Automobile pedestrian safety reminding control method, device and equipment and storage medium

Abstract

The invention discloses an automobile pedestrian safety reminding control method, device and equipment and a storage medium, and relates to the technical field of driving safety, and the method comprises the steps: carrying out the real-time monitoring of the front of an automobile based on deep learning, and obtaining the obstacle information; when the obstacle is judged to be the pedestrian, monitoring the vehicle speed, the pedestrian moving speed and the intersection position point of the vehicle driving track and the pedestrian moving track through a vehicle-mounted sensor; according to the current driving speed of the vehicle, the moving speed of the pedestrian and the intersection position point of the driving track of the vehicle and the moving track of the pedestrian, the time when the vehicle runs to the intersection position point and the time when the pedestrian moves to the intersection position point are calculated; based on the time when the vehicle travels to the intersection position point and the time when the pedestrian moves to the intersection position point, whether collision will occur or not is judged; and when it is judged that collision occurs, the engine sound generator is controlled to give an alarm at the preset decibel for reminding, the driving safety of the automobile is effectively improved, and meanwhile the driving experience of a driver is improved.

Description

Technical Field

[0001] The present application relates to the field of driving safety technology, and in particular to a method, device, equipment and storage medium for controlling vehicle pedestrian safety reminders. Background Art

[0002] With the development of science and technology, cars have become an indispensable means of transportation in people's daily lives. However, with the increasing complexity of road traffic, the incidence of car accidents has also increased. Among them, traffic accidents caused by drivers' insufficient perception of the surrounding environment account for a considerable proportion. In order to improve the safety of cars, various car safety technologies have emerged, such as automatic emergency braking systems and lane departure warning systems. These systems usually use sensors such as cameras and radars to perceive the surrounding environment to help drivers avoid or reduce collisions. In addition, deep learning technology has also been widely used in the field of automotive safety and can be used in areas such as target detection and behavior recognition.

[0003] Existing automotive safety technologies mainly rely on sensors such as cameras and radars to perceive the surrounding environment. For example, the automatic emergency braking system can detect the distance and speed of the vehicle in front through radar. When the distance to the vehicle in front is less than the safe distance, the system will automatically start braking to avoid or reduce the occurrence of a collision. The lane departure warning system captures the lane line through a camera. When the vehicle deviates from the lane, the system will issue a warning to prompt the driver to correct the driving direction.

[0004] However, there are still some problems with existing automotive safety technologies. First, a single sensor may not be able to provide comprehensive and accurate environmental information. For example, cameras may be affected in bad weather conditions, and radars may not be able to accurately detect stationary objects. Second, existing safety technologies can often only assist drivers to a certain extent and cannot completely replace the driver's decision-making. Finally, existing safety technologies may affect the driver's driving experience. For example, frequent alarms may make the driver feel uncomfortable.

[0005] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0006] The main purpose of this application is to provide a method, device, equipment and storage medium for controlling automobile pedestrian safety reminders, aiming to solve the technical problem that the existing technology can only assist the driver to a certain extent, but cannot completely replace the driver's decision-making.

[0007] To achieve the above objectives, the present application proposes a vehicle pedestrian safety reminder control method, the method comprising:

[0008] Based on deep learning, the front of the vehicle is monitored in real time to obtain obstacle information;

[0009] When it is determined that the obstacle is a pedestrian, the vehicle speed, the pedestrian's moving speed and the intersection point of the vehicle's driving trajectory and the pedestrian's moving trajectory are monitored by the vehicle-mounted sensor;

[0010] The time for the vehicle to reach the intersection point and the time for the pedestrian to move to the intersection point are calculated based on the current speed of the vehicle, the speed of the pedestrian and the intersection point of the vehicle's driving trajectory and the pedestrian's moving trajectory;

[0011] Determining whether a collision will occur based on the time it takes for the vehicle to travel to the intersection point and the time it takes for the pedestrian to move to the intersection point;

[0012] When it is determined that a collision will occur, the engine sound generator is controlled to issue an alarm at a preset decibel.

[0013] In one embodiment, it further includes:

[0014] Acquiring the movement state of the pedestrian, the movement state at least including the pedestrian is crossing, the pedestrian is waiting to cross, and the pedestrian has no intention of crossing;

[0015] Based on the movement state of the pedestrian, the vehicle control device uses a sound signal to remind the pedestrian of the vehicle driving state information;

[0016] When the pedestrian is detected to be still walking after the sound signal is sent, the vehicle is controlled to stop;

[0017] When, after sending the sound signal, it is detected that the pedestrian is in a waiting state for crossing for more than a preset time or the pedestrian has no intention of crossing after receiving the vehicle's driving status information, the pedestrian's movement state is monitored in real time, the vehicle passes at a speed lower than the preset speed and the vehicle's driving status information is reminded of the pedestrian in real time through a sound signal.

[0018] In one embodiment, the step of performing real-time monitoring in front of the vehicle based on a deep learning algorithm to obtain obstacle information includes:

[0019] Use images of various road scenes and the life forms in them as training data sets to train the deep learning model;

[0020] Real-time monitoring of the front of the vehicle through the trained deep learning model;

[0021] When it is determined that there is an obstacle, the obstacle is analyzed to determine whether the obstacle is a pedestrian or another type of obstacle.

[0022] In one embodiment, the step of calculating the time when the vehicle travels to the intersection point and the time when the pedestrian moves to the intersection point by using the current vehicle speed, the pedestrian speed and the intersection point of the vehicle travel trajectory and the pedestrian travel trajectory includes:

[0023] The distance between the vehicle and the intersection point and the distance between the pedestrian and the intersection point are calculated by using the current driving speed of the vehicle, the speed of the pedestrian and the intersection point of the vehicle's driving trajectory and the pedestrian's moving trajectory;

[0024] The time it takes for the pedestrian to move to the intersection point is calculated by using the distance between the pedestrian and the intersection point and the pedestrian's moving speed;

[0025] The vehicle acceleration change rate is obtained, and based on the distance between the vehicle and the intersection point, the vehicle acceleration change rate and the vehicle's current speed, the time it takes for the vehicle to travel to the intersection point is calculated.

[0026] In one embodiment, after the step of calculating the time it takes for the vehicle to travel to the intersection point, the method further includes:

[0027] Obtain detection link time delay and braking coordination time;

[0028] Obtaining a preset time delay according to the detection link time delay, the braking coordination time, and the time it takes for the vehicle to travel to the intersection point;

[0029] The preset time delay and the time when the vehicle travels to the intersection point are added together to obtain the precise time when the vehicle travels to the intersection point.

[0030] In one embodiment, after the step of controlling the engine sound generator to issue an alarm when it is determined that a collision will occur, the method further includes:

[0031] Based on the pedal intake pressure, the brake controller controls the opening of the brake pedal, reduces the engine speed, and reduces the vehicle speed to a preset value or even zero.

[0032] In one embodiment, the step of determining whether a collision will occur based on the time when the vehicle travels to the intersection point and the time when the pedestrian moves to the intersection point includes:

[0033] When the time taken for the vehicle to travel to the intersection point is greater than the time taken for the pedestrian to move to the intersection point, it is determined that no collision will occur;

[0034] When the time taken for the vehicle to travel to the intersection point is equal to the time taken for the pedestrian to travel to the intersection point, it is determined that a collision will occur, and the engine sound generator is controlled to sound an alarm to alert the pedestrian;

[0035] When the time taken for the vehicle to travel to the intersection point is less than the time taken for the pedestrian to move to the intersection point, the time taken for the rear end of the vehicle to travel through the intersection point is calculated based on the current speed of the vehicle and the length of the vehicle;

[0036] When the time when the rear end of the vehicle passes the intersection point and the time when the vehicle reaches the intersection point is equal to the time when the pedestrian moves to the intersection point, it is determined that a collision will occur, and the engine sound generator is controlled to sound an alarm to remind the pedestrian;

[0037] When the sum of the time for the rear end of the vehicle to pass the intersection point and the time for the vehicle to reach the intersection point is greater or less than the time for the pedestrian to move to the intersection point, it is determined that no collision will occur.

[0038] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle pedestrian safety reminder control device, the device comprising:

[0039] The obstacle information acquisition module is used to monitor the front of the vehicle in real time based on the deep learning algorithm to obtain obstacle information;

[0040] A first judgment module is used to monitor the vehicle speed, the pedestrian's moving speed and the intersection point of the vehicle's driving trajectory and the pedestrian's moving trajectory through the vehicle-mounted sensor when the obstacle is determined to be a pedestrian;

[0041] A calculation module, used for calculating the time when the vehicle travels to the intersection point and the time when the pedestrian moves to the intersection point according to the current driving speed of the vehicle, the moving speed of the pedestrian and the intersection point of the vehicle driving trajectory and the pedestrian moving trajectory;

[0042] The second judgment module is used to judge whether a collision will occur based on the time when the vehicle travels to the intersection point and the time when the pedestrian moves to the intersection point; when it is determined that a collision will occur, the engine sound generator is controlled to issue an alarm reminder at a preset decibel.

[0043] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle pedestrian safety reminder control device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the vehicle pedestrian safety reminder control method as described above.

[0044] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the automobile pedestrian safety reminder control method as described above are implemented.

[0045] One or more technical solutions proposed in this application have at least the following technical effects:

[0046] This solution can be widely used in application fields such as automobile safety equipment manufacturing, intelligent driving system development, and urban traffic management. First, through deep learning and multi-sensor technology, this technical solution can perceive the surrounding environment more accurately and comprehensively, effectively improving the safety of the car and meeting the demand for higher safety in the field of automobile safety equipment manufacturing. Secondly, this technical solution can not only assist the driver, but also replace the driver's decision to a certain extent, which meets the demand for autonomous driving technology in the field of intelligent driving system development. Finally, this technical solution can improve the driver's driving experience while ensuring safety, meeting the demand for improving traffic efficiency and safety in the field of urban traffic management. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0048] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0049] Figure 1 A flowchart diagram of the first embodiment of the vehicle pedestrian safety reminder control method of the present application;

[0050] Figure 2 A working principle diagram provided for the first embodiment of the vehicle pedestrian safety reminder control method of the present application;

[0051] Figure 3 A structural diagram of the first embodiment of the vehicle pedestrian safety reminder control method of the present application;

[0052] Figure 4 A flowchart diagram of the second embodiment of the vehicle pedestrian safety reminder control method of the present application;

[0053] Figure 5 A flowchart diagram of the third embodiment of the vehicle pedestrian safety reminder control method of the present application;

[0054] Figure 6 This is a schematic diagram of the module structure of the vehicle pedestrian safety reminder control device according to an embodiment of the present application;

[0055] Figure 7 Schematic diagram of the device structure of the hardware operating environment involved in the automobile pedestrian safety reminder control method in the embodiment of the present application.

[0056] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0057] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0058] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0059] Because the existing technology does not combine the reminder information with the information that the driver needs to pay attention to, it also does not quantify the risk of road information affecting the driving of the vehicle.

[0060] The present application provides a solution, which monitors the front of the vehicle in real time based on deep learning to obtain obstacle information; when it is determined that the obstacle is a pedestrian, the vehicle speed, the pedestrian's moving speed and the intersection point of the vehicle's driving trajectory and the pedestrian's moving trajectory are monitored by on-board sensors; the time it takes for the vehicle to travel to the intersection point and the time it takes for the pedestrian to move to the intersection point are calculated based on the vehicle's current driving speed, the pedestrian's moving speed and the intersection point of the vehicle's driving trajectory and the pedestrian's moving trajectory; whether a collision will occur is determined based on the time it takes for the vehicle to travel to the intersection point and the time it takes for the pedestrian to move to the intersection point; when it is determined that a collision will occur, the engine sound generator is controlled to issue an alarm reminder at a preset decibel, thereby effectively improving the driving safety of the car and also improving the driving experience of the driver.

[0061] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a vehicle pedestrian safety reminder control device, etc. The following takes the vehicle pedestrian safety reminder control device as an example to illustrate this embodiment and the following embodiments.

[0062] Based on this, the embodiment of the present application provides a vehicle pedestrian safety reminder control method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the vehicle pedestrian safety reminder control method of the present application.

[0063] In this embodiment, the vehicle pedestrian safety reminder control method includes steps S10 to S50:

[0064] Step S10, real-time monitoring of the front of the vehicle based on deep learning to obtain obstacle information;

[0065] It should be noted that the front of the vehicle can be understood as the driver's field of vision.

[0066] Obstacles can be fixed objects such as stones and trees, or movable objects such as people and animals.

[0067] like Figure 2 and Figure 3 As shown, the structure of this embodiment includes:

[0068] Image sensor---The camera obtains video information around the vehicle. Several cameras can achieve 360° monitoring without blind spots;

[0069] Radar sensors---millimeter wave radar, laser radar, and ultrasonic radar;

[0070] Night vision sensor---infrared sensor;

[0071] Intelligent driving control unit---collects signal input from image sensors, radar sensors, and night vision sensors, analyzes and judges them, and sends CAN instructions through the gateway according to the defined functions. After receiving the corresponding instructions, other systems perform corresponding operations;

[0072] ESP system---the vehicle body electronic stability system, which collects the signal of the wheel speed sensor;

[0073] Wheel speed sensor---according to the output wheel speed signal;

[0074] VCU (motor controller)---the control unit of the vehicle power motor;

[0075] Electronic shift---An electronic shift device that outputs vehicle gear position signals;

[0076] Engine sound generator---a device that simulates the engine sound of traditional vehicles for new energy vehicles;

[0077] It should be noted that this embodiment uses the Python programming language to develop the early warning system, and performs data processing and calculation by calling third-party libraries (such as NumPy and Pandas).

[0078] In the specific implementation, an intelligent recognition system based on deep learning is started. The system uses a deep learning algorithm to monitor and identify the environment in front of the vehicle in real time. In this embodiment, the TensorFlow framework is used to train the deep learning model, and the training data set includes images of various road scenes, as well as pedestrians and animals therein. The trained model can accurately identify whether there are obstacles ahead.

[0079] Furthermore, images of various road scenes and the living things therein are used as training data sets to train the deep learning model; the front of the vehicle is monitored in real time through the trained deep learning model; when it is determined that there is an obstacle, the obstacle is analyzed to determine whether it is a pedestrian or other type of obstacle.

[0080] It should be noted that this embodiment adopts multi-sensor fusion technology: combining data from multiple sensors (such as temperature sensors, heart rate sensors, etc.) to form more comprehensive and accurate environmental information, providing a more reliable basis for intelligent recognition systems and intelligent early warning systems, and solving the problem that a single sensor may not be able to provide comprehensive and accurate environmental information.

[0081] In this embodiment, Arduino UNO is used as the main control board, and multiple sensors, such as DS18B20 temperature sensor, MAX30100 heart rate sensor, etc., are connected to obtain environmental information. In this way, the driving safety of the car can be effectively improved, and the driving experience of the driver can also be improved.

[0082] Step S20, when it is determined that the obstacle is a pedestrian, the vehicle speed, the pedestrian moving speed and the intersection point of the vehicle driving trajectory and the pedestrian moving trajectory are monitored by the vehicle-mounted sensor;

[0083] Furthermore, the movement state of the pedestrian is obtained, and the movement state includes at least the pedestrian is crossing, the pedestrian is waiting to cross, and the pedestrian has no intention of crossing; based on the movement state of the pedestrian, the vehicle control device uses a sound signal to remind the pedestrian of the vehicle's driving state information; when the pedestrian is monitored to be still in the crossing state after the sound signal is sent, the vehicle is controlled to stop; when the pedestrian is monitored to be in the waiting state to cross for more than a preset time after the sound signal is sent, or the pedestrian has no intention of crossing after receiving the vehicle's driving state information, the movement state of the pedestrian is monitored in real time, the pedestrian passes at a speed lower than the preset speed and the vehicle's driving state information is reminded of the pedestrian in real time through a sound signal.

[0084] It should be noted that pedestrian recognition is to identify pedestrian information on the road through the environmental perception module, including whether there are pedestrians, pedestrians crossing, pedestrians waiting to cross, and pedestrians have no intention of crossing. The vehicle transmits information to pedestrians through the vehicle control device, which transmits the vehicle's driving intention (including normal slow driving or giving way to pedestrians first) to pedestrians.

[0085] It is understandable that for pedestrians walking on the crosswalk, stopping the vehicle will not affect their normal passage. For pedestrians waiting to cross the road at the intersection, the vehicle stops and waits for them to complete their passage. If the pedestrian continues to wait and does not cross the road for more than a certain period of time, the system determines that the pedestrian has no intention of crossing the road. The system changes the driving state and displays the driving information to the pedestrian (recording the state of pedestrians on the road through the camera at the traffic intersection; transmitting the pedestrian information at the intersection to the vehicle through the network; the vehicle performs pedestrian courtesy operations based on the pedestrian information on the road). For pedestrians who have no intention of crossing the road at the intersection, the vehicle receives in real time that the pedestrian has no intention of crossing the road (no walking action towards the middle of the road), passes slowly and displays the driving state in real time.

[0086] Step S30, calculating the time for the vehicle to reach the intersection point and the time for the pedestrian to move to the intersection point based on the current vehicle speed, the pedestrian speed and the intersection point of the vehicle's driving trajectory and the pedestrian's moving trajectory;

[0087] In a specific implementation, the distance between the vehicle and the intersection point, the distance between the pedestrian and the intersection point are calculated through the current vehicle speed, the pedestrian speed and the intersection point of the vehicle's driving trajectory and the pedestrian's moving trajectory. The time it takes for the pedestrian to move to the intersection point is calculated through the distance between the pedestrian and the intersection point and the pedestrian's moving speed. The vehicle acceleration change rate is obtained. Based on the distance between the vehicle and the intersection point, the vehicle acceleration change rate and the vehicle's current driving speed, the time it takes for the vehicle to reach the intersection point is calculated. The detection link time delay and the braking coordination time are obtained. The preset time delay time is obtained based on the detection link time delay, the braking coordination time and the time it takes for the vehicle to reach the intersection point. The preset time delay time and the time it takes for the vehicle to reach the intersection point are superimposed to obtain the precise time when the vehicle arrives at the intersection point, which has high accuracy and safety.

[0088] Step S40, judging whether a collision will occur based on the time it takes for the vehicle to travel to the intersection point and the time it takes for the pedestrian to move to the intersection point;

[0089] It should be noted that this embodiment calculates the time it takes for the vehicle to reach the pedestrian or animal based on the current vehicle speed and the distance between the front of the vehicle and the pedestrian or animal, and determines whether the vehicle will hit the pedestrian or animal, thereby controlling the engine sound generator to issue an alarm reminder and controlling the engine to reduce the speed to a safe range. This method can not only effectively remind pedestrians and animals, but also improve the vehicle sound comfort while reducing energy consumption.

[0090] TC is the time it takes for the vehicle to reach point P, Tr is the time it takes for the pedestrian to move to point P, and VC is the current speed of the vehicle.

[0091] In a specific implementation, if TC > Tr, it can be considered that the vehicle will not collide with a pedestrian or an animal; if TC = Tr, it can be considered that the vehicle will collide with a pedestrian or an animal, and an alarm reminder needs to be issued; if TC < Tr, it is necessary to further calculate the time when the rear of the vehicle passes through point P, that is, ΔTC = L (vehicle length) / VC, and then compare (TC + ΔTC) with Tr. When (TC + ΔTC) = Tr, it can be considered that the vehicle will collide with a pedestrian or an animal, and an alarm reminder needs to be issued. When (TC + ΔTC) > or < Tr, it can be considered that the vehicle will not collide with a pedestrian or an animal.

[0092] Step S50, when it is determined that a collision will occur, control the engine sound generator to issue an alarm reminder at a preset decibel.

[0093] In a possible implementation manner, step S50 may further include controlling the opening of the brake pedal based on the pedal intake pressure brake controller, reducing the engine speed, and reducing the vehicle speed to a preset value until it reaches zero.

[0094] In a specific implementation, when the vehicle will collide with a pedestrian or an animal, it can be adaptively adjusted based on the pedal MAP. The opening of the brake pedal is controlled by the brake controller to reduce the engine speed, and the vehicle speed is reduced to a preset value until it reaches zero to improve driving safety.

[0095] It can be understood that in this embodiment, if the vehicle is driving at a low speed and does not recognize a pedestrian or an animal, the vehicle does not make a sound. Only when the vehicle is driving at a low speed and recognizes a pedestrian or an animal in front will an alarm reminder be issued, rather than frequently issuing alarms. This method can avoid discomfort caused by frequent alarms to the driver, improve the sound comfort of the vehicle, and reduce energy consumption and improve the economy of the vehicle by controlling the engine to reduce the speed to a safe range.

[0096] This technical solution can not only ensure driving safety through traditional methods such as the automatic emergency braking system when the vehicle is driving at a high speed, but also issue an alarm reminder in advance through precise recognition and calculation when the vehicle is driving at a low speed, and even control the engine to reduce the speed to a safe range, thereby effectively avoiding or reducing the occurrence of collisions and improving driving safety. It is not only applicable to normal weather conditions, but also in bad weather conditions such as rain, snow, and fog, and can accurately identify whether there are obstacles ahead through deep learning technology, thereby improving driving safety.

[0097] In this embodiment, real-time monitoring is performed on the front of the vehicle based on deep learning to obtain obstacle information. When it is determined that the obstacle is a pedestrian, the vehicle speed, the pedestrian movement speed, and the intersection position point of the vehicle driving trajectory and the pedestrian movement trajectory are monitored through on-vehicle sensors. The time for the vehicle to drive to the intersection position point and the time for the pedestrian to move to the intersection position point are calculated based on the current driving speed of the vehicle, the pedestrian movement speed, and the intersection position point of the vehicle driving trajectory and the pedestrian movement trajectory. Whether a collision will occur is determined based on the time for the vehicle to drive to the intersection position point and the time for the pedestrian to move to the intersection position point. When it is determined that a collision will occur, the engine sound generator is controlled to emit an alarm reminder at a preset decibel, effectively improving the driving safety of the vehicle and also enhancing the driving experience of the driver.

[0098] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar content as that in the above-mentioned first embodiment can be referred to the above introduction and will not be elaborated hereinafter. On this basis, please refer to Figure 4 , step S40, the vehicle pedestrian safety reminder control method further includes steps S401 to S405:

[0099] Step S401, when the time for the vehicle to drive to the intersection position point is greater than the time for the pedestrian to move to the intersection position point, it is determined that no collision will occur;

[0100] In specific implementation, if TC > Tr, it can be considered that the vehicle will not collide with a pedestrian or an animal.

[0101] Step S402, when the time for the vehicle to drive to the intersection position point is equal to the time for the pedestrian to move to the intersection position point, it is determined that a collision will occur, and the engine sound generator is controlled to emit an alarm to remind the pedestrian;

[0102] In specific implementation, if TC = Tr, it can be considered that the vehicle will collide with a pedestrian or an animal, and an alarm reminder needs to be issued.

[0103] Step S403, when the time for the vehicle to drive to the intersection position point is less than the time for the pedestrian to move to the intersection position point, the time for the vehicle tail to pass through the intersection position point is calculated based on the current driving speed of the vehicle and the vehicle length;

[0104] In specific implementation, if TC < Tr, it is necessary to further calculate the time for the vehicle tail to pass through point P.

[0105] Step S404, when the sum of the time for the vehicle tail to pass through the intersection position point and the time for the vehicle to drive to the intersection position point is equal to the time for the pedestrian to move to the intersection position point, it is determined that a collision will occur, and the engine sound generator is controlled to emit an alarm to remind the pedestrian;

[0106] In a specific implementation, ΔTC = L (vehicle length) / VC, and then (TC + ΔTC) is compared with Tr. When (TC + ΔTC) = Tr, it can be considered that the vehicle will collide with a pedestrian or an animal, and an alarm reminder needs to be issued.

[0107] Step S405: When the sum of the time when the vehicle's tail passes through the intersection position point and the time when the vehicle travels to the intersection position point is greater than or less than the time when the pedestrian moves to the intersection position point, it is determined that no collision will occur.

[0108] In a specific implementation, when (TC + ΔTC) > or < Tr, it can be considered that the vehicle will not collide with a pedestrian or an animal.

[0109] In this embodiment, the intelligent early warning system is started. The system calculates the time for the vehicle to reach the pedestrian or animal based on the current vehicle speed and the distance between the vehicle head and the pedestrian or animal, and determines whether the vehicle will hit the pedestrian or animal.

[0110] Based on the first embodiment and the second embodiment of the present application, in the third embodiment of the present application, the same or similar content as in the above-mentioned first embodiment and second embodiment can be referred to the above introduction and will not be repeated hereinafter. On this basis, please refer to Figure 5 , step S60, the vehicle-pedestrian safety reminder control method further includes steps S301 to S306:

[0111] Step S301: Calculate the distance between the vehicle and the intersection position point and the distance between the pedestrian and the intersection position point through the current vehicle speed, the pedestrian movement speed, and the intersection position point of the vehicle driving trajectory and the pedestrian movement trajectory.

[0112] In a specific implementation, according to the on-vehicle sensor, the intersection position point P of the vehicle driving trajectory and the pedestrian or animal driving trajectory, the current vehicle speed VC, and the movement speed Vr of the pedestrian or animal are detected, and then the distance SC between the current vehicle head and the intersection position point P and the distance Sr between the pedestrian or animal and the intersection position point P are calculated.

[0113] Step S302: Calculate the time for the pedestrian to move to the intersection position point through the distance between the pedestrian and the intersection position point and the pedestrian movement speed.

[0114] In a specific implementation, according to the movement speed Vr of the pedestrian or animal and the intersection position point P of the vehicle driving trajectory and the pedestrian or animal driving trajectory, the time Tr for the pedestrian to move to the intersection position point is calculated as Tr = Sr / Vr.

[0115] Step S303: Obtain the vehicle acceleration change rate, and calculate the time for the vehicle to travel to the intersection position point based on the distance between the vehicle and the intersection position point, the vehicle acceleration change rate, and the current vehicle speed.

[0116] In the specific implementation, in order to accurately calculate the time it takes for the vehicle to travel to point P, the vehicle acceleration change rate (Kt) can be introduced to calculate: Kt = d2 v(t) / d2(t), where: v(t) is the vehicle's speed at time t; then TC = SC / VC(1+d2v(t) / d2(t)).

[0117] Step S304, obtaining the detection link time lag and the braking coordination time;

[0118] It should be noted that the detection link lag refers to the time delay from when the system detects that an action needs to be taken (such as slowing down or stopping) to when the action actually begins. For example, in an autonomous driving system, the vehicle needs to detect obstacles ahead or needs to slow down through sensors (such as radar, cameras, etc.) before taking corresponding measures. In this process, there is a certain delay between the time when the system detects an obstacle or needs to slow down and when it actually starts taking action.

[0119] Braking coordination time refers to the time delay between the vehicle receiving a braking command and actually starting to decelerate or stop. In the case of human or autonomous driving, after the vehicle receives a braking command, it takes a certain amount of time to adjust the braking system and start decelerating. During this process, there is a delay between receiving the braking command and actually starting to decelerate.

[0120] Step S305, obtaining a preset time delay time according to the detection link time delay, the braking coordination time and the time it takes for the vehicle to travel to the intersection position point;

[0121] Step S306, superimposing the preset time delay time and the time when the vehicle travels to the intersection point, to obtain the precise time when the vehicle travels to the intersection point.

[0122] In the specific implementation, in order to improve safety, when calculating the time TC for the vehicle to travel to point P, it is necessary to consider the time delay, including the detection link delay and the braking coordination time, which is generally set to 5 to 10 seconds.

[0123] This embodiment calculates the distance between the vehicle and the intersection point, the distance between the pedestrian and the intersection point through the current vehicle speed, the pedestrian speed and the intersection point of the vehicle's driving trajectory and the pedestrian's moving trajectory, calculates the time it takes for the pedestrian to move to the intersection point through the distance between the pedestrian and the intersection point and the pedestrian's moving speed, obtains the vehicle acceleration change rate, calculates the time it takes for the vehicle to arrive at the intersection point based on the distance between the vehicle and the intersection point, the vehicle acceleration change rate and the current vehicle speed, obtains the detection link time delay and the braking coordination time, obtains the preset time delay time based on the detection link time delay, the braking coordination time and the time it takes for the vehicle to arrive at the intersection point, superimposes the preset time delay time and the time it takes for the vehicle to arrive at the intersection point, and obtains the precise time it takes for the vehicle to arrive at the intersection point, with high accuracy and safety.

[0124] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the automobile pedestrian safety reminder control method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0125] This application also provides a vehicle pedestrian safety reminder control device, please refer to Figure 6 , the automobile pedestrian safety reminder control device comprises:

[0126] The obstacle information acquisition module 10 is used to monitor the front of the vehicle in real time based on a deep learning algorithm to obtain obstacle information;

[0127] The first judgment module 20 is used to monitor the vehicle speed, the pedestrian's moving speed and the intersection point of the vehicle's driving trajectory and the pedestrian's moving trajectory through the vehicle-mounted sensor when the obstacle is determined to be a pedestrian;

[0128] A calculation module 30, for calculating the time it takes for the vehicle to reach the intersection point and the time it takes for the pedestrian to move to the intersection point according to the current vehicle speed, the pedestrian speed and the intersection point of the vehicle's driving trajectory and the pedestrian's moving trajectory;

[0129] The second judgment module 40 is used to judge whether a collision will occur based on the time it takes for the vehicle to travel to the intersection point and the time it takes for the pedestrian to move to the intersection point; when it is determined that a collision will occur, the engine sound generator is controlled to issue an alarm reminder at a preset decibel.

[0130] The automobile pedestrian safety reminder control device provided by the present application adopts the automobile pedestrian safety reminder control method in the above embodiment, which can solve the technical problem that the prior art can only assist the driver to a certain extent, but cannot completely replace the driver's decision-making. Compared with the prior art, the beneficial effects of the automobile pedestrian safety reminder control device provided by the present application are the same as the beneficial effects of the automobile pedestrian safety reminder control method provided by the above embodiment, and the other technical features of the automobile pedestrian safety reminder control device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0131] The present application provides a vehicle pedestrian safety reminder control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vehicle pedestrian safety reminder control method in the above-mentioned embodiment one.

[0132] Reference below Figure 6 , which shows a schematic diagram of the structure of a vehicle pedestrian safety reminder control device suitable for implementing the embodiment of the present application. The vehicle pedestrian safety reminder control device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 7 The automobile pedestrian safety reminder control device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0133] like Figure 7As shown, the automobile pedestrian safety reminder control device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the automobile pedestrian safety reminder control device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the automobile pedestrian safety reminder control device to communicate wirelessly or wired with other devices to exchange data. Although the figure shows an automobile pedestrian safety reminder control device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have instead.

[0134] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0135] The automobile pedestrian safety reminder control device provided by the present application adopts the automobile pedestrian safety reminder control method in the above embodiment, which can solve the technical problem that the prior art can only assist the driver to a certain extent, but cannot completely replace the driver's decision-making. Compared with the prior art, the beneficial effects of the automobile pedestrian safety reminder control device provided by the present application are the same as the beneficial effects of the automobile pedestrian safety reminder control method provided by the above embodiment, and the other technical features in the automobile pedestrian safety reminder control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0136] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0137] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0138] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the automobile pedestrian safety reminder control method in the above-mentioned embodiment.

[0139] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0140] The computer-readable storage medium may be included in the automobile pedestrian safety reminder control device; or may exist independently without being assembled into the automobile pedestrian safety reminder control device.

[0141] The computer-readable storage medium carries one or more programs.

[0142] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0143] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0144] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0145] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned automobile pedestrian safety reminder control method, and can solve the technical problem that the prior art can only assist the driver to a certain extent, but cannot completely replace the driver's decision-making. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the automobile pedestrian safety reminder control method provided by the above-mentioned embodiment, and will not be repeated here.

[0146] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned automobile pedestrian safety reminder control method when executed by a processor.

[0147] The computer program product provided by the present application can solve the technical problem that the prior art can only assist the driver to a certain extent, but cannot completely replace the driver's decision-making. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the automobile pedestrian safety reminder control method provided by the above embodiment, and will not be repeated here.

[0148] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A vehicle pedestrian safety reminder control method, characterized in that: The automobile pedestrian safety reminder control includes: Based on deep learning, the front of the vehicle is monitored in real time to obtain obstacle information; When it is determined that the obstacle is a pedestrian, the vehicle speed, the pedestrian's moving speed and the intersection point of the vehicle's driving trajectory and the pedestrian's moving trajectory are monitored by the vehicle-mounted sensor; The time for the vehicle to reach the intersection point and the time for the pedestrian to move to the intersection point are calculated based on the current speed of the vehicle, the speed of the pedestrian and the intersection point of the vehicle's driving trajectory and the pedestrian's moving trajectory; Determining whether a collision will occur based on the time it takes for the vehicle to travel to the intersection point and the time it takes for the pedestrian to move to the intersection point; When it is determined that a collision will occur, the engine sound generator is controlled to issue an alarm at a preset decibel.

2. The vehicle pedestrian safety reminder control method according to claim 1, characterized in that: Also includes: Acquiring the movement state of the pedestrian, the movement state at least including the pedestrian is crossing, the pedestrian is waiting to cross, and the pedestrian has no intention of crossing; Based on the movement state of the pedestrian, the vehicle control device uses a sound signal to remind the pedestrian of the vehicle driving state information; When the pedestrian is detected to be still walking after the sound signal is sent, the vehicle is controlled to stop; When, after sending the sound signal, it is detected that the pedestrian is in a waiting state for crossing for more than a preset time or the pedestrian has no intention of crossing after receiving the vehicle's driving status information, the pedestrian's movement state is monitored in real time, the vehicle passes at a speed lower than the preset speed and the vehicle's driving status information is reminded of the pedestrian in real time through a sound signal.

3. The vehicle pedestrian safety reminder control method according to claim 1, characterized in that: The step of performing real-time monitoring of the front of the vehicle based on the deep learning algorithm to obtain obstacle information includes: Use images of various road scenes and the life forms in them as training data sets to train the deep learning model; Real-time monitoring of the front of the vehicle through the trained deep learning model; When it is determined that there is an obstacle, the obstacle is analyzed to determine whether the obstacle is a pedestrian or another type of obstacle.

4. The vehicle pedestrian safety reminder control method according to claim 1, characterized in that: The step of calculating the time when the vehicle travels to the intersection point and the time when the pedestrian moves to the intersection point by using the current vehicle travel speed, the pedestrian travel speed and the intersection point of the vehicle travel trajectory and the pedestrian travel trajectory comprises: The distance between the vehicle and the intersection point and the distance between the pedestrian and the intersection point are calculated by using the current driving speed of the vehicle, the speed of the pedestrian and the intersection point of the vehicle's driving trajectory and the pedestrian's moving trajectory; The time it takes for the pedestrian to move to the intersection point is calculated by using the distance between the pedestrian and the intersection point and the pedestrian's moving speed; The vehicle acceleration change rate is obtained, and based on the distance between the vehicle and the intersection point, the vehicle acceleration change rate and the vehicle's current speed, the time it takes for the vehicle to travel to the intersection point is calculated.

5. The vehicle pedestrian safety reminder control method according to claim 4, characterized in that: After the step of calculating the time for the vehicle to travel to the intersection point, the method further includes: Obtain detection link time delay and braking coordination time; Obtaining a preset time delay according to the detection link time delay, the braking coordination time, and the time it takes for the vehicle to travel to the intersection point; The preset time delay and the time when the vehicle travels to the intersection point are added together to obtain the precise time when the vehicle travels to the intersection point.

6. The vehicle pedestrian safety reminder control method according to claim 1, characterized in that: After the step of controlling the engine sound generator to issue an alarm when it is determined that a collision will occur, the method further includes: Based on the pedal intake pressure, the brake controller controls the opening of the brake pedal, reduces the engine speed, and reduces the vehicle speed to a preset value or even zero.

7. The vehicle pedestrian safety reminder control method according to claim 1, characterized in that: The step of judging whether a collision will occur based on the time when the vehicle travels to the intersection point and the time when the pedestrian moves to the intersection point comprises: When the time taken for the vehicle to travel to the intersection point is greater than the time taken for the pedestrian to move to the intersection point, it is determined that no collision will occur; When the time taken for the vehicle to travel to the intersection point is equal to the time taken for the pedestrian to travel to the intersection point, it is determined that a collision will occur, and the engine sound generator is controlled to sound an alarm to alert the pedestrian; When the time taken for the vehicle to travel to the intersection point is less than the time taken for the pedestrian to move to the intersection point, the time taken for the rear end of the vehicle to travel through the intersection point is calculated based on the current speed of the vehicle and the length of the vehicle; When the sum of the time when the rear end of the vehicle passes the intersection point and the time when the vehicle reaches the intersection point equals the time when the pedestrian moves to the intersection point, it is determined that a collision will occur, and the engine sound generator is controlled to sound an alarm to remind the pedestrian; When the sum of the time for the rear end of the vehicle to pass the intersection point and the time for the vehicle to reach the intersection point is greater or less than the time for the pedestrian to move to the intersection point, it is determined that no collision will occur.

8. A vehicle pedestrian safety reminder control device, characterized in that: The device comprises: The obstacle information acquisition module is used to monitor the front of the vehicle in real time based on the deep learning algorithm to obtain obstacle information; A first judgment module is used to monitor the vehicle speed, the pedestrian's moving speed and the intersection point of the vehicle's driving trajectory and the pedestrian's moving trajectory through the vehicle-mounted sensor when the obstacle is determined to be a pedestrian; A calculation module, used for calculating the time when the vehicle travels to the intersection point and the time when the pedestrian moves to the intersection point according to the current driving speed of the vehicle, the moving speed of the pedestrian and the intersection point of the vehicle driving trajectory and the pedestrian moving trajectory; The second judgment module is used to judge whether a collision will occur based on the time it takes for the vehicle to travel to the intersection point and the time it takes for the pedestrian to move to the intersection point; when it is determined that a collision will occur, the engine sound generator is controlled to issue an alarm reminder at a preset decibel.

9. A vehicle pedestrian safety reminder control device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the automobile pedestrian safety reminder control method as claimed in any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the automobile pedestrian safety reminder control method as described in any one of claims 1 to 7 are implemented.

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