Tunnel pedestrian avoidance warning method, computer device and computer-readable storage medium

Abstract

The present invention provides a tunnel pedestrian avoidance warning method, a computer device, and a computer-readable storage medium. The tunnel pedestrian avoidance warning method includes: obtaining route map data, generating a reference coordinate system according to the route map data and storing it in a database; obtaining first coordinate information of a first positioning terminal of a vehicle; obtaining second coordinate information of a second positioning terminal on a pedestrian; comparing the first coordinate information with the second coordinate information to determine whether the distance between the first positioning terminal and the second positioning terminal is less than a preset distance threshold. If so, a first alarm message is sent to the vehicle. The present invention also provides a computer device and a computer-readable storage medium for implementing the above method. The present invention can detect the distance between a vehicle and a pedestrian and issue a safety warning.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel traffic safety. Specifically, it relates to a method for warning pedestrians to avoid in a tunnel, a computer device for implementing the above method, and a computer-readable storage medium capable of implementing the above method. Background Art

[0002] At present, construction units in the railway industry will conduct certain traffic management during tunnel construction, but there are still relatively large potential safety hazards. Especially in the construction section of the tunnel with inclined shafts, because the inclined shaft, as an important auxiliary tunnel for transporting personnel, machinery, etc., forms numerous intricate intersections with the main tunnel line. And due to the special structure of the tunnel, drivers have blind spots in areas / sections such as intersections and poor air environments. Therefore, traffic accidents often occur in the tunnel (including the main tunnel line, inclined shafts, intersections of the main tunnel line and inclined shafts, etc.). In response to this, some construction units use traffic warning signs and traffic administrators to direct on-site vehicles. However, due to problems such as poor visibility and muddy and potholed roads in the tunnel, the command effect is not good, and it is also easy to pose a certain threat to the personal safety of traffic administrators, with quite a few potential safety hazards. Moreover, configuring traffic administrators to direct on-site vehicles also increases labor costs. Some construction units rely solely on the driving experience and driving skills of vehicle drivers for self-command. However, due to the special factor of poor visibility in the tunnel, there are still occasional cases of vehicles rubbing against pedestrians.

[0003] Although many existing vehicles are equipped with driving radars or vision systems to detect people and / or objects around the vehicle to prevent collisions during vehicle driving, the above detections have the following disadvantages:

[0004] First, when using a driving radar to detect people and / or objects around the vehicle, they can only be detected when people and / or objects are close to the vehicle by a certain distance. For example, when people and / or objects are close to the vehicle by 1 meter, they can be detected by the driving radar, lacking the ability to detect people and / or objects at medium and long distances, resulting in it being difficult to be used in a tunnel environment with poor visibility.

[0005] Second, when using a vision system to detect people and / or objects around the vehicle, since it is necessary to rely on the images obtained by each camera of the vision system to judge the positions of people and / or objects around the vehicle and at medium and long distances from the vehicle, but because of the poor visibility in the tunnel, the vision system is difficult to play a good detection role in the tunnel environment, and often prone to detection errors or even unable to detect. Summary of the Invention

[0006] To solve the above problems, the main object of the present invention is to provide a tunnel pedestrian avoidance warning method for detecting the distance between a vehicle and a pedestrian and giving a safety warning.

[0007] Another object of the present invention is to provide a computer device for implementing the above tunnel pedestrian avoidance warning method.

[0008] Still another object of the present invention is to provide a computer-readable storage medium for implementing the above tunnel pedestrian avoidance warning method.

[0009] To achieve the main object of the present invention, the present invention provides a tunnel pedestrian avoidance warning method, which includes: obtaining route map data, generating a reference coordinate system according to the route map data and storing it in a database; obtaining first coordinate information of a first positioning terminal of a vehicle; obtaining second coordinate information of a second positioning terminal on a pedestrian; comparing the first coordinate information and the second coordinate information, and determining whether the interval distance between the first positioning terminal and the second positioning terminal is less than a preset distance threshold. If so, sending a first alarm message to the vehicle.

[0010] As can be seen from the above, by comparing the first coordinate information of the first positioning terminal of the vehicle and the second coordinate information of the second positioning terminal on the pedestrian, it is possible to more accurately determine the interval distance between the first positioning terminal (vehicle) and the second positioning terminal (pedestrian), so that when the interval distance between the two is less than a preset distance threshold (safety value or warning value), a first alarm message is sent to the vehicle to warn and / or remind the vehicle driver, enabling the vehicle driver to drive carefully and observe the surrounding conditions of the vehicle more carefully, and avoiding collisions between the vehicle and pedestrians (such as construction workers), thereby improving the safety of pedestrians when walking. In addition, the method of detecting the relative position between the vehicle and the pedestrian by comparing the first coordinate information and the second coordinate information has the advantage of a larger detection range compared with the traditional driving radar detection, and has the advantages of higher detection accuracy and stronger reliability compared with the detection using a vision system.

[0011] A further solution is that when the interval distance between the first positioning terminal and the second positioning terminal is less than the preset distance threshold, the method further includes: sending a second alarm message to the second positioning terminal.

[0012] As can be seen from the above, sending an alarm message to the second positioning terminal enables the pedestrian to know in time that there is a vehicle approaching nearby, enabling the pedestrian to be prepared and avoid collisions with the vehicle, thereby improving the safety when walking.

[0013] A preferred solution is that when the interval distance between the first positioning terminal and the second positioning terminal is less than a preset distance threshold, the method further includes: obtaining the vehicle speed, determining whether the vehicle speed is greater than a preset speed threshold, and if so, sending a third alarm message to the vehicle.

[0014] As can be seen from the above, when the vehicle speed exceeds the preset speed threshold (safety value), by sending a third alarm message to the vehicle, the vehicle driver can be reminded in time to actively reduce the vehicle speed below the preset speed threshold, thereby improving the safety during driving and providing better protection for pedestrians.

[0015] Another preferred solution is that when the interval distance between the first positioning terminal and the second positioning terminal is less than a preset distance threshold, the method further includes: shortening the polling time for the first coordinate information of the first positioning terminal; shortening the polling time for the second coordinate information of the second positioning terminal.

[0016] As can be seen from the above, shortening the polling time can better obtain the real-time positions of the vehicle and pedestrians. By shortening the polling time when the interval distance between the first positioning terminal and the second positioning terminal is less than the preset distance threshold, it is possible to better reduce the generation of data garbage, reduce the occupation of network resources, storage resources and computer resources, and can improve the accuracy and reliability of the monitoring results to a certain extent.

[0017] Another preferred solution is that the second positioning terminal has a lighting lamp group; when the interval distance between the first positioning terminal and the second positioning terminal is less than a preset distance threshold, the method further includes: controlling the lighting lamp group to work according to a preset lighting mode based on the relative position between the first positioning terminal and the second positioning terminal.

[0018] As can be seen from the above, when the interval distance between the first positioning terminal and the second positioning terminal is less than the preset distance threshold, it is also possible to emit light in a preset lighting mode by controlling the lighting lamp group configured on the second positioning terminal or the lighting lamp group worn on the pedestrian, so as to better indicate the position of the pedestrian to the vehicle driver through the light emitted by the lighting lamp group, enabling the vehicle driver to better drive the vehicle to avoid the pedestrian.

[0019] Another preferred solution is that the second positioning terminal has a voice playback module; when the interval distance between the first positioning terminal and the second positioning terminal is less than a preset distance threshold, the method further includes: based on the walking direction of the pedestrian, determining the orientation of the first positioning terminal relative to the second positioning terminal, and sending a first voice playback instruction to the second positioning terminal according to the current orientation of the first positioning terminal, so that the voice playback module plays a first preset voice.

[0020] As can be seen from the above, when the interval distance between the first positioning terminal and the second positioning terminal is less than the preset distance threshold, the voice playback module configured by the second positioning terminal can also be controlled to play the vehicle's location to pedestrians, so as to facilitate pedestrians to pay attention to the oncoming vehicle direction and take corresponding avoidance measures in advance, thereby further improving the safety of pedestrians.

[0021] A further solution is that the interval distance is the path distance between the first positioning terminal and the second positioning terminal.

[0022] As can be seen from the above, designing the interval distance as the path distance can more accurately estimate the distance between the first positioning terminal and the second positioning terminal.

[0023] An even further solution is that the method further includes: regularly obtaining the driving record information of the vehicle and storing it in the database.

[0024] As can be seen from the above, regularly obtaining and storing the driving record information of the vehicle enables, when needed (such as in the event of a collision accident), the responsibility determination and / or analysis, etc. to be carried out by referring to the driving record information of the vehicle.

[0025] To achieve another object of the present invention, the present invention provides a computer device, including a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the steps of the above-mentioned tunnel pedestrian avoidance warning method are implemented.

[0026] To achieve yet another object of the present invention, the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by the processor, the steps of the above-mentioned tunnel pedestrian avoidance warning method are implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a flowchart of an embodiment of the tunnel pedestrian avoidance warning method of the present invention.

[0028] The present invention will be further described below in conjunction with the drawings and embodiments. DETAILED DESCRIPTION OF THE INVENTION

[0029] The tunnel pedestrian avoidance warning method provided by the present invention is mainly applied to a tunnel pedestrian avoidance warning system, which can be used to detect the positions of vehicles and pedestrians in the tunnel and feedback the position of pedestrians near the vehicle to the vehicle, so that the vehicle driver can avoid pedestrians and improve the safety of pedestrians when walking.

[0030] Embodiment of the tunnel pedestrian avoidance warning method

[0031] Refer to Figure 1, when the tunnel pedestrian avoidance warning method is working, first perform step S1 to obtain the line map data, generate a reference coordinate system based on the line map data, and store it in the database. For example, by uploading the line map of the tunnel to the database of the server of the tunnel pedestrian avoidance warning system using this method (the server can be a local server or a cloud server), a reference coordinate system is generated based on this line map to assist in determining the positions of the first positioning terminal on the vehicle and the second positioning terminal on the pedestrian. For example, when the tunnel pedestrian avoidance warning system is first enabled, the server will generate a reference coordinate system through the received line map and store this reference coordinate system in the database for subsequent use when monitoring the first positioning terminal and the second positioning terminal. As the tunnel is gradually constructed, the line map will also be updated accordingly. At this time, if the updated line map is uploaded to the database, the updated line map will replace the previously uploaded line map to ensure the timely update of the line map and the reference coordinate system.

[0032] After obtaining the line map data and generating the corresponding reference coordinate system, perform step S2 to obtain the first coordinate information of the first positioning terminal of the vehicle and the second coordinate information of the second positioning terminal on the pedestrian. Through the first positioning terminal on the vehicle, the position of the vehicle in the tunnel and the position of the vehicle in the line map can be understood at any time. The first positioning terminal can use a GNSS module. Of course, the first positioning terminal can also use other known positioning modules with the same functions as the GNSS module or functions that exceed the existing functions of the GNSS module, or other positioning modules developed in the future. When the vehicle is traveling in the tunnel, the first positioning terminal will obtain the current position of the vehicle, generate the current coordinate data of the vehicle (i.e., the first coordinate information) based on the reference coordinate system, and at the same time, the first positioning terminal will perform a timed poll on the current position of the vehicle and update the position of the vehicle in the reference coordinate system.

[0033] Similarly, the second positioning terminal on the pedestrian can understand the position of the pedestrian in the tunnel and the position of the pedestrian in the line map at any time. The second positioning terminal can use a GNSS module. Of course, the second positioning terminal can also use other known positioning modules with the same functions as the GNSS module or functions that exceed the existing functions of the GNSS module, or other positioning modules developed in the future. When the pedestrian is walking in the tunnel, the second positioning terminal will obtain the current position of the pedestrian, generate the current coordinate data of the pedestrian (i.e., the second coordinate information) based on the reference coordinate system, and at the same time, the second positioning terminal will perform a timed poll on the current position of the pedestrian and update the position of the pedestrian in the reference coordinate system.

[0034] Next, step S3 is executed to compare the first coordinate information and the second coordinate information. Based on the circuit diagram data and the reference coordinate system, the first coordinate information and the second coordinate information are compared to understand the distance between the first positioning terminal (vehicle) and the second positioning terminal (pedestrian); wherein, the distance is preferably the path distance between the first positioning terminal and the second positioning terminal, that is, based on the route direction of the circuit diagram, the distance between the first positioning terminal and the second positioning terminal when they walk along the circuit. For example, the value of the X-axis in the first coordinate information is compared with the value of the X-axis in the second coordinate information, and the value of the Y-axis in the first coordinate information is compared with the value of the Y-axis in the second coordinate information, and the distance between the first positioning terminal and the second positioning terminal when they walk along the circuit is calculated in combination with the specific circuit direction feedback by the circuit diagram data; wherein, the calculation method and principle of calculating the distance between the first positioning terminal and the second positioning terminal when they walk along the circuit through the first coordinate information, the second coordinate information and the circuit are common knowledge to those skilled in the art, and it is the same or similar to the calculation method and principle of calculating the distance between the departure place and the destination when the existing navigation system is navigating, so it will not be elaborated here.

[0035] After completing the comparison of the first coordinate information and the second coordinate information, step S4 is executed to determine whether the distance between the first positioning terminal and the second positioning terminal is less than a preset distance threshold. If not, feedback is given to execute step S2. If the distance between the first positioning terminal and the second positioning terminal is less than the preset distance threshold, then step S5 is executed to send a first warning message to the first positioning terminal.

[0036] For example, assume that the preset distance threshold is 15 meters. When the first coordinate information and the second coordinate information are compared and it is calculated that the distance between the first positioning terminal and the second positioning terminal in a certain circuit extension direction is less than 15 meters, a first warning message is sent to the vehicle, so that after the vehicle obtains the first warning message, feedback is given to the vehicle driver. Among them, the way to give feedback to the vehicle driver can be as follows: First, when the vehicle receives the first warning message, it can play a voice prompt (such as "There is a pedestrian near the vehicle, please observe and drive carefully" or "There is a pedestrian within 15 meters of the vehicle, please observe and drive carefully", etc.) to the vehicle driver through the in-vehicle speaker system; Second, when the vehicle receives the first warning message, it can give video, audio-video or text prompts to the vehicle driver through the in-vehicle display screen. By sending the first warning message to the vehicle and enabling the vehicle to prompt the vehicle driver to pay attention to the pedestrians nearby according to the first warning message, the vehicle driver can be more careful and cautious during driving, avoid pedestrians, and thus avoid collisions with pedestrians and ensure the safety of pedestrians.

[0037] Further, when the distance between the first positioning terminal and the second positioning terminal is less than a preset distance threshold, a second alarm message is also sent to the second positioning terminal to remind the pedestrian that there is a vehicle approaching nearby, so that the pedestrian can be prepared and avoid being scratched by the vehicle, ensuring their own safety.

[0038] For example, assuming that the preset distance threshold is 15 meters, after comparing the first coordinate information and the second coordinate information, when it is calculated that the distance between the first positioning terminal and the second positioning terminal in the direction of a certain line extension is less than 15 meters, a second alarm message is sent to the second positioning terminal, so that after the second positioning terminal receives the second alarm message, it warns the pedestrian. Among them, the vibration module can be set in the second positioning terminal, so that when the second positioning terminal receives the second alarm message, the vibration module is controlled to vibrate to remind the pedestrian; or the voice playback module can be set in the second positioning terminal, so that when the second positioning terminal receives the second alarm message, the voice playback module is controlled to play voice according to the preset voice content (such as "There is a vehicle approaching nearby, please be careful") to remind the pedestrian that there is a vehicle approaching.

[0039] In addition, when the distance between the first positioning terminal and the second positioning terminal is less than the preset distance threshold, the vehicle speed of the vehicle can also be obtained through the vehicle speed sensor of the vehicle, and it is judged whether the current vehicle speed is greater than the preset speed threshold. If the current vehicle speed of the vehicle is greater than the preset threshold, a third alarm signal is sent to the vehicle, so that after the vehicle receives the third alarm signal, it reminds the vehicle driver that the current vehicle speed is speeding and needs to reduce the speed. For example, assuming that the preset speed threshold is 30 km / h, when the distance between the vehicle and the pedestrian is less than the preset threshold and the vehicle speed is greater than 30 km / h, a third alarm signal is sent to the vehicle. After the vehicle receives the third alarm signal, it can play a voice prompt (such as "There is a pedestrian near the vehicle, your speed is too fast, please reduce the speed to below 30 km / h") to the vehicle driver through the speaker system in the vehicle; or a voice and video (such as the played audio is "There is a pedestrian near the vehicle, your speed is too fast, please reduce the speed to below 30 km / h", and the played video is a warning sign, etc.) or text prompt (such as "There is a pedestrian near the vehicle, reduce the speed to below 30 km / h", etc.) is given to the vehicle driver through the display screen in the vehicle. By sending the third alarm message to the vehicle, the vehicle is prompted by the third alarm message that the vehicle is speeding in the current situation and needs to slow down and avoid the pedestrian to prevent scratching the pedestrian and ensure the safety of the pedestrian.

[0040] Furthermore, the second positioning terminal is provided with a lighting lamp group. The lighting lamp group can be integrated on the second positioning terminal. When the lighting lamp group is integrated on the second positioning terminal, the second positioning terminal is preferably installed on the safety helmet of the construction worker (i.e., the pedestrian). Of course, the lighting lamp group can also be independent of the second positioning terminal. When the lighting lamp group is independent of the second positioning terminal, the lighting lamp group is preferably installed on the safety helmet. When the distance between the first positioning terminal and the second positioning terminal is less than a preset distance threshold, the lighting lamp group is controlled to work according to a preset lighting mode based on the relative positions of the first positioning terminal and the second positioning terminal.

[0041] For example, the lighting lamp group preferably has two sets of lighting modules. The lighting ends of the two sets of lighting modules are respectively arranged facing the front and the back of the construction worker. When it is determined that the vehicle is approaching from the front of the construction worker after comparing the first coordinate information and the second coordinate information, the set of lamp groups with the lighting end facing the front of the construction worker is controlled to work according to a preset lighting mode (such as flashing, constant lighting, etc.); when it is determined that the vehicle is approaching from the back of the construction worker, the set of lamp groups with the lighting end facing the back of the construction worker is controlled to work according to a preset lighting mode (such as flashing, constant lighting, etc.).

[0042] More preferably, for example, the lighting lamp group has four sets of lighting modules. The lighting ends of the four sets of lighting modules are respectively arranged facing the front, the back, the left side, and the right side of the construction worker. When it is determined that the vehicle is approaching from the front of the construction worker after comparing the first coordinate information and the second coordinate information, the set of lamp groups with the lighting end facing the front of the construction worker is controlled to work according to a preset lighting mode (such as flashing, constant lighting, etc.); when it is determined that the vehicle is approaching from the back of the construction worker, the set of lamp groups with the lighting end facing the back of the construction worker is controlled to work according to a preset lighting mode (such as flashing, constant lighting, etc.); when it is determined that the vehicle is approaching from the left side of the construction worker, the set of lamp groups with the lighting end facing the left side of the construction worker is controlled to work according to a preset lighting mode (such as flashing, constant lighting, etc.); when it is determined that the vehicle is approaching from the right side of the construction worker, the set of lamp groups with the lighting end facing the right side of the construction worker is controlled to work according to a preset lighting mode (such as flashing, constant lighting, etc.); when it is determined that the vehicle is approaching from the left front of the construction worker, the two sets of lamp groups with the lighting ends facing the front and the left side of the construction worker are controlled to work according to a preset lighting mode (such as flashing, constant lighting, etc.); and so on.

[0043] Among them, the orientation of the vehicle relative to the pedestrian (i.e., the construction worker) can be referenced by the traveling direction of the pedestrian (the traveling direction can be calculated and judged by the change amplitude of the coordinate axis of the second coordinate information of the second positioning terminal) and the change of the first coordinate information. Taking the position of the second positioning terminal as the reference, a relative coordinate system is established, and the orientation of the vehicle relative to the pedestrian (such as the front, the back, the left side, the right side, the left front, the right front, the left back, the right back, etc.) is calculated in combination with the first coordinate information of the vehicle.

[0044] By configuring a light-emitting lamp group, when the distance between the first positioning terminal and the second positioning terminal is less than a preset distance threshold, the light-emitting lamp group configured by the second positioning terminal is controlled to emit light in a preset lighting mode, so that the light emitted by the light-emitting lamp group better indicates the position of the pedestrian to the vehicle driver, enabling the vehicle driver to drive the vehicle to avoid the pedestrian better.

[0045] Furthermore, the second positioning terminal has a voice playback module. When the distance between the first positioning terminal and the second positioning terminal is less than the preset distance threshold, based on the walking direction of the pedestrian, the orientation of the first positioning terminal relative to the second positioning terminal is judged, and a voice playback instruction is sent according to the current orientation of the first positioning terminal relative to the second positioning terminal, so that after receiving the voice playback instruction, the second positioning terminal controls the voice playback module to play a preset voice. For example, when the vehicle approaches from the front of the pedestrian and the distance between the first positioning terminal and the second positioning terminal is less than the preset distance threshold, the first positioning terminal sends a voice playback instruction according to the current orientation relative to the second positioning terminal. After receiving the voice playback instruction, the second positioning terminal controls the voice playback module to play the voice "There is a vehicle approaching from your front, please pay attention and avoid"; another example is when the vehicle approaches from the right rear of the pedestrian and the distance between the first positioning terminal and the second positioning terminal is less than the preset distance threshold, the first positioning terminal sends a voice playback instruction according to the current orientation relative to the second positioning terminal. After receiving the voice playback instruction, the second positioning terminal controls the voice playback module to play the voice "There is a vehicle approaching from your right rear, please pay attention and avoid"; and so on.

[0046] By configuring a voice playback module, when the distance between the first positioning terminal and the second positioning terminal is less than the preset distance threshold, the voice playback module configured by the second positioning terminal is controlled to play the vehicle's position to the pedestrian, enabling the pedestrian to pay attention to the oncoming vehicle direction and facilitating the pedestrian to take corresponding avoidance measures in advance, thereby further improving their own safety.

[0047] In addition, when the distance between the first positioning terminal and the second positioning terminal is less than the preset distance threshold, preferably, the polling time for the first coordinate information of the first positioning terminal is shortened, and the polling time for the second coordinate information of the second positioning terminal is shortened. For example, when the distance between the first positioning terminal and the second positioning terminal is greater than the preset distance threshold, the polling time for the first coordinate information of the first positioning terminal is preferably 3 seconds per time, and the polling time for the second coordinate information of the second positioning terminal is preferably 5 seconds per time; when the distance between the first positioning terminal and the second positioning terminal is less than the preset distance threshold, the polling time for the first coordinate information of the first positioning terminal is preferably 0.5 seconds per time, and the polling time for the second coordinate information of the second positioning terminal is 1 second per time.

[0048] Shortening the polling time can better obtain the real-time positions of vehicles and pedestrians. By shortening the polling time when the distance between the first positioning terminal and the second positioning terminal is less than a preset distance threshold, the generation of data garbage can be better reduced, the occupation of network resources, storage resources, and computer resources can be decreased, and the accuracy and reliability of the monitoring results can be improved to a certain extent. Moreover, the driving record information of the vehicle is obtained regularly and stored in the database. When needed (such as in the event of a collision), the responsibility can be determined and / or analyzed by referring to the driving record information of the vehicle, etc.

[0049] In summary, the tunnel pedestrian avoidance warning method provided by the present invention can accurately judge the distance between the first positioning terminal (vehicle) and the second positioning terminal (pedestrian) by comparing the first coordinate information of the first positioning terminal of the vehicle and the second coordinate information of the second positioning terminal on the pedestrian. When the distance between the two is less than the preset distance threshold (safety value or warning value), a first warning message is sent to the vehicle to warn and / or remind the vehicle driver, enabling the vehicle driver to drive carefully and observe the surrounding situation of the vehicle more carefully, avoiding collisions between the vehicle and pedestrians (such as construction workers), thereby improving the safety of pedestrians when walking. In addition, the method of detecting the relative position between the vehicle and the pedestrian by comparing the first coordinate information and the second coordinate information has the advantages of a larger detection range compared with the traditional driving radar detection, and higher detection accuracy and stronger reliability compared with the detection using a vision system.

[0050] Embodiment of the computer device

[0051] The computer device of this embodiment includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, each step of the above-mentioned tunnel pedestrian avoidance warning method is implemented.

[0052] For example, the computer program can be divided into one or more modules. One or more modules are stored in the memory and executed by the processor to complete each module of the present invention. One or more modules can be a series of computer program instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program in the terminal device.

[0053] The processor referred to in the present invention may be a Central Processing Unit (CPU), or may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the terminal device and connects various parts of the entire terminal device through various interfaces and circuits.

[0054] The memory can be used to store computer programs and / or modules. The processor realizes various functions of the terminal device by running or executing the computer programs and / or modules stored in the memory, and by calling the data stored in the memory. The memory mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created according to the use of the mobile phone (such as audio data, phone book, etc.). In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, SmartMedia Card (SMC), Secure Digital (SD) card, Flash Card, at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage devices.

[0055] Embodiment of computer-readable storage medium

[0056] If the computer program stored in the above computer device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above embodiment methods of the present invention, it can also be completed by a computer program instructing relevant hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, it can implement each step of the above tunnel pedestrian avoidance warning method.

[0057] Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice within the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0058] Finally, it should be emphasized that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. Tunnel pedestrian avoidance warning method, Characterized in that, Comprising: Obtain the line map data, generate a reference coordinate system according to the line map data and store it in the database; Obtain the first coordinate information of the first positioning terminal of the vehicle; Obtain the second coordinate information of the second positioning terminal on the pedestrian; Compare the first coordinate information and the second coordinate information, and determine whether the interval distance between the first positioning terminal and the second positioning terminal is less than a preset distance threshold. If so, send a first alarm message to the vehicle; When the interval distance between the first positioning terminal and the second positioning terminal is less than the preset distance threshold, the method further includes: Send a second alarm message to the second positioning terminal; The second positioning terminal has four groups of light-emitting lamp groups, and the four groups of light-emitting lamp groups are respectively arranged in front of, behind, on the left side and on the right side of the pedestrian; When the interval distance between the first positioning terminal and the second positioning terminal is less than the preset distance threshold, the method further includes: Control the light-emitting lamp groups to work according to a preset lighting mode according to the relative positions between the first positioning terminal and the second positioning terminal, including: Control at least one of the four groups of light-emitting lamp groups to work according to the preset lighting mode according to the orientation of the vehicle relative to the pedestrian, including: after comparing the first coordinate information and the second coordinate information, when it is determined that the vehicle is coming from the front of the pedestrian, control a group of light-emitting lamp groups with the light-emitting end facing the front of the pedestrian to work according to the preset lighting mode, when it is determined that the vehicle is coming from the back of the pedestrian, control a group of light-emitting lamp groups with the light-emitting end facing the back of the pedestrian to work according to the preset lighting mode, when it is determined that the vehicle is coming from the left side of the pedestrian, control a group of light-emitting lamp groups with the light-emitting end facing the left side of the pedestrian to work according to the preset lighting mode, when it is determined that the vehicle is coming from the right side of the pedestrian, control a group of light-emitting lamp groups with the light-emitting end facing the right side of the pedestrian to work according to the preset lighting mode, when it is determined that the vehicle is coming from the left front of the pedestrian, control two groups of light-emitting lamp groups with the light-emitting ends facing the front and the left side of the pedestrian to work according to the preset lighting mode; The orientation of the vehicle relative to the pedestrian is referenced by the traveling direction of the pedestrian and the change of the first coordinate information, and a relative coordinate system is established based on the position reference of the second positioning terminal, and the orientation of the vehicle relative to the pedestrian is calculated in combination with the first coordinate information.

2. The tunnel pedestrian avoidance warning method according to claim 1, Characterized in that: When the interval distance between the first positioning terminal and the second positioning terminal is less than the preset distance threshold, the method further includes: Obtain the vehicle speed, and determine whether the vehicle speed is greater than a preset speed threshold. If so, send a third alarm message to the vehicle.

3. The tunnel pedestrian avoidance warning method according to claim 1, Characterized in that: When the interval distance between the first positioning terminal and the second positioning terminal is less than the preset distance threshold, the method further includes: Reduce the polling time for the first coordinate information of the first positioning terminal; Reduce the polling time for the second coordinate information of the second positioning terminal.

4. The tunnel pedestrian avoidance warning method according to claim 1, characterized in that: The second positioning terminal has a voice playback module; If the distance between the first positioning terminal and the second positioning terminal is less than a preset distance threshold, the method further includes: Based on the traveling direction of the pedestrian, determine the orientation of the first positioning terminal relative to the second positioning terminal, and send a voice playback instruction to the second positioning terminal according to the current orientation of the first positioning terminal, so that the voice playback module plays a preset voice.

5. The tunnel pedestrian avoidance warning method according to any one of claims 1 to 4, characterized in that: The interval distance is the path distance between the first positioning terminal and the second positioning terminal.

6. The tunnel pedestrian avoidance warning method according to claim 5, characterized in that: The method further includes: Regularly obtain the driving record information of the vehicle and store it in the database.

7. A computer device, including a processor and a memory, characterized in that: The memory stores a computer program, and when the computer program is executed by the processor, it realizes the steps of the tunnel pedestrian avoidance warning method according to any one of claims 1 to 6.

8. A computer-readable storage medium, on which a computer program is stored, characterized in that: When the computer program is executed by a processor, it realizes the steps of the tunnel pedestrian avoidance warning method according to any one of claims 1 to 6.

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