Method for preventing collision between human and vehicle, device for preventing collision between human and vehicle, processor and vehicle

Abstract

The application provides a person-vehicle anti-collision method, a person-vehicle anti-collision device, a processor and a vehicle. The method comprises the following steps: acquiring a plurality of continuous positioning periods and a plurality of first distances, wherein the first distance is the distance between the vehicle and the target person at a corresponding time node in the corresponding positioning period; determining a second distance according to the plurality of continuous positioning periods and the first distance, wherein the second distance is the distance between the vehicle and the target person at a corresponding time node in a second target positioning period, and the second target positioning period is the next positioning period of the first target positioning period; determining whether the second distance is less than a first preset distance; and generating first alarm information in the case that the second distance is less than the first preset distance. The method solves the problem that the prior art person-vehicle anti-collision technical solution does not consider that the relative speed of the vehicle and the person is fast, thereby resulting in a high probability of the person being hit.

Description

Technical Field

[0001] This invention relates to the field of pedestrian-vehicle collision avoidance, and more specifically, to a pedestrian-vehicle collision avoidance method, a pedestrian-vehicle collision avoidance device, a computer-readable storage medium, a processor, and a vehicle. Background Technology

[0002] The current human-vehicle collision avoidance technology solution applied in mines involves installing detectors on vehicles and personnel carrying positioning tags. The detectors monitor the positions of the positioning tags of surrounding personnel in real time and detect the distance between the personnel and the vehicle in the current positioning cycle. If the distance between the personnel and the vehicle in the current positioning cycle is less than a preset distance, it is determined that the personnel have entered a dangerous area and an early warning is issued.

[0003] Existing pedestrian-vehicle collision avoidance technologies determine whether a person has entered a danger zone based on the distance between the person and the vehicle at the current positioning cycle. This does not take into account the relatively high relative speed between the vehicle and the person. As a result, by the time a person is identified as having entered a danger zone, the vehicle has already traveled a considerable distance towards them. This can easily lead to situations where the driver is too slow to react or even unable to react in time, resulting in a collision. Furthermore, existing positioning technologies are generally UWB positioning technologies with fixed positioning cycles. If the positioning cycle is set too long, the vehicle may have already traveled a considerable distance towards the person between two positioning cycles, which can easily lead to situations where the driver is too slow to react or even unable to react in time, resulting in a collision. If the positioning cycle is set too short, the number of people that the detector can detect within its detection range is relatively small, which increases the probability of a collision.

[0004] There is currently no solution to the above problems. Summary of the Invention

[0005] The main objective of this application is to provide a method, device, computer-readable storage medium, processor, and vehicle for preventing collisions between pedestrians and vehicles, so as to at least solve the problem that existing collision prevention technologies do not take into account the relatively high speed between vehicles and pedestrians, resulting in a higher probability of pedestrians being hit.

[0006] To achieve the above objectives, according to one aspect of this application, a method for preventing collisions between a person and a vehicle is provided. The method is applied to a detector on a vehicle. The method includes: acquiring multiple consecutive positioning cycles and multiple first distances, where each first distance is the distance between the vehicle and a target person at a corresponding time point within the corresponding positioning cycle, one positioning cycle corresponds to one first distance, and one positioning cycle corresponds to one time point. The target person is any one of multiple persons, and the multiple consecutive positioning cycles include a first target positioning cycle, which is the current positioning cycle; determining a second distance based on the multiple consecutive positioning cycles and the first distances, where the second distance is the distance between the vehicle and the target person at the time point corresponding to the second target positioning cycle, and the second target positioning cycle is the next positioning cycle after the first target positioning cycle; determining whether the second distance is less than a first preset distance; and generating a first alarm message if the second distance is less than the first preset distance, the first alarm message alerting the target person that the safety risk exceeds a safety standard.

[0007] Optionally, determining the second distance based on multiple consecutive positioning cycles and the first distance includes: according to the formula Multiple target velocities are determined, and each target velocity corresponds to one positioning cycle, wherein v i x is the target velocity corresponding to the i-th positioning cycle. i+1 x is the first distance corresponding to the (i+1)th positioning cycle. i T is the first distance corresponding to the i-th positioning cycle. i For the i-th positioning cycle; according to the formula Determine the second distance, wherein, Let x be the second distance. n a is the first distance corresponding to the nth positioning cycle. i Let a be the i-th preset coefficient, and a i <1,T n The nth positioning cycle is the first target positioning cycle.

[0008] Optionally, the detector is communicatively connected to multiple positioning tags, and each person carries one positioning tag. The positioning period includes multiple consecutive time slots. After determining a second distance based on the multiple consecutive positioning periods and the first distance, the method includes: obtaining a time slot table of multiple consecutive positioning periods, wherein the positioning period corresponds one-to-one with the time slot table, the time slot table contains the time slot of the corresponding positioning period and the number of the positioning tag corresponding to the time slot, and one time slot in the time slot table corresponds to at most one positioning tag number; the detector locates the person carrying the positioning tag in the time slot corresponding to the positioning tag. If any two timeslot tables in multiple consecutive positioning cycles are identical, the occupied quantity is determined according to the timeslot tables. The occupied quantity is the number of first target timeslots included in the timeslot tables, where the first target timeslot is a timeslot with a corresponding positioning tag number. A target quantity range is determined according to the occupied quantity. The target quantity range is one of multiple preset quantity ranges, and the occupied quantity is always within the target quantity range. The second target positioning cycle is determined according to the target quantity range and a target mapping relationship, where the target mapping relationship is the mapping relationship between the preset quantity range and the positioning cycle.

[0009] Optionally, the target positioning period includes M time slots, where M is a positive integer. After determining the second target positioning period based on the target quantity range and target mapping relationship, the method further includes: obtaining a first target time slot table, which is the time slot table corresponding to the current positioning period, and includes N time slots, where N is a positive integer and N > M; binding the second target time slot in the first target time slot table with the corresponding third target time slot's location tag number in ascending order, wherein the second target time slot and the third target time slot correspond one-to-one, the second target time slot being a time slot in the first M time slot table that does not have a corresponding location tag number, and the third target time slot being a time slot in the first target time slot table after the Mth time slot that has a corresponding location tag number; and selecting the first M time slots in the first target time slot table and the corresponding location tag numbers to generate a second target time slot table, which is the time slot table corresponding to the target positioning period.

[0010] Optionally, after generating the first alarm message, the method further includes: determining whether the second distance is less than a second preset distance, wherein the second preset distance is less than the first preset distance; and generating a second alarm message if the second distance is less than the second preset distance, wherein the second alarm message is used to request the vehicle to perform a braking operation.

[0011] Optionally, the vehicle is equipped with an audible and visual alarm device. After determining whether the second distance is less than the second preset distance, the method further includes: if the second distance is less than the second preset distance, controlling the audible and visual alarm device to activate the audible and visual alarm.

[0012] According to another aspect of this application, a vehicle-pedestrian collision avoidance device is provided. The device is applied to a detector on a vehicle and includes: a first acquisition unit, configured to acquire multiple consecutive positioning cycles and multiple first distances, wherein the first distance is the distance between the vehicle and a target person at a corresponding time point within the corresponding positioning cycle, one positioning cycle corresponds to one first distance, one positioning cycle corresponds to one time point, the target person is any one of multiple persons, and the multiple consecutive positioning cycles include a first target positioning cycle, which is the current positioning cycle; a first determination unit, configured to determine a second distance based on the multiple consecutive positioning cycles and the first distances, wherein the second distance is the distance between the vehicle and the target person at the time point corresponding to the second target positioning cycle, and the second target positioning cycle is the next positioning cycle after the first target positioning cycle; a second determination unit, configured to determine whether the second distance is less than a first preset distance; and a first generation unit, configured to generate a first alarm message when the second distance is less than the first preset distance, the first alarm message reminding the target person that the safety risk exceeds a safety standard.

[0013] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform any of the described vehicle-pedestrian collision avoidance methods.

[0014] According to another aspect of this application, a processor is provided for running a program, wherein the program executes any of the described vehicle-pedestrian collision avoidance methods during runtime.

[0015] According to one aspect of this application, a vehicle is provided, comprising: a detector, the detector including: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including methods for performing any of the described vehicle-pedestrian collision avoidance methods.

[0016] By applying the technical solution of this application, multiple consecutive positioning cycles and corresponding positioning distances (i.e., the first distance) are used to determine the distance between the vehicle and the target person in the next positioning cycle, i.e., to determine the second distance. The safety of the target person is determined based on the distance between the vehicle and the target person in the next positioning cycle. Compared with the prior art, which uses the distance between the vehicle and the person in the current positioning cycle to determine whether the person is safe, it does not take into account that due to the high relative speed between the vehicle and the person, the vehicle has already traveled a long distance towards the person when the person is determined to enter the danger zone, resulting in a higher probability of the person being hit. This application uses the distance between the vehicle and the target person in the next positioning cycle to determine whether the person is safe, which can reduce the probability of the target person being hit. It solves the problem that the existing human-vehicle collision technology solution does not take into account the high relative speed between the vehicle and the person, resulting in a high probability of the person being hit. Attached Figure Description

[0017] Figure 1 A hardware structure block diagram of a mobile terminal for performing a pedestrian-vehicle collision avoidance method according to an embodiment of this application is shown;

[0018] Figure 2 A schematic flowchart of a pedestrian-vehicle collision avoidance method according to an embodiment of this application is shown;

[0019] Figure 3 A schematic diagram of a pedestrian-vehicle distance according to an embodiment of this application is shown;

[0020] Figure 4 A schematic diagram of a time slot table provided according to an embodiment of this application is shown;

[0021] Figure 5 A structural block diagram of a pedestrian-vehicle collision avoidance device provided according to an embodiment of this application is shown.

[0022] The above figures include the following reference numerals:

[0023] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device. Detailed Implementation

[0024] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0025] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] As described in the background section, existing vehicle-pedestrian collision avoidance technologies do not take into account the relatively high speed between vehicles and pedestrians, resulting in a higher probability of pedestrians being hit. To address the problem that existing vehicle-pedestrian collision avoidance technologies do not take into account the relatively high speed between vehicles and pedestrians, resulting in a higher probability of pedestrians being hit, embodiments of this application provide a vehicle-pedestrian collision avoidance method, a vehicle-pedestrian collision avoidance device, a computer-readable storage medium, a processor, and a vehicle.

[0028] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0029] The methods and embodiments provided in this application can be executed on a mobile terminal, a computer terminal, or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a pedestrian-vehicle collision avoidance method according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0030] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the device information display method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0031] This embodiment provides a method for preventing collisions between people and vehicles that runs on a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0032] Specifically, the aforementioned computing device can be a detector on a vehicle.

[0033] Figure 2 This is a flowchart of a pedestrian-vehicle collision avoidance method according to an embodiment of this application. Figure 2 As shown, the method includes the following steps:

[0034] Step S201: Obtain multiple consecutive positioning cycles and multiple first distances, wherein the first distance is the distance between the vehicle and the target person at the corresponding time node within the corresponding positioning cycle.

[0035] Wherein, one of the above positioning cycles corresponds to one of the above first distances, one of the above positioning cycles corresponds to one of the above time nodes, the above target personnel is any one of multiple personnel, the multiple consecutive above positioning cycles include the first target positioning cycle, and the above first target positioning cycle is the current above positioning cycle.

[0036] Step S202: Based on multiple consecutive positioning cycles and the first distance, determine the second distance, where the second distance is the distance between the vehicle and the target person at the time point corresponding to the second target positioning cycle, and the second target positioning cycle is the next positioning cycle after the first target positioning cycle.

[0037] Step S203: Determine whether the second distance is less than the first preset distance;

[0038] Step S204: If the second distance is less than the first preset distance, generate a first alarm message;

[0039] The first alarm message mentioned above alerts the target personnel that the safety risk exceeds the safety standard.

[0040] Through the above embodiments, multiple consecutive positioning cycles and corresponding positioning distances (i.e., the first distance) are used to determine the distance between the vehicle and the target person in the next positioning cycle, i.e., to determine the second distance. The safety of the target person is determined based on the distance between the vehicle and the target person in the next positioning cycle. Compared with the prior art, which uses the distance between the vehicle and the person in the current positioning cycle to determine whether the person is safe, it does not take into account that due to the high relative speed between the vehicle and the person, the vehicle has already traveled a long distance towards the person when the person is determined to enter the danger zone, resulting in a higher probability of the person being hit. This application uses the distance between the vehicle and the target person in the next positioning cycle to determine whether the person is safe, which can reduce the probability of the target person being hit. It solves the problem that the existing human-vehicle collision technology solution does not take into account the high relative speed between the vehicle and the person, resulting in a high probability of the person being hit.

[0041] In one alternative implementation, step S202 can be implemented as follows:

[0042] According to the formula Multiple target velocities are determined, and each of the aforementioned target velocities corresponds to one of the aforementioned positioning cycles, where v i Let x be the target velocity corresponding to the i-th positioning cycle. i+1 For the (i+1)th positioning cycle, the first distance x is given. i For the first distance corresponding to the i-th positioning cycle, T i This refers to the i-th positioning cycle mentioned above;

[0043] Specifically, in some implementations, such as Figure 3 As shown, the first distance x1 is determined at time node t1 within the positioning period T1, the first distance x2 is determined at time node t2 within the positioning period T2, and the first distance x3 is determined at time node t3 within the positioning period T3. Then, the average speed of the vehicle between time node t1 and time node t2 is determined as v1, and the average speed of the vehicle between time node t2 and time node t3 is determined as v2.

[0044] According to the formula Determine the second distance mentioned above, where, For the second distance mentioned above, x n For the first distance corresponding to the nth positioning cycle, a i Let a be the i-th preset coefficient, and a i <1,T n This is the nth positioning cycle mentioned above, and the nth positioning cycle mentioned above is the first target positioning cycle mentioned above.

[0045] Specifically, in some implementations, such as Figure 3 As shown, based on the average vehicle speed v1 between time node t1 and time node t2, the average vehicle speed v2 between time node t2 and time node t3, and the current positioning period T3, the distance between time node t3 and time node t4 is estimated. The change in distance between target personnel and vehicles, i.e., determining Among them, time nodes For the time node corresponding to the next positioning cycle, the first distance x3 determined at time node t3 within positioning cycle T3 will be subtracted. The distance between the target personnel and vehicles at the next positioning cycle time point is obtained, which is the second distance.

[0046] To further reduce the probability of people being hit, in one optional embodiment, the detector is communicatively connected to multiple positioning tags, with each person carrying one positioning tag. The positioning period includes multiple consecutive time slots. After step S202, the method further includes:

[0047] Step S301: Obtain a time slot table of multiple consecutive positioning cycles. The positioning cycles correspond one-to-one with the time slot table. The time slot table contains the time slot of the corresponding positioning cycle and the number of the positioning tag corresponding to the time slot. At most one time slot in the time slot table corresponds to one positioning tag number. The detector locates the person carrying the positioning tag in the time slot corresponding to the positioning tag.

[0048] Specifically, such as Figure 4As shown, the time slot table of the positioning cycle includes multiple consecutive time slots, and each time slot is bound to at most one positioning tag number. For example, the positioning tag number bound to time slot 1 is 121, and the positioning tag number not bound to time slot 3 is 121. In time slot 1, the detector detects whether a person carrying the positioning tag number 121 has entered the detection range and locates the person carrying the positioning tag number 121. If the positioning tag number not bound to a time slot enters the detector's detection range, it can occupy time slot 3 through a preemption mechanism. If the preemption is successful, the detector locates it and allocates time slot 3 to the positioning tag not bound to a time slot in the next positioning cycle. If no person carrying the positioning tag number 121 is detected in the detection range in time slot 1 for several consecutive time cycles, the binding relationship between time slot 1 and the positioning tag number 121 is released.

[0049] Step S302: In the case that any two timeslot tables in the timeslot tables of multiple consecutive positioning cycles are the same, the number of occupied timeslots is determined according to the timeslot tables. The number of occupied timeslots is the number of first target timeslots included in the timeslot tables. The first target timeslots are timeslots with corresponding positioning tag numbers.

[0050] Specifically, when the time slot tables of multiple consecutive positioning cycles are the same, the detector determines that the number of positioning tags entering the detection range is stable. At this time, the number of occupied tags is determined as the number of time slots bound in the time slot table.

[0051] Step S303: Determine the target quantity range based on the above-mentioned occupied quantity. The target quantity range is one of a plurality of preset quantity ranges, and the above-mentioned occupied quantity is all within the target quantity range.

[0052] Step S304: Determine the second target positioning period based on the target quantity range and target mapping relationship. The target mapping relationship is the mapping relationship between the preset quantity range and the positioning period.

[0053] Specifically, existing positioning technologies have fixed positioning cycles. If the cycle is too long, the vehicle may have already traveled a significant distance towards the person between two positioning attempts, increasing the risk of collisions due to slow or insufficient driver response. Conversely, if the cycle is too short, the detector can only detect a limited number of people entering its detection range, increasing the probability of collisions. To address this issue, this application adjusts the positioning cycle in real-time based on actual conditions. When the time slot tables for multiple consecutive positioning cycles are identical, the detector determines a stable number of positioning tags entering its detection range. At this point, the occupied quantity (the number of time slots bound in the time slot table) is determined. Based on the occupied quantity, a target quantity range is determined, and the next positioning cycle is then determined. The target mapping rule is that a larger occupied quantity results in a longer positioning cycle to ensure the detector can detect a larger number of people entering its detection range, reducing the probability of collisions. Conversely, a smaller occupied quantity results in a shorter positioning cycle to minimize the change in distance between the vehicle and the person between two positioning attempts, preventing collisions due to slow or insufficient driver response. The method for determining other positioning cycles is the same as the method for determining the next positioning cycle.

[0054] The aforementioned target positioning period comprises M time slots, where M is a positive integer. Following step S304, in an optional embodiment, the method further includes:

[0055] Obtain the first target time slot table, which is the time slot table corresponding to the current positioning cycle. The first target time slot table contains N time slots, where N is a positive integer and N > M.

[0056] In ascending order of time slots, the second target time slot in the first target time slot table is bound to the number of the positioning tag corresponding to the third target time slot. The second target time slot and the third target time slot are in one-to-one correspondence. The second target time slot is a time slot in the first M time slots of the first target time slot table that does not have the number of the corresponding positioning tag. The third target time slot is a time slot in the first target time slot table that has the number of the corresponding positioning tag after the Mth time slot.

[0057] The first M time slots in the first target time slot table and the corresponding positioning tag numbers are selected to generate the second target time slot table. The second target time slot table is the time slot table corresponding to the above target positioning cycle.

[0058] Specifically, in some implementations, such as Figure 4As shown, the first target time slot table A contains 100 time slots. If the next positioning cycle is determined to be a positioning cycle containing 90 time slots, the positioning tag numbers corresponding to the time slots after the 90th time slot in the first target time slot table A are filled forward. That is, number 768 is filled from the 92nd time slot to the 3rd time slot, number 626 is filled from the 93rd time slot to the 4th time slot, number 3852 is filled from the 98th time slot to the 5th time slot, and number 6750 is filled from the 99th time slot to the 7th time slot. The 90th time slot in the first target time slot table A and the corresponding positioning tag number are selected as the second target time slot table B. In this way, while the positioning cycle is shorter, the number of people that the detector can detect entering the detection range is larger, reducing the probability of people being hit.

[0059] To further reduce the probability of people being hit, in an optional implementation, after step S204, the method further includes:

[0060] Step S401: Determine whether the second distance is less than the second preset distance, wherein the second preset distance is less than the first preset distance;

[0061] In step S402, if the second distance is less than the second preset distance, a second alarm message is generated, which is used to request the vehicle to perform a braking operation.

[0062] Specifically, if the distance between the target person and the vehicle at the time node corresponding to the next positioning cycle is less than the first preset distance, it is determined that the safety risk of the target person exceeds the safety standard. Then, it is determined whether the distance between the target person and the vehicle at the time node corresponding to the next positioning cycle is less than the second preset distance. If the second preset distance is less than the first preset distance, the vehicle is requested to brake to further reduce the probability of the person being hit.

[0063] To further reduce the probability of people being hit, the aforementioned vehicle is equipped with an audible and visual alarm device. In one optional embodiment, after step S401, the method includes:

[0064] When the second distance is less than the second preset distance, the sound and light alarm device is controlled to perform a sound and light alarm.

[0065] Specifically, due to the dim underground environment, the visibility of mine workers is severely affected. Therefore, it is necessary to determine whether the distance between the target personnel and the vehicle at the time node corresponding to the next positioning cycle, i.e., the second distance, is less than the second preset distance. If so, the sound and light alarm device is controlled to sound and light alarm to ensure that the target personnel can avoid the vehicle in time to prevent being hit, and further reduce the probability of personnel being hit.

[0066] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0067] This application also provides a vehicle-pedestrian collision avoidance device. It should be noted that this vehicle-pedestrian collision avoidance device can be used to execute the vehicle-pedestrian collision avoidance method provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0068] The following describes the vehicle-pedestrian collision avoidance device provided in the embodiments of this application.

[0069] Figure 5 This is a structural block diagram of a pedestrian-vehicle collision avoidance device according to an embodiment of this application. Figure 5 As shown, the device includes:

[0070] The first acquisition unit 10 is used to acquire multiple consecutive positioning cycles and multiple first distances, wherein the first distance is the distance between the vehicle and the target person at the corresponding time node within the corresponding positioning cycle.

[0071] Wherein, one of the above positioning cycles corresponds to one of the above first distances, one of the above positioning cycles corresponds to one of the above time nodes, the above target personnel is any one of multiple personnel, the multiple consecutive above positioning cycles include the first target positioning cycle, and the above first target positioning cycle is the current above positioning cycle.

[0072] The first determining unit 20 is used to determine a second distance based on multiple consecutive positioning cycles and the first distance, wherein the second distance is the distance between the vehicle and the target person at the time node corresponding to the second target positioning cycle, and the second target positioning cycle is the next positioning cycle after the first target positioning cycle.

[0073] The second determining unit 30 is used to determine whether the second distance is less than the first preset distance;

[0074] The first generation unit 40 is used to generate a first alarm message when the second distance is less than the first preset distance.

[0075] The first alarm message mentioned above alerts the target personnel that the safety risk exceeds the safety standard.

[0076] Through the above embodiments, multiple consecutive positioning cycles and corresponding positioning distances (i.e., the first distance) are used to determine the distance between the vehicle and the target person in the next positioning cycle, i.e., to determine the second distance. The safety of the target person is determined based on the distance between the vehicle and the target person in the next positioning cycle. Compared with the prior art, which uses the distance between the vehicle and the person in the current positioning cycle to determine whether the person is safe, it does not take into account that due to the high relative speed between the vehicle and the person, the vehicle has already traveled a long distance towards the person when the person is determined to enter the danger zone, resulting in a higher probability of the person being hit. This application uses the distance between the vehicle and the target person in the next positioning cycle to determine whether the person is safe, which can reduce the probability of the target person being hit. It solves the problem that the existing human-vehicle collision technology solution does not take into account the high relative speed between the vehicle and the person, resulting in a high probability of the person being hit.

[0077] In one optional implementation, the first determining unit includes:

[0078] The first determining module is used to determine the formula. Multiple target velocities are determined, and each of the aforementioned target velocities corresponds to one of the aforementioned positioning cycles, where v i Let x be the target velocity corresponding to the i-th positioning cycle. i+1 For the (i+1)th positioning cycle, the first distance x is given. i For the first distance corresponding to the i-th positioning cycle, T i This refers to the i-th positioning cycle mentioned above;

[0079] Specifically, in some implementations, such as Figure 3 As shown, the first distance x1 is determined at time node t1 within the positioning period T1, the first distance x2 is determined at time node t2 within the positioning period T2, and the first distance x3 is determined at time node t3 within the positioning period T3. Then, the average speed of the vehicle between time node t1 and time node t2 is determined as v1, and the average speed of the vehicle between time node t2 and time node t3 is determined as v2.

[0080] The second determining module is used to determine the formula. Determine the second distance mentioned above, where, For the second distance mentioned above, x n For the first distance corresponding to the nth positioning cycle, a i Let a be the i-th preset coefficient, and a i <1,T n This is the nth positioning cycle mentioned above, and the nth positioning cycle mentioned above is the first target positioning cycle mentioned above.

[0081] Specifically, in some implementations, such as Figure 3 As shown, based on the average vehicle speed v1 between time node t1 and time node t2, the average vehicle speed v2 between time node t2 and time node t3, and the current positioning period T3, the distance between time node t3 and time node t4 is estimated. The change in distance between target personnel and vehicles, i.e., determining Among them, time nodes For the time node corresponding to the next positioning cycle, the first distance x3 determined at time node t3 within positioning cycle T3 will be subtracted. The distance between the target personnel and vehicles at the next positioning cycle time point is obtained, which is the second distance.

[0082] To further reduce the probability of people being hit, in one optional embodiment, the detector is communicatively connected to multiple positioning tags, with each person carrying one of the positioning tags. The positioning period includes multiple consecutive time slots, and the device further includes:

[0083] The second acquisition unit is used to acquire a time slot table of multiple consecutive positioning cycles. The positioning cycle corresponds one-to-one with the time slot table. The time slot table includes the time slot of the corresponding positioning cycle and the number of the positioning tag corresponding to the time slot. At most one time slot in the time slot table corresponds to one positioning tag number. The detector locates the person carrying the positioning tag in the time slot corresponding to the positioning tag.

[0084] Specifically, such as Figure 4 As shown, the time slot table of the positioning cycle includes multiple consecutive time slots, and each time slot is bound to at most one positioning tag number. For example, the positioning tag number bound to time slot 1 is 121, and the positioning tag number not bound to time slot 3 is 121. In time slot 1, the detector detects whether a person carrying the positioning tag number 121 has entered the detection range and locates the person carrying the positioning tag number 121. If the positioning tag number not bound to a time slot enters the detector's detection range, it can occupy time slot 3 through a preemption mechanism. If the preemption is successful, the detector locates it and allocates time slot 3 to the positioning tag not bound to a time slot in the next positioning cycle. If no person carrying the positioning tag number 121 is detected in the detection range in time slot 1 for several consecutive time cycles, the binding relationship between time slot 1 and the positioning tag number 121 is released.

[0085] The third determining unit is used to determine the number of occupied slots based on the time slot table when any two time slot tables in the time slot tables of multiple consecutive positioning cycles are the same. The number of occupied slots is the number of first target time slots included in the time slot table. The first target time slot is a time slot with a number corresponding to the positioning tag.

[0086] Specifically, when the time slot tables of multiple consecutive positioning cycles are the same, the detector determines that the number of positioning tags entering the detection range is stable. At this time, the number of occupied tags is determined as the number of time slots bound in the time slot table.

[0087] The fourth determining unit is used to determine a target quantity range based on the above-mentioned occupied quantity, wherein the target quantity range is one of a plurality of preset quantity ranges, and all of the above-mentioned occupied quantities are within the target quantity range.

[0088] The fifth determining unit is used to determine the second target positioning period based on the target quantity range and the target mapping relationship, wherein the target mapping relationship is the mapping relationship between the preset quantity range and the positioning period.

[0089] Specifically, existing positioning technologies have fixed positioning cycles. If the cycle is too long, the vehicle may have already traveled a significant distance towards the person between two positioning attempts, increasing the risk of collisions due to slow or insufficient driver response. Conversely, if the cycle is too short, the detector can only detect a limited number of people entering its detection range, increasing the probability of collisions. To address this issue, this application adjusts the positioning cycle in real-time based on actual conditions. When the time slot tables for multiple consecutive positioning cycles are identical, the detector determines a stable number of positioning tags entering its detection range. At this point, the occupied quantity (the number of time slots bound in the time slot table) is determined. Based on the occupied quantity, a target quantity range is determined, and the next positioning cycle is then determined. The target mapping rule is that a larger occupied quantity results in a longer positioning cycle to ensure the detector can detect a larger number of people entering its detection range, reducing the probability of collisions. Conversely, a smaller occupied quantity results in a shorter positioning cycle to minimize the change in distance between the vehicle and the person between two positioning attempts, preventing collisions due to slow or insufficient driver response. The method for determining other positioning cycles is the same as the method for determining the next positioning cycle.

[0090] The aforementioned target positioning period comprises M time slots, where M is a positive integer. Following step S304, in an optional embodiment, the apparatus further includes:

[0091] The third acquisition unit is used to acquire a first target time slot table, which is the time slot table corresponding to the current positioning cycle. The first target time slot table contains N time slots, where N is a positive integer and N > M.

[0092] The binding unit is used to bind the second target time slot in the first target time slot table to the corresponding third target time slot with the number of the positioning tag in the order of the time slot from smallest to largest. The second target time slot and the third target time slot are in one-to-one correspondence. The second target time slot is a time slot in the first M time slots of the first target time slot table that does not have the corresponding number of the positioning tag. The third target time slot is a time slot in the first target time slot table that has the corresponding number of the positioning tag after the Mth time slot.

[0093] The second generation unit is used to select the first M time slots in the first target time slot table and the corresponding positioning tag numbers to generate a second target time slot table, wherein the second target time slot table is the time slot table corresponding to the target positioning cycle.

[0094] Specifically, in some implementations, such as Figure 4 As shown, the first target time slot table A contains 100 time slots. If the next positioning cycle is determined to be a positioning cycle containing 90 time slots, the positioning tag numbers corresponding to the time slots after the 90th time slot in the first target time slot table A are filled forward. That is, number 768 is filled from the 92nd time slot to the 3rd time slot, number 626 is filled from the 93rd time slot to the 4th time slot, number 3852 is filled from the 98th time slot to the 5th time slot, and number 6750 is filled from the 99th time slot to the 7th time slot. The 90th time slot in the first target time slot table A and the corresponding positioning tag number are selected as the second target time slot table B. In this way, while the positioning cycle is shorter, the number of people that the detector can detect entering the detection range is larger, reducing the probability of people being hit.

[0095] To further reduce the probability of a person being hit, in one optional embodiment, the above-mentioned device further includes:

[0096] The sixth determining unit is used to determine whether the second distance is less than the second preset distance, wherein the second preset distance is less than the first preset distance;

[0097] The third generation unit is used to generate a second alarm message when the second distance is less than the second preset distance. The second alarm message is used to request the vehicle to perform a braking operation.

[0098] Specifically, if the distance between the target person and the vehicle at the time node corresponding to the next positioning cycle is less than the first preset distance, it is determined that the safety risk of the target person exceeds the safety standard. Then, it is determined whether the distance between the target person and the vehicle at the time node corresponding to the next positioning cycle is less than the second preset distance. If the second preset distance is less than the first preset distance, the vehicle is requested to brake to further reduce the probability of the person being hit.

[0099] To further reduce the probability of people being hit, the aforementioned vehicles are equipped with audible and visual alarm devices. In one optional embodiment, the device further includes:

[0100] The control unit is used to control the sound and light alarm device to perform a sound and light alarm when the second distance is less than the second preset distance.

[0101] Specifically, due to the dim underground environment, the visibility of mine workers is severely affected. Therefore, it is necessary to determine whether the distance between the target personnel and the vehicle at the time node corresponding to the next positioning cycle, i.e., the second distance, is less than the second preset distance. If so, the sound and light alarm device is controlled to sound and light alarm to ensure that the target personnel can avoid the vehicle in time to prevent being hit, and further reduce the probability of personnel being hit.

[0102] The aforementioned vehicle-pedestrian collision avoidance device includes a processor and a memory. The first acquisition unit, first determination unit, second determination unit, and first generation unit are all stored as program units in the memory. The processor executes the program units stored in the memory to achieve the corresponding functions. All of the above modules are located in the same processor; alternatively, the modules may be located in different processors in any combination.

[0103] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured. By adjusting the kernel parameters, the problem that existing vehicle-pedestrian collision mitigation technologies do not consider the high relative speeds between vehicles and pedestrians, leading to a higher probability of pedestrian collisions can be addressed.

[0104] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0105] This invention provides a computer-readable storage medium including a stored program, wherein the program, when running, controls the device containing the computer-readable storage medium to execute the vehicle-pedestrian collision avoidance method.

[0106] Specifically, methods for preventing collisions between pedestrians and vehicles include:

[0107] Step S201: Obtain multiple consecutive positioning cycles and multiple first distances, wherein the first distance is the distance between the vehicle and the target person at the corresponding time node within the corresponding positioning cycle.

[0108] Wherein, one of the above positioning cycles corresponds to one of the above first distances, one of the above positioning cycles corresponds to one of the above time nodes, the above target personnel is any one of multiple personnel, the multiple consecutive above positioning cycles include the first target positioning cycle, and the above first target positioning cycle is the current above positioning cycle.

[0109] Step S202: Based on multiple consecutive positioning cycles and the first distance, determine the second distance, where the second distance is the distance between the vehicle and the target person at the time point corresponding to the second target positioning cycle, and the second target positioning cycle is the next positioning cycle after the first target positioning cycle.

[0110] Step S203: Determine whether the second distance is less than the first preset distance;

[0111] Step S204: If the second distance is less than the first preset distance, generate a first alarm message;

[0112] The first alarm message mentioned above alerts the target personnel that the safety risk exceeds the safety standard.

[0113] This invention provides a processor for running a program, wherein the program executes the aforementioned vehicle-pedestrian collision avoidance method.

[0114] Specifically, methods for preventing collisions between pedestrians and vehicles include:

[0115] Step S201: Obtain multiple consecutive positioning cycles and multiple first distances, wherein the first distance is the distance between the vehicle and the target person at the corresponding time node within the corresponding positioning cycle.

[0116] Wherein, one of the above positioning cycles corresponds to one of the above first distances, one of the above positioning cycles corresponds to one of the above time nodes, the above target personnel is any one of multiple personnel, the multiple consecutive above positioning cycles include the first target positioning cycle, and the above first target positioning cycle is the current above positioning cycle.

[0117] Step S202: Based on multiple consecutive positioning cycles and the first distance, determine the second distance, where the second distance is the distance between the vehicle and the target person at the time point corresponding to the second target positioning cycle, and the second target positioning cycle is the next positioning cycle after the first target positioning cycle.

[0118] Step S203: Determine whether the second distance is less than the first preset distance;

[0119] Step S204: If the second distance is less than the first preset distance, generate a first alarm message;

[0120] The first alarm message mentioned above alerts the target personnel that the safety risk exceeds the safety standard.

[0121] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps:

[0122] Step S201: Obtain multiple consecutive positioning cycles and multiple first distances, wherein the first distance is the distance between the vehicle and the target person at the corresponding time node within the corresponding positioning cycle.

[0123] Wherein, one of the above positioning cycles corresponds to one of the above first distances, one of the above positioning cycles corresponds to one of the above time nodes, the above target personnel is any one of multiple personnel, the multiple consecutive above positioning cycles include the first target positioning cycle, and the above first target positioning cycle is the current above positioning cycle.

[0124] Step S202: Based on multiple consecutive positioning cycles and the first distance, determine the second distance, where the second distance is the distance between the vehicle and the target person at the time point corresponding to the second target positioning cycle, and the second target positioning cycle is the next positioning cycle after the first target positioning cycle.

[0125] Step S203: Determine whether the second distance is less than the first preset distance;

[0126] Step S204: If the second distance is less than the first preset distance, generate a first alarm message;

[0127] The first alarm message mentioned above alerts the target personnel that the safety risk exceeds the safety standard.

[0128] The devices mentioned in this article can be servers, PCs, tablets, mobile phones, etc.

[0129] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps:

[0130] Step S201: Obtain multiple consecutive positioning cycles and multiple first distances, wherein the first distance is the distance between the vehicle and the target person at the corresponding time node within the corresponding positioning cycle.

[0131] Wherein, one of the above positioning cycles corresponds to one of the above first distances, one of the above positioning cycles corresponds to one of the above time nodes, the above target personnel is any one of multiple personnel, the multiple consecutive above positioning cycles include the first target positioning cycle, and the above first target positioning cycle is the current above positioning cycle.

[0132] Step S202: Based on multiple consecutive positioning cycles and the first distance, determine the second distance, where the second distance is the distance between the vehicle and the target person at the time point corresponding to the second target positioning cycle, and the second target positioning cycle is the next positioning cycle after the first target positioning cycle.

[0133] Step S203: Determine whether the second distance is less than the first preset distance;

[0134] Step S204: If the second distance is less than the first preset distance, generate a first alarm message;

[0135] The first alarm message mentioned above alerts the target personnel that the safety risk exceeds the safety standard.

[0136] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0137] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0138] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0139] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0140] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0141] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0142] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0143] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0144] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0145] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0146] 1) In the vehicle-pedestrian collision avoidance method of this application, multiple consecutive positioning cycles and corresponding positioning distances (i.e., the first distance) are used to determine the distance between the vehicle and the target person in the next positioning cycle (i.e., the second distance). The safety of the target person is determined based on the distance between the vehicle and the target person in the next positioning cycle. Compared with the prior art, which uses the distance between the vehicle and the person in the current positioning cycle to determine whether the person is safe, it does not take into account that due to the high relative speed between the vehicle and the person, the vehicle has already traveled a long distance towards the person when the person enters the danger zone, resulting in a higher probability of the person being hit. This application uses the distance between the vehicle and the target person in the next positioning cycle to determine whether the person is safe, which can reduce the probability of the target person being hit. It solves the problem that the existing vehicle-pedestrian collision avoidance technology does not take into account the high relative speed between the vehicle and the person, resulting in a high probability of the person being hit.

[0147] 2) In the vehicle-pedestrian collision avoidance device of this application, multiple consecutive positioning cycles and corresponding positioning distances (i.e., the first distance) are used to determine the distance between the vehicle and the target person in the next positioning cycle, i.e., to determine the second distance. The safety of the target person is determined based on the distance between the vehicle and the target person in the next positioning cycle. Compared with the prior art, which uses the distance between the vehicle and the person in the current positioning cycle to determine whether the person is safe, it does not take into account that due to the high relative speed between the vehicle and the person, the vehicle has already traveled a long distance towards the person when the person enters the danger zone, resulting in a higher probability of the person being hit. This application uses the distance between the vehicle and the target person in the next positioning cycle to determine whether the person is safe, which can reduce the probability of the target person being hit. It solves the problem that the existing vehicle-pedestrian collision avoidance technology does not take into account the high relative speed between the vehicle and the person, resulting in a high probability of the person being hit.

[0148] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for preventing collisions between pedestrians and vehicles, characterized in that, The method is applied to a detector on a vehicle, and the method includes: Multiple consecutive positioning cycles and multiple first distances are obtained. The first distance is the distance between the vehicle and the target person at the corresponding time node within the corresponding positioning cycle. One positioning cycle corresponds to one first distance, and one positioning cycle corresponds to one time node. The target person is any one of multiple people. The multiple consecutive positioning cycles include a first target positioning cycle, which is the current positioning cycle. A second distance is determined based on multiple consecutive positioning cycles and the first distance. The second distance is the distance between the vehicle and the target person at the time node corresponding to the second target positioning cycle. The second target positioning cycle is the next positioning cycle after the first target positioning cycle. Determine whether the second distance is less than the first preset distance; If the second distance is less than the first preset distance, a first alarm message is generated, which reminds the target personnel that the safety risk exceeds the safety standard. The detector is communicatively connected to multiple positioning tags. Each person carries one positioning tag. The positioning period includes multiple consecutive time slots. After determining a second distance based on the multiple consecutive positioning periods and the first distance, the method includes: acquiring a time slot table of multiple consecutive positioning periods, where each positioning period corresponds one-to-one with the time slot table. The time slot table contains the time slots of the corresponding positioning period and the number of the positioning tag corresponding to the time slot. One time slot in the time slot table corresponds to at most one positioning tag number. The detector locates the person carrying the positioning tag in the time slot corresponding to the positioning tag. If any two timeslot tables in a consecutive positioning cycle are identical, the occupied quantity is determined according to the timeslot tables. The occupied quantity is the number of first target timeslots included in the timeslot tables, where the first target timeslot is a timeslot with a corresponding positioning tag number. A target quantity range is determined according to the occupied quantity. The target quantity range is one of a plurality of preset quantity ranges, and the occupied quantity is within the target quantity range. The second target positioning cycle is determined according to the target quantity range and a target mapping relationship, where the target mapping relationship is the mapping relationship between the preset quantity range and the positioning cycle.

2. The method according to claim 1, characterized in that, Determining a second distance based on multiple consecutive positioning cycles and the first distance includes: According to the formula Multiple target velocities are determined, and each target velocity corresponds to one positioning cycle, wherein... For the first The target speed corresponding to each of the aforementioned positioning cycles. For the first The first distance corresponding to each of the aforementioned positioning cycles. For the first The first distance corresponding to each of the aforementioned positioning cycles. For the first The aforementioned positioning cycle; According to the formula Determine the second distance, where, The second distance, For the first The first distance corresponding to each of the aforementioned positioning cycles. For the first A preset coefficient, and , For the first The positioning cycle mentioned above, the first The positioning cycle is the first target positioning cycle.

3. The method according to claim 1, characterized in that, The target positioning period includes M time slots, where M is a positive integer. After determining the second target positioning period based on the target quantity range and target mapping relationship, the method further includes: Obtain a first target time slot table, which is the time slot table corresponding to the current positioning cycle. The first target time slot table contains N time slots, where N is a positive integer and N > M. In ascending order of time slots, the second target time slot in the first target time slot table is bound to the corresponding third target time slot with the number of the positioning tag. The second target time slot and the third target time slot are in one-to-one correspondence. The second target time slot is a time slot in the first M time slots of the first target time slot table that does not have the corresponding number of the positioning tag. The third target time slot is a time slot in the first target time slot table that has the corresponding number of the positioning tag after the Mth time slot. The first M time slots in the first target time slot table and the corresponding positioning tag numbers are selected to generate the second target time slot table. The second target time slot table is the time slot table corresponding to the target positioning cycle.

4. The method according to claim 1, characterized in that, After generating the first alarm message, the method further includes: Determine whether the second distance is less than a second preset distance, and the second preset distance is less than the first preset distance; If the second distance is less than the second preset distance, a second alarm message is generated, which is used to request the vehicle to perform a braking operation.

5. The method according to claim 4, characterized in that, The vehicle is equipped with an audible and visual alarm device. After determining whether the second distance is less than a second preset distance, the method further includes: If the second distance is less than the second preset distance, the sound and light alarm device is controlled to perform a sound and light alarm.

6. A pedestrian-vehicle collision avoidance device, characterized in that, The device is used as a detector on a vehicle, and the device includes: The first acquisition unit is used to acquire multiple consecutive positioning cycles and multiple first distances. The first distance is the distance between the vehicle and the target person at a corresponding time node within the corresponding positioning cycle. One positioning cycle corresponds to one first distance, and one positioning cycle corresponds to one time node. The target person is any one of multiple people. The multiple consecutive positioning cycles include a first target positioning cycle, which is the current positioning cycle. The first determining unit is configured to determine a second distance based on a plurality of consecutive positioning cycles and the first distance, wherein the second distance is the distance between the vehicle and the target person at the time node corresponding to the second target positioning cycle, and the second target positioning cycle is the next positioning cycle after the first target positioning cycle; The second determining unit is used to determine whether the second distance is less than the first preset distance; The first generation unit is used to generate a first alarm message when the second distance is less than the first preset distance. The first alarm message reminds the target personnel that the safety risk exceeds the safety standard. The detector is communicatively connected to multiple positioning tags, and each person carries one positioning tag. The positioning period includes multiple consecutive time slots. The device further includes: a second acquisition unit, configured to acquire a time slot table of multiple consecutive positioning periods after determining a second distance based on the multiple consecutive positioning periods and the first distance. The positioning periods correspond one-to-one with the time slot table. The time slot table contains the time slot of the corresponding positioning period and the number of the positioning tag corresponding to the time slot. One time slot in the time slot table corresponds to at most one positioning tag number. The detector locates the person carrying the positioning tag in the time slot corresponding to the positioning tag; a third determination unit, configured to... If any two timeslot tables in multiple consecutive positioning cycles are identical, the occupied quantity is determined according to the timeslot tables. The occupied quantity is the number of first target timeslots included in the timeslot tables, where the first target timeslot is a timeslot with a corresponding positioning tag number. The fourth determining unit is used to determine a target quantity range based on the occupied quantity. The target quantity range is one of multiple preset quantity ranges, and the occupied quantities are all within the target quantity range. The fifth determining unit is used to determine the second target positioning cycle based on the target quantity range and a target mapping relationship. The target mapping relationship is a mapping relationship between the preset quantity range and the positioning cycle.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the vehicle-pedestrian collision avoidance method according to any one of claims 1 to 5.

8. A processor, characterized in that, The processor is used to run a program, wherein the program executes the vehicle-pedestrian collision avoidance method according to any one of claims 1 to 5.

9. A vehicle, characterized in that, The device includes: a detector, the detector comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising methods for performing the vehicle-pedestrian collision avoidance method according to any one of claims 1 to 5.

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