Security protection method, device and storage medium

Abstract

This article discloses a safety protection method for automobiles, including: interconnecting with vulnerable road users via a V2X network and exchanging location and driving information in real time; determining the relative position and relative motion relationship between the automobile and the vulnerable road user based on the exchanged information, and determining whether the automobile and the vulnerable road user are in one of the predefined protection scenarios; when the automobile and the vulnerable road user are in one of the predefined protection scenarios, determining whether there is a collision risk between the vulnerable road user and the automobile; and if so, calculating the time to collision (TTC) with the vulnerable road user in real time, and implementing protective measures for the vulnerable road user based on the protection strategy and collision time corresponding to the predefined protection scenario; the predefined protection scenarios include: vulnerable road users crossing the road, cars turning, and cars overtaking and changing lanes. This solution can improve the driving safety of vulnerable road users.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of assisted driving technology, and in particular to a safety protection method, device, and storage medium. Background Art

[0002] In the accident cases of CIDAS (China In-Depth Accident Study) from 2011 to 2018, VRU (vulnerable road user) accidents accounted for 80.28%, of which two- and three-wheeled vehicle accidents accounted for as high as 63.87%.

[0003] The data shows that the accident rate between electric two-wheelers, motorcycles and cars remains high, and the causes of accidents often occur in blind spots of vision and failure to identify risks in advance.

[0004] Currently, most cars use cameras and radars for active identification. However, in special scenarios such as intersections or in bad weather, there is a risk of inaccurate or even unrecognizable information due to insufficient camera visibility and limited sensor detection. Summary of the Invention

[0005] The present application provides a safety protection method for automobiles, including:

[0006] Connect with vulnerable road users through the V2X network and exchange location and driving information in real time;

[0007] determining the relative position and relative motion relationship between the vehicle and the vulnerable road user based on the interaction information with the vulnerable road user, and determining whether the vehicle and the vulnerable road user are in one of the set protection scenarios based on the relative position and relative motion relationship;

[0008] When the car and the vulnerable road user are in one of the set protection scenarios, it is determined whether there is a collision risk between the vulnerable road user and the car. If so, the collision time TTC with the vulnerable road user is calculated in real time, and protective measures are taken for the vulnerable road user according to the protection strategy and collision time corresponding to the set protection scenario;

[0009] The set protection scenarios include: scenarios where vulnerable road users cross the road, scenarios where cars turn corners, and scenarios where cars overtake and change lanes.

[0010] An embodiment of the present application provides a security protection device, including: a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the steps of the above-mentioned security protection method are implemented.

[0011] An embodiment of the present application provides a computer-readable storage medium storing a computer program, which implements the steps of the above-mentioned security protection method when executed by a processor.

[0012] The safety protection method and device provided in the embodiments of the present application are as follows: the automobile and vulnerable road users are interconnected through the vehicle-to-everything (V2X) network and exchange their position and driving information in real time; the automobile determines the relative position and relative motion relationship between the automobile and the vulnerable road user based on the exchanged information with the vulnerable road user, and judges whether the automobile and the vulnerable road user are in one of the set protection scenarios (a scenario in which a vulnerable road user crosses the road, a scenario in which the automobile turns a corner, and a scenario in which the automobile overtakes and changes lanes) based on the relative position and relative motion relationship; when the automobile and the vulnerable road user are in one of the set protection scenarios, it is judged whether there is a collision risk between the vulnerable road user and the automobile, and if so, the collision time (TTC) with the vulnerable road user is calculated in real time, and protective measures are taken for the vulnerable road user based on the protection strategy and collision time corresponding to the set protection scenario. The technical solution of the embodiments of the present application can improve the driving safety of vulnerable road users.

[0013] Still other aspects will become apparent upon reading and understanding the accompanying drawings and detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings are used to provide an understanding of the technical solution of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present application and do not constitute a limitation on the technical solution of the present application.

[0015] Figure 1 A schematic diagram of a safety protection method according to an embodiment of the present application;

[0016] Figure 2 This is a schematic structural diagram of a safety protection device according to an embodiment of the present application;

[0017] Figure 3 This is a schematic diagram of a scenario in which a two-wheeled vehicle crosses the road according to an embodiment of the present application;

[0018] Figure 4 This is a schematic diagram of a car turning scenario according to an embodiment of the present application;

[0019] Figure 5 A schematic diagram of a scenario of a car overtaking and changing lanes according to an embodiment of the present application;

[0020] Figure 6 A schematic diagram showing the relative position relationship between the car and a vulnerable road user displayed by a display device in a car according to an embodiment of the present application;

[0021] Figure 7A schematic diagram of an embodiment of the present application showing the interconnection between a car and a vulnerable road user (two-wheeled vehicle) via the PC5 communication protocol;

[0022] Figure 8 This is a flow chart of a vehicle safety protection method according to an embodiment of the present application. DETAILED DESCRIPTION

[0023] This application describes multiple embodiments, but this description is exemplary rather than restrictive, and it will be apparent to those skilled in the art that there may be more embodiments and implementations within the scope of the embodiments described herein. Although many possible feature combinations are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with any other feature or element in any other embodiment, or may replace any other feature or element in any other embodiment.

[0024] This application includes and contemplates combinations of features and elements known to those of ordinary skill in the art. The embodiments, features, and elements disclosed in this application may also be combined with any conventional features or elements to form a unique inventive solution defined by the appended claims. Any features or elements of any embodiment may also be combined with features or elements from other inventive solutions to form another unique inventive solution defined by the appended claims. Therefore, it should be understood that any feature shown and / or discussed in this application may be implemented individually or in any appropriate combination. Therefore, except for the limitations made according to the appended claims and their equivalents, the embodiments are not subject to other limitations. In addition, various modifications and changes may be made within the scope of protection of the appended claims.

[0025] The embodiment of the present application provides a security protection method. Figure 1 As shown, a safety protection method is applied to an automobile, comprising:

[0026] Step S10: interconnecting with vulnerable road users via the Vehicle-to-Everything (V2X) network and exchanging location and driving information in real time;

[0027] Step S20, determining the relative position and relative motion relationship between the vehicle and the vulnerable road user based on the interaction information with the vulnerable road user, and determining whether the vehicle and the vulnerable road user are in one of the set protection scenarios based on the relative position and relative motion relationship;

[0028] Step S30: When the vehicle and the vulnerable road user are in one of the set protection scenarios, determining whether there is a collision risk between the vulnerable road user and the vehicle, and if so, calculating the time-to-collision (TTC) with the vulnerable road user in real time, and taking protective measures for the vulnerable road user based on the protection strategy and collision time corresponding to the set protection scenario;

[0029] The set protection scenarios include: scenarios where vulnerable road users cross the road, scenarios where cars turn corners, and scenarios where cars overtake and change lanes.

[0030] The safety protection method provided by the embodiment of the present application is that the car and the vulnerable road user are interconnected through the vehicle-to-everything (V2X) network and exchange location and driving information in real time. The car determines the relative position and relative motion relationship between the car and the vulnerable road user based on the exchanged information with the vulnerable road user. Based on the relative position and relative motion relationship, it determines whether the car and the vulnerable road user are in one of the set protection scenarios. When the car and the vulnerable road user are in one of the set protection scenarios (the vulnerable road user crossing the road, the car turning, and the car overtaking and changing lanes), it determines whether there is a collision risk between the vulnerable road user and the car. If so, the collision time (TTC) with the vulnerable road user is calculated in real time, and protective measures are taken for the vulnerable road user based on the protection strategy and collision time corresponding to the set protection scenario. The technical solution of the embodiment of the present application can improve the driving safety of vulnerable road users.

[0031] In some exemplary embodiments, the vulnerable road user includes: a two-wheeled electric vehicle, a motorcycle, or a three-wheeled electric vehicle.

[0032] In some exemplary embodiments, interconnection with vulnerable road users via a vehicle-to-everything (V2X) network includes interconnection with vulnerable road users via the PC5 communication protocol. In other embodiments, the vehicle and vulnerable road users may also be interconnected via other types of wireless communication protocols.

[0033] In some exemplary embodiments, exchanging position and driving information with vulnerable road users in real time includes periodically exchanging position and driving information with vulnerable road users at a certain frequency within a communication range.

[0034] In some exemplary embodiments, the driving information includes at least one of the following: speed, acceleration, and heading angle. In other embodiments, the driving information may also include other information.

[0035] In some exemplary embodiments, the location information includes: longitude and latitude information.

[0036] In some exemplary embodiments, the method further includes: displaying navigation information of the vehicle on a display device in the vehicle, and displaying a relative position relationship between the vehicle and the vulnerable road user.

[0037] In some exemplary embodiments, the relative motion relationship between the vehicle and the vulnerable road user includes: relative distance and relative speed.

[0038] In some exemplary embodiments, the time to collision TTC between the vehicle and the vulnerable road user is a quotient obtained by dividing the relative distance between the vehicle and the vulnerable road user by the relative speed.

[0039] In some exemplary embodiments, taking protective measures for vulnerable road users according to the protection strategy and collision time corresponding to the set protection scenario includes:

[0040] If it is detected that the TTC is less than or equal to the second time threshold and greater than the first time threshold, a first warning is issued to the vehicle driver, or a first warning is issued to the vehicle driver and a second warning is issued to the vulnerable road user;

[0041] The relative position and relative motion relationship between the car and the vulnerable road user are re-determined based on the interaction information with the vulnerable road user, and whether the collision risk between the vulnerable road user and the car is eliminated is judged based on the relative position and relative motion relationship. If the collision risk has not been eliminated, the TTC between the car and the vulnerable road user is continued to be calculated in real time. When the TTC is less than or equal to the first time threshold and greater than 0, a third warning is issued to the car driver, or a third warning is issued to the car driver and a fourth warning is issued to the vulnerable road user. If the collision risk has been eliminated, it is determined that the car and the vulnerable road user are no longer in the set protection scenario; wherein the first time threshold is less than the second time threshold.

[0042] After a first-level warning is sent to the driver, if the car takes measures to avoid the collision, the risk of collision between the car and the vulnerable road user may be eliminated. If the car does not take measures to avoid the collision after the first-level warning, a second-level warning can be used to prompt the car to take protective measures. The two-level warning allows the car sufficient time to take protective measures, thereby ensuring the driving safety of vulnerable road users.

[0043] The first time threshold and the second time threshold may be time lengths set according to safety standards, experiments, or experience.

[0044] In some exemplary embodiments, determining whether the vehicle and the vulnerable road user are in a vulnerable road user crossing the road scenario based on the relative position and relative motion relationship includes:

[0045] It is determined whether the vulnerable road user is located in front of the car, and the travel direction of the vulnerable road user is perpendicular to the travel direction of the car. If so, it is determined that the car and the vulnerable road user are in a vulnerable road user crossing the road scenario.

[0046] In some exemplary embodiments, determining whether the vehicle and the vulnerable road user are in a vehicle turning scenario based on the relative position and relative motion relationship includes:

[0047] Determine whether the vulnerable road user is located in front of the left side of the car and the car is turning left, or whether the vulnerable road user is located in front of the right side of the car and the car is turning right, and whether the relative distance between the vulnerable road user and the car is decreasing. If so, determine that the car and the vulnerable road user are in a scene where the car is turning.

[0048] In some exemplary embodiments, determining whether the vehicle and the vulnerable road user are in an overtaking and lane-changing scenario based on the relative position and relative motion relationship includes:

[0049] It is determined whether there is a vulnerable road user traveling forward in the same direction as the car in a lane adjacent to the lane where the car is located, and the vulnerable road user is located behind the left of the car and the lateral speed of the car to the left is greater than a speed threshold; or it is determined whether there is a vulnerable road user traveling forward in the same direction as the car in a lane adjacent to the lane where the car is located, and the vulnerable road user is located behind the right of the car and the lateral speed of the car to the right is greater than a speed threshold. If so, it is determined that the car and the vulnerable road user are in a scenario of overtaking and lane changing.

[0050] In some exemplary embodiments, when one of the set protection scenarios is a scenario in which a vulnerable road user crosses the road or a car turns, after issuing a third warning to the car driver, the method further includes: braking the car to slow down.

[0051] In some exemplary embodiments, when one of the set protection scenarios is a scenario of a car overtaking and changing lanes, after issuing a third warning to the car driver, the method further includes: controlling the car to stop turning.

[0052] In some exemplary embodiments, issuing the first and third warnings to the driver of the vehicle includes issuing a voice warning through a speaker in the vehicle and / or displaying a warning through a display device in the vehicle. In other embodiments, other warning methods may also be used.

[0053] In some exemplary embodiments, the first warning and the third warning include at least one of the following information: the scenario name of the set protection scenario in which the car and the vulnerable road user are located, and the protection measures recommended to the car driver.

[0054] In some exemplary embodiments, the second warning and the fourth warning include at least one of the following information: the scene name of the set protection scene in which the car and the vulnerable road user are located, and the protection measures recommended for the vulnerable road user.

[0055] In some exemplary embodiments, when a car and a vulnerable road user are in a scenario where the vulnerable road user is crossing the road or the car is turning, the protective measures recommended to the car driver include: braking.

[0056] In some exemplary embodiments, when a car and a vulnerable road user are in a scenario where the car is overtaking and changing lanes, the protective measures recommended to the car driver include: stopping and steering.

[0057] In some exemplary embodiments, when the car and the vulnerable road user are in a set protection scenario, the protection measures recommended to the vulnerable road user include: braking.

[0058] The embodiment of the present application provides a safety protection device. Figure 2 As shown, a safety protection device is applied to a car, comprising:

[0059] An information interaction module 10 is configured to interconnect with vulnerable road users via a vehicle-to-everything (V2X) network and exchange location and driving information in real time;

[0060] a scene determination module 20 configured to determine a relative position and relative motion relationship between the vehicle and the vulnerable road user based on interaction information with the vulnerable road user, and determine whether the vehicle and the vulnerable road user are in one of the set protection scenes based on the relative position and relative motion relationship;

[0061] The collision detection and warning module 30 is configured to determine whether there is a collision risk between the vulnerable road user and the vehicle when the vehicle and the vulnerable road user are in one of the predefined protection scenarios, calculate the time to collision (TTC) with the vulnerable road user in real time, and take protective measures for the vulnerable road user based on the protection strategy and time to collision corresponding to the predefined protection scenario;

[0062] The set protection scenarios include: scenarios where vulnerable road users cross the road, scenarios where cars turn corners, and scenarios where cars overtake and change lanes.

[0063] The safety protection device provided by the embodiments of the present application includes an information interaction module, a scenario judgment module, and a collision detection and warning module. The information interaction module is interconnected with vulnerable road users via the vehicle-to-everything (V2X) network and exchanges their location and driving information in real time. The scenario judgment module determines the relative position and relative motion relationship between the vehicle and the vulnerable road user based on the information exchanged with the vulnerable road user. Based on this relative position and relative motion relationship, it determines whether the vehicle and the vulnerable road user are in one of the predefined protection scenarios. When the vehicle and the vulnerable road user are in one of the predefined protection scenarios, the collision detection and warning module determines whether there is a collision risk between the vulnerable road user and the vehicle. If so, it calculates the time to collision (TTC) with the vulnerable road user in real time and takes protective measures for the vulnerable road user based on the protection strategy and collision time corresponding to the predefined protection scenario. The predefined protection scenarios include: a vulnerable road user crossing the road, a car turning, and a car overtaking and changing lanes. The technical solutions of the embodiments of the present application can improve the driving safety of vulnerable road users.

[0064] In some exemplary embodiments, the automobile safety protection device includes an on-board control device capable of detecting the driving state and position information of the automobile.

[0065] In some exemplary embodiments, the safety protection device further includes a display module configured to display navigation information of the car and a relative position relationship between the car and the vulnerable road user.

[0066] In some exemplary embodiments, the collision detection and warning module is configured to take protective measures for vulnerable road users based on the protection strategy and collision time corresponding to the set protection scenario: if it is detected that the TTC is less than or equal to the second time threshold and greater than the first time threshold, a first warning is issued to the car driver, or a first warning is issued to the car driver and a second warning is issued to the vulnerable road user; the relative position and relative motion relationship between the car and the vulnerable road user are re-determined based on the interaction information with the vulnerable road user, and whether the collision risk between the vulnerable road user and the car is eliminated is judged based on the relative position and relative motion relationship; if the collision risk is not eliminated, the TTC between the vulnerable road user and the car continues to be calculated in real time, and when the TTC is less than or equal to the first time threshold and greater than 0, a third warning is issued to the car driver, or a third warning is issued to the car driver and a fourth warning is issued to the vulnerable road user; if the collision risk has been eliminated, it is determined that the car and the vulnerable road user are no longer in the set protection scenario; wherein, the first time threshold is less than the second time threshold.

[0067] In some exemplary embodiments, the scene judgment module is configured to judge whether the car and the vulnerable road user are in a scene where a vulnerable road user is crossing the road based on the relative position and relative motion relationship in the following manner: judge whether the vulnerable road user is located in front of the car and the driving direction of the vulnerable road user is perpendicular to the driving direction of the car, and if so, determine that the car and the vulnerable road user are in a scene where a vulnerable road user is crossing the road.

[0068] In some exemplary embodiments, the scene determination module is configured to determine whether the car and the vulnerable road user are in a scene where the car is turning based on the relative position and relative motion relationship in the following manner: determining whether the vulnerable road user is located in front of the left side of the car and the car is turning left, or the vulnerable road user is located in front of the right side of the car and the car is turning right, and the relative distance between the vulnerable road user and the car is decreasing, and if so, determining that the car and the vulnerable road user are in a scene where the car is turning.

[0069] In some exemplary embodiments, the scene determination module is configured to determine whether the car and the vulnerable road user are in a scene of overtaking and lane changing based on the relative position and relative motion relationship in the following manner: determining whether there is a vulnerable road user traveling forward in the same direction as the car in an adjacent lane to the car's lane, and the vulnerable road user is located to the left rear of the car and the car's lateral speed to the left is greater than a speed threshold; or determining whether there is a vulnerable road user traveling forward in the same direction as the car in an adjacent lane to the car's lane, and the vulnerable road user is located to the right rear of the car and the car's lateral speed to the right is greater than a speed threshold, if so, determining that the car and the vulnerable road user are in a scene of overtaking and lane changing.

[0070] In some exemplary embodiments, the collision detection and warning module is further configured to, when one of the set protection scenarios is a scenario in which a vulnerable road user crosses the road or a car turns, issue a third warning to the car driver and then brake the car to slow down.

[0071] In some exemplary embodiments, the collision detection and warning module is further configured to control the car to stop turning after issuing a third warning to the car driver when one of the set protection scenarios is a scenario of the car overtaking and changing lanes.

[0072] In some exemplary embodiments, the collision detection and warning module is configured to issue the first and third warnings to the driver of the vehicle by: issuing a voice warning via a speaker within the vehicle, and / or displaying a warning via a display device within the vehicle. In other embodiments, other warning methods may also be used.

[0073] In some exemplary embodiments, the first warning and the third warning include at least one of the following information: the scenario name of the set protection scenario in which the car and the vulnerable road user are located, and the protection measures recommended to the car driver.

[0074] In some exemplary embodiments, the second warning and the fourth warning include at least one of the following information: the scene name of the set protection scene in which the car and the vulnerable road user are located, and the protection measures recommended for the vulnerable road user.

[0075] In some exemplary embodiments, when a car and a vulnerable road user are in a scenario where the vulnerable road user is crossing the road or the car is turning, the protective measures recommended to the car driver include: braking.

[0076] In some exemplary embodiments, when a car and a vulnerable road user are in a scenario where the car is overtaking and changing lanes, the protective measures recommended to the car driver include: stopping and steering.

[0077] In some exemplary embodiments, when the car and the vulnerable road user are in a set protection scenario, the protection measures recommended to the vulnerable road user include: braking.

[0078] An embodiment of the present application provides a security protection device, including: a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the steps of the above-mentioned security protection method are implemented.

[0079] An embodiment of the present application provides a computer-readable storage medium storing a computer program, which implements the steps of the above-mentioned security protection method when executed by a processor.

[0080] Assuming the vulnerable road user is a two-wheeler, Figure 3 A scene of a two-wheeled vehicle crossing the road is shown. Figure 4 A scene in which a car turns left is shown. Figure 5 A scene of a car overtaking and changing lanes is shown. Figure 6 A schematic diagram showing the interconnection between a car and a vulnerable road user (two-wheeled vehicle) via the PC5 communication protocol. Figure 7 The diagram shows a scenario where a car is overtaking and changing lanes, where the display inside the car displays the car's navigation information and the relative position relationship between the car and vulnerable road users. Figure 7 In the figure, the concentric circles around the car represent communication ranges of different radii, the solid dot behind the right side of the car represents a two-wheeled vehicle, and 63 indicates a vehicle speed of 63 km / h.

[0081] The following uses two-wheeled vehicles as an example of vulnerable road users to explain how the safety protection devices of cars provide safety protection.

[0082] Figure 8 The steps of the automobile safety protection method are shown as follows: Figure 8 As shown, the automobile safety protection method may include the following steps:

[0083] Step S1, interconnecting with the smart helmet worn by the two-wheeled vehicle rider via the PC5 communication protocol;

[0084] Step S2, exchanging position and driving information with the smart helmet, and determining the relative position and relative motion relationship between the car and the two-wheeled vehicle based on the interactive information with the smart helmet;

[0085] Among them, the car's global positioning system GPS kit can obtain the car's latitude and longitude, speed, heading angle and other information and send it to the smart helmet; the car also receives the two-wheeled vehicle's latitude and longitude, speed and heading angle and other information sent by the smart helmet's GPS kit.

[0086] The relative motion relationship between the two-wheeled vehicle and the car may include information such as relative distance, relative speed, and the angle between the two vehicles' directions of travel;

[0087] Step S3, determining whether the car and the two-wheeled vehicle are in one of the set protection scenarios, if yes, executing step S4, otherwise returning to step S2;

[0088] Step S4, determining whether there is a collision risk between the car and the two-wheeled vehicle, if yes, proceed to step S5, otherwise return to step S2;

[0089] Step S5, calculating the collision time TTC between the two-wheeled vehicle and the car in real time;

[0090] Step S6, determining whether the collision time TTC is less than or equal to the second time threshold and greater than the first time threshold, if yes, proceed to step S7, otherwise return to step S5;

[0091] Step S7, issuing a first warning to the car driver and a second warning to the smart helmet;

[0092] The first warning may include the following information: the name of the pre-set protection scenario for cars and two-wheeled vehicles, and recommended protective measures for car drivers. The second warning may include the name of the pre-set protection scenario for cars and two-wheeled vehicles, and recommended protective measures for two-wheeled vehicles.

[0093] In situations where a car and a two-wheeled vehicle are crossing the road or turning, recommended protective measures for the car driver may include braking. In situations where a car and a two-wheeled vehicle are overtaking or changing lanes, recommended protective measures for the car driver may include stopping and steering. Recommended protective measures for two-wheeled vehicles may include braking.

[0094] Step S8, determining whether the collision risk between the automobile and the two-wheeled vehicle is eliminated, if yes, returning to step S2, otherwise executing step S9;

[0095] Step S9, calculating the collision time TTC between the two-wheeled vehicle and the car in real time;

[0096] Step S10, determining whether the collision time TTC is less than or equal to the first time threshold and greater than 0, if yes, executing step S11, otherwise returning to step S8;

[0097] Step S11: Issue a third warning to the car driver and issue a fourth warning to the smart helmet.

[0098] The third warning may include the following information: the name of the pre-set protection scenario for cars and two-wheeled vehicles, and recommended protective measures for car drivers. The fourth warning may include the following information: the name of the pre-set protection scenario for cars and two-wheeled vehicles, and recommended protective measures for two-wheeled vehicles.

[0099] In situations where a car and a two-wheeled vehicle are crossing the road or turning, recommended protective measures for the car driver may include braking. In situations where a car and a two-wheeled vehicle are overtaking or changing lanes, recommended protective measures for the car driver may include stopping and steering. Recommended protective measures for two-wheeled vehicles may include braking.

[0100] It will be appreciated by those skilled in the art that the functional modules / units in the apparatus disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In a hardware implementation, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As is well known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those skilled in the art that communication media generally embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

Claims

1. A safety protection method, applied to an automobile, comprising: Connect with vulnerable road users through the V2X network and exchange location and driving information in real time; determining the relative position and relative motion relationship between the vehicle and the vulnerable road user based on the interaction information with the vulnerable road user, and determining whether the vehicle and the vulnerable road user are in one of the set protection scenarios based on the relative position and relative motion relationship; When the car and the vulnerable road user are in one of the set protection scenarios, it is determined whether there is a collision risk between the vulnerable road user and the car. If so, the collision time TTC with the vulnerable road user is calculated in real time, and protective measures are taken for the vulnerable road user according to the protection strategy and collision time corresponding to the set protection scenario; The protection scenarios include: vulnerable road users crossing the road, cars turning, and cars overtaking and changing lanes. Wherein, protective measures are taken for vulnerable road users according to the protection strategy and collision time corresponding to the set protection scenario, including: If it is detected that the TTC is less than or equal to the second time threshold and greater than the first time threshold, a first warning is issued to the vehicle driver, or a first warning is issued to the vehicle driver and a second warning is issued to the vulnerable road user; re-determining the relative position and relative motion relationship between the vehicle and the vulnerable road user based on the interaction information with the vulnerable road user, determining whether the collision risk between the vulnerable road user and the vehicle has been eliminated based on the relative position and relative motion relationship; if the collision risk has not been eliminated, continuing to calculate the time to collision (TC) with the vulnerable road user in real time; and issuing a third warning to the vehicle driver, or issuing a third warning to the vehicle driver and a fourth warning to the vulnerable road user, when the TTC is less than or equal to a first time threshold and greater than 0; and determining that the vehicle and the vulnerable road user are no longer in the set protection scenario if the collision risk has been eliminated; wherein the first time threshold is less than the second time threshold; When one of the set protection scenarios is a scenario of a vulnerable road user crossing the road or a scenario of a car turning, after issuing a third warning to the car driver, the method further includes: braking the car to slow down; When one of the set protection scenarios is a scenario of a car overtaking and changing lanes, after issuing a third warning to the car driver, the method further includes: controlling the car to stop turning.

2. The method according to claim 1, wherein: The first warning and the third warning include at least one of the following information: the scenario name of the set protection scenario in which the car and the vulnerable road user are located, and the protective measures recommended for the car driver to take; The second warning and the fourth warning include at least one of the following information: the scene name of the set protection scene in which the car and the vulnerable road user are located, and the protection measures recommended for the vulnerable road user.

3. The method according to claim 2, wherein: When a car and a vulnerable road user are in a scenario where the vulnerable road user is crossing the road or when the car is turning, the recommended protective measures for the car driver include: braking; When a car and a vulnerable road user are in a scenario where a car is overtaking or changing lanes, the recommended protective measures for the car driver include: stopping and turning; When the car and the vulnerable road user are in the set protection scenario, the recommended protective measures for the vulnerable road user include: braking.

4. The method according to claim 1, wherein The method further comprises: The car's navigation information is displayed on a display device in the car, and the relative position relationship between the car and vulnerable road users is displayed.

5. The method according to claim 1, wherein: The driving information includes at least one of the following: speed, acceleration and heading angle; The location information includes: longitude and latitude information.

6. A safety protection device comprising: A memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the steps of the security protection method described in any one of claims 1 to 5 are implemented.

7. A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the steps of the security protection method according to any one of claims 1 to 5 are implemented.

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