for human body detection and automatic driving, which is applied to measurement devices, re-radiation of sound waves, and geophysical measurements, etc., can solve the problems of increased cost, limited scope of use, and high algorithm complexity, and achieves the effect of reducing hardware costs.

Active Publication Date: 2019-08-30
WUHAN ZHONGHAITING DATA TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, common human body detection equipment or methods use cameras or infrared sensors to detect whether there is a human body. Since video cameras can only work during the day, the scope of use is limited, and infrared devices are used for distance measurement. The algorithm complexity is too high, and multiple Infrared equipment ranging will increase the cost

Method used

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  • Human body detection device and method in automatic driving
  • Human body detection device and method in automatic driving

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Experimental program
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Embodiment 1

[0025] see figure 1 , a schematic structural diagram of a human body detection device in automatic driving provided by an embodiment of the present invention, including an ultrasonic transmitting and receiving module 110, a pyroelectric signal receiving and processing module 120, and a signal fusion processing module 130:

[0026] The ultrasonic transmitting and receiving module 110 is used to transmit ultrasonic signals through the ultrasonic transmitting circuit and receive the return signal by the receiving circuit. The time difference between the transmitted signal and the returned signal is used to calculate the distance between the human detection device in the automatic driving and the target, and form a mapping table of energy and distance.

[0027] The ultrasonic transmitting circuit is used to transmit ultrasonic waves, and the receiving circuit is used to receive the reflected signals generated when the ultrasonic waves encounter obstacles. According to the propagat...

Embodiment 2

[0043] figure 2 Another structural schematic diagram of the human body detection device in automatic driving provided by Embodiment 2 of the present invention. On the basis of Embodiment 1, the signal fusion processing module 130 is described in detail:

[0044] The fusion processing ultrasonic data and pyroelectric data generated by the ultrasonic transmitting and receiving module 110 and the pyroelectric signal receiving processing module 120, specifically, the ultrasonic data 201 and the pyroelectric signal data 202 are input to the signal fusion processing module 130 , wherein, the ultrasonic data 201 may include ultrasonic emission, echo data, and calculated obstacle distance data, as well as the mapping table data formed by calibration, and the pyroelectric signal data may include Fourier transform and matrix The pyroelectric signal processed by optimization, and the human body information classification model data formed by binary classification training.

[0045] In ...

Embodiment 3

[0052] image 3 The flowchart of the human detection method in automatic driving provided by Embodiment 3 of the present invention includes:

[0053] S1. Synchronously collect signal data of obstacles around the self-driving vehicle through the ultrasonic sensor circuit and the pyroelectric sensor circuit. The ultrasonic sensor circuit is composed of an ultrasonic transmitting and receiving circuit;

[0054] S2. After Gaussian filtering is performed on the obstacle signal data collected by the ultrasonic sensor circuit and the pyroelectric sensor circuit respectively, the obstacle signal data of a fixed time series are collected by using a window algorithm;

[0055] S3, according to the time difference of the signal data collected by the ultrasonic sensor circuit, calibrate the signal data collected by the ultrasonic sensor circuit, and form a mapping table corresponding to the energy and distance of the signal data;

[0056] S4, performing Fourier transform and matrix proces...

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Abstract

The invention relates to a human body detection device and method in automatic driving, and belongs to the field of automatic driving. The device comprises an ultrasonic transmission and receiving module, a pyroelectric signal receiving and processing module and a signal fusion and processing module; the ultrasonic transmission and receiving module transmits ultrasonic signals, receives return signals, filters the return signals according to a time sequence, computes a distance between a human body detection device and a target, and forms a mapping table of energy and distances; the pyroelectric signal receiving and processing module performs Gaussian filtering on collected pyroelectric signals, further performs Fourier transform and matrixing process on the pyroelectric signals, and classifies the pyroelectric signals via an svm algorithm; the signal fusion and processing module is used for fusing classification data of the pyroelectric signals with the data of the ultrasonic mappingtable, after format conversion, judging whether a human body exists, and outputting the human body distance. Via the scheme, the situation that whether the human body exists around a vehicle can be simply and accurately detected, and the detection cost can be reduced.

Description

technical field [0001] The invention relates to the field of automatic driving, in particular to a human body detection device and method in automatic driving. Background technique [0002] In the field of autonomous driving, in order to ensure the driving safety of the vehicle, it is necessary to obtain the surrounding environment of the vehicle in real time. Object detection around the vehicle is a must-have function for the autonomous driving vehicle. However, people often appear on the actual road. To ensure the safety of pedestrians, it is necessary to accurately detect the human body and its specific location in advance, so as to facilitate the normal avoidance of vehicles. [0003] At present, common human body detection equipment or methods use cameras or infrared sensors to detect whether there is a human body. Video cameras can only work during the day and have a limited range of use. Using infrared devices to measure distances requires too high algorithm complexit...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01V11/00G01S15/08G01S15/93
CPCG01S15/08G01S15/931G01V11/00
Inventor 熊迹何豪杰何云周智颖刘奋
Owner WUHAN ZHONGHAITING DATA TECH CO LTD
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