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

Abstract

The application discloses a kind of car pedestrian safety reminding control method, device, equipment and storage medium, it is related to driving safety technical field, including: based on deep learning to the front of vehicle is monitored in real time, obtain obstacle information;When judging obstacle is pedestrian, through vehicle-mounted sensor monitoring vehicle speed, pedestrian moving speed and the intersection position point of vehicle driving trajectory and pedestrian moving trajectory;According to the current driving speed of vehicle, pedestrian moving speed and the intersection position point of vehicle driving trajectory and pedestrian moving trajectory, the time that vehicle drives to intersection position point and the time that pedestrian moves to intersection position point are calculated;Based on the time that vehicle drives to intersection position point and the time that pedestrian moves to intersection position point, it is judged whether collision will occur;When judging that collision will occur, control engine sound generator to issue alarm reminder with preset decibel, effectively improve the driving safety of car, also improve the driving experience of driver.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of driving safety, and particularly relates to a vehicle pedestrian safety reminding control method, device, equipment and storage medium. BACKGROUND

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

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

[0004] However, the existing vehicle safety technology still has some problems. First, a single sensor may not be able to provide comprehensive and accurate environmental information. For example, the camera may be affected in bad weather conditions, and the radar may not be able to accurately detect stationary objects. Second, the existing safety technology can only assist the driver to a certain extent and cannot completely replace the driver's decision-making. Finally, the existing safety technology may affect the driving experience of the driver, for example, frequent alarms may make the driver feel uncomfortable.

[0005] The above content is only used to assist in understanding the technical solutions of the present application, and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0006] The main purpose of the present application is to provide a vehicle pedestrian safety reminding control method, device, equipment and storage medium, which aims to solve the technical problem that the existing technology can only assist the driver to a certain extent and cannot completely replace the driver's decision-making.

[0007] To achieve the above purpose, the present application provides a vehicle pedestrian safety reminding control method, which comprises:

[0008] Real-time monitoring of the front of the vehicle based on deep learning to obtain obstacle information;

[0009] 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 sensor;

[0010] The time for the vehicle to drive to the intersection point and the time for the pedestrian to move to the intersection point are calculated 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;

[0011] Whether a collision will occur is determined based on the time for the vehicle to drive to the intersection point and the time 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 emit an alarm reminder at a preset decibel.

[0013] In an embodiment, it further comprises:

[0014] The motion state of the pedestrian is obtained, which at least includes that the pedestrian is crossing, the pedestrian is waiting to cross, and the pedestrian has no intention to cross;

[0015] The vehicle driving state information is reminded to the pedestrian by the vehicle control device through a sound signal based on the motion state of the pedestrian;

[0016] When the sound signal is sent and it is monitored that the pedestrian is still in the crossing state, the vehicle is controlled to stop;

[0017] When the sound signal is sent and it is monitored that the pedestrian is in the waiting crossing state for more than a preset time or the pedestrian has no intention to cross after receiving the vehicle driving state information, the motion state of the pedestrian is monitored in real time, the vehicle is passed at a speed lower than a preset speed, and the vehicle driving state information is reminded to the pedestrian in real time through a sound signal.

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

[0019] Various road scene images and living beings therein are used as training data sets to train a deep learning model;

[0020] The front of the vehicle is monitored in real time by 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 an embodiment, the step of calculating the time for the vehicle to travel to the intersection point and the time for the pedestrian to move to the intersection point by the current vehicle travel speed, the pedestrian moving speed and the intersection point of the vehicle travel trajectory and the pedestrian moving trajectory comprises:

[0023] The distance of the vehicle to the intersection point and the distance of the pedestrian to the intersection point are calculated by the current vehicle travel speed, the pedestrian moving speed and the intersection point of the vehicle travel trajectory and the pedestrian moving trajectory.

[0024] The time for the pedestrian to move to the intersection point is calculated by the distance of the pedestrian to the intersection point and the pedestrian moving speed.

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

[0026] In an embodiment, after the step of calculating the time for the vehicle to travel to the intersection point, the method further comprises:

[0027] The detection link time lag and the brake coordination time are obtained.

[0028] The preset time lag time is obtained according to the detection link time lag, the brake coordination time and the time for the vehicle to travel to the intersection point.

[0029] The accurate time for the vehicle to travel to the intersection point is obtained by superimposing the preset time lag time and the time for the vehicle to travel to the intersection point.

[0030] In an embodiment, after the step of issuing an alarm reminder by controlling the engine sound generator when it is determined that a collision will occur, the method further comprises:

[0031] The opening degree of the brake pedal is controlled based on the pedal intake pressure brake controller, the engine speed is reduced, and the vehicle speed is reduced to a preset value until zero.

[0032] In an embodiment, the step of determining whether a collision will occur based on the time for the vehicle to travel to the intersection point and the time for the pedestrian to move to the intersection point comprises:

[0033] When the time for the vehicle to travel to the intersection point is greater than the time for the pedestrian to move to the intersection point, it is determined that a collision will not occur.

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

[0035] When the time for the vehicle to travel to the intersection point is less than the time for the pedestrian to move to the intersection point, calculate the time for the vehicle tail to travel through the intersection point based on the current vehicle speed and the vehicle length;

[0036] When the time for the vehicle tail to travel through the intersection point and the time for the vehicle to travel to the intersection point are added together to equal the time for the pedestrian to move to the intersection point, determine that a collision will occur, and control the engine sound generator to issue a warning to alert the pedestrian;

[0037] When the time for the vehicle tail to travel through the intersection point and the time for the vehicle to travel to the intersection point are added together to be greater than or less than the time for the pedestrian to move to the intersection point, determine that a collision will not occur.

[0038] In addition, to achieve the above object, the present application also proposes a vehicle pedestrian safety warning control device, which comprises:

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

[0040] A first judgment module is configured to, when the obstacle is determined to be a pedestrian, monitor the vehicle speed, the pedestrian movement speed, and the intersection point of the vehicle travel trajectory and the pedestrian movement trajectory through a vehicle-mounted sensor;

[0041] A calculation module is configured to calculate the time for the vehicle to travel to the intersection point and the time for the pedestrian to move to the intersection point based on the current vehicle speed, the pedestrian movement speed, and the intersection point of the vehicle travel trajectory and the pedestrian movement trajectory;

[0042] A second judgment module is configured to determine whether a collision will occur based on the time for the vehicle to travel to the intersection point and the time for the pedestrian to move to the intersection point; when it is determined that a collision will occur, control the engine sound generator to issue a warning at a preset decibel.

[0043] In addition, to achieve the above object, the present application also proposes a vehicle pedestrian safety warning control device, which comprises: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the vehicle pedestrian safety warning control method as described above.

[0044] In addition, to achieve the above-mentioned purpose, the application also provides a storage medium, which is a computer readable storage medium, and a computer program is stored on the storage medium, and the computer program is executed by a processor to implement the steps of the vehicle pedestrian safety reminding control method.

[0045] The one or more technical solutions provided by the application have at least the following technical effects:

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

[0047] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present application and, together with the specification, serve to explain the principles of the application.

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0049] Figure 1 The flowchart provided for the first embodiment of the vehicle pedestrian safety reminding control method of the application;

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

[0051] Figure 3 The structure diagram provided for the first embodiment of the vehicle pedestrian safety reminding control method of the application;

[0052] Figure 4 The flowchart provided for the second embodiment of the vehicle pedestrian safety reminding control method of the application;

[0053] Figure 5 The flowchart provided for the third embodiment of the vehicle pedestrian safety reminding control method of the application;

[0054] Figure 6 A module structure schematic diagram of the vehicle pedestrian safety reminding control device in the embodiment of the present application;

[0055] Figure 7 A device structure schematic diagram of the hardware running environment involved in the vehicle pedestrian safety reminding control method in the embodiment of the present application.

[0056] The object implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

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

[0058] In order to better understand the technical solutions of the present application, the following will be described in detail in combination with the drawings and specific embodiments.

[0059] Since the prior art does not combine the reminding information with the information attracting the driver's attention, and does not quantify the risk of the road information affecting the driving of the vehicle.

[0060] The present application provides a solution, based on deep learning, to monitor the front of the vehicle in real time to obtain obstacle information; when the obstacle is determined to be a pedestrian, the vehicle speed, the pedestrian moving speed and the intersection position point of the vehicle driving trajectory and the pedestrian moving trajectory are monitored by the vehicle sensor; 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 according to the current driving speed of the vehicle, the moving speed of the pedestrian and the intersection position point of the vehicle driving trajectory and the pedestrian moving 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 improving the driving experience of the driver.

[0061] It should be noted that the execution subject of the present 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 reminding control device, etc. The present embodiment and the following embodiments will be described taking the vehicle pedestrian safety reminding control device as an example.

[0062] Based on this, the present embodiment provides a vehicle pedestrian safety reminding control method, which is described with reference to Figure 1 , Figure 1 A flowchart of the first embodiment of the vehicle pedestrian safety reminding control method of the present application.

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

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

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

[0066] The obstacle can be a stone, a tree, a fixed object, or a movable object such as a person or an animal.

[0067] As shown in Figure 2 and Figure 3 The structure of this embodiment includes:

[0068] Image sensor - camera to obtain video information around the vehicle, several cameras can achieve 360° dead angle monitoring;

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

[0070] Night vision sensor - infrared sensor;

[0071] Intelligent driving control unit - collect image sensor, radar sensor, night vision sensor signal input, analysis and judgment, according to the defined function, through the gateway to send CAN instruction, other systems after receiving the corresponding instruction, execute the corresponding operation;

[0072] ESP system - vehicle body electronic stability system, collecting wheel speed sensor signals;

[0073] Wheel speed sensor - output wheel speed signal;

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

[0075] Electronic gearshift - an electronic gearshift device that outputs vehicle gear signals;

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

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

[0078] In a specific implementation, a deep learning-based intelligent identification system 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, TensorFlow framework is used to train the deep learning model, and the training data set includes images in various road scenes and pedestrians and animals therein. The trained model can accurately identify whether there is an obstacle in front.

[0079] Further, images in various road scenes and living beings therein are used as training data sets to train the deep learning model; the vehicle front is monitored in real time by 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 other type of obstacle.

[0080] It should be noted that the present embodiment uses a 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 the intelligent identification system and the intelligent early warning system, 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 and MAX30100 heart rate sensor are connected to obtain environmental information. In this way, the driving safety of the vehicle 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 position point of the vehicle driving trajectory and the pedestrian moving trajectory are monitored by the vehicle-mounted sensor;

[0083] Further, the motion state of the pedestrian is obtained, which at least includes that the pedestrian is crossing, the pedestrian is waiting to cross, and the pedestrian has no intention to cross; based on the motion state of the pedestrian, the vehicle driving state information is reminded to the pedestrian through the sound signal by the vehicle control device; when the sound signal is sent and it is monitored that the pedestrian is still in the crossing state, the vehicle is controlled to stop; when the sound signal is sent and it is monitored that the pedestrian is in the waiting crossing state for more than a predetermined time or the pedestrian has no intention to cross after receiving the vehicle driving state information, the motion state of the pedestrian is monitored in real time, the vehicle is passed at a speed lower than the predetermined speed, and the vehicle driving state information is reminded to the pedestrian through the sound signal.

[0084] It should be noted that the pedestrian recognition is performed by the environment perception module to recognize the pedestrian information on the road. It includes whether there is a pedestrian, the pedestrian is crossing, the pedestrian is waiting to cross, and the pedestrian has no intention to cross. The vehicle transmits the information to the person through the vehicle control device, and transmits the vehicle driving intention (including normal slow driving or giving way to pedestrians to pass first) to the pedestrian.

[0085] It can be understood that for the pedestrians walking on the pedestrian crossing, the vehicle stop will not affect the normal passage. For the pedestrians waiting for passage at the intersection, the vehicle stops waiting for the passage of the pedestrians to be completed, and if the pedestrians continue to wait for a certain time without passing the road, the system judges that the pedestrians have no intention of crossing the road temporarily, the system changes the driving state and displays the driving information to the pedestrians (records the road pedestrian state through the camera at the traffic intersection; transmits the intersection pedestrian information to the vehicle through the network; the vehicle carries out the courtesy operation for pedestrians according to the road pedestrian information). For pedestrians with no intention of crossing the road at the intersection, the vehicle receives the pedestrian intention of no crossing the road (no walking action towards the middle of the road) in real time, slowly passes and displays the driving state in real time.

[0086] In step S30, the time for the vehicle to drive to the intersection point and the time for the pedestrian to move to the intersection point are calculated according to the current driving speed of the vehicle, the moving speed of the pedestrian, and the intersection point of the driving trajectory of the vehicle and the moving trajectory of the pedestrian.

[0087] In a specific implementation, the distance between the vehicle and the intersection point and the distance between the pedestrian and the intersection point are calculated through the current driving speed of the vehicle, the moving speed of the pedestrian, and the intersection point of the driving trajectory of the vehicle and the moving trajectory of the pedestrian. The time for the pedestrian to move to the intersection point is calculated through the distance between the pedestrian and the intersection point and the moving speed of the pedestrian. The acceleration change rate of the vehicle is obtained. The time for the vehicle to drive to the intersection point is calculated based on the distance between the vehicle and the intersection point, the acceleration change rate of the vehicle, and the current driving speed of the vehicle. The detection link time delay and the brake coordination time are obtained. The preset time delay time is obtained according to the detection link time delay, the brake coordination time, and the time for the vehicle to drive to the intersection point. The preset time delay time and the time for the vehicle to drive to the intersection point are superimposed to obtain the accurate time for the vehicle to drive to the intersection point, which is high in accuracy and safety.

[0088] In step S40, whether a collision will occur is judged based on the time for the vehicle to drive to the intersection point and the time for the pedestrian to move to the intersection point.

[0089] It should be noted that according to the current vehicle speed and the distance between the vehicle head and the pedestrian or animal, the time for the vehicle to reach the pedestrian or animal is calculated to determine whether the vehicle will hit the pedestrian or animal, so as to control the engine sound generator to issue an alarm reminder, and at the same time control the engine to reduce the speed to a safe interval. This method not only can effectively remind pedestrians and animals, but also can improve the comfort of vehicle sound while reducing energy consumption.

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

[0091] In a specific implementation, if TC>Tr, it can be considered that the vehicle will not collide with the pedestrian or animal; if TC=Tr, it can be considered that the vehicle will collide with the pedestrian or animal, and an alarm needs to be issued for warning; if TC<Tr, the time for the vehicle to pass through the P point needs to be further calculated, i.e., 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 the pedestrian or animal, and an alarm needs to be issued for warning, when (TC+ΔTC)>or<Tr, it can be considered that the vehicle will not collide with the pedestrian or animal.

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

[0093] In a possible implementation, step S50 can further include controlling the opening degree 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 zero.

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

[0095] It can be understood that in the embodiment, if the vehicle is driving at a low speed, the vehicle does not issue a sound, and only when the vehicle is driving at a low speed and the pedestrian or animal in front is identified, an alarm is issued for warning, instead of frequently issuing an alarm. This method can avoid the discomfort caused by frequent alarms to the driver, and can improve the sound comfort of the vehicle, and by controlling the engine to reduce the speed to a safe range, the energy consumption can be reduced, and the economy of the vehicle can be improved.

[0096] The technical solution not only can ensure the driving safety by the traditional automatic emergency braking system when the vehicle is driving at a high speed, but also can issue an alarm for warning in advance by accurate identification and calculation when the vehicle is driving at a low speed, and even control the engine to reduce the speed to a safe range, so as to effectively avoid or reduce the collision, improve the driving safety, and be suitable for normal weather conditions, and in bad weather conditions such as rain, snow, and fog, the deep learning technology can accurately identify whether there is an obstacle in front, so as to improve the driving safety.

[0097] The embodiment is based on deep learning to monitor the front of the vehicle in real time to obtain obstacle information; when it is determined that the obstacle is a pedestrian, the vehicle speed, the pedestrian moving speed and the intersection position point of the vehicle driving trajectory and the pedestrian moving trajectory are monitored through the vehicle sensor; 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 according to the current driving speed of the vehicle, the pedestrian moving speed and the intersection position point of the vehicle driving trajectory and the pedestrian moving 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 issue an alarm reminder at a preset decibel, effectively improving the driving safety of the vehicle and improving the driving experience of the driver.

[0098] Based on the first embodiment of the application, the same or similar contents as the above embodiment one can be referred to the above introduction, and the subsequent will not be described in detail. On this basis, please refer to Figure 4 , step S40, the vehicle pedestrian safety reminding control method further comprises steps S401-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 the pedestrian or 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 issue an alarm to remind the pedestrian;

[0102] In specific implementation, if TC= Tr, it can be considered that the vehicle will collide with the pedestrian or animal, and an alarm 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 tail of the vehicle to drive through the intersection position point is calculated based on the current driving speed of the vehicle and the length of the vehicle;

[0104] In specific implementation, if TC< Tr, the time for the tail of the vehicle to drive through P point needs to be further calculated.

[0105] Step S404, when the time for the tail of the vehicle to drive through the intersection position point and the time for the vehicle to drive to the intersection position point are added and 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 issue an alarm to remind the pedestrian;

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

[0107] Step S405, when the time when the rear of the vehicle drives through the intersection position point and the time when the vehicle drives to the intersection position point are added is greater than or less than the time when the pedestrian moves to the intersection position point, it is determined that the collision will not occur.

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

[0109] The embodiment starts the intelligent early warning system. The system calculates the time when the vehicle reaches the pedestrian or animal according to the current vehicle speed and the distance between the vehicle head and the pedestrian or animal, and judges whether the vehicle will hit the pedestrian or animal.

[0110] Based on the first and second embodiments of the application, in the third embodiment of the application, the same or similar contents as the above embodiments one and two can be referred to the above introduction, and will not be described in detail. On this basis, please refer to Figure 5 , step S60, the automobile pedestrian safety warning control method further includes steps S301-S306:

[0111] Step S301, the distance between the vehicle and the intersection position point, the distance between the pedestrian and the intersection position point are calculated by the current driving speed of the vehicle, the moving speed of the pedestrian and the intersection position point of the driving trajectory of the vehicle and the driving trajectory of the pedestrian.

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

[0113] Step S302, the time when the pedestrian moves to the intersection position point is calculated by the distance between the pedestrian and the intersection position point and the moving speed of the pedestrian.

[0114] In a specific implementation, the time Tr when the pedestrian moves to the intersection position point is calculated according to the moving speed Vr of the pedestrian or animal and the intersection position point P of the driving trajectory of the vehicle and the driving trajectory of the pedestrian or animal.

[0115] Step S303, the vehicle acceleration change rate is obtained, and the time when the vehicle drives to the intersection position point is calculated based on the distance between the vehicle and the intersection position point, the vehicle acceleration change rate and the current driving speed of the vehicle.

[0116] In a specific implementation, in order to accurately calculate the time for the vehicle to travel to the P point, a vehicle acceleration change rate (Kt) can be introduced to calculate: Kt = d2v(t) / d2(t), where v(t) is the travel speed of the vehicle at time t; and then TC = SC / VC(1+d2v(t) / d2(t)).

[0117] In step S304, the detection link time lag and the brake coordination time are obtained.

[0118] It should be noted that the detection link time lag refers to the time delay from when the system detects that an action needs to be taken (such as deceleration or stopping) to when the action is actually taken. For example, in an automatic driving system, the vehicle needs to detect through sensors (such as radar, camera, etc.) that there is an obstacle in front or a situation that needs to be decelerated, and then take corresponding measures. In this process, there is a certain delay between the time when the system detects the obstacle or the need to decelerate and the time when the action is actually taken.

[0119] The brake coordination time refers to the time delay between when the vehicle receives a brake instruction and when it actually starts to decelerate or stop. In the case of human driving or automatic driving, after receiving a brake instruction, the vehicle needs a certain amount of time to adjust the braking system and start to decelerate. In this process, there is a delay between receiving the brake instruction and actually starting to decelerate.

[0120] In step S305, the preset time lag time is obtained according to the detection link time lag, the brake coordination time, and the time for the vehicle to travel to the intersection location point.

[0121] In step S306, the preset time lag time and the time for the vehicle to travel to the intersection location point are superimposed to obtain the accurate time for the vehicle to travel to the intersection location point.

[0122] In a specific implementation, in order to improve safety, when calculating the time TC for the vehicle to travel to the P point, the time lag needs to be considered, including the detection link time lag and the brake coordination time, which is generally set to 5-10s.

[0123] The embodiment calculates the distance between the vehicle and the intersection position point, the distance between the pedestrian and the intersection position point, the time for the pedestrian to move to the intersection position point, the vehicle acceleration change rate, the time for the vehicle to travel to the intersection position point, the detection link time lag and the brake coordination time, the preset time lag time, the accurate time for the vehicle to travel to the intersection position point by superimposing the preset time lag time and the time for the vehicle to travel to the intersection position point based on the current driving speed of the vehicle, the distance between the vehicle and the intersection position point, the vehicle acceleration change rate and the current driving speed of the vehicle, and the high accuracy and safety.

[0124] It should be noted that the above examples are only used for understanding the present application and do not constitute a limitation on the automobile pedestrian safety reminding control method of the present application. More forms of simple transformation based on the technical concept are within the protection scope of the present application.

[0125] The present application also provides an automobile pedestrian safety reminding control device, please refer to Figure 6 , the automobile pedestrian safety reminding control device comprises:

[0126] The obstacle information acquisition module 10 is used for monitoring 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 for monitoring the vehicle speed, the pedestrian moving speed and the intersection position point of the vehicle driving trajectory and the pedestrian moving trajectory when the obstacle is determined to be a pedestrian through the vehicle-mounted sensor.

[0128] The calculation module 30 is used for calculating the time for the vehicle to travel to the intersection position point and the time for the pedestrian to move to the intersection position point according to the current driving speed of the vehicle, the pedestrian moving speed and the intersection position point of the vehicle driving trajectory and the pedestrian moving trajectory.

[0129] The second judgment module 40 is used for judging whether a collision will occur based on the time for the vehicle to travel 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 issue an alarm reminder at a preset decibel.

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

[0131] The application provides an automobile pedestrian safety reminding control device, which comprises at least one processor and a memory connected with the at least one processor in communication, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the automobile pedestrian safety reminding control method in the above embodiment one.

[0132] Reference will be made to the following description of the embodiments of the application with reference to the drawings. Figure 6 The automobile pedestrian safety reminding control device provided in the application can include but is not limited to mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (for example, vehicle-mounted navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. Figure 7 The automobile pedestrian safety reminding control device shown is only an example, and should not bring any limitation to the functions and use range of the embodiments of the application.

[0133] As Figure 7As shown, the vehicle pedestrian safety warning control device can include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to programs stored in a read only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. Various programs and data required for operation of the vehicle pedestrian safety warning control device are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touch pad, 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.; the storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the vehicle pedestrian safety warning control device to communicate wirelessly or wired with other devices to exchange data. Although the vehicle pedestrian safety warning control device is shown with various systems, it should be understood that not all of the shown systems are required to be implemented or possessed. More or fewer systems can alternatively be implemented or possessed.

[0134] In particular, the processes described above with reference to the flowcharts can be implemented as a computer software program according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program code for performing the methods illustrated by the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via the communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the methods of embodiments of the present disclosure are performed.

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

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

[0137] The above description is merely illustrative of the application and is not intended to limit the scope of the application. Any variations and modifications of the application, which become apparent to those skilled in the art upon reading the foregoing description, are intended to fall within the scope of the application. The scope of the application should, therefore, be determined not with reference to the above description, but instead with reference to the appended claims.

[0138] The application provides a computer readable storage medium having stored thereon computer readable program instructions (i.e., a computer program) for performing the vehicle pedestrian safety reminder control method in the above-described embodiments.

[0139] The computer readable storage medium provided by the application may, for example, be a U disk, but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, system, or device, or any combination thereof. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more conductive wires, a portable computer diskette, 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 the present embodiment, the computer readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer readable storage medium can be transmitted in any suitable medium, including but not limited to electrical wire, optical cable, RF (Radio Frequency), etc., or any suitable combination thereof.

[0140] The above computer readable storage medium can be included in the vehicle pedestrian safety reminder control device; or can exist separately and not be assembled into the vehicle pedestrian safety reminder control device.

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

[0142] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can 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 the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0143] The flow diagrams and the block diagrams in the drawings are illustrations of architectures, functionalities, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flow diagrams or block diagrams can represent a module, a segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may

[0144] The modules involved in the embodiments of the present application can be implemented in the form of software or in the form of hardware. In some cases, the name of the module does not constitute a limitation on the module itself.

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

[0146] The application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the vehicle pedestrian safety reminding control method as described above.

[0147] The computer program product provided by the application can solve the technical problem that the prior art can only assist the driver to a certain extent and cannot completely replace the driver's decision. Compared with the prior art, the computer program product provided by the application has the same beneficial effects as the vehicle pedestrian safety reminding control method provided by the above-mentioned embodiments, and will not be described here.

[0148] The above only describes some embodiments of the application, and does not limit the patent scope of the application. Any equivalent structural transformation, direct / indirect application in other related technical fields, or the like made by using the content of the application specification and drawings is included in the patent protection scope of the application.

Claims

1. A method for controlling pedestrian safety reminders for vehicles, characterized in that, The vehicle pedestrian safety alert control includes: Real-time monitoring of the area in front of the vehicle is performed using deep learning to obtain obstacle information; When the obstacle is determined to be a pedestrian, the vehicle speed, pedestrian movement speed, and the intersection point of the vehicle's driving trajectory and the pedestrian's movement trajectory are monitored by on-board sensors. 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 are calculated based on the vehicle's current speed, the pedestrian's speed, and the intersection point of the vehicle's trajectory and the pedestrian's trajectory. Whether a collision will occur is determined based on 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. When a collision is detected, the engine sound generator is controlled to issue an alarm at a preset decibel level. The movement state of the pedestrian is obtained, which includes at least the pedestrian crossing, the pedestrian waiting to cross, and the pedestrian having no intention to cross. Based on the pedestrian's movement status, the vehicle control device will alert the pedestrian to the vehicle's driving status information via sound signals. When the vehicle stops after the sound signal has been sent and the pedestrian is still crossing, the vehicle is controlled to stop. When the system detects that the pedestrian has been waiting to cross for more than a preset time after the sound signal has been sent, or when the pedestrian has no intention to cross after receiving the vehicle's driving status information, the system monitors the pedestrian's movement in real time, allows the pedestrian to pass at a speed lower than the preset speed, and alerts the pedestrian to the vehicle's driving status information in real time via sound signals.

2. The vehicle pedestrian safety reminder control method as described in claim 1, characterized in that, The steps for obtaining obstacle information in real time by using deep learning algorithms to monitor the area in front of a vehicle include: Images from various road scenarios, along with the living organisms within them, are used as training datasets to train deep learning models. The trained deep learning model is used to monitor the area in front of the vehicle in real time. When an obstacle is detected, the obstacle is analyzed to determine whether it is a pedestrian or another type of obstacle.

3. The vehicle pedestrian safety warning control method as described in claim 1, characterized in that, The step of 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 using the vehicle's current speed, the pedestrian's speed, and the intersection point of the vehicle's trajectory and the pedestrian's trajectory includes: The distance between the vehicle and the intersection point, and the distance between the pedestrian and the intersection point are calculated using the vehicle's current speed, the pedestrian's speed, and the intersection point of the vehicle's trajectory and the pedestrian's trajectory. The time it takes for the pedestrian to move to the intersection point is calculated using the distance between the pedestrian and the intersection point and the pedestrian's moving speed. The vehicle's acceleration change rate is obtained, and the time it takes for the vehicle to travel to the intersection point is calculated based on the distance between the vehicle and the intersection point, the vehicle's acceleration change rate, and the vehicle's current speed.

4. The vehicle pedestrian safety warning control method as described in claim 3, characterized in that, After the step of calculating the time it takes for the vehicle to reach the intersection point, the method further includes: Acquire the detection delay and braking coordination time; The preset time delay is obtained based on the detection delay, braking coordination time, and the time it takes for the vehicle to reach the intersection point. The precise time of the vehicle's arrival at the intersection point is obtained by superimposing the preset time delay time and the time it takes for the vehicle to travel to the intersection point.

5. The vehicle pedestrian safety warning control method as described in claim 1, characterized in that, After the step of issuing an alarm by controlling the engine sound generator when a collision is determined to occur, the method further includes: The brake pedal opening is controlled by the pedal intake pressure brake controller, which reduces the engine speed and reduces the vehicle speed to a preset value until it reaches zero.

6. The vehicle pedestrian safety warning control method as described in claim 1, characterized in that, The step of determining whether a collision will occur based on 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 includes: If the time it takes for the vehicle to reach the intersection point is greater than the time it takes for the pedestrian to move to the intersection point, it is determined that no collision will occur. When the time it takes for the vehicle to reach the intersection point is equal to the time it takes for the pedestrian to move to the intersection point, it is determined that a collision will occur, and the engine sound generator is controlled to issue an alarm to remind the pedestrian. If the time it takes for the vehicle to reach the intersection point is less than the time it takes for the pedestrian to move to the intersection point, the time it takes for the rear of the vehicle to pass the intersection point is calculated based on the vehicle's current speed and length. When the time it takes for the rear of the vehicle to pass the intersection point is added to the time it takes for the vehicle to reach the intersection point, and this sums up to the time it takes for the pedestrian to move to the intersection point, it is determined that a collision will occur, and the engine sound generator is controlled to issue an alarm to warn the pedestrian. If the sum of the time it takes for the rear of the vehicle to pass the intersection point and the time it takes for the vehicle to reach the intersection point is greater than or less than the time it takes for the pedestrian to move to the intersection point, it is determined that no collision will occur.

7. A vehicle pedestrian safety warning control device, characterized in that, The device includes: The obstacle information acquisition module is used to monitor the area in front of the vehicle in real time based on deep learning algorithms to obtain obstacle information; The 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 vehicle-mounted sensors when the obstacle is determined to be a pedestrian. The first judgment module is also used to obtain the movement state of the pedestrian, which includes at least the pedestrian crossing, the pedestrian waiting to cross, and the pedestrian having no intention to cross. Based on the pedestrian's movement status, the vehicle control device will alert the pedestrian to the vehicle's driving status information via sound signals. When the vehicle stops after the sound signal has been sent and the pedestrian is still crossing, the vehicle is controlled to stop. When the pedestrian is detected to be waiting to cross for more than a preset time after the sound signal is sent, or when the pedestrian has no intention to cross after receiving the vehicle's driving status information, the vehicle's movement status is monitored in real time, and the vehicle passes at a speed lower than the preset speed and the vehicle's driving status information is reminded to the pedestrian in real time through a sound signal. The calculation module is used to calculate 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 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. The second judgment module is used to determine whether a collision will occur based on 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; when it is determined that a collision will occur, it controls the engine sound generator to issue an alarm reminder at a preset decibel level.

8. A vehicle pedestrian safety warning and control device, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the vehicle pedestrian safety alert control method as described in any one of claims 1 to 6.

9. 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, it implements the steps of the vehicle pedestrian safety reminder control method as described in any one of claims 1 to 6.

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