Method, device and equipment for passing of vulnerable road user and storage medium

Abstract

The application discloses a weak traffic participant passing method and device, equipment and storage medium, relates to the intelligent network connected automobile technical field, and can reduce the implementation cost of safe passing of the weak traffic participant. The specific scheme comprises the following steps: real-time acquisition of phase change information and data transmission time difference in the wireless communication process of the target terminal; the phase change information is the phase difference information of the first antenna phase of the vehicle terminal and the second antenna phase of the target terminal at the corresponding moment, and the target terminal corresponds to the weak traffic participant one by one; the deviation angle of the target terminal relative to the vehicle terminal at the corresponding moment is determined according to the phase change information and the first antenna phase; the distance of the target terminal relative to the vehicle terminal at the corresponding moment is determined according to the data transmission time difference; the weak traffic participant corresponding to the target terminal is warned or avoided according to the real-time acquisition of the motion state of the vehicle corresponding to the vehicle terminal, the deviation angle and the distance.

Description

Technical Field

[0001] The present application relates to the field of intelligent connected vehicle technology, and in particular to a method, device, equipment and storage medium for vulnerable traffic participants. Background Art

[0002] According to statistics from the World Health Organization, nearly half of the people who die in traffic accidents each year are pedestrians, cyclists, and electric vehicle or motorcycle users. These four types of vulnerable traffic participants suffer very serious casualties in traffic accidents. Secondly, vulnerable traffic participants lack safety awareness. Therefore, a method for vulnerable traffic participants to pass safely is urgently needed.

[0003] Currently, vulnerable traffic participants are detected and perceived through multiple sensors installed on vehicles, or through vehicles equipped with V2X capabilities that share information with roadside sensing equipment. However, both methods require vehicles with Level 3 or higher autonomous driving capabilities. For vehicles below Level 3, achieving vulnerable traffic participant perception requires the installation of multiple sensors or V2X equipment, significantly increasing implementation costs. Summary of the Invention

[0004] The present application provides a method, device, equipment and storage medium for vulnerable traffic participants to pass through, which can reduce the cost of achieving safe passage for vulnerable traffic participants.

[0005] To achieve the above objectives, this application adopts the following technical solutions:

[0006] In a first aspect of an embodiment of the present application, a method for enabling vulnerable traffic participants to pass through the vehicle is provided. The method includes: obtaining, in real time, phase change information and a data transmission time difference during wireless communication with a target terminal; the phase change information is the phase difference between a first antenna phase of an onboard terminal and a second antenna phase of a target terminal at a corresponding moment, wherein the target terminal corresponds to the vulnerable traffic participant in a one-to-one manner;

[0007] Determine the deflection angle of the target terminal relative to the vehicle-mounted terminal at the corresponding moment according to the phase change information and the phase of the first antenna;

[0008] Determine the distance between the target terminal and the vehicle terminal at the corresponding moment based on the data transmission time difference;

[0009] The motion state of the vehicle corresponding to the on-board terminal is obtained in real time, and the processing result at the corresponding moment is generated according to the motion state, deflection angle and distance. The processing result is used to instruct the vulnerable traffic participants corresponding to the target terminal to be warned or avoided.

[0010] In one embodiment, obtaining phase change information during wireless communication with a target terminal in real time includes:

[0011] Sending a first carrier to a target terminal, so that the target terminal determines phase change information based on a first antenna phase corresponding to the first carrier and a second antenna phase corresponding to when receiving the first carrier, and sends the phase change information to the vehicle-mounted terminal;

[0012] Receive phase change information sent by the vehicle terminal.

[0013] In one embodiment, the first carrier includes a plurality of first subcarriers, each first subcarrier including a corresponding first antenna subphase;

[0014] The method includes: sending a first carrier to a target terminal so that the target terminal determines phase change information according to a first antenna phase corresponding to the first carrier and a second antenna phase corresponding to when the first carrier is received, and sending the phase change information to the vehicle-mounted terminal. The method includes:

[0015] A first carrier is sent to a target terminal, so that when the target terminal detects the first carrier, it obtains a first antenna sub-phase of each first subcarrier, generates a feedback matrix based on each first antenna sub-phase and a second antenna sub-phase corresponding to when each first subcarrier is received, and sends the feedback matrix to the target terminal, where the feedback matrix includes phase change data of each first subcarrier.

[0016] In one embodiment, determining the deflection angle of the target terminal relative to the vehicle-mounted terminal at a corresponding moment according to the phase change information and the first antenna phase includes:

[0017] Determine an orthogonal space mapping matrix according to the first antenna phase, where the orthogonal space mapping matrix includes a plurality of first antenna sub-phases corresponding to the first antenna phase;

[0018] Determine the spatial phase information of the target terminal relative to the vehicle terminal at the corresponding moment according to the feedback matrix and the orthogonal space mapping matrix;

[0019] The deflection angle of the target terminal relative to the vehicle-mounted terminal is determined based on the spatial phase information.

[0020] In one embodiment, obtaining the data transmission time difference with the target terminal in real time includes:

[0021] Sending a request message to the target terminal, including the sending time, and requesting the target terminal to send a reply message;

[0022] Receive a reply message sent by the target terminal and determine a time when the reply message is received, where the reply message includes a first time and a second time, where the first time is a time when the target terminal receives the request message and the second time is a time when the target terminal sends the reply message;

[0023] The data transmission time difference between the target terminal and the transmitting terminal is determined according to the sending time, the receiving time, the first time and the second time.

[0024] In one embodiment, generating a processing result at a corresponding moment according to the motion state, deflection angle, and distance includes:

[0025] Predicting the first position information of the vehicle after a preset time based on the motion state;

[0026] Predicting the second location information of the vulnerable traffic participant corresponding to the target terminal after a preset time based on the deflection angle and distance;

[0027] A processing result is generated according to the first position information and the second position information.

[0028] In one embodiment, generating a processing result based on the first location information and the second information includes:

[0029] determining a relative distance based on the first position information and the second position information;

[0030] If the relative distance is greater than a first preset threshold, a warning message is generated, and the warning message is used to remind vulnerable traffic participants;

[0031] If the relative distance is less than a preset threshold, control information is generated, and the control information is used to control the vehicle's motion state so that the vehicle avoids traffic participants.

[0032] In a second aspect of the embodiments of the present application, a passage device for vulnerable traffic participants is provided, the device comprising:

[0033] The first acquisition module is used to obtain phase change information and data transmission time difference during wireless communication with the target terminal in real time. The phase change information is the phase difference between the first antenna phase of the vehicle terminal and the second antenna phase of the target terminal at the corresponding moment. The target terminal corresponds to the vulnerable traffic participant one by one.

[0034] A first determining module is used to determine the deflection angle of the target terminal relative to the vehicle-mounted terminal at a corresponding moment according to the phase change information and the first antenna phase;

[0035] A second determining module is used to determine the distance between the target terminal and the vehicle-mounted terminal at a corresponding moment according to the data transmission time difference;

[0036] The second acquisition module is used to obtain the motion state of the vehicle corresponding to the vehicle terminal in real time;

[0037] The processing module is used to generate a processing result at a corresponding moment according to the motion state, deflection angle and distance. The processing result is used to instruct the vulnerable traffic participant corresponding to the target terminal to be warned or to avoid it.

[0038] In a third aspect of an embodiment of the present application, an electronic device is provided, which includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the method for passage of vulnerable traffic participants in the first aspect of an embodiment of the present application is implemented.

[0039] In a fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method for passage of vulnerable traffic participants in the first aspect of the embodiments of the present application is implemented.

[0040] The beneficial effects of the technical solutions provided in the embodiments of the present application include at least:

[0041] The method for facilitating the passage of vulnerable traffic participants provided in an embodiment of the present application obtains phase change information and data transmission time difference during real-time communication with a target terminal. The method then determines the target terminal's deflection angle relative to the vehicle-mounted terminal at the corresponding moment based on the phase change information and the first antenna phase, and determines the target terminal's distance relative to the vehicle-mounted terminal at the corresponding moment based on the data transmission time difference. Finally, based on the real-time acquired motion state, deflection angle, and distance of the vehicle corresponding to the vehicle-mounted terminal, a warning or avoidance is provided to the vulnerable traffic participant corresponding to the target terminal. The phase change information is the phase difference between the vehicle-mounted terminal's first antenna phase and the target terminal's second antenna phase at the corresponding moment, and the target terminal corresponds to the vulnerable traffic participant on a one-to-one basis. The method for facilitating the passage of vulnerable traffic participants provided in an embodiment of the present application determines the vulnerable traffic participant's position relative to the vehicle based on the phase change information and data transmission time difference during wireless communication between the vehicle's vehicle-mounted terminal and the vulnerable traffic participant's target terminal. Therefore, the method only requires the vehicle and the vulnerable traffic participant to have wireless communication capabilities, eliminating the need to install multiple sensors or V2X equipment on the vehicle, significantly reducing implementation costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic diagram of the structure of a vehicle-mounted terminal provided in an embodiment of the present application;

[0043] Figure 2 A flow chart of a method for vulnerable traffic participants to pass through provided in an embodiment of the present application;

[0044] Figure 3 A schematic diagram of a data transmission time difference is provided in an embodiment of the present application;

[0045] Figure 4A structural diagram of a passage device for vulnerable traffic participants provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0047] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, unless otherwise specified, "plurality" means two or more.

[0048] Additionally, the use of “based on” or “according to” is intended to be open and inclusive, in that a process, step, calculation, or other action “based on” or “according to” one or more conditions or values ​​may, in practice, be based on additional conditions or beyond values.

[0049] According to statistics from the World Health Organization, nearly half of the people who die in traffic accidents each year are pedestrians, cyclists, and electric vehicle or motorcycle users. These four types of vulnerable traffic participants suffer very serious casualties in traffic accidents. Secondly, vulnerable traffic participants lack safety awareness. Therefore, a method for vulnerable traffic participants to pass safely is urgently needed.

[0050] Currently, vulnerable traffic participants are detected and perceived through multiple sensors installed on vehicles, or through vehicles equipped with V2X capabilities that share information with roadside sensing equipment. However, both methods require vehicles with Level 3 or higher autonomous driving capabilities. For vehicles below Level 3, achieving vulnerable traffic participant perception requires the installation of multiple sensors or V2X equipment, significantly increasing implementation costs.

[0051] In order to solve the above problems, an embodiment of the present application provides a method for the passage of vulnerable traffic participants, which obtains phase change information and data transmission time difference during the communication process with the target terminal in real time, then determines the deflection angle of the target terminal relative to the vehicle-mounted terminal at the corresponding moment based on the phase change information and the first antenna phase, and determines the distance of the target terminal relative to the vehicle-mounted terminal at the corresponding moment based on the data transmission time difference, and finally, based on the motion state, deflection angle and distance of the vehicle corresponding to the vehicle-mounted terminal obtained in real time, warns or avoids the vulnerable traffic participants corresponding to the target terminal. Among them, the phase change information is the phase difference information between the first antenna phase of the vehicle-mounted terminal and the second antenna phase of the target terminal at the corresponding moment, and the target terminal corresponds to the vulnerable traffic participant one-to-one. The method for the passage of vulnerable traffic participants provided in the embodiment of the present application determines the position of the vulnerable traffic participant relative to the vehicle based on the phase change information and data transmission time difference during the wireless communication process between the vehicle-mounted terminal and the target terminal of the vulnerable traffic participant, and only requires the vehicle and the vulnerable traffic participant to have wireless communication capabilities, which greatly reduces the implementation cost.

[0052] The method for facilitating the passage of vulnerable traffic participants provided in the embodiments of this application is implemented by an on-board terminal, which wirelessly communicates with a target terminal. The on-board terminal corresponds to the vehicle, and the target terminal corresponds to the vulnerable traffic participant. Vulnerable traffic participants include pedestrians, cars, electric vehicles, and motorcycles. In practical applications, the target terminal can be a mobile phone carried by the user, a portable wearable device, or an electronic device with wireless communication capabilities, etc., and this embodiment of the application does not specifically limit this.

[0053] Figure 1 Taking the vehicle terminal as an example, Figure 1 This is a schematic diagram of the internal structure of a vehicle-mounted terminal provided in an embodiment of the present application. Figure 1 As shown, the vehicle-mounted terminal includes a processor and memory connected via a system bus. The processor is used to provide computing and control capabilities. The memory may include a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and a computer program. The computer program can be executed by the processor to implement the steps of the method for predicting the position box of an object in an image provided in each of the above embodiments. The internal memory provides a high-speed cache operating environment for the operating system and computer program in the non-volatile storage medium.

[0054] Those skilled in the art will understand that Figure 1 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the vehicle-mounted terminal to which the solution of the present application is applied. The specific vehicle-mounted terminal may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0055] Based on the above execution subject, the embodiment of the present application provides a method for vulnerable traffic participants to pass, which is applied to a vehicle terminal, such as Figure 2 As shown, the method includes the following steps:

[0056] Step 201: Acquire phase change information and data transmission time difference during wireless communication with a target terminal in real time.

[0057] The phase change information is the phase difference between the first antenna phase of the vehicle terminal and the second antenna phase of the target terminal at the corresponding moment. The target terminal corresponds to the vulnerable traffic participant one-to-one, and the vehicle terminal corresponds to the vehicle one-to-one.

[0058] Vulnerable traffic participants include pedestrians, cars, electric vehicles, motorcycles, etc. The target terminal can be a mobile phone, a portable wearable device, or an electronic device with wireless communication function carried by the user, etc., which is not specifically limited in the embodiments of the present application.

[0059] Step 202: Determine the deflection angle of the target terminal relative to the vehicle-mounted terminal at the corresponding moment according to the phase change information and the first antenna phase.

[0060] The first antenna phase can be understood as the initial antenna phase when the vehicle terminal communicates with the target terminal. Therefore, the deflection angle of the target terminal relative to the vehicle terminal can be determined based on the initial antenna phase and the phase change during communication with the target terminal.

[0061] Step 203: Determine the distance between the target terminal and the vehicle-mounted terminal at the corresponding moment according to the data transmission time difference.

[0062] Step 204: Acquire the motion state of the vehicle corresponding to the vehicle-mounted terminal in real time, and generate a processing result at the corresponding moment according to the motion state, deflection angle and distance. The processing result is used to instruct to warn or avoid the vulnerable traffic participant corresponding to the target terminal.

[0063] It can be understood that the vehicle's trajectory can be predicted based on the continuously acquired vehicle's motion state, and the trajectory of the vulnerable traffic participant can be predicted based on the continuously determined deviation angle and distance of the vulnerable traffic participant, and the two predicted trajectory information can be used for the vehicle to warn the vulnerable traffic participant or the vehicle to avoid the vulnerable traffic participant.

[0064] The method for facilitating the passage of vulnerable traffic participants provided in an embodiment of the present application obtains phase change information and data transmission time difference during real-time communication with a target terminal, then determines the target terminal's deflection angle relative to the vehicle-mounted terminal at the corresponding moment based on the phase change information and the first antenna phase, and determines the distance of the target terminal relative to the vehicle-mounted terminal at the corresponding moment based on the data transmission time difference. Finally, based on the real-time acquired motion state, deflection angle, and distance of the vehicle corresponding to the vehicle-mounted terminal, a warning or avoidance is provided to the vulnerable traffic participant corresponding to the target terminal. The phase change information is the phase difference between the first antenna phase of the vehicle-mounted terminal and the second antenna phase of the target terminal at the corresponding moment, and the target terminal corresponds to the vulnerable traffic participant on a one-to-one basis. The method for facilitating the passage of vulnerable traffic participants provided in an embodiment of the present application determines the position of the vulnerable traffic participant relative to the vehicle based on the phase change information and data transmission time difference during wireless communication between the vehicle-mounted terminal and the vulnerable traffic participant's target terminal. This method can achieve sub-meter positioning accuracy and only requires the vehicle and the vulnerable traffic participant to have wireless communication capabilities, eliminating the need to install multiple sensors or V2X equipment on the vehicle, significantly reducing implementation costs.

[0065] Optionally, the above-mentioned step 201 of obtaining phase change information in real time during wireless communication with the target includes: sending a first carrier to the target terminal so that the target terminal determines the phase change information based on the first antenna phase corresponding to the first carrier and the second antenna phase corresponding to when receiving the first carrier, and sending the phase change information to the vehicle-mounted terminal; receiving the phase change information sent by the vehicle-mounted terminal.

[0066] That is, the vehicle-mounted terminal transmits the first carrier wave at the first antenna phase, and the target terminal receives the first carrier wave at the second antenna phase. The target terminal can determine phase change information based on the first and second antenna phases, and then transmit the phase change information to the vehicle-mounted terminal. The vehicle-mounted terminal then determines the spatial phase of the target terminal based on the phase change information and the first antenna phase, and can further determine the deviation angle of the target terminal relative to the vehicle. In this way, the deviation angle of the vulnerable traffic participant relative to the vehicle can be determined by only requiring the vulnerable traffic participant to have wireless communication capabilities.

[0067] It should be noted that before the vehicle-mounted terminal sends the first carrier to the target terminal, the vehicle-mounted terminal will broadcast the wireless network identification of the vehicle-mounted terminal at a fixed period, and the wireless communication function of the target terminal needs to be in a search state. After the vehicle-mounted terminal detects that the target terminal is within its own wireless coverage range, the vehicle terminal will send the first carrier to the target terminal.

[0068] The first carrier includes multiple first subcarriers, and each first subcarrier includes a corresponding first antenna subphase. Optionally, the above-mentioned sending the first carrier to the target terminal so that the target terminal determines the phase change information based on the first antenna phase corresponding to the first carrier and the second antenna phase corresponding to when receiving the first carrier, and sending the phase change information to the vehicle terminal includes:

[0069] A first carrier is sent to a target terminal, so that when the target terminal detects the first carrier, it obtains a first antenna sub-phase of each first subcarrier, generates a feedback matrix based on each first antenna sub-phase and a second antenna sub-phase corresponding to when each first subcarrier is received, and sends the feedback matrix to the target terminal, where the feedback matrix includes phase change data of each first subcarrier.

[0070] It is understood that the first carrier includes multiple first subcarriers, each of which includes a corresponding antenna subphase. After detecting the first carrier, the target terminal can obtain the first antenna subphase of each first subcarrier. Then, when receiving each first subcarrier, it can obtain the second antenna subphase of each first subcarrier. Based on each first antenna subphase and each second antenna subphase, phase change information can be obtained. Each phase change information can be represented by a feedback matrix.

[0071] It should be noted that because the carrier wave includes not only phase information but also amplitude information, which can represent the carrier wave's power, the aforementioned method for determining phase change information can also be used to determine carrier wave amplitude change information during wireless communication between the vehicle-mounted terminal and the target terminal. Furthermore, when the deflection angle of the target terminal relative to the vehicle terminal is determined based on the phase change information, the carrier wave amplitude during wireless communication between the vehicle-mounted terminal and the target terminal can be adjusted based on the deflection angle and the carrier wave amplitude change information to ensure communication stability between the vehicle-mounted terminal and the target terminal.

[0072] Optionally, the above step 202 determines the deflection angle of the target terminal relative to the vehicle-mounted terminal at the corresponding moment according to the phase change information and the first antenna phase, including:

[0073] An orthogonal spatial mapping matrix is ​​determined based on the first antenna phase, where the orthogonal spatial mapping matrix includes multiple first antenna sub-phases corresponding to the first antenna phase. Then, the spatial phase information of the target terminal relative to the vehicle terminal at the corresponding moment is determined based on the feedback matrix and the orthogonal spatial mapping matrix. Finally, the deflection angle of the target terminal relative to the vehicle terminal is determined based on the spatial phase information.

[0074] Among them, the multiple antenna sub-phases in the first antenna phase are represented by an orthogonal spatial matrix, and the phase change information is represented by a feedback matrix. Therefore, the spatial phase information of the target terminal relative to the vehicle terminal can be determined based on the feedback matrix and the orthogonal spatial matrix.

[0075] Optionally, in step 201, obtaining the data transmission time difference in real time during wireless communication with the target terminal includes:

[0076] Sending a request message to the target terminal, including the sending time, and requesting the target terminal to send a reply message;

[0077] Receive a reply message sent by the target terminal and determine a time when the reply message is received, where the reply message includes a first time and a second time, where the first time is a time when the target terminal receives the request message and the second time is a time when the target terminal sends the reply message;

[0078] The data transmission time difference between the target terminal and the transmitting terminal is determined according to the sending time, the receiving time, the first time and the second time.

[0079] Specifically, Figure 3 A schematic diagram of the data transmission time difference provided in the embodiment of the present application is shown as follows: Figure 3 As shown, the vehicle terminal sends a request message to the target terminal, which can be an FTM request. After receiving the FTM request, the target terminal sends a reply message to the target terminal. The request sending time can be represented by t1, the first time can be represented by t2, the second time can be represented by t3, and the receiving time can be represented by t4. Therefore, the data transmission time difference is: (t4-t1)-(t3-t2) / 2. Therefore, the distance between the target terminal and the vehicle terminal is D = ((t4-t1)-(t3-t2))*c / 2. Here, c is the transmission speed of electromagnetic waves.

[0080] Optionally, generating a processing result at a corresponding moment according to the motion state, deflection angle, and distance in step 204 may include:

[0081] The first position information of the vehicle after a preset time is predicted based on the motion state, and then the second position information of the vulnerable traffic participant corresponding to the target terminal after a preset time is predicted based on the deviation angle and distance. Finally, the processing result is generated based on the first position information and the second position information.

[0082] Specifically, the above-mentioned processing results generated based on the first position information and the second position information include: determining the relative distance based on the first position information and the second position information; if the relative distance is greater than a first preset threshold, generating early warning information, and the early warning information is used to prompt vulnerable traffic participants; if the relative distance is less than the preset threshold, generating control information, and the control information is used to control the vehicle's motion state so that the vehicle can avoid traffic participants.

[0083] It can be understood that the trajectory of the vehicle can be predicted based on the continuously acquired vehicle motion state, the trajectory of the vulnerable traffic participant can be predicted based on the continuously determined deviation angle and distance of the vulnerable traffic participant, and the relative distance between the vehicle and the target terminal after a preset time can be judged based on the two predicted trajectory information. If the relative distance is large, the vulnerable traffic participant can be warned through the vehicle. If the relative distance is small, the safe passage of the vulnerable traffic participant can be ensured by controlling the vehicle to slow down or directly brake.

[0084] Optionally, warnings for vulnerable traffic participants may be provided through devices such as vehicle indicators or horns.

[0085] The method for facilitating the passage of vulnerable traffic participants provided in an embodiment of the present application obtains phase change information and data transmission time difference during real-time communication with a target terminal, then determines the target terminal's deflection angle relative to the vehicle-mounted terminal at the corresponding moment based on the phase change information and the first antenna phase, and determines the distance of the target terminal relative to the vehicle-mounted terminal at the corresponding moment based on the data transmission time difference. Finally, based on the real-time acquired motion state, deflection angle, and distance of the vehicle corresponding to the vehicle-mounted terminal, a warning or avoidance is provided to the vulnerable traffic participant corresponding to the target terminal. The phase change information is the phase difference between the first antenna phase of the vehicle-mounted terminal and the second antenna phase of the target terminal at the corresponding moment, and the target terminal corresponds to the vulnerable traffic participant one-to-one. The method for facilitating the passage of vulnerable traffic participants provided in an embodiment of the present application determines the position of the vulnerable traffic participant relative to the vehicle based on the phase change information and data transmission time difference during wireless communication between the vehicle-mounted terminal and the target terminal of the vulnerable traffic participant. This method only requires the vehicle and the vulnerable traffic participant to have wireless communication capabilities, eliminating the need to install multiple sensors or V2X equipment on the vehicle, significantly reducing implementation costs.

[0086] like Figure 4 As shown, the embodiment of the present application further provides a passage device for vulnerable traffic participants, the device comprising:

[0087] The first acquisition module 11 is used to obtain phase change information and data transmission time difference during wireless communication with the target terminal in real time. The phase change information is the phase difference between the first antenna phase of the vehicle-mounted terminal and the second antenna phase of the target terminal at the corresponding moment. The target terminal corresponds to the vulnerable traffic participant one by one.

[0088] A first determining module 12 is configured to determine a deflection angle of the target terminal relative to the vehicle-mounted terminal at a corresponding moment based on the phase change information and the first antenna phase;

[0089] The second determining module 13 is used to determine the distance between the target terminal and the vehicle terminal at the corresponding moment according to the data transmission time difference;

[0090] The second acquisition module 14 is used to obtain the motion state of the vehicle corresponding to the vehicle terminal in real time;

[0091] The processing module 15 is used to generate a processing result at a corresponding moment according to the motion state, deflection angle and distance. The processing result is used to instruct to warn or avoid the vulnerable traffic participant corresponding to the target terminal.

[0092] In one embodiment, the first acquisition module 11 is specifically configured to:

[0093] Sending a first carrier to a target terminal, so that the target terminal determines phase change information based on a first antenna phase corresponding to the first carrier and a second antenna phase corresponding to when receiving the first carrier, and sends the phase change information to the vehicle-mounted terminal;

[0094] Receive phase change information sent by the vehicle terminal.

[0095] In one embodiment, the first carrier includes multiple first subcarriers, each first subcarrier includes a corresponding first antenna sub-phase; the first acquisition module 11 is specifically configured to:

[0096] A first carrier is sent to a target terminal, so that when the target terminal detects the first carrier, it obtains a first antenna sub-phase of each first subcarrier, generates a feedback matrix based on each first antenna sub-phase and a second antenna sub-phase corresponding to when each first subcarrier is received, and sends the feedback matrix to the target terminal, where the feedback matrix includes phase change data of each first subcarrier.

[0097] In one embodiment, the first determining module 12 is specifically configured to:

[0098] Determine an orthogonal space mapping matrix according to the first antenna phase, where the orthogonal space mapping matrix includes a plurality of first antenna sub-phases corresponding to the first antenna phase;

[0099] Determine the spatial phase information of the target terminal relative to the vehicle terminal at the corresponding moment according to the feedback matrix and the orthogonal space mapping matrix;

[0100] The deflection angle of the target terminal relative to the vehicle-mounted terminal is determined based on the spatial phase information.

[0101] In one embodiment, the first acquisition module 11 is specifically configured to:

[0102] Sending a request message to the target terminal, including the sending time, and requesting the target terminal to send a reply message;

[0103] Receive a reply message sent by the target terminal and determine a time when the reply message is received, where the reply message includes a first time and a second time, where the first time is a time when the target terminal receives the request message and the second time is a time when the target terminal sends the reply message;

[0104] The data transmission time difference between the target terminal and the transmitting terminal is determined according to the sending time, the receiving time, the first time and the second time.

[0105] In one embodiment, the processing module 15 is specifically configured to:

[0106] Predicting the first position information of the vehicle after a preset time based on the motion state;

[0107] Predicting the second location information of the vulnerable traffic participant corresponding to the target terminal after a preset time based on the deflection angle and distance;

[0108] A processing result is generated according to the first position information and the second position information.

[0109] In one embodiment, the processing module 15 is specifically configured to:

[0110] determining a relative distance based on the first position information and the second position information;

[0111] If the relative distance is greater than a first preset threshold, a warning message is generated, and the warning message is used to remind vulnerable traffic participants;

[0112] If the relative distance is less than a preset threshold, control information is generated, and the control information is used to control the vehicle's motion state so that the vehicle avoids traffic participants.

[0113] The passage device for vulnerable traffic participants provided in this embodiment can execute the above-mentioned method embodiment, and its implementation principle and technical effects are similar, so they will not be described in detail here.

[0114] The specific definitions of the access device for vulnerable traffic participants can be found in the definitions of the access method for vulnerable traffic participants described above and will not be repeated here. Each module within the aforementioned access device for vulnerable traffic participants may be implemented in whole or in part through software, hardware, or a combination thereof. Each of these modules may be embedded in or independent of the processor of the electronic device in hardware form, or stored in the memory of the electronic device in software form, allowing the processor to call and execute the corresponding operations of each module.

[0115] In another embodiment of the present application, an electronic device is provided, including a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, the steps of the method for passage of vulnerable traffic participants in the embodiment of the present application are implemented.

[0116] In another embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for passage of vulnerable traffic participants in the embodiment of the present application are implemented.

[0117] In another embodiment of the present application, a computer program product is also provided. The computer program product includes computer instructions. When the computer instructions are run on the passage device of the vulnerable traffic participant, the passage device of the vulnerable traffic participant executes each step of the passage method for the vulnerable traffic participant in the method flow shown in the above method embodiment.

[0118] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using a software program, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer execution instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website, computer, server or data center to another website, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that contains one or more media that can be integrated. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state disk (SSD)).

[0119] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0120] The above embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A method for vulnerable traffic participants to pass through, characterized by: Applied to a vehicle-mounted terminal, the method includes: Real-time acquisition of phase change information and data transmission time difference during wireless communication with a target terminal; the phase change information is the phase difference between the first antenna phase of the vehicle-mounted terminal and the second antenna phase of the target terminal at a corresponding moment, and the target terminal corresponds one-to-one with the vulnerable traffic participant; Determining a deflection angle of the target terminal relative to the vehicle-mounted terminal at a corresponding moment according to the phase change information and the first antenna phase; Determining the distance between the target terminal and the vehicle-mounted terminal at the corresponding moment according to the data transmission time difference; Acquire the motion state of the vehicle corresponding to the vehicle-mounted terminal in real time, and generate a processing result at the corresponding moment according to the motion state, the deflection angle, and the distance, wherein the processing result is used to instruct to provide an early warning or avoidance to the vulnerable traffic participant corresponding to the target terminal; The real-time acquisition of phase change information during wireless communication with the target terminal includes: A first carrier is sent to the target terminal, where the first carrier includes multiple first subcarriers, and each first subcarrier includes a corresponding first antenna subphase; so that when the target terminal detects the first carrier, it obtains the first antenna subphase of each first subcarrier, generates a feedback matrix based on each first antenna subphase and a second antenna subphase corresponding to when each first subcarrier is received, and sends the feedback matrix to the target terminal, where the feedback matrix includes phase change information of each first subcarrier.

2. The method according to claim 1, characterized in that The determining, according to the phase change information and the first antenna phase, a deflection angle of the target terminal relative to the vehicle-mounted terminal at a corresponding moment, includes: Determine an orthogonal space mapping matrix according to the first antenna phase, where the orthogonal space mapping matrix includes a plurality of first antenna sub-phases corresponding to the first antenna phase; Determine the spatial phase information of the target terminal relative to the vehicle-mounted terminal at a corresponding moment according to the feedback matrix and the orthogonal space mapping matrix; The deflection angle of the target terminal relative to the vehicle-mounted terminal is determined according to the spatial phase information.

3. The method according to claim 1, characterized in that Real-time acquisition of the data transmission time difference during wireless communication with the target terminal, including: Sending a request message to the target terminal, wherein the request message includes a sending time, and the request message is used to request the target terminal to send a reply message; receiving a reply message sent by the target terminal and determining a reception time of the reply message, the reply message including a first time and a second time, the first time being a time when the target terminal receives the request message, and the second time being a time when the target terminal sends the reply message; A data transmission time difference between the target terminal and the target terminal is determined according to the sending time, the receiving time, the first time, and the second time.

4. The method according to any one of claims 1 to 3, characterized in that Generating a processing result at a corresponding moment according to the motion state, the deflection angle, and the distance includes: Predicting first position information of the vehicle after a preset time according to the motion state; Predicting second location information of the vulnerable traffic participant corresponding to the target terminal after a preset time based on the deflection angle and the distance; The processing result is generated according to the first position information and the second position information.

5. The method according to claim 4, characterized in that Generating the processing result according to the first position information and the second position information includes: determining a relative distance based on the first position information and the second position information; If the relative distance is greater than a first preset threshold, a warning message is generated, wherein the warning message is used to prompt the vulnerable traffic participant; If the relative distance is less than a preset threshold, control information is generated, and the control information is used to control the vehicle movement state so that the vehicle avoids the traffic participant.

6. A passage device for vulnerable traffic participants, characterized in that: Located in the vehicle terminal, the device includes: A first acquisition module is configured to acquire, in real time, phase change information and a data transmission time difference during wireless communication with a target terminal; the phase change information is the phase difference between the first antenna phase of the vehicle-mounted terminal and the second antenna phase of the target terminal at a corresponding moment, and the target terminal corresponds one-to-one to the vulnerable traffic participant; A first determining module is configured to determine a deflection angle of the target terminal relative to the vehicle-mounted terminal at a corresponding moment according to the phase change information and the first antenna phase; A second determining module is used to determine the distance between the target terminal and the vehicle-mounted terminal at a corresponding moment according to the data transmission time difference; A second acquisition module is used to obtain the motion state of the vehicle corresponding to the vehicle-mounted terminal in real time; a processing module, configured to generate a processing result at a corresponding moment according to the motion state, the deflection angle, and the distance, wherein the processing result is used to instruct to provide an early warning or avoidance to a vulnerable traffic participant corresponding to the target terminal; The first acquisition module is specifically configured to: send a first carrier to the target terminal, where the first carrier includes multiple first subcarriers, and each first subcarrier includes a corresponding first antenna subphase; so that when the target terminal detects the first carrier, it obtains the first antenna subphase of each first subcarrier, generates a feedback matrix based on each first antenna subphase and a second antenna subphase corresponding to when receiving each first subcarrier, and sends the feedback matrix to the target terminal, where the feedback matrix includes phase change information of each first subcarrier.

7. An electronic device, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the method for passing a vulnerable traffic participant according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is executed by a processor, the method for passing a vulnerable traffic participant according to any one of claims 1 to 5 is implemented.

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