Expressway vehicle-human collision scene vehicle active safety warning method, system, device and medium

Abstract

The application provides a highway vehicle-person collision scene vehicle active safety warning method, system, device and medium, which comprises the following steps: continuously collecting pedestrian position information and vehicle position information, and predicting pedestrian crossing time; dividing the pedestrian position into same-direction lane, opposite-direction lane, central separation belt, same-direction lane side and opposite-direction lane side based on the continuously collected pedestrian position information, judging whether there is a possibility of vehicle-person collision based on the predicted pedestrian crossing time and the continuously collected vehicle position information; if there is a possibility of collision, sending or displaying a recommended driving speed to the collision vehicle; the method for obtaining pedestrian crossing information based on the prediction method can effectively identify the motion state of pedestrians on the highway which cannot be identified by general pedestrian detection methods, realize real-time monitoring of pedestrian crossing time and pedestrian motion, and improve the accuracy of vehicle active safety warning.

Description

Technical Field

[0001] This invention belongs to the field of active safety technology for highway vehicles, specifically relating to active safety warning methods, systems, equipment, and media for vehicles in highway vehicle-pedestrian conflict scenarios. Background Technology

[0002] Vehicle-to-pedestrian collisions on highways often result in serious consequences, causing enormous losses to people's lives and property. How to effectively reduce the frequency and severity of such accidents on highways has become an urgent problem to be solved.

[0003] Facilities such as anti-climb guardrails, central dividers, and pedestrian entry warning systems can, to some extent, prevent pedestrians from entering highways and thus reduce vehicle-to-pedestrian collisions. However, the behavior of pedestrians entering, lingering, and crossing highways persists, and the proportion of vehicle-to-pedestrian collisions on highways remains high. To address the persistent problem of pedestrians entering highways, active vehicle safety control methods rely on technologies such as video image recognition and radar detection. These methods determine the vehicle-pedestrian conflict point based on information such as pedestrian position, vehicle position, and speed, and issue conflict warnings accordingly, further ensuring the safety of both vehicles and pedestrians. However, existing active vehicle safety warning methods only detect the presence of pedestrians and cannot identify different pedestrian behaviors and durations of stay on the road, resulting in a relatively simplistic active vehicle safety warning model. Furthermore, conflict judgment methods are limited to the conflict point; inaccurate pedestrian position detection or vehicle operation deviations may lead to vehicles failing to accurately avoid the conflict point in real-world road scenarios. Especially in the context of high-speed highway traffic, higher vehicle speeds necessitate maintaining a greater safety distance from pedestrians. Conflict point-based warning methods increase the risk of vehicle-to-pedestrian collisions, making it difficult to guarantee the safety of vehicles and pedestrians in high-speed highway traffic scenarios.

[0004] Existing invention patent CN114877896A proposes a method for predicting pedestrian crossing time on highways, which can predict pedestrian crossing time and monitor pedestrian movement in real time, providing sufficient safety margin for vehicles receiving active safety warnings. However, this technology cannot directly provide active safety warnings to vehicles. Therefore, this invention anticipates a method, system, device, and medium for active safety warnings of vehicles in vehicle-pedestrian conflict scenarios on highways. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides a method, system, device, and medium for proactive vehicle safety warning in vehicle-pedestrian conflict scenarios on highways. It can effectively identify the movement status of pedestrians on highways that cannot be identified by general pedestrian detection methods, realize real-time monitoring of pedestrian crossing time and pedestrian movement, and improve the accuracy of proactive vehicle safety warnings.

[0006] This invention is achieved through the following technical solution:

[0007] A proactive safety warning method for vehicles in vehicle-pedestrian conflict scenarios on highways includes the following steps:

[0008] Continuously collect pedestrian and vehicle location information, and predict pedestrian crossing time;

[0009] Based on continuously collected pedestrian location information, pedestrian locations are divided into same-direction lanes, opposite-direction lanes, central median, same-direction lane side, and opposite-direction lane side. Based on predicted pedestrian crossing time and continuously collected vehicle location information, it is determined whether there is a possibility of conflict between vehicles and pedestrians.

[0010] If a conflict is possible, a recommended driving speed will be sent or displayed to the conflicting vehicle.

[0011] Furthermore, the process of predicting pedestrian crossing time is as follows:

[0012] Pedestrian location information is continuously collected and entered into the kinematic model. Based on the kinematic model, the corresponding relaxation time for different pedestrians crossing the road is set to obtain the predicted pedestrian crossing time.

[0013] Furthermore, the scope of continuously collecting pedestrian and vehicle location information includes highway sections and preset areas outside highway sections.

[0014] Furthermore, the possible situations where there is a conflict between vehicles and pedestrians include:

[0015] Pedestrians are looking out from the side of the road in the same direction of travel;

[0016] Pedestrians are crossing the road in the same direction;

[0017] Pedestrians are looking out from the side of the road in the opposite lane;

[0018] Pedestrians are crossing the road in the opposite direction;

[0019] Pedestrians crossed from the opposite lane to the central divider and looked around.

[0020] Furthermore, the condition for determining whether a pedestrian is observing from the roadside in the same direction of traffic is: the pedestrian's location information is... Pedestrian speed information v i It remains essentially zero;

[0021] The condition for determining that a pedestrian is crossing in the same direction of traffic is that the pedestrian's location information is... or or Pedestrian speed information v i Not zero;

[0022] The condition for determining whether a pedestrian is observing from the roadside in the opposite lane is that the pedestrian's location information is... Pedestrian speed information v i It remains essentially zero;

[0023] The condition for detecting a pedestrian crossing the oncoming lane is that the pedestrian's location information is... or or Pedestrian speed information v i Not zero;

[0024] The condition for detecting a pedestrian crossing from the opposite lane into the central divider and observing is that the pedestrian's location information is... or or Pedestrian speed information v i It remains essentially zero;

[0025] in, and These are respectively the same-direction lane, opposite-direction lane, central divider, same-direction lane side, and opposite-direction lane side; v i To continuously collect pedestrian speed information;

[0026] After determining whether there is a possibility of a conflict between a vehicle and a pedestrian, the pedestrian crossing time T is updated in real time. i .

[0027] Furthermore, the process of obtaining the recommended driving speed is as follows:

[0028] Based on the predicted pedestrian crossing time and the distance between the vehicle and the pedestrian, the collision avoidance speed of the vehicle at the current position is calculated according to the kinematic principle. As the pedestrian crossing time and vehicle position are updated in real time, the current collision avoidance speed of the vehicle is obtained in real time, so that the vehicle can stop or decelerate before reaching the expected collision point to avoid collision, while achieving the purpose of incomplete stopping.

[0029] Furthermore, the situations where there is a possibility of conflict between vehicles and pedestrians also include:

[0030] For activities such as road construction that require prolonged stops in the central median or roadside of highways, vehicle warnings are necessary. The criteria for determining this are: pedestrian location information is available. or Pedestrian speed v i The value is always 0;

[0031] There are pedestrians outside the detection range of the highway section, and there is a potential conflict between vehicles and pedestrians.

[0032] A vehicle active safety warning system for highway vehicle-pedestrian conflict scenarios includes:

[0033] The data acquisition and prediction module is used to continuously collect pedestrian and vehicle location information and predict pedestrian crossing time.

[0034] The judgment module is used to divide pedestrian positions into same-direction lanes, opposite lanes, central median, same-direction lane side and opposite lane side based on continuously collected pedestrian position information, and to judge whether there is a possibility of conflict between vehicles and pedestrians based on the predicted pedestrian crossing time and continuously collected vehicle position information.

[0035] The output module is used to send or display recommended driving speeds to the vehicles in conflict if a conflict is possible.

[0036] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of a method for active safety warning of vehicles in a vehicle-pedestrian conflict scenario on a highway.

[0037] A computer-readable storage medium storing a computer program, wherein when executed by a processor, the computer program implements the steps of a method for active safety warning of vehicles in a vehicle-pedestrian conflict scenario on a highway.

[0038] Compared with the prior art, the present invention has the following beneficial technical effects:

[0039] This invention provides a method, system, device, and medium for proactive vehicle safety warning in vehicle-pedestrian conflict scenarios on highways, comprising the following steps: continuously collecting pedestrian location information and vehicle location information, and predicting pedestrian crossing time; dividing pedestrian locations into same-direction lanes, opposite lanes, central median, same-direction lane side, and opposite lane side based on the continuously collected pedestrian location information; determining whether there is a possibility of vehicle-pedestrian conflict based on the predicted pedestrian crossing time and the continuously collected vehicle location information; if a conflict is possible, sending or displaying recommended driving speeds to the conflicting vehicles; the method of obtaining pedestrian crossing information based on prediction in this application can effectively identify the movement status of pedestrians on highways that cannot be identified by general pedestrian detection methods, realize real-time monitoring of pedestrian crossing time and pedestrian movement, and improve the accuracy of proactive vehicle safety warnings; at the same time, while meeting the prediction accuracy, the method of obtaining pedestrian crossing information based on prediction can realize pedestrian movement prediction over a long period of time, meeting the needs of pedestrian safety, randomness of pedestrian movement, and proactive vehicle collision avoidance. Attached Figure Description

[0040] Figure 1This is a flowchart of the vehicle active safety warning method for a vehicle-pedestrian conflict scenario on a highway, as described in this embodiment of the invention.

[0041] Figure 2 This is a diagram illustrating a vehicle-pedestrian conflict scenario where a pedestrian crosses a lane traveling in the same direction, as described in an embodiment of the present invention.

[0042] Figure 3 This is a diagram illustrating a vehicle-pedestrian conflict scenario in an embodiment of the present invention, where a pedestrian crosses from an oncoming lane to a lane traveling in the same direction.

[0043] Figure 4 This is a vehicle-pedestrian conflict scenario diagram in an embodiment of the present invention, where a pedestrian stays in the central median strip for an extended period of time. Detailed Implementation

[0044] The present invention will be further described in detail below with reference to specific embodiments. These descriptions are for explanation purposes only and are not intended to limit the scope of the invention.

[0045] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0046] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention 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 so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a 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.

[0047] This invention provides a method for proactive safety warning of vehicles in vehicle-pedestrian conflict scenarios on highways, such as... Figure 1 As shown, it includes the following steps:

[0048] Continuously collect pedestrian and vehicle location information, and predict pedestrian crossing time;

[0049] Based on continuously collected pedestrian location information, pedestrian locations are divided into same-direction lanes, opposite-direction lanes, central median, same-direction lane side, and opposite-direction lane side. Based on predicted pedestrian crossing time and continuously collected vehicle location information, it is determined whether there is a possibility of conflict between vehicles and pedestrians.

[0050] If a conflict is possible, a recommended driving speed will be sent or displayed to the conflicting vehicle.

[0051] Preferably, the process of predicting pedestrian crossing time is as follows:

[0052] Pedestrian location information is continuously collected and entered into the kinematic model. Based on the kinematic model, the corresponding relaxation time for different pedestrians crossing the road is set to obtain the predicted pedestrian crossing time.

[0053] It should be noted that those skilled in the art can obtain pedestrian crossing time information using the prediction method of Chinese patent CN114877896A. The specific steps of that patent are as follows:

[0054] Information on pedestrians' initial road crossings is collected and entered into a kinematic model. Based on the kinematic model, the corresponding relaxation time for different pedestrians crossing the road is set, and the preliminary prediction results of pedestrians crossing the road are estimated.

[0055] Real-time information on pedestrians crossing roads is continuously collected, and real-time prediction results of pedestrians crossing roads are obtained based on Kalman filter trajectory prediction. The difference between the preliminary prediction results and the real-time prediction results is compared.

[0056] Based on the difference between the preliminary prediction results and the real-time prediction results and the relaxation time, the estimated pedestrian crossing information is continuously reset to obtain the vehicle-pedestrian conflict time window;

[0057] The vehicle-pedestrian conflict time window is the predicted pedestrian crossing time described in this application.

[0058] Preferably, the range for continuously collecting pedestrian and vehicle location information includes the highway section and a preset area outside the highway section. It should be noted that the preset area includes a certain range outside the highway section, and those skilled in the art can set the size of the range outside the highway section based on the environmental conditions outside the highway section.

[0059] Preferably, the possible situations where there is a conflict between vehicles and pedestrians include:

[0060] Pedestrians are looking out from the side of the road in the same direction of travel;

[0061] Pedestrians are crossing the road in the same direction;

[0062] Pedestrians are looking out from the side of the road in the opposite lane;

[0063] Pedestrians are crossing the road in the opposite direction;

[0064] Pedestrians crossed from the opposite lane to the central divider and looked around;

[0065] It should be noted that the above-mentioned conflict scenarios between vehicles and pedestrians are mainly to facilitate the detection module to provide timely and accurate location information, and to determine different conflict scenarios based on the pedestrian's location, thereby determining the warning level for the vehicle. The probability of conflict between vehicles and pedestrians is highest when a pedestrian is crossing a lane in the same direction; the probability of conflict is relatively low when a pedestrian is observing in a lane in the same direction or in the central divider; and the probability of conflict is lowest when a pedestrian is observing on the side of the oncoming lane or crossing in the oncoming lane. The conflict probability corresponds to the vehicle's warning response, which may include complete stopping, slowing down to avoid the pedestrian, or slowing down to observe. Based on different warning responses, the optimal speed for the vehicle to avoid conflict is calculated.

[0066] Furthermore, the condition for determining whether a pedestrian is observing from the roadside in the same direction of traffic is: the pedestrian's location information is... Pedestrian speed information v i It remains essentially at zero.

[0067] The condition for determining that a pedestrian is crossing in the same direction of traffic is that the pedestrian's location information is... or or Pedestrian speed information v i Not zero.

[0068] The condition for determining whether a pedestrian is observing from the roadside in the opposite lane is that the pedestrian's location information is... Pedestrian speed information v i It remains essentially at zero.

[0069] The condition for detecting a pedestrian crossing the oncoming lane is that the pedestrian's location information is... or or Pedestrian speed information v i Not zero.

[0070] The condition for detecting a pedestrian crossing from the opposite lane into the central divider and observing is that the pedestrian's location information is... or or Pedestrian speed information v i It remains essentially at zero.

[0071] in, and These are respectively the same-direction lane, opposite-direction lane, central divider, same-direction lane side, and opposite-direction lane side; vi To continuously collect pedestrian speed information.

[0072] After determining whether there is a possibility of a conflict between a vehicle and a pedestrian, the pedestrian crossing time T is updated in real time. i .

[0073] Preferably, the process of obtaining the recommended driving speed is as follows:

[0074] Based on the predicted pedestrian crossing time and the distance between the vehicle and the pedestrian, the collision avoidance speed of the vehicle at the current position is calculated according to the kinematic principle. As the pedestrian crossing time and vehicle position are updated in real time, the current collision avoidance speed of the vehicle is obtained in real time, so that the vehicle can stop or decelerate before reaching the expected collision point to avoid collision, while achieving the purpose of incomplete stopping.

[0075] Preferably, the situations where there is a possibility of conflict between vehicles and pedestrians also include:

[0076] For activities such as road construction that require prolonged stops in the central median or roadside of highways, vehicle warnings are necessary. The criteria for determining this are: pedestrian location information is available. or Pedestrian speed v i The value is always 0;

[0077] There are pedestrians outside the detection range of the highway section, and there is a potential conflict between vehicles and pedestrians.

[0078] Preferably, in the method described in this application for sending or displaying recommended driving speeds to conflicting vehicles, the display terminal can be a variable message sign. Specifically, two variable message signs are set up in front of the pedestrian detection position: the distance between the first variable message sign and the detection position should be calculated according to the maximum speed limit and minimum deceleration time of the highway section, and the distance between the second variable message sign and the first variable message sign can be calculated based on the average speed limit and the time interval between real-time updates. During the vehicle's journey, the vehicle passes through the second variable message sign and the first variable message sign in succession. Setting up two variable message signs can promptly notify the vehicle driver of the real-time updated information and clarify the pedestrian situation ahead.

[0079] Furthermore, the variable message sign information displayed according to various conflict scenarios includes: displaying the detected pedestrian status information, including: pedestrian location information, namely five locations: same-direction lane, opposite lane, central divider, same-direction lane side, and opposite lane side; pedestrian crossing time prediction information, displaying the remaining crossing time of pedestrians; pedestrian long-term stay warning information when construction workers stay on the roadside and central divider for a long time; and early warning information on the presence of pedestrians outside the detection range of the highway.

[0080] Furthermore, for pedestrians crossing the road, the vehicle's collision avoidance speed is calculated based on the pedestrian's status information and the vehicle's position information when the vehicle reaches the first variable message sign, and then displayed on the variable message sign. For pedestrians observing from the roadside or in the central median, the collision avoidance speed is calculated based on the pedestrian suddenly starting to cross the road and then displayed on the variable message sign.

[0081] Example 1: Active safety warning method for vehicles in lane conflict scenarios.

[0082] S1: Obtain pedestrian information and vehicle location information through the information acquisition module. Specifically, the pedestrian information continuously collected by the information acquisition module includes pedestrian location information and speed information, and further obtains pedestrian crossing time information through the prediction method of the existing patent CN114877896A.

[0083] S2: Perform conflict analysis based on the acquired pedestrian crossing and vehicle information.

[0084] Specifically, in this conflict scenario, when a vehicle is detected within the detection range of the second variable message sign, if the pedestrian location information collected over multiple consecutive time periods is... Pedestrian speed information v i Based on the predicted pedestrian crossing time, T1 = 8s; when a vehicle appears within the detection range of the first variable message sign, if the collected pedestrian location information is still... Pedestrian speed information v i The predicted pedestrian crossing time is T2 = 3s.

[0085] Furthermore, based on the above information, conflict assessment is performed. When the vehicle passes the first and second variable message signs, the pedestrian's position is in the same lane and maintains a certain crossing speed, with predicted crossing times not zero. Therefore, the vehicle-pedestrian conflict at this point is determined to be a same-lane conflict scenario. After the vehicle passes the first variable message sign, a conflict with the pedestrian is possible. The conflict scenario is as follows: Figure 1 As shown.

[0086] S3: Based on the conflict scenario, propose a recommended speed to avoid vehicle-pedestrian conflicts, display pedestrian crossing information and the recommended vehicle speed to avoid vehicle-pedestrian conflicts on the variable message sign, and update it in real time.

[0087] Based on the vehicle-pedestrian conflict scenario derived from S2, which is a conflict scenario in the same direction lane, the second variable message sign will display the pedestrian's location information as being in the same direction lane, with the pedestrian having 8 seconds of remaining crossing time; the first variable message sign will display the pedestrian's location information as being in the same direction lane, with the pedestrian having 3 seconds of remaining crossing time.

[0088] Furthermore, based on the pedestrian's remaining crossing time and the vehicle's position and speed, the vehicle's collision avoidance speed is calculated. If the vehicle reaches the first variable message sign at a distance of 50m from the pedestrian and at a speed of 90km / h, the calculated collision avoidance speed is 60km / h, and this recommended speed is displayed on the first variable message sign. This embodiment only provides one vehicle collision avoidance speed algorithm; the specific calculation method can be selected according to the actual situation, and subsequent embodiments are similar.

[0089] Example 2: Active safety warning method for vehicles in oncoming lane conflict scenarios.

[0090] S1: Obtain pedestrian information and vehicle location information through the information acquisition module. Specifically, the pedestrian information continuously collected by the information acquisition module includes pedestrian location information and speed information, and further obtains pedestrian crossing time information through the prediction method of the existing patent CN114877896A.

[0091] S2: Perform conflict analysis based on the acquired pedestrian crossing and vehicle information.

[0092] Specifically, in this conflict scenario, when a vehicle is detected within the detection range of the second variable message sign, if the pedestrian location information collected over multiple consecutive time periods is... Pedestrian speed information v i Based on the predicted pedestrian crossing time, T1 = 12s; when a vehicle appears within the detection range of the first variable message sign, if the collected pedestrian location information is... Pedestrian speed information v i The predicted pedestrian crossing time is T2 = 5s.

[0093] Furthermore, based on the above information, conflict assessment is performed. When the vehicle passes the second variable message sign, the pedestrian's position is in the opposite lane; when the vehicle passes the first variable message sign, the pedestrian's position is in the same lane and maintains a certain crossing speed. The predicted crossing time is not zero in either case. Therefore, the vehicle-pedestrian conflict is determined to be an opposite lane conflict scenario. After the vehicle passes the first variable message sign, a conflict with the pedestrian is possible. The conflict scenario is as follows: Figure 2 As shown.

[0094] S3: Based on the conflict scenario, propose a recommended speed to avoid vehicle-pedestrian conflicts, display pedestrian crossing information and the recommended vehicle speed to avoid vehicle-pedestrian conflicts on the variable message sign, and update it in real time.

[0095] Based on the vehicle-pedestrian conflict scenario derived from S2, which is a conflict scenario in the opposite lane, the second variable message sign will display the pedestrian's position information as the opposite lane, with the pedestrian having 12 seconds remaining to cross; the first variable message sign will display the pedestrian's position information as the same lane, with the pedestrian having 5 seconds remaining to cross.

[0096] Furthermore, based on the pedestrian's remaining crossing time and the vehicle's position and speed, the vehicle's collision avoidance speed is calculated. If the vehicle is 100m away from the pedestrian and traveling at 100km / h when it reaches the first variable message sign, the calculated collision avoidance speed is 72km / h, and this recommended speed is displayed on the first variable message sign.

[0097] Example 3: Active safety warning method for vehicles that need to stay in the central median of highways for a long time, such as during road construction.

[0098] S1: Obtain pedestrian information and vehicle location information through the information acquisition module. Specifically, the pedestrian information continuously collected by the information acquisition module includes pedestrian location information and speed information, and further obtains pedestrian crossing time information through the prediction method of the existing patent CN114877896A.

[0099] S2: Perform conflict analysis based on the acquired pedestrian crossing and vehicle information.

[0100] Specifically, in this conflict scenario, the pedestrian information collected is pedestrian location information. Pedestrian speed information v i The value is essentially zero, based on the predicted pedestrian crossing time of T. i =0. Furthermore, based on the above information, a conflict assessment is performed, and at this point, pedestrians generally remain within the central median and do not cross it. Specific scenarios include... Figure 3 As shown.

[0101] S3: Based on the conflict scenario, propose a recommended speed to avoid vehicle-pedestrian conflicts, display pedestrian crossing information and the recommended vehicle speed to avoid vehicle-pedestrian conflicts on the variable message sign, and update it in real time.

[0102] Based on S2, pedestrians generally remain within the central median and do not cross it. Therefore, the first and second variable message signs display pedestrian location information as the central median, but caution is advised. If a vehicle is detected approaching the first variable message sign at a distance of 80m from the pedestrian and a speed of 100km / h, the calculated collision avoidance speed is 78.8km / h, and this recommended speed is displayed on the first variable message sign.

[0103] This invention provides an active safety warning system for vehicles in highway vehicle-pedestrian conflict scenarios, comprising:

[0104] The data acquisition and prediction module is used to continuously collect pedestrian and vehicle location information and predict pedestrian crossing time.

[0105] The judgment module is used to divide pedestrian positions into same-direction lanes, opposite lanes, central median, same-direction lane side and opposite lane side based on continuously collected pedestrian position information, and to judge whether there is a possibility of conflict between vehicles and pedestrians based on the predicted pedestrian crossing time and continuously collected vehicle position information.

[0106] The output module is used to send or display recommended driving speeds to the vehicles in conflict if a conflict is possible.

[0107] In another embodiment of the present invention, a computer device is provided, comprising a processor and a memory. The memory stores a computer program, which includes program instructions. The processor executes the program instructions stored in the computer storage medium. The processor may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. It is the computing and control core of the terminal, suitable for implementing one or more instructions, specifically suitable for loading and executing one or more instructions in the computer storage medium to achieve a corresponding method flow or corresponding function. The processor described in this embodiment of the present invention can be used in the operation of a vehicle active safety warning method for highway vehicle-pedestrian conflict scenarios.

[0108] In another embodiment of the present invention, a storage medium is provided, specifically a computer-readable storage medium (Memory), which is a memory device in a computer device used to store programs and data. It is understood that the computer-readable storage medium here can include both the built-in storage medium in the computer device and extended storage media supported by the computer device. The computer-readable storage medium provides storage space that stores the terminal's operating system. Furthermore, the storage space also stores one or more instructions suitable for loading and execution by a processor. These instructions can be one or more computer programs (including program code). It should be noted that the computer-readable storage medium here can be high-speed RAM or non-volatile memory, such as at least one disk storage device. The processor can load and execute one or more instructions stored in the computer-readable storage medium to implement the corresponding steps of the vehicle active safety warning method for highway vehicle-pedestrian conflict scenarios in the above embodiments.

[0109] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention 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.

[0110] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. 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 illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0111] 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.

[0112] 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.

[0113] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for proactive safety warning of vehicles in vehicle-pedestrian conflict scenarios on highways, characterized in that: Includes the following steps: Continuously collect pedestrian and vehicle location information, and predict pedestrian crossing time; Based on continuously collected pedestrian location information, pedestrian locations are divided into same-direction lanes, opposite-direction lanes, central median, same-direction lane side, and opposite-direction lane side. Based on predicted pedestrian crossing time and continuously collected vehicle location information, it is determined whether there is a possibility of conflict between vehicles and pedestrians. If there is a possibility of conflict, a recommended driving speed will be sent or displayed to the conflicting vehicles; The possible situations involving conflicts between vehicles and pedestrians include: Pedestrians are looking out from the side of the road in the same direction of travel; Pedestrians are crossing the road in the same direction; Pedestrians are looking out from the side of the road in the opposite lane; Pedestrians are crossing the road in the opposite direction; Pedestrians crossed from the opposite lane to the central divider and looked around; The condition for determining whether a pedestrian is observing from the side of the road in the same direction of travel is: the pedestrian's location information is... pedestrian speed information It remains essentially zero; The condition for determining that a pedestrian is crossing in the same direction of traffic is that the pedestrian's location information is... or or pedestrian speed information Not zero; The condition for determining whether a pedestrian is observing from the roadside in the opposite lane is that the pedestrian's location information is... pedestrian speed information It remains essentially zero; The condition for determining whether a pedestrian is crossing the oncoming lane is that the pedestrian's location information is... or or pedestrian speed information Not zero; The criterion for determining whether a pedestrian crosses the central divider from the opposite lane and observes the surroundings is that the pedestrian's location information is... or or pedestrian speed information It remains essentially zero; in, , , , and These are respectively the same-direction lane, opposite-direction lane, central divider, same-direction lane side, and opposite-direction lane side; To continuously collect pedestrian speed information; After determining whether there is a possibility of conflict between vehicles and pedestrians, the pedestrian crossing time is updated in real time. .

2. The active safety warning method for vehicle-pedestrian conflict scenarios on highways according to claim 1, characterized in that, The process of predicting pedestrian crossing time is as follows: Pedestrian location information is continuously collected and entered into the kinematic model. Based on the kinematic model, the corresponding relaxation time for different pedestrians crossing the road is set to obtain the predicted pedestrian crossing time.

3. The active safety warning method for vehicle-pedestrian conflict scenarios on highways according to claim 1, characterized in that, The scope of continuously collecting pedestrian and vehicle location information includes highway sections and preset areas outside highway sections.

4. The active safety warning method for vehicle-pedestrian conflict scenarios on highways according to claim 1, characterized in that, The process of obtaining the recommended driving speed is as follows: Based on the predicted pedestrian crossing time and the distance between the vehicle and the pedestrian, the collision avoidance speed of the vehicle at the current position is calculated according to the kinematic principle. As the pedestrian crossing time and vehicle position are updated in real time, the current collision avoidance speed of the vehicle is obtained in real time, so that the vehicle can stop or decelerate before reaching the expected collision point to avoid collision, while achieving the purpose of incomplete stopping.

5. The active safety warning method for vehicle-pedestrian conflict scenarios on highways according to claim 1, characterized in that, The situations where there is a possibility of conflict between vehicles and pedestrians also include: For activities such as road construction that require prolonged stops in the central median or roadside of highways, vehicle warnings are necessary. The criteria for determining this are: pedestrian location information is available. , or pedestrian speed The value is always 0; There are pedestrians outside the detection range of the highway section, and there is a potential conflict between vehicles and pedestrians.

6. A vehicle active safety warning system for highway vehicle-pedestrian conflict scenarios, characterized in that: The active safety warning method for highway vehicle-pedestrian conflict scenarios based on any one of claims 1-5 includes: The data acquisition and prediction module is used to continuously collect pedestrian and vehicle location information and predict pedestrian crossing time. The judgment module is used to divide pedestrian positions into same-direction lanes, opposite lanes, central median, same-direction lane side and opposite lane side based on continuously collected pedestrian position information, and to judge whether there is a possibility of conflict between vehicles and pedestrians based on the predicted pedestrian crossing time and continuously collected vehicle position information. The output module is used to send or display recommended driving speeds to the vehicles in conflict if a conflict is possible.

7. A computer device 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, it implements the steps of the vehicle active safety warning method for highway vehicle-pedestrian conflict scenarios as described in any one of claims 1-5.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the vehicle active safety warning method for highway vehicle-pedestrian conflict scenarios as described in any one of claims 1-5.

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