Pedestrian courtesy control method, system, computer and readable storage medium

Abstract

The present invention provides a method, system, computer and readable storage medium for controlling courtesy to pedestrians, the method comprising: obtaining vehicle information and pedestrian information; determining the courtesy area of ​​the vehicle; calculating the first driving time and the second driving time of the vehicle entering and exiting the courtesy area and the first walking time and the second walking time of the pedestrian entering and exiting the courtesy area; judging whether the vehicle and the pedestrian will be in the courtesy area at the same time; if the vehicle and the pedestrian will be in the courtesy area at the same time, calculating the courtesy deceleration of the vehicle according to the PID algorithm, and controlling the vehicle to travel according to the courtesy deceleration. The present invention sets a courtesy area in front of the vehicle when identifying that the target in front of the vehicle is a pedestrian, so that once the pedestrian wants to cross the courtesy area, the vehicle is controlled to decelerate at the courtesy deceleration within a certain distance, so as to allow the pedestrian to cross the courtesy area safely and smoothly.

Description

Technical Field

[0001] The present invention belongs to the technical field of pedestrian courtesy control, and specifically relates to a pedestrian courtesy control method, system, computer and readable storage medium. Background Art

[0002] As automotive industry-related technologies (chips, sensors, algorithms, communications) continue to evolve, smart driving is expanding vertically and penetrating horizontally. The popularity of L2 / L3 advanced driver assistance systems (ADAS) is increasing, and L4 / L5 autonomous driving (AD) is becoming more mature and gradually being implemented. At the same time, more functions / strategies are being defined, designed, and implemented to meet more scenario requirements.

[0003] At present, ADAS / AD systems are more focused on the driving experience of the vehicle (such as adaptive cruise control ACC, lane keeping control LKA, etc.) or emergency intervention and processing (such as automatic emergency braking AEB, etc.), but there are almost no functions / strategies related to civilized driving (such as giving way to pedestrians crossing the road). Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a pedestrian courtesy control method, system, computer and readable storage medium, which are used to solve the technical problems existing in the prior art. When the target in front of the vehicle is identified as a pedestrian, a courtesy area is set in front of the vehicle. Once the pedestrian wants to cross the courtesy area, the vehicle is controlled to slow down at the courtesy deceleration within a certain distance, so that the pedestrian can cross the courtesy area safely and smoothly.

[0005] In a first aspect, the invention provides the following technical solution, a method for controlling pedestrians to yield to traffic, the method comprising:

[0006] Acquire vehicle information and pedestrian information, wherein the vehicle information includes vehicle width, vehicle length and current vehicle speed, and the pedestrian information includes pedestrian current speed and lateral relative distance and longitudinal relative distance between the pedestrian and the vehicle;

[0007] Determining a courtesy area of ​​the vehicle based on the vehicle width, the vehicle length, the lateral relative distance, and the longitudinal relative distance;

[0008] Calculating, according to the current speed of the vehicle and the current speed of the pedestrian, a first driving time and a second driving time for the vehicle to enter and exit the courtesy area, and a first walking time and a second walking time for the pedestrian to enter and exit the courtesy area;

[0009] Based on the first driving time, the second driving time, the first walking time, and the second walking time, determining whether the vehicle and the pedestrian are in the courtesy area at the same time;

[0010] If the vehicle and the pedestrian are in the courtesy area at the same time, the courtesy deceleration of the vehicle is calculated according to the PID algorithm, and the vehicle is controlled to travel according to the courtesy deceleration.

[0011] Compared with the prior art, the beneficial effects of the present application are as follows: the present application obtains vehicle information and pedestrian information to provide data support for the subsequent calculation of the courtesy deceleration, and then determines the courtesy area of ​​the vehicle based on the vehicle width, the vehicle length, the lateral relative distance and the longitudinal relative distance, and calculates the first driving time and the second driving time of the vehicle entering and exiting the courtesy area and the first walking time and the second walking time of the pedestrian entering and exiting the courtesy area based on the current speed of the vehicle and the current speed of the pedestrian. By determining the courtesy area, the time required for vehicles and pedestrians to pass through the courtesy area can be confirmed, and then based on the The first driving time, the second driving time, the first walking time, and the second walking time are used to determine whether the vehicle and the pedestrian will be in the courtesy area at the same time, so as to calculate the courtesy deceleration so that the pedestrian and the vehicle will not be in the courtesy area at the same time. Finally, the courtesy deceleration of the vehicle is calculated according to the PID algorithm, and the vehicle is controlled to travel according to the courtesy deceleration. When the target in front of the vehicle is identified as a pedestrian, the present application sets a courtesy area in front of the vehicle, so that once the pedestrian wants to cross the courtesy area, the vehicle is controlled to decelerate at the courtesy deceleration within a certain distance, so that the pedestrian can cross the courtesy area safely and smoothly.

[0012] Preferably, the step of obtaining vehicle information and pedestrian information includes:

[0013] Determine the type of target in front of the vehicle through perception sensors;

[0014] If the type of the front target is a pedestrian, the vehicle-mounted radar is controlled to obtain the current speed of the pedestrian and the lateral relative distance and longitudinal relative distance between the pedestrian and the vehicle;

[0015] The vehicle width, vehicle length and current vehicle speed are obtained through the CAN bus.

[0016] Preferably, the step of determining the courtesy area of ​​the vehicle based on the vehicle width, the vehicle length, the lateral relative distance and the longitudinal relative distance comprises:

[0017] Based on the lateral relative distance D x With the vehicle length V Long , determine the longitudinal courtesy interval (DX n ,DX f ):

[0018] DX n =D x -D safe ;

[0019] DX f =D x +D safe +V Long ;

[0020] Where D safe To preset a safe distance;

[0021] Based on the pedestrian's crossing direction and the vehicle width L width The relative distance D from the longitudinal direction y , determine the lateral courtesy interval (DY n , DY f );

[0022] According to the longitudinal courtesy interval (DX n ,DX f ) and the horizontal courtesy interval (DY n , DY f ) to determine a courtesy area in front of the vehicle.

[0023] Preferably, the pedestrian's crossing direction and the vehicle width L width The relative distance D from the longitudinal direction y , determine the lateral courtesy interval (DY n , DY f ) steps include:

[0024] When the pedestrian crosses from left to right, the lateral courtesy interval (DY n , DY f )for:

[0025]

[0026]

[0027] When the pedestrian crosses from right to left, the lateral courtesy interval (DY n , DY f )for:

[0028]

[0029]

[0030] Wherein, m is the first preset distance, and n is the second preset distance.

[0031] Preferably, in the step of calculating the first driving time and the second driving time of the vehicle entering and exiting the courtesy area and the first walking time and the second walking time of the pedestrian entering and exiting the courtesy area according to the current speed of the vehicle and the current speed of the pedestrian:

[0032] The first travel time TX n For: TX n =(DX n ) / V x ;

[0033] The second travel time TX f For: TX f =(DX f ) / V x ;

[0034] The first walking time TY n For: TY n =|(DY n ) / V y |;

[0035] The second walking time TY f For: TY f =|(DY f ) / V y |;

[0036] Where V x is the current speed of the vehicle, V y is the current speed of the pedestrian.

[0037] Preferably, in the step of judging whether the vehicle and the pedestrian are in the courtesy area at the same time based on the first driving time, the second driving time, the first walking time, and the second walking time:

[0038] If TX f <TY n , the vehicle has exited the courtesy area and the pedestrian has not entered the courtesy area, and the vehicle and the pedestrian will not be in the courtesy area at the same time;

[0039] If TX n >TY f , the vehicle has not entered the courtesy area and the pedestrian has left the courtesy area, and the vehicle and the pedestrian will not be in the courtesy area at the same time;

[0040] If TX n <TY n <TX f, the vehicle has not left the courtesy area and the pedestrian has entered the courtesy area, and the vehicle and the pedestrian will be in the courtesy area at the same time;

[0041] If TY n <TX n <TY f , when the vehicle enters the courtesy area and the pedestrian does not leave the courtesy area, the vehicle and the pedestrian will be in the courtesy area at the same time.

[0042] Preferably, if the vehicle and the pedestrian are in the courtesy area at the same time, the step of calculating the courtesy deceleration of the vehicle according to a PID algorithm and controlling the vehicle to travel according to the courtesy deceleration comprises:

[0043] According to the current speed V of the vehicle x The second walking time TY f , vertical courtesy interval (DX n ,DX f ) Calculate the vehicle deceleration a p :

[0044]

[0045] According to the vehicle deceleration a p Calculate the expected deceleration a pp :

[0046]

[0047] Where D safe is the preset safety distance, D x is the horizontal relative distance;

[0048] According to the PID algorithm and the desired deceleration a pp Calculate the courtesy deceleration a of the vehicle real :

[0049] a real =a pp +a add ;

[0050] a add =PID(a diff =a p -a pp );

[0051] In the formula, a add To compensate for deceleration, a diff is the deceleration deviation.

[0052] In a second aspect, the invention provides the following technical solution, a pedestrian control system, the system comprising:

[0053] An acquisition module, used to acquire vehicle information and pedestrian information, wherein the vehicle information includes vehicle width, vehicle length and vehicle current speed, and the pedestrian information includes pedestrian current speed and lateral relative distance and longitudinal relative distance between the pedestrian and the vehicle;

[0054] An area determination module, configured to determine a courtesy area for the vehicle based on the vehicle width, the vehicle length, the lateral relative distance and the longitudinal relative distance;

[0055] A calculation module, for calculating a first driving time and a second driving time for the vehicle to enter and exit the courtesy area and a first walking time and a second walking time for the pedestrian to enter and exit the courtesy area according to the current speed of the vehicle and the current speed of the pedestrian;

[0056] a judgment module, configured to judge whether the vehicle and the pedestrian are in the courtesy area at the same time based on the first driving time, the second driving time, the first walking time, and the second walking time;

[0057] The control module is used to calculate the courtesy deceleration of the vehicle according to the PID algorithm if the vehicle and the pedestrian are in the courtesy area at the same time, and control the vehicle to travel according to the courtesy deceleration.

[0058] In a third aspect, the invention provides the following technical solution: a computer comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned pedestrian courtesy control method when executing the computer program.

[0059] In a fourth aspect, the invention provides the following technical solution: a readable storage medium having a computer program stored thereon, and the computer program implements the above-mentioned pedestrian courtesy control method when executed by a processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0061] Figure 1 A flowchart of a pedestrian control method provided by a first embodiment of the present invention;

[0062] Figure 2 A detailed flow chart of step S1 in the pedestrian yielding control method provided in the first embodiment of the present invention;

[0063] Figure 3 A detailed flow chart of step S2 in the pedestrian control method provided by the first embodiment of the present invention;

[0064] Figure 4 A detailed flow chart of step S22 in the pedestrian control method provided in the first embodiment of the present invention;

[0065] Figure 5 A schematic diagram of the structure of the courtesy area in the courteous pedestrian control method provided in the first embodiment of the present invention;

[0066] Figure 6 A detailed flow chart of step S5 in the pedestrian control method provided by the first embodiment of the present invention;

[0067] Figure 7 A structural block diagram of a pedestrian courtesy control system provided by a second embodiment of the present invention;

[0068] Figure 8 This is a block diagram of the device hardware structure of a computer provided in another embodiment of the present invention.

[0069] The embodiments of the present invention will be further described below with reference to the accompanying drawings. DETAILED DESCRIPTION

[0070] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0071] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0072] Embodiment 1

[0073] like Figure 1 As shown, in the first embodiment of the present invention, the invention provides the following technical solution, a pedestrian yielding control method, the method comprising:

[0074] S1. Acquire vehicle information and pedestrian information, wherein the vehicle information includes vehicle width, vehicle length and current vehicle speed, and the pedestrian information includes pedestrian current speed and lateral relative distance and longitudinal relative distance between the pedestrian and the vehicle;

[0075] Specifically, in step S1, vehicle information and pedestrian information can be obtained through the vehicle-mounted radar and CAN bus.

[0076] like Figure 2 As shown, the step S1 includes:

[0077] S11, determining the type of the target in front of the vehicle through a perception sensor;

[0078] Specifically, in this step, a perception sensor is set at the front position of the vehicle, and is used to perceive the type and attributes of the target in front of the vehicle.

[0079] S12, if the type of the front target is a pedestrian, controlling the vehicle-mounted radar to obtain the current speed of the pedestrian and the lateral relative distance and longitudinal relative distance between the pedestrian and the vehicle;

[0080] Specifically, when the perception sensor identifies that the target in front of the vehicle is a pedestrian, the control vehicle uses the radar to obtain the position of the pedestrian target and the current position of the vehicle, and the corresponding lateral relative distance between the pedestrian and the vehicle and the longitudinal relative distance between the pedestrian and the vehicle can be obtained.

[0081] S13, obtaining the vehicle width, vehicle length and current vehicle speed through the CAN bus;

[0082] Specifically, during the driving process of the vehicle, the CAN bus can obtain the current speed of the vehicle in real time. The corresponding vehicle width and vehicle length are both parameter information of the vehicle itself, which can be obtained through the CAN bus.

[0083] S2. determining a courtesy area for the vehicle based on the vehicle width, the vehicle length, the lateral relative distance, and the longitudinal relative distance;

[0084] Specifically, the courtesy area may be a zebra crossing area on an actual road, and based on the vehicle width, the vehicle length, the lateral relative distance and the longitudinal relative distance, the lateral boundary position and the longitudinal boundary position of the corresponding courtesy area may be determined.

[0085] like Figure 3 As shown, wherein step S2 includes:

[0086] S21, based on the lateral relative distance D x With the vehicle length V Long, determine the longitudinal courtesy interval (DX n ,DX f ):

[0087] DX n =D x -D safe ;

[0088] DX f =D x +D safe +V Long ;

[0089] Where D safe To preset a safe distance;

[0090] Specifically, the preset safety distance is the minimum safety distance between the vehicle and pedestrians during driving. Within this safety distance, if the pedestrian and the vehicle are in the same straight line, the driver will have sufficient time to react and control the vehicle to slow down to ensure the safety of the pedestrian.

[0091] S22, based on the pedestrian's crossing direction and the vehicle width L width The relative distance D from the longitudinal direction y , determine the lateral courtesy interval (DY n , DY f );

[0092] Specifically, DY n is the shortest lateral distance between the pedestrian and the courtesy zone, that is, the distance between the pedestrian and the upper or lower boundary of the courtesy zone, and DY f The longest lateral distance between the pedestrian and the courtesy zone is the distance between the vehicle and the upper or lower boundary of the courtesy zone, and the lateral courtesy interval (DY n , DY f ) The width of the vehicle itself needs to be taken into account to avoid collisions between pedestrians and the side of the vehicle.

[0093] like Figure 4 As shown, the step S22 includes:

[0094] S221, when the pedestrian crosses from left to right, the lateral courtesy interval (DY n , DY f )for:

[0095]

[0096]

[0097] S222: When the pedestrian crosses from right to left, the lateral courtesy interval (DY n , DY f )for:

[0098]

[0099]

[0100] Wherein, m is the first preset distance, and n is the second preset distance;

[0101] Specifically, when a pedestrian crosses from the left side of the vehicle to the right side, DY n is the distance between the pedestrian and the upper boundary of the courtesy zone, and DY f DY is the distance between the vehicle and the lower edge of the courtesy zone. When a pedestrian crosses from the right side of the vehicle to the left side, DY n is the distance between the pedestrian and the lower edge of the courtesy zone, and DY f The distance between the vehicle and the upper boundary of the courtesy area;

[0102] like Figure 5 As shown, it is worth noting that since vehicles need to have some reaction time when pedestrians enter the courtesy area, the lateral courtesy interval of the courtesy area needs to be expanded outward, that is, the lane lines on both sides of the lane need to be expanded outward by a certain distance, and the degree of expansion varies according to the walking direction of the pedestrians. When pedestrians cross from left to right, the boundary expansion distance of the corresponding lateral courtesy interval needs to be longer by a certain distance. Therefore, by setting the values ​​of m and n, it is easy to achieve vehicles giving way to pedestrians. Specifically, when pedestrians cross from left to right, the distance between the left boundary of the lateral courtesy interval and the center line of the vehicle is The distance from the right boundary to the center line of the vehicle is When a pedestrian crosses from right to left, the distance between the left boundary of the horizontal courtesy zone and the center line of the vehicle is The distance from the right boundary to the center line of the vehicle is Specifically, m is 1.8m and n is 1.2m.

[0103] S23, according to the longitudinal courtesy interval (DX n ,DX f ) and the horizontal courtesy interval (DY n , DY f ), determining a courtesy area in front of the vehicle;

[0104] Specifically, when determining the longitudinal courtesy interval (DX n ,DX f ) and the horizontal courtesy interval (DY n , DY f) can form a rectangular area in front of the vehicle, and the rectangular area is the courtesy area, and the longitudinal courtesy interval (DX n ,DX f ) and the horizontal courtesy interval (DY n , DY f ) are the four sides of the courtesy area.

[0105] S3, calculating, based on the current speed of the vehicle and the current speed of the pedestrian, a first driving time and a second driving time for the vehicle to enter and exit the courtesy area, and a first walking time and a second walking time for the pedestrian to enter and exit the courtesy area;

[0106] Specifically, the first travel time TX n For: TX n =(DX n ) / x ;

[0107] The second travel time TX f For: TX f =(DX f ) / x ;

[0108] The first walking time TY n For: TY n =(DY n ) / y |;

[0109] The second walking time TY f For: TY f =(DY f ) / y |;

[0110] Where V x is the current speed of the vehicle, V y is the current speed of the pedestrian;

[0111] Among them, the first driving time is the time when the vehicle enters the courtesy area, the second driving time is the time when the vehicle leaves the courtesy area, the first walking time is the time when the pedestrian enters the courtesy area, and the second walking time is the time when the pedestrian leaves the courtesy area.

[0112] S4, judging whether the vehicle and the pedestrian are in the courtesy area at the same time based on the first driving time, the second driving time, the first walking time, and the second walking time;

[0113] If TX f <Y n, the vehicle has exited the courtesy area and the pedestrian has not entered the courtesy area, and the vehicle and the pedestrian will not be in the courtesy area at the same time;

[0114] If TX n >Y f , the vehicle has not entered the courtesy area and the pedestrian has left the courtesy area, and the vehicle and the pedestrian will not be in the courtesy area at the same time;

[0115] If TX n <Y n <X f , the vehicle has not left the courtesy area and the pedestrian has entered the courtesy area, and the vehicle and the pedestrian will be in the courtesy area at the same time;

[0116] If TY n <X n <Y f , the vehicle enters the courtesy area and the pedestrian does not leave the courtesy area, the vehicle and the pedestrian will be in the courtesy area at the same time;

[0117] When TX f <Y n or TX n >Y f When TX n <Y n <X f Or TY n <X n <Y f When the vehicle and the pedestrian are both in the courtesy area, in order to further achieve courtesy to pedestrians, it is necessary to ensure that pedestrians and vehicles cannot appear in the courtesy area at the same time, that is, to ensure that there is no TX n <Y n <X f Or TY n <X n <Y f Once the above situation occurs, the car needs to be slowed down so that when the car enters the courtesy area, the pedestrian has already left the courtesy area.

[0118] S5. If the vehicle and the pedestrian are in the courtesy area at the same time, the courtesy deceleration of the vehicle is calculated according to the PID algorithm, and the vehicle is controlled to travel according to the courtesy deceleration;

[0119] like Figure 6 As shown, wherein step S5 includes:

[0120] S51, according to the current speed V of the vehicle x The second walking time TY f , vertical courtesy interval (DX n ,DX f ) Calculate the vehicle deceleration a p :

[0121]

[0122] Specifically, according to It can be seen that by transposing the formula, the vehicle's deceleration a can be obtained. p .

[0123] S52, according to the vehicle deceleration a p Calculate the expected deceleration a pp :

[0124]

[0125] Where D safe is the preset safety distance, D x is the horizontal relative distance;

[0126] Specifically, in this step, in order to ensure the smoothness of vehicle braking and the driver's experience, the expected deceleration a is calculated by introducing the distance correlation coefficient. pp , and the distance correlation coefficient is Due to the inconvenience of presetting a safe distance, as the lateral relative distance decreases, the distance correlation coefficient will increase from small to large, which will correspondingly lead to a larger expected deceleration, so that the farther the vehicle is from the pedestrian, the weaker the braking, and the closer the vehicle is to the pedestrian, the stronger the braking.

[0127] S53, according to the PID algorithm and the desired deceleration a pp Calculate the courtesy deceleration a of the vehicle real :

[0128] a real =a pp +a add ;

[0129] a add =PID(a diff =a p -a pp );

[0130] In the formula, a add To compensate for deceleration, a diff is the deceleration deviation;

[0131] Specifically, in this implementation, in order to prevent the vehicle speed from being too high and the distance between the vehicle and the pedestrian from being too short, and to ensure that the vehicle can effectively avoid the pedestrian, the PID algorithm is introduced to calculate the final courtesy deceleration, with a diff =a p -a pp As a parameter, the final compensation deceleration can be calculated, and by adding it to the expected deceleration, the final courtesy deceleration of the car can be obtained. The vehicle can be controlled to brake at this courtesy deceleration and the current speed of the vehicle can be adjusted in real time.

[0132] It is worth mentioning that in this embodiment, when the vehicle is far away from pedestrians, the vehicle will start braking with a smaller deceleration, which will result in a too long braking distance and affect road traffic. Therefore, in this embodiment, a deceleration threshold a is introduced. thr , only when a real thr The vehicle will start braking only when thr The default is -1m / s 2 .

[0133] At the same time, under actual road driving conditions, there may be more than one pedestrian in front of the vehicle, and the vehicle's own perception sensor obtains different pedestrian information according to different pedestrian targets, and calculates the a corresponding to different pedestrian targets according to different pedestrian information. real , denoted as a real1 …a reali , and the final vehicle's courtesy deceleration a real =min(a real1 …a reali ), and use this courtesy deceleration a real By controlling vehicle braking, pedestrian courtesy has been achieved for multiple pedestrians.

[0134] ​The advantage of the first embodiment is that the first embodiment obtains vehicle information and pedestrian information to provide data support for the subsequent calculation of the courtesy deceleration, and then determines the courtesy area of ​​the vehicle based on the vehicle width, the vehicle length, the lateral relative distance and the longitudinal relative distance, and calculates the first driving time and the second driving time of the vehicle entering and exiting the courtesy area and the first walking time and the second walking time of the pedestrian entering and exiting the courtesy area according to the current speed of the vehicle and the current speed of the pedestrian. By determining the courtesy area, the time required for vehicles and pedestrians to pass through the courtesy area can be confirmed, and then based on the first The driving time, the second driving time, the first walking time, the second walking time are used to determine whether the vehicle and the pedestrian are in the courtesy area at the same time, so as to calculate the courtesy deceleration so that the pedestrian and the vehicle will not be in the courtesy area at the same time. Finally, the courtesy deceleration of the vehicle is calculated according to the PID algorithm, and the vehicle is controlled to travel according to the courtesy deceleration. When the target in front of the vehicle is identified as a pedestrian, the present application sets a courtesy area in front of the vehicle, so that once the pedestrian wants to cross the courtesy area, the vehicle is controlled to decelerate at the courtesy deceleration within a certain distance, so that the pedestrian can cross the courtesy area safely and smoothly.

[0135] Embodiment 2

[0136] like Figure 7 As shown, in a second embodiment of the present invention, a pedestrian courtesy control system is provided, the system comprising:

[0137] Acquisition module 1, used to acquire vehicle information and pedestrian information, wherein the vehicle information includes vehicle width, vehicle length and vehicle current speed, and the pedestrian information includes pedestrian current speed and lateral relative distance and longitudinal relative distance between the pedestrian and the vehicle;

[0138] An area determination module 2, configured to determine a courtesy area for the vehicle based on the vehicle width, the vehicle length, the lateral relative distance and the longitudinal relative distance;

[0139] A calculation module 3 is used to calculate the first driving time and the second driving time of the vehicle entering and exiting the courtesy area and the first walking time and the second walking time of the pedestrian entering and exiting the courtesy area according to the current speed of the vehicle and the current speed of the pedestrian;

[0140] A judgment module 4 is used to judge whether the vehicle and the pedestrian are in the courtesy area at the same time based on the first driving time, the second driving time, the first walking time, and the second walking time;

[0141] The control module 5 is used to calculate the courtesy deceleration of the vehicle according to the PID algorithm if the vehicle and the pedestrian are in the courtesy area at the same time, and control the vehicle to travel according to the courtesy deceleration.

[0142] Wherein, the acquisition module 1 includes:

[0143] The target type determination submodule is used to determine the type of the target in front of the vehicle through the perception sensor;

[0144] The first acquisition submodule is used to control the vehicle-mounted radar to acquire the current speed of the pedestrian and the lateral relative distance and longitudinal relative distance between the pedestrian and the vehicle if the type of the front target is a pedestrian;

[0145] The second acquisition submodule is used to acquire the vehicle width, vehicle length and current vehicle speed through the CAN bus.

[0146] The area determination module 2 comprises:

[0147] The first determination submodule is used to determine the relative distance D x With the vehicle length V Long , determine the longitudinal courtesy interval (DX n ,DX f ):

[0148] DX n =D x -D safe ;

[0149] DX f =D x +D safe +V Long ;

[0150] Where D safe To preset a safe distance;

[0151] The second determination submodule is used to determine the pedestrian's crossing direction and the vehicle width L width The relative distance D from the longitudinal direction y , determine the lateral courtesy interval (DY n , DY f );

[0152] The third determination submodule is used to determine the longitudinal courtesy interval (DX n ,DX f ) and the horizontal courtesy interval (DY n , DY f ) to determine a courtesy area in front of the vehicle.

[0153] The second determining submodule includes:

[0154] The first determining unit is used to determine the lateral courtesy interval (DY) of the vehicle when the pedestrian crosses from left to right. n , DY f )for:

[0155]

[0156]

[0157] The second determining unit is used to determine the lateral courtesy interval (DY) of the vehicle when the pedestrian crosses from right to left. n , DY f )for:

[0158]

[0159]

[0160] Wherein, m is the first preset distance, and n is the second preset distance.

[0161] The control module 5 comprises:

[0162] The first deceleration calculation module is used to calculate the deceleration speed according to the current speed V of the vehicle. x The second walking time TY f , vertical courtesy interval (DX n ,DX f ) Calculate the vehicle deceleration a p :

[0163]

[0164] The second deceleration calculation module is used to calculate the vehicle deceleration a p Calculate the expected deceleration a pp :

[0165]

[0166] Where D safe is the preset safety distance, D x is the horizontal relative distance;

[0167] The third deceleration calculation module is used to calculate the deceleration according to the PID algorithm and the expected deceleration a pp Calculate the courtesy deceleration a of the vehicle real :

[0168] a real =a pp +a add ;

[0169] a add =PID(a diff =a p -a pp );

[0170] In the formula, a add To compensate for deceleration, a diff is the deceleration deviation.

[0171] In some other embodiments of the present invention, the embodiments of the present invention provide the following technical solutions: a computer device, comprising a memory 102, a processor 101, and a computer program stored in the memory 102 and executable on the processor 101; the processor 101 implements the above-mentioned pedestrian courtesy control method when executing the computer program.

[0172] Specifically, the processor 101 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0173] Among them, the memory 102 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 102 may include a hard disk drive (HDD), a floppy disk drive, a solid state drive (SSD), a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 102 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 102 may be inside or outside a data processing device. In a specific embodiment, the memory 102 is a non-volatile memory. In a specific embodiment, the memory 102 includes a read-only memory (ROM) and a random access memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (Programmable Read-Only Memory, PROM for short), an erasable PROM (ErasableProgrammable Read-Only Memory, EPROM for short), an electrically erasable PROM (Electrically ErasableProgrammable Read-Only Memory, EEPROM for short), an electrically alterable ROM (ElectricallyAlterable Read-Only Memory, EAROM for short) or a flash memory (FLASH) or a combination of two or more of these. Under appropriate circumstances, the RAM can be a static random access memory (SRAM) or a dynamic random access memory (DRAM), wherein the DRAM can be a fast page mode dynamic random access memory (FPMDRAM), an extended data output dynamic random access memory (EDODRAM), a synchronous dynamic random access memory (SDRAM), etc.

[0174] The memory 102 may be used to store or cache various data files that need to be processed and / or used for communication, as well as possible computer program instructions executed by the processor 101 .

[0175] The processor 101 implements the above-mentioned pedestrian-yielding control method by reading and executing the computer program instructions stored in the memory 102 .

[0176] In some embodiments, the computer device may further include a communication interface 103 and a bus 100. Figure 8 As shown, the processor 101, the memory 102, and the communication interface 103 are connected via a bus 100 and communicate with each other.

[0177] The communication interface 103 is used to implement communication between the modules, devices, units and / or equipment in the embodiment of the present application. The communication interface 103 can also implement data communication with other components such as: external devices, image / data acquisition equipment, databases, external storage, and image / data processing workstations.

[0178] The bus 100 includes hardware, software or both, and couples the components of the computer device to each other. The bus 100 includes but is not limited to at least one of the following: a data bus, an address bus, a control bus, an expansion bus, and a local bus. By way of example and not limitation, bus 100 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses or a combination of two or more of the above. Where appropriate, bus 100 may include one or more buses. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.

[0179] The computer can execute the pedestrian courtesy control method of the present application based on the acquired pedestrian courtesy control system, thereby realizing pedestrian courtesy control.

[0180] In some further embodiments of the present invention, in combination with the above-mentioned pedestrian courtesy control method, the embodiments of the present invention provide the following technical solutions: a readable storage medium having a computer program stored thereon, and the computer program implements the above-mentioned pedestrian courtesy control method when executed by a processor.

[0181] Those skilled in the art will appreciate that the logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0182] More specific examples of readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0183] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or a combination thereof: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0184] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described 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.

[0185] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A pedestrian-giving control method, characterized in that: The method comprises: Acquire vehicle information and pedestrian information, wherein the vehicle information includes vehicle width, vehicle length and current vehicle speed, and the pedestrian information includes pedestrian current speed and lateral relative distance and longitudinal relative distance between the pedestrian and the vehicle; Determining a courtesy area of ​​the vehicle based on the vehicle width, the vehicle length, the lateral relative distance, and the longitudinal relative distance; Calculating, according to the current speed of the vehicle and the current speed of the pedestrian, a first driving time and a second driving time for the vehicle to enter and exit the courtesy area, and a first walking time and a second walking time for the pedestrian to enter and exit the courtesy area; Based on the first driving time, the second driving time, the first walking time, and the second walking time, determining whether the vehicle and the pedestrian are in the courtesy area at the same time; If the vehicle and the pedestrian are in the courtesy zone at the same time, the courtesy deceleration of the vehicle is calculated according to the PID algorithm, and the vehicle is controlled to travel according to the courtesy deceleration; If the vehicle and the pedestrian are in the courtesy zone at the same time, the steps of calculating the courtesy deceleration of the vehicle according to the PID algorithm and controlling the vehicle to travel according to the courtesy deceleration include: According to the current speed V of the vehicle x The second walking time TY f , vertical courtesy interval (DX n ,DX f ) Calculate the vehicle deceleration a p : According to the vehicle deceleration a p Calculate the expected deceleration a pp : Where D safe is the preset safety distance, D x is the horizontal relative distance; According to the PID algorithm and the desired deceleration a pp Calculate the courtesy deceleration a of the vehicle real : a real =a pp +a add ; a add =PID(a diff =a p -a pp ); In the formula, a add To compensate for deceleration, a diff is the deceleration deviation.

2. The pedestrian-yielding control method according to claim 1, characterized in that: The step of obtaining vehicle information and pedestrian information includes: Determine the type of target in front of the vehicle through perception sensors; If the front target type is a pedestrian, the vehicle-mounted radar is controlled to obtain the current speed of the pedestrian and the lateral relative distance and longitudinal relative distance between the pedestrian and the vehicle; The vehicle width, vehicle length and current vehicle speed are obtained through the CAN bus.

3. The pedestrian-yielding control method according to claim 2, characterized in that: The step of determining the courtesy area of ​​the vehicle based on the vehicle width, the vehicle length, the lateral relative distance and the longitudinal relative distance comprises: Based on the lateral relative distance D x With the vehicle length V Long , determine the longitudinal courtesy interval (DX n ,DX f ): DX n =D x -D safe ; DX f =D x +D safe +V Long ; Where D safe To preset a safe distance; Based on the pedestrian's crossing direction and the vehicle width L width The relative distance D from the longitudinal direction y , determine the lateral courtesy interval (DY n , DY f ); According to the longitudinal courtesy interval (DX n ,DX f ) and the horizontal courtesy interval (DY n , DY f ) to determine a courtesy area in front of the vehicle.

4. The pedestrian-yielding control method according to claim 3, characterized in that: The method is based on the pedestrian's crossing direction and the vehicle width L width The relative distance D from the longitudinal direction y , determine the lateral courtesy interval (DY n , DY f ) steps include: When the pedestrian crosses from left to right, the lateral courtesy interval (DY n , DY f )for: When the pedestrian crosses from right to left, the lateral courtesy interval (DY n , DY f )for: Wherein, m is the first preset distance, and n is the second preset distance.

5. The pedestrian-yielding control method according to claim 4, characterized in that: In the step of calculating the first driving time and the second driving time of the vehicle entering and exiting the courtesy area and the first walking time and the second walking time of the pedestrian entering and exiting the courtesy area according to the current speed of the vehicle and the current speed of the pedestrian: The first travel time TX n For: TX n =(DX n ) / V x ; The second travel time TX f For: TX f =(DX f ) / V x ; The first walking time TY n For: TY n =|(DY n ) / V y |; The second walking time TY f For: TY f =|(DY f ) / V y |; Where V x is the current speed of the vehicle, V y is the current speed of the pedestrian.

6. The pedestrian-yielding control method according to claim 5, characterized in that: In the step of determining whether the vehicle and the pedestrian are in the courtesy area at the same time based on the first driving time, the second driving time, the first walking time, and the second walking time: If TX f <TY n , the vehicle has exited the courtesy area and the pedestrian has not entered the courtesy area, and the vehicle and the pedestrian will not be in the courtesy area at the same time; If TX n >TY f , the vehicle has not entered the courtesy area and the pedestrian has left the courtesy area, and the vehicle and the pedestrian will not be in the courtesy area at the same time; If TX n <TY n <TX f , the vehicle has not left the courtesy area and the pedestrian has entered the courtesy area, and the vehicle and the pedestrian will be in the courtesy area at the same time; If TY n <TX n <TY f , when the vehicle enters the courtesy area and the pedestrian does not leave the courtesy area, the vehicle and the pedestrian will be in the courtesy area at the same time.

7. A pedestrian courtesy control system, the system adopts the pedestrian courtesy control method according to claim 1, characterized in that: The system comprises: An acquisition module, used to acquire vehicle information and pedestrian information, wherein the vehicle information includes vehicle width, vehicle length and vehicle current speed, and the pedestrian information includes pedestrian current speed and lateral relative distance and longitudinal relative distance between the pedestrian and the vehicle; An area determination module, configured to determine a courtesy area for the vehicle based on the vehicle width, the vehicle length, the lateral relative distance and the longitudinal relative distance; A calculation module, for calculating a first driving time and a second driving time for the vehicle to enter and exit the courtesy area and a first walking time and a second walking time for the pedestrian to enter and exit the courtesy area according to the current speed of the vehicle and the current speed of the pedestrian; a judgment module, configured to judge whether the vehicle and the pedestrian are in the courtesy area at the same time based on the first driving time, the second driving time, the first walking time, and the second walking time; The control module is used to calculate the courtesy deceleration of the vehicle according to the PID algorithm if the vehicle and the pedestrian are in the courtesy area at the same time, and control the vehicle to travel according to the courtesy deceleration.

8. A computer comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the pedestrian yield control method as described in any one of claims 1 to 6 is implemented.

9. A readable storage medium, characterized in that: The readable storage medium stores a computer program, and when the computer program is executed by a processor, the pedestrian yield control method according to any one of claims 1 to 6 is implemented.

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