A safety braking system and method for motorcycle

Abstract

The present invention relates to the technical field of wheel hub motor brake control systems, and discloses a safe braking system and method for motorcycles, wherein the system comprises a driving road feature data sampling module, a driving road danger feature recognition module, and a danger emergency brake protection execution module; by using a monitoring cloud lens to collect feature image data in front of a motorcycle driving road in real time, data support is provided for accurately identifying the dangerous features of the road ahead of the motorcycle; smoothing and noise reduction preprocessing is performed on the feature image data in front of the motorcycle driving road to increase the recognition accuracy of the dangerous features of the road ahead of the motorcycle; the feature data in front of a standard motorcycle driving road is compared with feature image data of pedestrians on the driving road and feature image data of obstacles on the driving road using a whale recognition algorithm to identify pedestrians or obstacles on the road ahead of the motorcycle, thereby increasing the recognition accuracy and reliability of the motorcycle braking system for road danger features.

Description

Technical Field

[0001] The present invention relates to the technical field of hub motor brake control systems, and in particular to a safety brake system and method for motorcycles. Background Art

[0002] Braking, also known as braking, refers to the action of stopping or slowing down a running locomotive, vehicle, other transportation tool or machinery. The general principle of braking is to fix a wheel or disc on the high-speed shaft of the machine, install a brake shoe, belt or disc corresponding to it on the machine base, and generate a braking torque under the action of external force; the brake device is a mechanical brake device that can slow down the speed of the vehicle, also known as a reducer; in simple terms: the brake pedal of the car is under the steering wheel, and stepping on the brake pedal will cause the brake lever to be linked and compressed and transmitted to the brake pads on the brake drum to clamp the brake wheel disc, so that the car slows down or stops running. The manual brake of the car is next to the gear and connected to the brake lever. Another common type of brake is bicycle brakes, which rely on rod-shaped brakes fixed to the frame or disc-mounted brakes to slow down. Existing motorcycle brake systems mostly use hub motor brake control. The operation process of hub motor brake control is very dependent on the driver's operating experience. When an obstacle or pedestrian suddenly appears in front of the road, the driver's operating experience and reaction speed are greatly tested to see whether the obstacle or pedestrian can be discovered in time and whether the driver can accurately operate to safely avoid the obstacle or pedestrian, which brings huge safety risks to motorcycle drivers.

[0003] The Chinese patent publication number is CN115498925A, which discloses a braking method, system and medium based on the robot chassis. Through the braking system, the power-off braking of the entire robot chassis can be achieved, and there is no need to worry about power-off loss of control and small back-electromotive force braking force. It is safer, and the braking system is installed and arranged above the hub motor, making full use of the dead zone of this position, saving space, and the structural layout is fully rationalized, greatly reducing the chassis size and improving the robot's adaptability to the environment. Although the above scheme can avoid power-off loss of control through power-off braking, it cannot avoid the robot's accurate identification and obstacle avoidance of the operator and the walking road during the walking process, which brings danger to the operator. Summary of the invention

[0004] 1. Technical issues to be solved

[0005] In order to solve the problem that the existing motorcycle braking systems mostly use hub motor brake control, the operation process of hub motor brake control is very dependent on the driver's operating experience. When an obstacle or pedestrian suddenly appears in front of the road, whether the obstacle or pedestrian can be discovered in time and the driver's operating experience and reaction speed can be tested accurately and safely to avoid the obstacle or pedestrian, which brings huge safety risks to motorcycle drivers. The above purpose is achieved by real-time collection of road images ahead, analysis and identification of pedestrians and obstacles, and active and standardized deceleration.

[0006] (II) Technical solution

[0007] The present invention is implemented by the following technical scheme: a safe braking method for a motorcycle, the method comprising the following steps:

[0008] S1, collecting feature image data of the road ahead where the motorcycle is traveling in real time, performing smoothing and noise reduction preprocessing on the feature image data of the road ahead where the motorcycle is traveling, and storing the data;

[0009] S2, using an image recognition algorithm to compare the pre-processed feature data of the road ahead of the motorcycle with the feature image data of pedestrians on the road ahead and the feature image data of obstacles on the road ahead to identify the road hazard features of the road ahead of the motorcycle;

[0010] S3, when a road hazard feature ahead of the road where the motorcycle is traveling is identified, actively collecting a distance value from the motorcycle to the road hazard feature;

[0011] S4, when the distance value between the motorcycle and the road hazard feature is greater than a set distance threshold, the motorcycle front wheel hub motor brake actuator is activated to decelerate the motorcycle; when the distance value between the motorcycle and the road hazard feature is less than or equal to the set distance threshold, the motorcycle front and rear wheel hub motor brake actuators are simultaneously activated to perform emergency braking;

[0012] S5, when a dangerous feature of the road ahead of the motorcycle is identified, the light prompt unit and the sound prompt unit at the rear of the motorcycle are activated to give a warning to other drivers of vehicles behind;

[0013] S6. When a dangerous feature of the road ahead of the motorcycle is identified, a video prompt unit at the rear of the motorcycle is activated to visually display the dangerous feature of the road ahead of the motorcycle and to prompt drivers of other vehicles behind.

[0014] Preferably, the steps of real-time acquisition of characteristic image data of the front of the road where the motorcycle is traveling and pre-processing the characteristic image data of the front of the road where the motorcycle is traveling are as follows:

[0015] S11. Use the monitoring cloud camera to collect the characteristic image data of the motorcycle on the road ahead and establish the matrix A t=(a it , …, a it , …, a ot );i=1,2,3,…,o;where A t represents the feature image data matrix of the road ahead where the motorcycle is traveling at the tth moment; a it represents the feature image data of the front of the road where the i-th motorcycle is traveling collected at the t-th time;

[0016] S12, using SG filtering method to analyze the feature image data matrix A of the front of the motorcycle road t The steps for smooth noise reduction are as follows:

[0017] The feature image data matrix A of the motorcycle road ahead at time t t The formed observations are filtered and fitted with a k-1 order polynomial. The fitting formula is:

[0018] x t =b0+b1t+b2t 2 +…+b k-1 t k-1 ; where x t Represents the feature image data matrix A of the road ahead where the motorcycle is traveling t The feature image data of the front of the motorcycle road it ; where b0, b1, b2, b k-1 represent the fitting coefficients respectively;

[0019] The feature image data matrix A of the motorcycle's front road t After fitting, the fitting matrix X is formed t ;

[0020] After fitting, the matrix X t The filter model is used to calculate the filter value. The filter model algorithm formula is:

[0021] P=T×(T trans ×T) -1 ×T trans ×X t ; Where T represents the fitting matrix x t The coefficient matrix, T trans represents the transposed matrix of T;

[0022] The filtering algorithm is used to analyze the characteristic image data matrix A of the front of the motorcycle road t Processing and noise reduction to generate the characteristic image data matrix of the front of the standard motorcycle driving road

[0023] Preferably, the operation steps of performing smoothing and noise reduction preprocessing on the characteristic image data ahead of the motorcycle driving road and then storing the data are as follows:

[0024] S21, pre-processing to generate a standard motorcycle driving road front feature image data matrix Use database for storage.

[0025] Preferably, the operation steps of comparing the pre-processed feature data of the road ahead of the motorcycle with the feature image data of pedestrians on the road ahead and the feature image data of obstacles on the road ahead using an image recognition algorithm to identify the road hazard features of the road ahead of the motorcycle are as follows:

[0026] S31, calling the characteristic image data matrix of the front of the standard motorcycle driving road from the database

[0027] S32, establish a pedestrian feature image data set C = (c1, ..., c n ,…,c1); n=1,2,3,…,1; where c n Indicates the characteristic image data of pedestrians on the nth driving road;

[0028] Establish the road obstacle feature image data set D = (d1, ..., d m , …, d u );m=1,3,3,…,u;where d m represents the characteristic image data of the mth type of obstacle on the driving road;

[0029] S33, using the whale algorithm to identify the characteristic image data matrix in front of the standard motorcycle driving road Standard motorcycle driving road front feature image data The driving road pedestrian feature image data c matched with the driving road pedestrian feature image data set C n ; Standard motorcycle driving road front feature image data matrix Standard motorcycle driving road front feature image data The road obstacle feature image data d matched with the road obstacle feature image data set D m , the operation steps of the whale algorithm are as follows:

[0030] In the L-dimensional road pedestrian feature image data set C solution space, each standard motorcycle road feature image data The whale's position is

[0031] Y=(y1,y2,…,y L );

[0032] In the U-dimensional road obstacle feature image data set D solution space, each standard motorcycle road feature image data The whale's position is

[0033] Y=(y1,y2,…,y U );

[0034] Each whale randomly chooses to surround its prey or use a bubble net to drive it away. The probability of each whale choosing these two behaviors is equal, that is, the probability of choosing surround is equal to the probability of choosing bubble net, which is 0.5.

[0035] Surrounding the prey:

[0036] When surrounding prey, whales will choose to swim towards the optimally positioned whale or towards a random whale;

[0037] Whales swim towards the optimal position:

[0038] The whale's position update formula is as follows:

[0039] where Y best t is the optimal position of the whale at time t, each dimension of F is a random number uniformly distributed in (-f, f), the initial value of f is 2, and it decreases linearly to 0 with the number of iterations; G is a random number uniformly distributed in (0, 2); The value of each dimension is non-negative;

[0040] Swim towards the location of a random whale:

[0041] The whale's position update formula is as follows:

[0042] Where Y rand t The position of the randomly selected whale in the current group; when the whale chooses to swim towards the optimal individual and when it chooses a random individual as the target is determined by the value of F;

[0043] When F<1, the whale chooses to swim towards the optimal individual; note that F is an L-dimensional or U-dimensional vector, so when the modulus of F is less than 1, the whale swims towards the optimal individual;

[0044] When F ≥ 1, the whale chooses to swim towards a random individual;

[0045] In the process of surrounding the prey, the search mode of the whale algorithm is to search near the optimal individual or near the random individual far away;

[0046] Bubble Net:

[0047] When whales are hunting, they blow out steam bags to form a web of bubbles to drive away prey;

[0048] In order to use the bubble net to drive prey, the whale will also constantly update its own position. When using the bubble net, the whale's position update formula is as follows:

[0049] Where v is a constant, which defaults to 1, and z is a random number uniformly distributed in [-1, 1];

[0050] Before each action, each whale flips a coin to decide whether to surround its prey or use a bubble net to drive it away;

[0051] When the number of whale algorithm searches is reached, the standard motorcycle driving road front feature image data matrix is ​​output The driving road pedestrian feature image data matched with the driving road pedestrian feature image data set C Standard motorcycle driving road front feature image data matrix The road obstacle feature image data matched with the road obstacle feature image data set D

[0052] S34, when the characteristic image data matrix of the standard motorcycle driving road is identified There is characteristic image data of pedestrians on the road Or road obstacle feature image data This indicates that there are road hazard features ahead of the motorcycle.

[0053] Preferably, when a road hazard feature ahead of the road on which the motorcycle is traveling is identified, the operation steps of actively collecting the distance value from the motorcycle to the road hazard feature are as follows:

[0054] S41, obtaining road hazard feature data ahead of the road where the motorcycle is traveling;

[0055] S42, using a distance radar to measure in real time the distance value p from the front wheel of the motorcycle to the pedestrian or obstacle.

[0056] Preferably, when the distance value between the motorcycle and the road hazard feature is greater than a set distance threshold, the motorcycle front wheel hub motor brake actuator is activated to decelerate the driving, and when the distance value between the motorcycle and the road hazard feature is less than or equal to the set distance threshold, the motorcycle front and rear wheel hub motor brake actuators are activated at the same time to perform emergency braking driving. The operating steps are as follows:

[0057] S51 obtains the distance value p from the front wheel of the motorcycle to the pedestrian or obstacle;

[0058] S52: Compare the distance value p from the front wheel of the motorcycle to the pedestrian or obstacle with the set danger distance threshold value p. 危险阈值 Compare;

[0059] When p>p 危险阈值 , start the brake actuator of the front wheel hub motor of the motorcycle to decelerate;

[0060] When p≤p 危险阈值 , and at the same time, the motorcycle's front and rear wheel hub motor brake actuators are started for emergency braking.

[0061] Preferably, when the road hazard feature ahead of the road where the motorcycle is traveling is identified, the operation steps of activating the motorcycle tail light prompt unit and the sound prompt unit to give a warning to the drivers of other vehicles behind are as follows:

[0062] S61, when the characteristic image data matrix of the standard motorcycle driving road is identified There is characteristic image data of pedestrians on the road Or road obstacle feature image data The motorcycle's tail indicator light and alarm are activated to warn other drivers of vehicles behind that there are dangerous road features ahead.

[0063] Preferably, when the road hazard features ahead of the road where the motorcycle is traveling are identified, the operation steps of starting the motorcycle rear video prompt unit to visually display the road hazard features ahead of the road where the motorcycle is traveling and to prompt the drivers of other vehicles behind are as follows:

[0064] S71, when the characteristic image data matrix of the standard motorcycle driving road is identified There is characteristic image data of pedestrians on the road Or road obstacle feature image data The video display at the rear of the motorcycle is activated to shoot in real time the presence of pedestrians or obstacles ahead of the motorcycle's road, and to provide intuitive display feedback to other vehicle drivers behind to remind them of the presence of dangerous road features ahead of their road.

[0065] A system for implementing the safe braking method for motorcycles as described above, the system comprises a driving road feature data sampling module, a driving road danger feature recognition module, a danger emergency braking protection execution module, and a danger warning module for rear vehicles;

[0066] The driving road characteristic data sampling module includes a driving road characteristic data acquisition unit, a driving road characteristic data preprocessing unit, and a driving road characteristic preprocessing data storage unit;

[0067] The driving road feature data acquisition unit uses a monitoring cloud camera to collect feature image data of the motorcycle's driving road in real time; the driving road feature data preprocessing unit performs smoothing and noise reduction preprocessing on the feature image data of the motorcycle's driving road; the driving road feature preprocessing data storage unit stores the preprocessed feature image data of the motorcycle's driving road;

[0068] The driving road danger feature recognition module includes a driving road pedestrian feature storage unit, a driving road obstacle feature storage unit, and a driving road danger feature judgment unit;

[0069] The driving road pedestrian feature storage unit is used to store driving road pedestrian feature image data; the driving road obstacle feature storage unit is used to store driving road obstacle feature image data; the driving road hazard feature judgment unit compares the pre-processed driving road front feature data of the motorcycle with the driving road pedestrian feature image data and the driving road obstacle feature image data using an image recognition algorithm to identify the road hazard features of the road ahead of the motorcycle;

[0070] The dangerous emergency brake protection execution module includes a road danger feature distance measurement unit, a front wheel hub motor brake deceleration unit, and a dual wheel brake deceleration unit;

[0071] The road hazard feature distance measurement unit, when identifying the road hazard feature ahead of the road on which the motorcycle is traveling, actively collects the distance value from the motorcycle to the road hazard feature; the front wheel hub motor brake deceleration unit, when the distance value from the motorcycle to the road hazard feature is greater than a set distance threshold, activates the motorcycle's front wheel hub motor brake actuator to decelerate the motorcycle; the dual-wheel brake deceleration unit is used to activate the motorcycle's front and rear wheel hub motor brake actuators to perform emergency braking when the distance value from the motorcycle to the road hazard feature is less than or equal to the set distance threshold;

[0072] The danger warning prompt module for the rear vehicle includes an indicator warning prompt unit, a sound warning prompt unit, and a display warning prompt unit;

[0073] The indicator light warning prompt unit is used to activate the indicator light at the rear of the motorcycle to warn other drivers of vehicles behind; the sound warning prompt unit is used to activate the alarm at the rear of the motorcycle to warn other drivers of vehicles behind; the display screen warning prompt unit is used to activate the video display at the rear of the motorcycle to visually display the road hazard features ahead of the motorcycle's driving road and prompt other drivers of vehicles behind.

[0074] (III) Beneficial effects

[0075] The present invention provides a safety braking system and method for a motorcycle, which has the following beneficial effects:

[0076] 1. The driving road feature data collection unit uses the monitoring cloud camera to collect the feature image data of the road ahead of the motorcycle in real time, so as to provide data support for accurately identifying the dangerous features of the road ahead of the motorcycle and increase the safety of the motorcycle's braking system; the driving road feature data preprocessing unit performs smoothing and noise reduction preprocessing on the feature image data of the road ahead of the motorcycle, so as to increase the recognition accuracy of the dangerous features of the road ahead of the motorcycle and increase the sensitivity of the motorcycle's safety braking system; the driving road dangerous feature judgment unit uses the whale recognition algorithm to compare the standard motorcycle driving road front feature data with the driving road pedestrian feature image data and the driving road obstacle feature image data to identify pedestrians or obstacles on the road ahead of the motorcycle, so as to increase the recognition accuracy and reliability of the motorcycle's braking system for road dangerous features.

[0077] 2. Identify the road hazard features ahead of the motorcycle through the road hazard feature distance measurement unit, use the distance radar to measure the distance from the front wheel of the motorcycle to the pedestrian or obstacle in real time, and compare it with the set hazard distance threshold. When the distance from the motorcycle to the pedestrian or obstacle is greater than the hazard distance threshold, start the brake actuator of the front wheel hub motor of the motorcycle to slow down the motorcycle.

[0078] When the distance between the motorcycle and pedestrians or obstacles is greater than the danger distance threshold, the motorcycle's front and rear wheel hub motor brake actuators are activated simultaneously for emergency braking. Different braking schemes are used based on the distance between the motorcycle's front wheel and the pedestrian or obstacle and the set danger distance threshold value, thereby increasing the applicability and safety of motorcycle braking.

[0079] 3. The indicator light warning prompt unit and the sound warning prompt unit are used to start the indicator light and alarm at the rear of the motorcycle to warn other drivers of vehicles behind, so as to timely prompt other drivers of vehicles behind, so as to timely feedback the dangerous features of the road ahead, increase the reaction rate of the motorcycle's braking system, and assist the driver to actively slow down and drive in a standardized manner; the display screen warning prompt unit is used to start the video display at the rear of the motorcycle to intuitively display the dangerous features of the road ahead of the motorcycle and prompt other drivers of vehicles behind, display the dangerous features of the road ahead to the rear vehicles in real time, increase the reaction rate of the motorcycle's braking system, help the driver to actively slow down and drive in a standardized manner, and increase the safety of the motorcycle's braking system. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] Figure 1 A diagram showing the functional components of a motorcycle safety brake system provided by the present invention;

[0081] Figure 2for Figure 1 The present invention is a structural diagram of a safe braking method for a motorcycle. DETAILED DESCRIPTION

[0082] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0083] The embodiments of the motorcycle safety brake system and method are as follows:

[0084] See also Figure 1 - Figure 2 , a safe braking method for a motorcycle, the method comprising the following steps:

[0085] S1, collecting feature image data of the road ahead where the motorcycle is traveling in real time, performing smoothing and noise reduction preprocessing on the feature image data of the road ahead where the motorcycle is traveling, and storing the data;

[0086] S2, using an image recognition algorithm to compare the pre-processed feature data of the road ahead of the motorcycle with the feature image data of pedestrians on the road ahead and the feature image data of obstacles on the road ahead to identify the road hazard features of the road ahead of the motorcycle;

[0087] S3, when a road hazard feature ahead of the road where the motorcycle is traveling is identified, actively collecting a distance value from the motorcycle to the road hazard feature;

[0088] S4, when the distance value between the motorcycle and the road hazard feature is greater than a set distance threshold, the motorcycle front wheel hub motor brake actuator is activated to decelerate the motorcycle; when the distance value between the motorcycle and the road hazard feature is less than or equal to the set distance threshold, the motorcycle front and rear wheel hub motor brake actuators are simultaneously activated to perform emergency braking;

[0089] S5, when a dangerous feature of the road ahead of the motorcycle is identified, the light prompt unit and the sound prompt unit at the rear of the motorcycle are activated to give a warning to other drivers of vehicles behind;

[0090] S6. When a dangerous feature of the road ahead of the motorcycle is identified, a video prompt unit at the rear of the motorcycle is activated to visually display the dangerous feature of the road ahead of the motorcycle and to prompt drivers of other vehicles behind.

[0091] For further information, see Figure 1-Figure 2, real-time collection of feature image data ahead of the motorcycle road, and the operation steps of smoothing and denoising preprocessing the feature image data ahead of the motorcycle road are as follows:

[0092] S11. Use the monitoring cloud camera to collect the characteristic image data of the motorcycle on the road ahead and establish the matrix A t =(a 1t , …, a it , …, a ot );i=1,2,3,…,o;where A t represents the feature image data matrix of the road ahead where the motorcycle is traveling at the tth moment; a it represents the feature image data of the front of the road where the i-th motorcycle is traveling collected at the t-th time;

[0093] S12, using SG filtering method to analyze the feature image data matrix A of the front of the motorcycle road t The steps for smooth noise reduction are as follows:

[0094] The feature image data matrix A of the motorcycle road ahead at time t t The formed observations are filtered and fitted with a k-1 order polynomial. The fitting formula is:

[0095] x t =b0+b1t+b2t 2 +…+b k-1 t k-1 ; where x t Represents the feature image data matrix A of the road ahead where the motorcycle is traveling t The feature image data of the front of the motorcycle road it ; where b0, b1, b2, b k-1 represent the fitting coefficients respectively;

[0096] The feature image data matrix A of the motorcycle's front road t After fitting, the fitting matrix X is formed t ;

[0097] After fitting, the matrix x t The filter model is used to calculate the filter value. The filter model algorithm formula is:

[0098] P=T×(T trans ×T) -1 ×T trans ×X t ; Where T represents the fitting matrix x t The coefficient matrix, T trans represents the transposed matrix of T;

[0099] The filtering algorithm is used to analyze the characteristic image data matrix A of the front of the motorcycle road t Processing and noise reduction to generate the characteristic image data matrix of the front of the standard motorcycle driving road

[0100] The steps for storing the feature image data of the motorcycle road ahead after smoothing and denoising preprocessing are as follows:

[0101] S21, pre-processing to generate a standard motorcycle driving road front feature image data matrix Use database for storage.

[0102] The driving road feature data acquisition unit uses the monitoring cloud lens to collect the feature image data of the road ahead of the motorcycle in real time, providing data support for accurately identifying the dangerous features of the road ahead of the motorcycle and increasing the safety of the motorcycle's braking system; the driving road feature data preprocessing unit performs smoothing and noise reduction preprocessing on the feature image data of the road ahead of the motorcycle, increasing the recognition accuracy of the dangerous features of the road ahead of the motorcycle and increasing the sensitivity of the motorcycle's safety braking system; the driving road dangerous feature judgment unit uses the whale recognition algorithm to compare the standard motorcycle driving road feature data with the driving road pedestrian feature image data and the driving road obstacle feature image data to identify pedestrians or obstacles on the road ahead of the motorcycle, thereby increasing the recognition accuracy and reliability of the motorcycle's braking system for road dangerous features.

[0103] For further information, see Figure 1 one Figure 2 The operation steps of comparing the pre-processed feature data of the road ahead of the motorcycle with the feature image data of pedestrians on the road ahead and the feature image data of obstacles on the road ahead using an image recognition algorithm to identify the road hazard features of the road ahead of the motorcycle are as follows:

[0104] S31, calling the characteristic image data matrix of the front of the standard motorcycle driving road from the database

[0105] S32, establish a pedestrian feature image data set C = (c1, ..., c n ,…,c1); n=1,2,3,…,1; where c n Indicates the characteristic image data of pedestrians on the nth driving road;

[0106] Establish the road obstacle feature image data set D = (d1, ..., d m , …, d u );m=1,2,3,…,u;where d m represents the characteristic image data of the mth type of obstacle on the driving road;

[0107] S33, using the whale algorithm to identify the characteristic image data matrix in front of the standard motorcycle driving road Standard motorcycle driving road front feature image data The pedestrian feature image data cn of the driving road that matches the pedestrian feature image data set C; the feature image data matrix of the front of the standard motorcycle driving road Standard motorcycle driving road front feature image data The road obstacle feature image data set D that matches the road obstacle feature image data set D m , the operation steps of the whale algorithm are as follows:

[0108] In the L-dimensional road pedestrian feature image data set C solution space, each standard motorcycle road feature image data The whale's position is

[0109] Y=(y1,y2,…,y L );

[0110] In the U-dimensional road obstacle feature image data set D solution space, each standard motorcycle road feature image data The whale's position is

[0111] Y=(y1,y2,…,y U );

[0112] Each whale randomly chooses to surround its prey or use a bubble net to drive it away. The probability of each whale choosing these two behaviors is equal, that is, the probability of choosing surround is equal to the probability of choosing bubble net, which is 0.5.

[0113] Surrounding the prey:

[0114] When surrounding prey, whales will choose to swim towards the optimally positioned whale or towards a random whale;

[0115] Whales swim towards the optimal position:

[0116] The whale's position update formula is as follows:

[0117] where Y best t is the optimal position of the whale at time t, each dimension of F is a random number uniformly distributed in (-f, f), the initial value of f is 2, and it decreases linearly to 0 with the number of iterations; G is a random number uniformly distributed in (0, 2); The value of each dimension is non-negative;

[0118] Swim towards the location of a random whale:

[0119] The whale's position update formula is as follows:

[0120] Where Y rand t The position of the randomly selected whale in the current group; when the whale chooses to swim towards the optimal individual and when it chooses a random individual as the target is determined by the value of F;

[0121] When F<1, the whale chooses to swim towards the optimal individual; note that F is an L-dimensional or U-dimensional vector, so when the modulus of F is less than 1, the whale swims towards the optimal individual;

[0122] When F ≥ 1, the whale chooses to swim towards a random individual;

[0123] In the process of surrounding the prey, the search mode of the whale algorithm is to search near the optimal individual or near the random individual far away;

[0124] Bubble Net:

[0125] When whales are hunting, they blow out steam bags to form a web of bubbles to drive away prey;

[0126] In order to use the bubble net to drive prey, the whale will also constantly update its own position. When using the bubble net, the whale's position update formula is as follows:

[0127] Where v is a constant, which defaults to 1, and z is a random number uniformly distributed in [-1, 1];

[0128] Before each action, each whale flips a coin to decide whether to surround its prey or use a bubble net to drive it away;

[0129] When the number of whale algorithm searches is reached, the standard motorcycle driving road front feature image data matrix is ​​output The driving road pedestrian feature image data matched with the driving road pedestrian feature image data set C Standard motorcycle driving road front feature image data matrix The road obstacle feature image data matched with the road obstacle feature image data set D

[0130] S34, when the characteristic image data matrix of the standard motorcycle driving road is identified There is characteristic image data of pedestrians on the road Or road obstacle feature image data This indicates that there are road hazard features ahead of the motorcycle.

[0131] For further information, see Figure 1 one Figure 2 , when the road hazard feature ahead of the motorcycle is identified, the operation steps of actively collecting the distance value from the motorcycle to the road hazard feature are as follows:

[0132] S41, obtaining road hazard feature data ahead of the road where the motorcycle is traveling;

[0133] S42, using a distance radar to measure in real time the distance p from the front wheel of the motorcycle to the pedestrian or obstacle.

[0134] When the distance value between the motorcycle and the road hazard feature is greater than the set distance threshold, the motorcycle front wheel hub motor brake actuator is activated to decelerate the motorcycle. When the distance value between the motorcycle and the road hazard feature is less than or equal to the set distance threshold, the motorcycle front and rear wheel hub motor brake actuators are activated at the same time for emergency braking. The operating steps are as follows:

[0135] S51 obtains the distance value p from the front wheel of the motorcycle to the pedestrian or obstacle;

[0136] S52: Compare the distance value p from the front wheel of the motorcycle to the pedestrian or obstacle with the set danger distance threshold value p. 危险阈值 Compare;

[0137] When p>p 危险阈值 , start the brake actuator of the front wheel hub motor of the motorcycle to decelerate;

[0138] When p≤p 危险阈值 , and at the same time, the motorcycle's front and rear wheel hub motor brake actuators are started for emergency braking.

[0139] The road hazard feature distance measurement unit identifies the road hazard feature ahead of the motorcycle, and uses the distance radar to measure the distance from the front wheel of the motorcycle to pedestrians or obstacles in real time and compares it with the set hazard distance threshold. When the distance from the motorcycle to pedestrians or obstacles is greater than the hazard distance threshold, the front wheel hub motor brake actuator of the motorcycle is activated to slow down.

[0140] When the distance between the motorcycle and pedestrians or obstacles is greater than the danger distance threshold, the motorcycle's front and rear wheel hub motor brake actuators are activated simultaneously for emergency braking. Different braking schemes are used based on the distance between the motorcycle's front wheel and the pedestrian or obstacle and the set danger distance threshold value, thereby increasing the applicability and safety of motorcycle braking.

[0141] For further information, see Figure 1 one Figure 2When the dangerous features of the road ahead of the motorcycle are identified, the operation steps of activating the motorcycle tail light prompt unit and sound prompt unit to warn other vehicle drivers behind are as follows:

[0142] S61, when the characteristic image data matrix of the standard motorcycle driving road is identified There is characteristic image data of pedestrians on the road Or road obstacle feature image data The motorcycle's tail indicator light and alarm are activated to warn other drivers of vehicles behind that there are dangerous road features ahead.

[0143] When the dangerous road features ahead of the motorcycle are identified, the motorcycle rear video prompt unit is activated to visually display the dangerous road features ahead of the motorcycle and prompt the drivers of other vehicles behind. The operation steps are as follows:

[0144] S71, when the characteristic image data matrix of the standard motorcycle driving road is identified There is characteristic image data of pedestrians on the road Or road obstacle feature image data The video display at the rear of the motorcycle is activated to shoot in real time the presence of pedestrians or obstacles ahead of the motorcycle's road, and to provide intuitive display feedback to other vehicle drivers behind to remind them of the presence of dangerous road features ahead of their road.

[0145] The indicator light warning prompt unit and the sound warning prompt unit are used to start the indicator light and alarm at the rear of the motorcycle to warn other drivers of vehicles behind, so as to promptly prompt other drivers of vehicles behind, so as to timely feedback the dangerous features of the road ahead, increase the reaction rate of the motorcycle's braking system, and assist the driver to actively slow down and drive in a standardized manner; the display screen warning prompt unit is used to start the video display at the rear of the motorcycle to intuitively display the dangerous features of the road ahead of the motorcycle and prompt other drivers of vehicles behind, display the dangerous features of the road ahead to the rear vehicles in real time, increase the reaction rate of the motorcycle's braking system, help the driver to actively slow down and drive in a standardized manner, and increase the safety of the motorcycle's braking system.

[0146] A system for implementing a safe braking method for a motorcycle, the system comprises a driving road feature data sampling module, a driving road danger feature recognition module, a danger emergency braking protection execution module, and a danger warning module for rear vehicles;

[0147] The driving road characteristic data sampling module includes a driving road characteristic data acquisition unit, a driving road characteristic data preprocessing unit, and a driving road characteristic preprocessing data storage unit;

[0148] The driving road characteristic data collection unit uses the monitoring cloud camera to collect the characteristic image data of the motorcycle on the road in front in real time; the driving road characteristic data preprocessing unit performs smoothing and noise reduction preprocessing on the characteristic image data of the motorcycle on the road in front; the driving road characteristic preprocessing data storage unit stores the preprocessed characteristic image data of the motorcycle on the road in front;

[0149] The driving road danger feature recognition module includes a driving road pedestrian feature storage unit, a driving road obstacle feature storage unit, and a driving road danger feature judgment unit;

[0150] A driving road pedestrian feature storage unit is used to store driving road pedestrian feature image data; a driving road obstacle feature storage unit is used to store driving road obstacle feature image data; a driving road hazard feature judgment unit compares the pre-processed driving road front feature data of the motorcycle with the driving road pedestrian feature image data and the driving road obstacle feature image data using an image recognition algorithm to identify the road hazard feature of the road ahead of the motorcycle;

[0151] The dangerous emergency brake protection execution module includes a road hazard characteristic distance measurement unit, a front wheel hub motor brake deceleration unit, and a dual wheel brake deceleration unit;

[0152] The road hazard feature distance measurement unit, when identifying the road hazard feature ahead of the road where the motorcycle is traveling, actively collects the distance value from the motorcycle to the road hazard feature; the front wheel hub motor brake deceleration unit, when the distance value from the motorcycle to the road hazard feature is greater than the set distance threshold, activates the motorcycle's front wheel hub motor brake actuator to decelerate driving; the dual-wheel brake deceleration unit, used for when the distance value from the motorcycle to the road hazard feature is less than or equal to the set distance threshold, and simultaneously activates the motorcycle's front and rear wheel hub motor brake actuators for emergency braking driving;

[0153] The module for warning the rear vehicle of a dangerous vehicle includes an indicator warning prompt unit, a sound warning prompt unit, and a display warning prompt unit;

[0154] The indicator light warning prompt unit is used to activate the indicator light at the rear of the motorcycle to warn other drivers of vehicles behind; the sound warning prompt unit is used to activate the alarm at the rear of the motorcycle to warn other drivers of vehicles behind; the display screen warning prompt unit is used to activate the video display at the rear of the motorcycle to visually display the road hazard features ahead of the motorcycle and warn other drivers of vehicles behind.

[0155] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A safe braking method for a motorcycle, characterized in that: The method comprises the following steps: S1, real-time collection of characteristic image data of the front of the road where the motorcycle is traveling, smoothing and noise reduction preprocessing of the characteristic image data of the front of the road where the motorcycle is traveling, and storage, wherein S1 comprises the following steps: S11. Use the monitoring cloud camera to collect the characteristic image data of the motorcycle on the road ahead and establish the matrix A t =(a 1t , …a it ,…,a ot );i=1,2,3,…,o;where A t represents the feature image data matrix of the road ahead where the motorcycle is traveling at the tth moment; a it represents the feature image data of the front of the road where the i-th motorcycle is traveling collected at the t-th time; S12, using SG filtering method to analyze the feature image data matrix A of the front of the motorcycle road t The steps for smooth noise reduction are as follows: The feature image data matrix A of the motorcycle road ahead at time t t The formed observation value is filtered and fitted with a k-1 order polynomial. The fitting formula is x t =b0+b1t+b2t 2 +…+b k-1 t k-1 ; where x t Represents the feature image data matrix A of the road ahead where the motorcycle is traveling t The feature image data of the front of the motorcycle road it ; where b0, b1, b2, b k-1 They represent the fitting coefficients respectively; The feature image data matrix A of the motorcycle's front road t After fitting, the fitting matrix X is formed t ; After fitting, the matrix X t The filter model is used to calculate the filter value. The filter model algorithm formula is: P = T × (T trans ×T) -1 ×T trans ×X t Where T represents the fitting matrix x t The coefficient matrix, T trans represents the transposed matrix of T; The filtering algorithm is used to analyze the characteristic image data matrix A of the front of the motorcycle road t Processing and noise reduction to generate the characteristic image data matrix of the front of the standard motorcycle driving road S13, pre-processing to generate a standard motorcycle driving road front feature image data matrix Using database for storage; S2, using an image recognition algorithm to compare the pre-processed feature data of the road ahead of the motorcycle with the feature image data of pedestrians on the road ahead and the feature image data of obstacles on the road ahead to identify the road hazard features of the road ahead of the motorcycle, wherein S2 comprises the following steps: S21, calling the standard motorcycle driving road front feature image data matrix from the database S22, establish a pedestrian feature image data set C = (c1, ..., c n ,…,c1); n=1,2,3,…,1; where c n Indicates the characteristic image data of pedestrians on the nth driving road; Establish the road obstacle feature image data set D = (d1, ..., d m , …, d u );m=1,2,3,…,u;where d m represents the characteristic image data of the mth type of obstacle on the driving road; S23, using the whale algorithm to identify the characteristic image data matrix in front of the standard motorcycle driving road Standard motorcycle driving road front feature image data The driving road pedestrian feature image data c matched with the driving road pedestrian feature image data set C n ; Standard motorcycle driving road front feature image data matrix Standard motorcycle driving road front feature image data The road obstacle feature image data set D that matches the road obstacle feature image data set D m ; S24, when the characteristic image data matrix of the standard motorcycle driving road is identified There is characteristic image data of pedestrians on the road Or road obstacle feature image data This means that there are road hazard features ahead of the motorcycle. S3, when a road hazard feature ahead of the road where the motorcycle is traveling is identified, actively collecting a distance value from the motorcycle to the road hazard feature, said S3 comprises the following steps: S31, obtaining road hazard feature data ahead of the road where the motorcycle is traveling; S32, using a distance radar to measure in real time the distance value p from the front wheel of the motorcycle to the pedestrian or obstacle; S4, when the distance value between the motorcycle and the road hazard feature is greater than a set distance threshold, the motorcycle front wheel hub motor brake actuator is started to decelerate the motorcycle; when the distance value between the motorcycle and the road hazard feature is less than or equal to the set distance threshold, the motorcycle front and rear wheel hub motor brake actuators are simultaneously started to perform emergency braking, and S4 includes the following steps: S41 obtains a distance value p from the front wheel of the motorcycle to the pedestrian or obstacle; S42, comparing the distance value p from the front wheel of the motorcycle to the pedestrian or obstacle with the set danger distance threshold p 危险阈值 Compare; When p>p 危险阈值 , start the brake actuator of the front wheel hub motor of the motorcycle to decelerate; When p≤p 危险阈值 , and simultaneously start the brake actuators of the front and rear wheel hub motors of the motorcycle to perform emergency braking; S5, when the road hazard features ahead of the motorcycle are identified, the motorcycle tail light prompt unit and the sound prompt unit are activated to warn other vehicle drivers behind, and S5 includes the following steps: S51, when the characteristic image data matrix of the standard motorcycle driving road is identified There is characteristic image data of pedestrians on the road Or road obstacle feature image data The motorcycle's tail indicator light and alarm are activated to warn other drivers of vehicles behind that there are dangerous road features ahead. S6, when the road hazard features ahead of the road where the motorcycle is traveling are identified, the video prompt unit at the rear of the motorcycle is activated to visually display the road hazard features ahead of the road where the motorcycle is traveling and to prompt other vehicle drivers behind. S6 includes the following steps: S61, when the characteristic image data matrix of the standard motorcycle driving road is identified There is characteristic image data of pedestrians on the road Or road obstacle feature image data The video display at the rear of the motorcycle is activated to shoot in real time the presence of pedestrians or obstacles ahead of the motorcycle's road, and to provide intuitive display feedback to other vehicle drivers behind to remind them of the presence of dangerous road features ahead of their road.

2. A system for implementing the safe braking method for motorcycles according to claim 1, characterized in that: The system includes a driving road feature data sampling module, a driving road danger feature recognition module, a danger emergency brake protection execution module, and a danger warning module for rear vehicles; The driving road characteristic data sampling module includes a driving road characteristic data acquisition unit, a driving road characteristic data preprocessing unit, and a driving road characteristic preprocessing data storage unit; The driving road feature data collection unit uses a monitoring cloud camera to collect feature image data in front of the motorcycle driving road in real time; The driving road feature data preprocessing unit performs smoothing and noise reduction preprocessing on the feature image data ahead of the motorcycle driving road; the driving road feature preprocessing data storage unit stores the preprocessed feature image data ahead of the motorcycle driving road; The driving road danger feature recognition module includes a driving road pedestrian feature storage unit, a driving road obstacle feature storage unit, and a driving road danger feature judgment unit; The driving road pedestrian feature storage unit is used to store the driving road pedestrian feature image data; The driving road obstacle feature storage unit is used to store driving road obstacle feature image data; The road danger feature judgment unit compares the pre-processed feature data of the road ahead of the motorcycle with the feature image data of pedestrians on the road ahead and the feature image data of obstacles on the road ahead using an image recognition algorithm to identify the road danger features of the road ahead of the motorcycle; The dangerous emergency brake protection execution module includes a road danger feature distance measurement unit, a front wheel brake deceleration unit, and a dual wheel brake deceleration unit; The road hazard feature distance measurement unit, when identifying the road hazard feature ahead of the road on which the motorcycle is traveling, actively collects the distance value from the motorcycle to the road hazard feature; the front wheel brake deceleration unit, when the distance value from the motorcycle to the road hazard feature is greater than a set distance threshold, activates the brake actuator of the motorcycle's front wheel hub motor to decelerate the motorcycle; the dual-wheel brake deceleration unit is used to activate the brake actuators of the motorcycle's front and rear wheel hub motors at the same time for emergency braking when the distance value from the motorcycle to the road hazard feature is less than or equal to the set distance threshold; The danger warning prompt module for the rear vehicle includes an indicator warning prompt unit, a sound warning prompt unit, and a display warning prompt unit; The indicator light warning prompt unit is used to activate the rear indicator light of the motorcycle to warn other drivers of vehicles behind; The sound warning prompt unit is used to activate the motorcycle rear alarm to warn other drivers of vehicles behind; The display screen warning prompt unit is used to start the video display at the rear of the motorcycle to intuitively display the road hazard features ahead of the motorcycle's driving road and to prompt other vehicle drivers behind.

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