Pedestrian and vehicle anti-collision method and device, electronic equipment and storage medium

Abstract

The invention provides a pedestrian and vehicle anti-collision method and device, electronic equipment and a storage medium, and the method comprises the steps: determining the current pedestrian action information of a pedestrian in real time; under the condition that it is determined that the pedestrian meets the anti-collision detection requirement according to the pedestrian action information, pedestrian passing time information is determined based on the pedestrian action information, and a data receiving task is executed; and under the condition that the vehicle passing time information from the vehicle is obtained through the data receiving task, an anti-collision strategy for preventing the pedestrian from colliding with the vehicle is determined based on the pedestrian passing time information and the vehicle passing time information. According to the method and the device, the technical problems of high vehicle cost and still existence of collision risk in a vehicle and pedestrian anti-collision auxiliary mechanism in the related technology are solved.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a pedestrian and vehicle collision avoidance method and device, electronic equipment and storage medium. Background Art

[0002] The collision avoidance mechanism between vehicles and pedestrians has always been a focus of attention in the field of vehicle research. Compared with intersections protected by traffic lights, the probability of collision between pedestrians and vehicles at intersections without traffic lights is greatly increased, which is mainly reflected in the following aspects:

[0003] (1) Most pedestrians do not have a strong sense of safety when crossing zebra crossings without traffic lights, especially the elderly and children, who need reminders from others and lack external assistance and intervention mechanisms;

[0004] (2) When pedestrians cross zebra crossings without traffic lights, they may hesitate, walk slowly or rush, and vehicles may easily misunderstand their intentions. At the same time, pedestrians may not accurately estimate the speed of vehicles, and drivers may easily misunderstand their intentions, increasing the risk of collision between pedestrians and vehicles and the risk of rear-end collision caused by sudden braking of the vehicle in front.

[0005] Based on this, how to achieve the protection of pedestrians and vehicles from collisions at intersections without traffic lights is particularly important. In order to achieve the above purpose, the following technical routes mainly exist in the relevant technologies:

[0006] (1) Through electronic information technology, virtual zebra crossings and virtual traffic lights are actively projected at traffic light-protected intersections, and buzzers are emitted, etc., to simulate the traffic light protection intersections in the real physical world to provide pedestrian warnings. However, this technology is highly dependent on modern electronic technologies such as lighting and voice control, and most virtual zebra crossing signals, traffic light signals, and buzzer signals are actively emitted by vehicles, which increases the difficulty and cost of vehicle production and manufacturing, and is not conducive to implementation and promotion.

[0007] (2) Through the use of vehicle lidar, millimeter-wave radar, camera and other sensors, the scene of the intersection without traffic light protection is perceived in real time, pedestrians and other targets are identified and classified, the pedestrian intention is identified through the prediction algorithm, and the vehicle acceleration, deceleration and parking actions are executed through the control algorithm to achieve the effect of pedestrian collision avoidance; however, this technology has high requirements for sensor hardware and algorithms, which increases the cost of each vehicle and the manpower cost of development. In addition, the external environment such as fog, rain, snow, darkness, etc. will greatly reduce the perception and recognition effect, and there is still a risk of collision due to false detection and missed detection.

[0008] Therefore, the vehicle and pedestrian collision avoidance assistance mechanism in the related art has the problem of high vehicle cost and still having the risk of collision. Summary of the invention

[0009] The present application provides a pedestrian-vehicle collision avoidance method and device, an electronic device and a storage medium, so as to at least solve the technical problems in the related art that the vehicle-pedestrian collision avoidance assistance mechanism has high vehicle cost and still has the risk of collision.

[0010] According to one aspect of an embodiment of the present application, a method for preventing collision between a pedestrian and a vehicle is provided, which is applied to a pedestrian side and includes:

[0011] Determine the pedestrian's current pedestrian movement information in real time;

[0012] In the case where it is determined according to the pedestrian action information that the pedestrian meets the anti-collision detection requirements, the pedestrian passing time information is determined based on the pedestrian action information, and a data receiving task is performed, wherein the anti-collision detection requirements include: there is a traffic light-free intersection within the preset first range of the pedestrian, and the pedestrian passing time information includes: the walking time of the pedestrian to the nearest target traffic light-free intersection;

[0013] When the vehicle passing time information is obtained from the vehicle through the data receiving task, an anti-collision strategy for preventing the pedestrian from colliding with the vehicle is determined based on the pedestrian passing time information and the vehicle passing time information, wherein the vehicle passing time information includes: the driving time of the vehicle to the target intersection without traffic lights.

[0014] Optionally, as in the aforementioned method, the real-time determination of the pedestrian's current pedestrian action information includes:

[0015] Acquire the pedestrian positioning information of the pedestrian and the walking route of the pedestrian in real time;

[0016] The determining, according to the pedestrian action information, that the pedestrian meets the anti-collision detection requirement includes:

[0017] Determine a first intersection without a traffic light on the walking route, wherein the target intersection without a traffic light includes the first intersection without a traffic light;

[0018] Determine, according to the pedestrian positioning information, a second intersection without a traffic light that is closest to the pedestrian, wherein the target intersection without a traffic light includes the second intersection without a traffic light;

[0019] When it is determined that the first intersection without traffic lights and / or the second intersection without traffic lights is within the preset first range, it is determined that the pedestrian meets the anti-collision detection requirement.

[0020] Optionally, as in the aforementioned method, the determining of the pedestrian passing time information based on the pedestrian action information includes:

[0021] Determine the walking speed of the pedestrian according to the walking step length of the pedestrian and the step frequency in the pedestrian action information;

[0022] A first duration is obtained by dividing a first distance between the pedestrian and a starting point of a target intersection without traffic lights by the walking speed, and a second duration is obtained by dividing a second distance between the pedestrian and an end point of the target intersection without traffic lights by the walking speed;

[0023] Determining the pedestrian passing time information according to the first duration, the second duration, and the target intersection without traffic lights;

[0024] The pedestrian passing time information is sent to the outside.

[0025] Optionally, as in the aforementioned method, determining the anti-collision strategy for preventing the pedestrian from colliding with the vehicle based on the pedestrian passing time information and the vehicle passing time information includes:

[0026] Based on the pedestrian passing time information and the vehicle passing time information, when it is determined that the time interval of the pedestrian passing the target intersection without traffic lights and the time when the earliest vehicle passes the target intersection without traffic lights are within a preset time difference range, a collision avoidance strategy for reminding the pedestrian that there is a collision risk is determined, wherein the earliest vehicle is the vehicle that arrives at the target intersection without traffic lights earliest among the vehicles corresponding to the passing time information of all vehicles;

[0027] When it is determined that the time interval of the pedestrian passing the target intersection without traffic lights and the time when the earliest vehicle passes the target intersection without traffic lights are not within the preset time difference range, an anti-collision strategy is determined that does not require the pedestrian to be reminded of the risk of collision.

[0028] Optionally, as in the aforementioned method, the obtaining of vehicle passing time information from the vehicle through the data receiving task includes:

[0029] At the vehicle end, the current vehicle motion information of the vehicle is determined in real time. When it is determined that the vehicle meets the anti-collision detection requirements based on the vehicle motion information, after the vehicle passing time information is determined based on the vehicle motion information, the vehicle passing time information sent by the vehicle end is obtained through the data receiving task, wherein the anti-collision detection requirements include: there is a traffic light-free intersection within a preset second range of the vehicle, and the vehicle passing time information includes: the driving time of the vehicle to the nearest target traffic light-free intersection.

[0030] Optionally, as in the aforementioned method, the vehicle end determines the current vehicle action information of the vehicle in real time, including:

[0031] The vehicle terminal acquires the vehicle positioning information of the vehicle and the navigation route of the vehicle in real time;

[0032] The vehicle end determines, according to the vehicle action information, that the vehicle meets the anti-collision detection requirement, including:

[0033] The vehicle terminal determines a third intersection without traffic lights on the navigation route, wherein the target intersection without traffic lights includes the third intersection without traffic lights;

[0034] The vehicle end determines, according to the vehicle positioning information, a fourth intersection without a traffic light that is closest to the vehicle, wherein the target intersection without a traffic light includes the fourth intersection without a traffic light;

[0035] The vehicle side determines that the vehicle meets the anti-collision detection requirement when determining that the third intersection without traffic lights and / or the fourth intersection without traffic lights is within the preset second range.

[0036] Optionally, as in the aforementioned method, the vehicle end is further used to determine an anti-collision strategy for preventing the vehicle from colliding with the pedestrian based on the vehicle passing time information and the pedestrian passing time information, including:

[0037] The vehicle determines, based on the vehicle passing time information and the pedestrian passing time information, that the time interval between the moment when the vehicle passes the target intersection without traffic lights and the earliest pedestrian passing the target intersection without traffic lights is within a target time difference range, and determines an anti-collision strategy for reminding the vehicle that there is a collision risk, wherein the earliest pedestrian is the pedestrian who arrives at the target intersection without traffic lights earliest among all pedestrians corresponding to the pedestrian passing time information;

[0038] When the vehicle determines that the time interval between the moment when the vehicle passes the target intersection without traffic lights and the time when the earliest pedestrian passes the target intersection without traffic lights is not within the target time difference range, the vehicle determines an anti-collision strategy that does not require reminding the vehicle of the risk of collision.

[0039] According to another aspect of the embodiment of the present application, there is also provided a pedestrian and vehicle anti-collision device, which is applied to a pedestrian side and includes:

[0040] A determination module, used to determine the current pedestrian action information of the pedestrian in real time;

[0041] A receiving module, configured to determine the pedestrian's passing time information based on the pedestrian's action information, and perform a data receiving task, when it is determined that the pedestrian meets the anti-collision detection requirements according to the pedestrian's action information, wherein the anti-collision detection requirements include: there is a traffic light-free intersection within a preset first range of the pedestrian, and the pedestrian's passing time information includes: the walking time of the pedestrian to the nearest target traffic light-free intersection;

[0042] A strategy determination module is used to determine an anti-collision strategy for preventing the pedestrian from colliding with the vehicle based on the pedestrian passing time information and the vehicle passing time information when the vehicle passing time information is obtained from the vehicle through the data receiving task, wherein the vehicle passing time information includes: the driving time of the vehicle to the target intersection without traffic lights.

[0043] According to another aspect of the embodiments of the present application, there is also provided an electronic device, including a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; wherein the memory is used to store a computer program; and the processor is used to execute the method steps in any of the above embodiments by running the computer program stored in the memory.

[0044] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the method steps in any of the above embodiments when executed.

[0045] In an embodiment of the present application, the current pedestrian movement information of the pedestrian is determined in real time; when it is determined that the pedestrian meets the anti-collision detection requirements based on the pedestrian movement information, the pedestrian passing time information is determined based on the pedestrian movement information, and a data receiving task is performed, wherein the anti-collision detection requirements include: there is a traffic light-free intersection within a preset first range of the pedestrian, and the pedestrian passing time information includes: the walking time from the pedestrian to the nearest target traffic light-free intersection; when the vehicle passing time information from the vehicle is obtained through the data receiving task, an anti-collision strategy for preventing the pedestrian from colliding with the vehicle is determined based on the pedestrian passing time information and the vehicle passing time information, wherein the vehicle passing time information includes: the driving time from the vehicle to the target traffic light-free intersection. Since the walking time and driving time of pedestrians and vehicles from the target intersection without traffic lights can be determined respectively through the pedestrian passing time information and the vehicle passing time information, it is possible to obtain the correlation in the time of appearance of pedestrians and vehicles at the target intersection without traffic lights based on the pedestrian passing time information and the vehicle passing time information, thereby determining the probability of a collision between pedestrians and vehicles, and then determining an anti-collision strategy for preventing the pedestrians from colliding with the vehicle, thereby achieving the technical effect of effectively preventing collisions between vehicles and pedestrians, and thereby solving the technical problems in the related art that the vehicle and pedestrian anti-collision assistance mechanism has high vehicle costs and still has collision risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] 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.

[0047] 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.

[0048] Figure 1 is a schematic diagram of a hardware environment of an optional pedestrian and vehicle collision avoidance method according to an embodiment of the present application;

[0049] Figure 2 is a flow chart of an optional pedestrian and vehicle collision avoidance method applied to a pedestrian side according to an embodiment of the present application;

[0050] Figure 3 is a flowchart of another optional pedestrian and vehicle collision avoidance method applied to a pedestrian side according to an embodiment of the present application;

[0051] Figure 4 is a flow chart of an optional pedestrian-vehicle collision avoidance method applied to a vehicle side according to an embodiment of the present application;

[0052] Figure 5 is a flow chart of another optional pedestrian-vehicle collision avoidance method applied to a vehicle side according to an embodiment of the present application;

[0053] Figure 6 is a structural block diagram of an optional pedestrian and vehicle collision avoidance device applied to a pedestrian side according to an embodiment of the present application;

[0054] Figure 7 It is a structural block diagram of an optional electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0055] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0056] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0057] According to one aspect of an embodiment of the present application, a method for avoiding collision between a pedestrian and a vehicle is provided. Optionally, in this embodiment, the method for avoiding collision between a pedestrian and a vehicle can be applied to Figure 1 In the hardware environment composed of terminal 1402 and server 1404 shown in FIG. Figure 1 As shown, server 1404 is connected to terminal 1402 via a network, and can be used to provide services (such as game services, application services, etc.) for the terminal or a client installed on the terminal. A database can be set up on the server or independently of the server to provide data storage services for server 1404.

[0058] The above network may include but is not limited to at least one of the following: wired network, wireless network. The above wired network may include but is not limited to at least one of the following: wide area network, metropolitan area network, local area network, and the above wireless network may include but is not limited to at least one of the following: WIFI (Wireless Fidelity), Bluetooth. The terminal may not be limited to a PC, a mobile phone, a tablet computer, etc.

[0059] The pedestrian and vehicle collision avoidance method of the embodiment of the present application can be executed by a server, a terminal, or a server and a terminal together. The terminal can also execute the pedestrian and vehicle collision avoidance method of the embodiment of the present application by a client installed thereon.

[0060] Taking the pedestrian and vehicle collision avoidance method in this embodiment executed by the server as an example, Figure 2 A pedestrian and vehicle collision avoidance method provided in an embodiment of the present application is applied to a pedestrian side, and includes the following steps:

[0061] Step S202: determine the current pedestrian action information of the pedestrian in real time.

[0062] The pedestrian and vehicle collision avoidance method in this embodiment can be applied to scenarios where it is necessary to avoid collisions between pedestrians and vehicles at intersections without traffic lights.

[0063] Specifically, pedestrians can obtain their corresponding pedestrian action information through smart mobile terminals such as mobile phones. Pedestrian action information can be information used to characterize pedestrians walking on the road, such as real-time location, action route, action speed, etc.

[0064] As an optional implementation, as in the aforementioned method, the step S202 determines the current pedestrian movement information of the pedestrian in real time, and may include the following steps: obtaining the pedestrian positioning information and the pedestrian's walking route in real time. Specifically, the pedestrian positioning information may be the pedestrian's GPS positioning position or Beidou positioning position. The pedestrian's walking route may be: when the pedestrian walks on an unmarked route for the first time, walking navigation may be turned on, and the navigation route may be determined as the walking route. Furthermore, all intersections without traffic lights on the walking route may be automatically locked, and each intersection without traffic lights may be marked.

[0065] Step S204, when it is determined that the pedestrian meets the anti-collision detection requirements based on the pedestrian's movement information, the pedestrian's passing time information is determined based on the pedestrian's movement information, and the data receiving task is performed, wherein the anti-collision detection requirements include: there is a traffic light-free intersection within the preset first range of the pedestrian, and the pedestrian's passing time information includes: the walking time from the pedestrian to the nearest target traffic light-free intersection.

[0066] Specifically, after determining the movement information of the pedestrian, all intersections within the first range centered on the pedestrian can be judged, and then among all the intersections, the intersections without traffic lights that do not have traffic lights can be determined. Furthermore, when there is an intersection without traffic lights within the first range of the pedestrian, it is determined that the pedestrian meets the anti-collision detection requirements. When it is determined that the pedestrian meets the anti-collision detection requirements, the passing time information of the pedestrian can be determined based on the pedestrian movement information. The pedestrian passing time information includes the walking time of the pedestrian to the nearest target intersection without traffic lights, that is, the walking time refers to: the time required for the pedestrian to walk from the current position to the target intersection without traffic lights.

[0067] When determining that the traveler meets the anti-collision detection requirements, it is necessary not only to determine the walking time of the traveler himself to the target intersection without traffic lights, but also to determine whether there are other vehicles that need to pass through the target intersection without traffic lights in order to achieve the purpose of true collision avoidance. Therefore, the pedestrian end also performs a data receiving task in order to obtain vehicle passing time information from the vehicle.

[0068] In some optional implementations, the above-mentioned step S204 of determining that the pedestrian meets the anti-collision detection requirements based on the pedestrian action information can be implemented by the following steps: determining the first intersection without traffic lights on the travel route, wherein the target intersection without traffic lights includes the first intersection without traffic lights; determining the second intersection without traffic lights closest to the pedestrian based on the pedestrian positioning information, wherein the target intersection without traffic lights includes the second intersection without traffic lights; and determining that the traveler meets the anti-collision detection requirements when the first intersection without traffic lights and / or the second intersection without traffic lights are within the preset first range. Specifically, when the pedestrian walks along the new walking route for the first time, the walking navigation is turned on, so that the intersection without traffic lights protection on the walking route can be locked and marked as the first intersection without traffic lights, and the GPS position coordinate information Ppi of the first intersection without traffic lights is recorded. Optionally, the walking route can be automatically saved and marked, and the navigation does not need to be turned on again when walking along the walking route again next time. After obtaining the pedestrian positioning information, the second intersection without traffic lights that is closest to the pedestrian among all intersections without traffic lights can be determined based on the pedestrian positioning information. Optionally, when the second intersection without traffic lights is located on a walking route, the second intersection without traffic lights is the first intersection without traffic lights; when the second intersection without traffic lights is not on the walking route, the second intersection without traffic lights is the intersection without traffic lights that is closest to the pedestrian. Taking into account the possibility that pedestrians may change their walking routes and directions at any time when walking, the pedestrian side determines that the first intersection without traffic lights and / or the second intersection without traffic lights are within the preset first range, and determines that the pedestrian meets the anti-collision detection requirements to achieve the purpose of data screening, so as to better detect the intersection without traffic lights that pedestrians may pass through and save mobile phone computing resources to the greatest extent. The specific method is as follows: before each walk, after setting the anti-collision detection distance safety threshold Rp (that is, the radius corresponding to the preset first range) through the mobile phone, a circular range with the pedestrian as the center and a radius of Rp will be received as the above-mentioned first range, and it is determined whether there is a location information Poi of the intersection without traffic lights within the first range. Optionally, when the map does not directly mark the second intersection without traffic lights, the location information Poi is derived from the prior GPS location information marked by other pedestrians and vehicles, and it is determined in real time whether Ppi and Poi are within the range. Optionally, determining that the traveler meets the anti-collision detection requirement can be specifically implemented by executing the following steps when determining that the first intersection without traffic lights and / or the second intersection without traffic lights are within a preset first range:

[0069] (1) If both Ppi and Poi fall outside the first range, it is considered that the current navigation route and the pedestrian's surrounding area are far away from the intersection without traffic lights, and the pedestrian will not pass the intersection without traffic lights for a long time. Therefore, the pedestrian does not meet the anti-collision detection requirements and does not need to perform data calculation and transmission, so as to save mobile phone computing resources;

[0070] (2) If Poi falls within the first range but Ppi falls outside the first range, it is considered that the pedestrian is far away from the intersection without traffic lights in the navigation route at the current moment, but there is an intersection without traffic lights in the pedestrian's surrounding environment. In this case, if the pedestrian moves towards Poi, there is a risk of collision between the pedestrian and the vehicle, and it can also be determined that the pedestrian meets the anti-collision detection requirements. The smart mobile terminal can remind the pedestrian in the form of vibration and ringtone, for example: please keep moving along the navigation route, do not change the route at will, and pay attention to the safety of the surrounding environment;

[0071] (3) If Ppi falls within the first range, it is considered that the pedestrian is close to the intersection without traffic lights in the navigation route at the current moment, and there is a risk of collision between the pedestrian and the car. Therefore, the pedestrian meets the anti-collision detection requirements. The pedestrian terminal passes the data screening stage verification, and the pedestrian intelligent mobile terminal needs to perform detection calculation, data transmission and reception, and judgment and reminder work.

[0072] As an optional implementation, when it is determined that the pedestrian meets the anti-collision detection requirements, the determination of the pedestrian's passing time information based on the pedestrian's action information in the aforementioned step S204 can be implemented by the following method: determine the pedestrian's walking speed according to the pedestrian's walking step length and the step frequency in the pedestrian's action information; divide the first distance between the pedestrian and the starting point of the target intersection without traffic lights by the walking speed to obtain the first duration, and divide the second distance between the pedestrian and the end point of the target intersection without traffic lights by the walking speed to obtain the second duration; determine the pedestrian's passing time information based on the first duration, the second duration and the target intersection without traffic lights; send the pedestrian's passing time information to the outside. For a certain pedestrian, the pedestrian can pre-set his own walking step length according to the actual situation, and record it as L (unit: cm), and the step frequency in the pedestrian's action information can be monitored in real time by the intelligent mobile terminal, and recorded as K (unit: times / minute), and then the pedestrian's walking speed LK / 6000 (unit: meter / second) can be determined based on the walking step length and step frequency. Based on the real-time location information of the smart mobile terminal GPS and the walking route of the navigation, pedestrians can obtain the real-time walking distance Sps (i.e., the first distance, unit: m) from the starting point of the nearest target intersection without traffic lights and the real-time walking distance Spe (i.e., the second distance) from the end point of the target intersection without traffic lights. Assuming that the pedestrian walks at a constant speed, the theoretical walking time for the pedestrian to reach the starting point of the target intersection without traffic lights can be calculated in real time as Tpos=6000*Sps / L*K (i.e., the first time, unit: seconds) and the theoretical walking time for the pedestrian to reach the end point of the target intersection without traffic lights is Tpoe=6000*Spe / L*K (i.e., the second time, unit: seconds). Furthermore, the intelligent mobile terminal can also be provided with a time correction compensation module, which can dynamically update the actual walking time of the pedestrian to reach the starting point and the end point of the target intersection without traffic lights as Tpas (unit: s) and Tpae (unit: s) according to the current real-time walking frequency of the pedestrian combined with the parameters such as the distance traveled, and combined with the aforementioned theoretical walking time. After obtaining the first time and the second time, a corresponding relationship between the first time, the second time and the target intersection without traffic lights can be established, and the pedestrian's passing time information can be obtained, so that the pedestrian's passing time information can be determined: there are pedestrians walking at the target intersection without traffic lights within the time range between the current first time and the second time. In addition, the pedestrian's passing time information can be sent to the outside so that nearby vehicles that are about to pass by the target intersection without traffic lights can understand that there is a collision risk at the target intersection without traffic lights, and thus need to drive carefully.

[0073] Furthermore, the first duration and the second walking duration can be stored and updated in real time on the local side of the smart mobile terminal, and sent in real time to vehicles performing data receiving tasks around the pedestrians through a mobile network (e.g., a 5G network).

[0074] Step S206, when the vehicle passing time information is obtained from the vehicle through the data receiving task, an anti-collision strategy for preventing collisions between pedestrians and vehicles is determined based on the pedestrian passing time information and the vehicle passing time information, wherein the vehicle passing time information includes: the driving time of the vehicle to the target intersection without traffic lights.

[0075] That is to say, after the data receiving task is started on the pedestrian side, when there is a vehicle that will pass through the target intersection without traffic lights, the vehicle passing time information sent by the vehicle can be obtained, and the vehicle passing time information includes: the driving time of the vehicle to the target intersection without traffic lights. Optionally, the mobile terminal receives the driving time of all vehicles around the pedestrian that have passed the data screening stage (that is, there is a collision avoidance detection requirement) to the same target intersection without traffic lights through the mobile network by executing the data receiving task. Preferably, when there are multiple vehicles, the earliest vehicle to arrive at the target intersection without traffic lights can be identified through a sorting algorithm, and its arrival time is Tcamin, and the time is calculated and updated in real time.

[0076] After obtaining the vehicle passing time information, it can be combined with the pedestrian passing time information to determine the time relationship between the pedestrian and the vehicle passing the target intersection without traffic lights, so as to determine the anti-collision strategy for preventing the pedestrian and the vehicle from colliding. Optionally, when the time relationship indicates that the time difference between the two is large (for example, exceeding a preset time difference), it can be determined that the anti-collision strategy does not need to remind the pedestrian that there is a collision risk. Conversely, when the time relationship indicates that the time difference between the two is small (for example, within a preset time difference), it can be determined that the anti-collision strategy needs to remind the pedestrian that there is a collision risk.

[0077] like Figure 3 As shown, as an optional implementation, the anti-collision strategy for preventing a collision between a pedestrian and a vehicle based on the pedestrian passing time information and the vehicle passing time information in the aforementioned step S206 can be implemented by the following steps:

[0078] Step S302, based on the pedestrian passing time information and the vehicle passing time information, when it is determined that the time interval of the pedestrian passing the target intersection without traffic lights and the time when the earliest vehicle passes the target intersection without traffic lights are within a preset time difference range, determine an anti-collision strategy for reminding pedestrians of the risk of collision, wherein the earliest vehicle is the vehicle that arrives at the target intersection without traffic lights earliest among all vehicles corresponding to the passing time information of the vehicles.

[0079] Specifically, the time interval may be an interval between the second time length and the first time length. For example, when the first time length is Tpas and the second time length is Tpae, the time interval may be [Tpas, Tpae], which is used to indicate that the pedestrian is crossing the target intersection without traffic lights between the current time Tpas and Tpae. Since the time for vehicles to pass through the intersection is very fast, the earliest vehicle passing time information may only include the time Tcamin when the vehicle passes the target intersection without traffic lights. The time interval when pedestrians pass the target intersection without traffic lights and the time when vehicles pass the target intersection without traffic lights may include the following situations within the preset time difference range:

[0080] Tcamin–Tpae≤0s&Tcamin–Tpas>T1, that is, the preset time difference range is T1+Tpas<Tcamin<Tpae, T1 can be a shorter duration, such as 1s, 2s, 3s, etc., taking T1 as 2s as an example, that is, the walking time of the pedestrian to reach the end point of the target intersection without traffic lights at the current moment is later than the driving time of the earliest vehicle to reach the target intersection without traffic lights, and the walking time of the pedestrian to reach the starting point of the target intersection without traffic lights at the current moment is 2s or more earlier than the driving time of the earliest vehicle to reach the target intersection without traffic lights, that is, when the pedestrian is crossing the road, a vehicle will pass through the intersection, and it is considered that the pedestrian is currently at risk of colliding with the vehicle at the target intersection without traffic lights, and then the following anti-collision strategy for reminding the pedestrian of the risk of collision can be determined, and the smart mobile terminal prompts the pedestrian through voice: You are currently approaching the target intersection without traffic lights and there is a risk of collision with a vehicle. Please remain highly vigilant, pay attention to the vehicles at the intersection, and pass the intersection carefully.

[0081] Step S304, when it is determined that the time interval of the pedestrian passing the target intersection without traffic lights and the time when the earliest vehicle passes the target intersection without traffic lights are not within the preset time difference range, determine an anti-collision strategy that does not need to remind the pedestrian of the collision risk.

[0082] The time interval when the pedestrian passes the target intersection without traffic lights and the time when the vehicle passes the target intersection without traffic lights are not within the preset time difference range, which may include the following situations:

[0083] (1) If Tcamin–Tpae>T2, T2 can be 8s, 9s, etc. For example, T2 is 10s, which means that the pedestrian’s walking time to the destination of the target intersection without traffic lights is 10s faster than the earliest vehicle’s driving time to the target intersection without traffic lights. That is, the pedestrian has passed the destination of the target intersection without traffic lights 10s and 10s after the pedestrian has completely passed the destination of the target intersection without traffic lights according to the current walking route and speed. The pedestrian has passed the intersection before the vehicle. It can be considered that the risk of collision between the pedestrian and the vehicle at the target intersection without traffic lights is extremely low, and then the following anti-collision strategy is determined without reminding the pedestrian of the risk of collision. For example, the smart mobile terminal can issue a voice prompt to the pedestrian: The risk of collision between the pedestrian and the vehicle is low at the current target intersection without traffic lights. Please maintain the current step frequency and route to pass the intersection.

[0084] (2) If 0s<Tcamin–Tpae≤T2, taking T2 as 10s as an example, the pedestrian’s walking time to reach the destination of the target intersection without traffic lights is 0s-10s faster than the earliest vehicle’s driving time to reach the target intersection without traffic lights at the current moment. That is, the first vehicle will pass the target intersection without traffic lights 0s-10s after the pedestrian has completely passed the destination of the target intersection without traffic lights according to the current walking route and speed. It can be considered that the pedestrian’s current risk of colliding with a vehicle at the target intersection without traffic lights is low, and then the following anti-collision strategy is determined without reminding the pedestrian of the risk of collision. The smart mobile terminal prompts the pedestrian through vibration and voice: The risk of collision between you and a vehicle at the current target intersection without traffic lights is low. Please maintain the current step frequency and route to pass the intersection, and pay attention to the vehicles at the intersection.

[0085] (3) If Tcamin–Tpas≤T1, taking T1 as 2 s, it means that the walking time of the pedestrian to reach the starting point of the target intersection without traffic lights at the current moment is more than 2 s later than the driving time of the earliest vehicle to reach the target intersection without traffic lights, that is, 2 s or more before the pedestrian reaches the starting point of the target intersection without traffic lights according to the current walking route and speed, a vehicle has passed the intersection, and the earliest vehicle crossed the road before the pedestrian. It can be considered that the risk of collision between the pedestrian and the vehicle is low at the current moment, and then the anti-collision strategy as shown below is determined without reminding the pedestrian of the collision risk. The smart mobile terminal prompts the pedestrian through vibration and voice: The risk of collision between you and the vehicle is low at the current target intersection without traffic lights. Please maintain the current step frequency and route to pass the intersection, and pay attention to the vehicles at the intersection.

[0086] In an embodiment of the present application, the current pedestrian movement information of the pedestrian is determined in real time; when it is determined that the pedestrian meets the anti-collision detection requirements based on the pedestrian movement information, the pedestrian passing time information is determined based on the pedestrian movement information, and a data receiving task is performed, wherein the anti-collision detection requirements include: there is a traffic light-free intersection within a preset first range of the pedestrian, and the pedestrian passing time information includes: the walking time from the pedestrian to the nearest target traffic light-free intersection; when the vehicle passing time information from the vehicle is obtained through the data receiving task, an anti-collision strategy for preventing the pedestrian from colliding with the vehicle is determined based on the pedestrian passing time information and the vehicle passing time information, wherein the vehicle passing time information includes: the driving time from the vehicle to the target traffic light-free intersection. Since the walking time and driving time of pedestrians and vehicles from the target intersection without traffic lights can be determined respectively through the pedestrian passing time information and the vehicle passing time information, it is possible to obtain the correlation in the time of appearance of pedestrians and vehicles at the target intersection without traffic lights based on the pedestrian passing time information and the vehicle passing time information, thereby determining the probability of a collision between pedestrians and vehicles, and then determining an anti-collision strategy for preventing the pedestrians from colliding with the vehicle, thereby achieving the technical effect of effectively preventing collisions between vehicles and pedestrians, and thereby solving the technical problems in the related art that the vehicle and pedestrian anti-collision assistance mechanism has high vehicle costs and still has collision risks.

[0087] As an optional implementation manner, the acquiring the vehicle passing time information from the vehicle through the data receiving task includes:

[0088] At the vehicle end, the current vehicle motion information of the vehicle is determined in real time. When it is determined that the vehicle meets the anti-collision detection requirements based on the vehicle motion information, after the vehicle passing time information is determined based on the vehicle motion information, the vehicle passing time information sent by the vehicle end is obtained through the data receiving task, wherein the anti-collision detection requirements include: there is a traffic light-free intersection within a preset second range of the vehicle, and the vehicle passing time information includes: the driving time of the vehicle to the nearest target traffic light-free intersection.

[0089] That is to say, the vehicle side can determine the vehicle's current vehicle motion information in real time, and determine that the vehicle meets the anti-collision detection requirements based on the vehicle motion information. After determining the vehicle's passing time information based on the vehicle motion information, the pedestrian side can obtain the vehicle's passing time information sent by the vehicle side through a data receiving task.

[0090] The vehicle side performs the above steps to determine the current vehicle motion information of the vehicle in real time. When it is determined that the vehicle meets the anti-collision detection requirements based on the vehicle motion information, the vehicle passing time information can be determined based on the vehicle motion information. Figure 4 The method corresponding to the steps shown implements a pedestrian and vehicle collision avoidance method applied to the vehicle side:

[0091] Step S402, determining the current vehicle action information of the vehicle in real time.

[0092] Specifically, the vehicle can obtain its corresponding vehicle behavior information through the vehicle equipment set therein. The vehicle behavior information can be information used to characterize the vehicle traveling on the road, such as: real-time location, navigation route, vehicle speed, etc.

[0093] As an optional implementation, as in the aforementioned method, the step S402 of determining the current vehicle motion information of the vehicle in real time may include the following steps: obtaining the vehicle positioning information and the navigation route of the vehicle in real time. The vehicle positioning information may be the vehicle GPS positioning position or Beidou positioning position obtained in real time; when the vehicle drives an unmarked navigation route for the first time, it is necessary to turn on the driving navigation, and the vehicle will automatically lock and mark the intersection without traffic lights on the navigation route, and record the position coordinate information Pci of the intersection without traffic lights (the driving route will be automatically saved and marked later, and there is no need to turn on the navigation again the next time you drive). Optionally, the vehicle side and the pedestrian side can be interconnected in real time through mobile network communication, and can receive and receive the issuer's motion information, vehicle motion information, location information of the intersection without traffic lights, and time information of arrival at the intersection without traffic lights in real time during the data detection and calculation stage and the judgment and reminder stage.

[0094] Step S404, when it is determined according to the vehicle movement information that the vehicle meets the anti-collision detection requirements, the vehicle passing time information is determined based on the vehicle movement information, and the data receiving task is performed, wherein the anti-collision detection requirements include: there is a traffic light-free intersection within a preset second range of the vehicle, and the vehicle passing time information includes: the driving time from the vehicle to the nearest target traffic light-free intersection.

[0095] Specifically, after determining the vehicle movement information, all intersections within the second range centered on the vehicle can be judged, and then among all the intersections, the intersections without traffic lights that are not set with traffic lights can be determined. In addition, when there is an intersection without traffic lights within the second range of the vehicle, it is determined that the vehicle meets the anti-collision detection requirements. The second range can be the anti-collision detection distance safety threshold Rc set by the driver through the vehicle computer according to the navigation route. The vehicle will calculate the route distance Sc from the current position of the vehicle to the next intersection without traffic lights based on the navigation route. If Sc is greater than Rc, it is considered that the vehicle is far away from the next intersection without traffic lights, and the vehicle will not pass through the intersection without traffic lights for a long period of time. It is determined that the vehicle does not meet the anti-collision detection requirements, and there is no need to perform the data receiving task, and then there is no need to perform the subsequent judgment process, so as to save vehicle computer computing resources. When it is determined that the vehicle meets the anti-collision detection requirements, the vehicle passing time information can be determined based on the vehicle movement information. The vehicle passing time information includes the driving time from the vehicle to the nearest target intersection without traffic lights in the navigation route, that is, the driving time refers to the time required for the vehicle to travel from the current position to the target intersection without traffic lights.

[0096] When it is determined that the vehicle meets the anti-collision detection requirements, it is necessary not only to determine the driving time of the vehicle itself to the target intersection without traffic lights, but also to determine whether there are other pedestrians who need to pass through the target intersection without traffic lights in order to achieve the purpose of true collision avoidance. Therefore, the vehicle side also performs a data receiving task to obtain pedestrian passing time information from the pedestrian side.

[0097] In some optional implementations, the determination that the vehicle meets the anti-collision detection requirements according to the vehicle action information in the aforementioned step S404 can be implemented by the following steps: determining the third intersection without traffic lights on the navigation route, wherein the target intersection without traffic lights includes the third intersection without traffic lights; determining the fourth intersection without traffic lights closest to the vehicle according to the vehicle positioning information, wherein the target intersection without traffic lights includes the fourth intersection without traffic lights; and determining that the vehicle meets the anti-collision detection requirements when the third intersection without traffic lights and / or the fourth intersection without traffic lights are within the preset second range. Specifically, when the vehicle navigates according to a new navigation route for the first time, the navigation route is turned on, so that the intersection without traffic lights protection on the navigation route can be locked and marked as the third intersection without traffic lights, and the GPS position coordinate information Pci of the third intersection without traffic lights is recorded. Optionally, the navigation route can be automatically saved and marked, and the navigation does not need to be turned on again when navigating according to the navigation route again next time. After obtaining the vehicle positioning information, the fourth intersection without traffic lights that is closest to the vehicle among all intersections without traffic lights can be determined based on the vehicle positioning information. Optionally, when the fourth intersection without traffic lights is on the navigation route, the fourth intersection without traffic lights is the third intersection without traffic lights. When the fourth intersection without traffic lights is not on the navigation route, the fourth intersection without traffic lights is the closest intersection without traffic lights to the vehicle. Considering the possibility that the driver may change the driving route at any time when driving the vehicle, the vehicle side determines that the vehicle meets the anti-collision detection requirements when the third intersection without traffic lights and / or the fourth intersection without traffic lights are within the preset second range, so as to achieve the purpose of data screening, so as to better detect the intersections without traffic lights that the vehicle may pass through and save the computing resources of the vehicle computer to the greatest extent. The specific method is as follows: before each vehicle driving, the driver sets the anti-collision detection distance safety threshold Rc (i.e., the preset second range) through the vehicle computer, and the vehicle will calculate the distance between the current position of the vehicle and the following according to the navigation route. The route distance Sc of an intersection without a traffic light (i.e., the third intersection without a traffic light and / or the fourth intersection without a traffic light), if Sc is greater than Rc, it is considered that the vehicle is far away from the next intersection without a traffic light, and the vehicle will not pass through the intersection without a traffic light for a long period of time, and there is no need to perform subsequent data calculation and transmission and reception to save vehicle-computer computing resources; if Sc is less than or equal to Rc, it is considered that the vehicle is close to the next intersection without a traffic light, and there is a risk of collision with pedestrians. The vehicle side is verified through the data screening stage, and the vehicle-computer side needs to perform subsequent data processing operations and finally remind the people in the vehicle.

[0098] As an optional implementation, when it is determined that the vehicle meets the anti-collision detection requirements, the vehicle passing time information based on the vehicle action information in the aforementioned step S404 can be implemented by the following method: the driving distance between the vehicle and the target intersection without traffic lights is divided by the speed of the vehicle to obtain a third duration; the vehicle passing time information is determined based on the third duration and the target intersection without traffic lights; the vehicle passing time information is sent to the outside. That is to say, for any determined vehicle, the vehicle end determines the driving distance between the vehicle and the target intersection without traffic lights based on the real-time GPS position information and navigation information of the vehicle machine, and then the third duration Tca (unit: s) can be obtained by dividing the driving distance by the speed of the vehicle. After obtaining the third duration, a corresponding relationship between the third duration and the target intersection without traffic lights can be established, and the vehicle passing time information can be obtained, so that the vehicle passing time information can be determined: a vehicle will arrive at the target intersection without traffic lights at the moment of the current third duration. Furthermore, the vehicle passing time information can be sent to the outside so that nearby pedestrians who are about to pass the target intersection without traffic lights can understand that there is a collision risk at the target intersection without traffic lights, and thus need to be careful when passing the target intersection without traffic lights. Furthermore, the third duration can be the driving distance combined with the vehicle's driving speed / acceleration, and the real-time driving time to the next intersection without traffic light protection can be calculated in real time through the vehicle kinematic model. The vehicle's vehicle passing time information will be stored and updated in real time at the local end of the vehicle, and the above vehicle passing time information will be sent in real time to pedestrians around the vehicle who have passed the data screening stage through the mobile network and combined with V2P technology.

[0099] Step S406, when the pedestrian passing time information from the pedestrian is obtained through the data receiving task, an anti-collision strategy for preventing a collision between the vehicle and the pedestrian is determined based on the vehicle passing time information and the pedestrian passing time information, wherein the pedestrian passing time information includes: the walking time of the pedestrian to the target intersection without traffic lights.

[0100] That is to say, after the vehicle side starts the data receiving task, when there are pedestrians who are about to pass through the target intersection without traffic lights, the pedestrian passing time information sent by the pedestrian can be obtained, and the pedestrian passing time information includes: the walking time of the pedestrian to the target intersection without traffic lights, and further, it can also include the time when the pedestrian arrives at the starting point and the end point of the target intersection without traffic lights, that is, Tpas and Tpae. Optionally, the vehicle side receives the walking time of all pedestrians around the pedestrian who have passed the data screening stage (that is, there are anti-collision detection requirements) to arrive at the same target intersection without traffic lights through the mobile network by executing the data receiving task. Preferably, when there are multiple pedestrians, the sorting algorithm can be used to identify the earliest pedestrian to arrive at the target intersection without traffic lights. The time when the pedestrian arrives at the starting point and the end point of the intersection are Tpasmin and Tpaemin, respectively, and the time is calculated and updated in real time.

[0101] After obtaining the pedestrian passing time information, it can be combined with the vehicle passing time information to determine the time relationship between the pedestrian and the vehicle passing the target intersection without traffic lights, so as to determine the anti-collision strategy for preventing the pedestrian and the vehicle from colliding. Optionally, when the time relationship indicates that the time difference between the two is large (for example, exceeding a preset time difference), it can be determined that the anti-collision strategy does not need to remind the pedestrian that there is a collision risk. Conversely, when the time relationship indicates that the time difference between the two is small (for example, within a preset time difference), it can be determined that the anti-collision strategy needs to remind the pedestrian that there is a collision risk.

[0102] like Figure 5 As shown, as an optional implementation, the above step S406 can be implemented by the following steps, which include:

[0103] Step S502, based on the vehicle passing time information and the pedestrian passing time information, when it is determined that the time interval between the moment when the vehicle passes the target intersection without traffic lights and the time interval when the earliest pedestrian passes the target intersection without traffic lights is within the target time difference range, an anti-collision strategy for reminding the vehicle that there is a collision risk is determined, wherein the earliest pedestrian is the pedestrian who arrives at the target intersection without traffic lights earliest among all pedestrians corresponding to the pedestrian passing time information.

[0104] Specifically, the time interval may be an interval between the second time length and the first time length. For example, for any pedestrian, when the first time length is Tpas and the second time length is Tpae, the time interval may be [Tpas, Tpae], which indicates that the pedestrian is crossing the target intersection without traffic lights between the current time Tpas and Tpae. Since the time for vehicles to pass through the intersection is very fast, the vehicle passing time information may only include the time Tca when the vehicle passes the target intersection without traffic lights. When the time when the earliest pedestrian arrives at the starting point and the end point of the target intersection without traffic lights are Tpasmin and Tpaemin respectively, the time interval when the pedestrian passes the target intersection without traffic lights and the time when the vehicle passes the target intersection without traffic lights may include the following situations within the preset time difference range:

[0105] If Tpasmin–Tca≤0s&Tpaemin–Tca>T3, that is, the target time difference range is Tpasmin≤Tca<Tpaemin-T3. Taking T3 as 2s as an example, the current driving time of the vehicle to the target intersection without traffic lights is later than the walking time of the earliest pedestrian to the starting point of the target intersection without traffic lights, and the current time when the vehicle arrives at the target intersection without traffic lights is 2s earlier than the driving time when the earliest pedestrian arrives at the end of the target intersection without traffic lights, that is, when the vehicle is crossing the road, there will be pedestrians walking through the intersection. It is believed that the current vehicle has a collision risk with pedestrians at the intersection without traffic lights, and then an anti-collision strategy for reminding the vehicle of the collision risk can be determined. The vehicle terminal issues a voice prompt to the vehicle: You are currently approaching an intersection without traffic lights and there is a collision risk with pedestrians. Please remain highly vigilant, pay attention to pedestrians at the intersection, and be careful when passing the intersection. In addition, the relevant warning information is transmitted to the adjacent vehicles behind through V2V technology to achieve information sharing.

[0106] Step S504, when it is determined that the time interval between the time when the vehicle passes the target intersection without traffic lights and the time when the earliest pedestrian passes the target intersection without traffic lights is not within the target time difference range, determine an anti-collision strategy that does not require a reminder of the vehicle's collision risk.

[0107] (1) If Tpasmin-Tca>T4, T4 can be a longer duration, for example, 5s, 4s, 6s, etc. For example, T4 is 5s, that is, the current driving time of the vehicle to the intersection without traffic lights is 5s faster than the earliest walking time to the starting point of the intersection without traffic lights, that is, the first pedestrian (i.e., the earliest pedestrian) will pass the starting point of the target intersection without traffic lights 5s after the vehicle has completely passed the intersection without traffic lights according to the current driving method, and the car will pass the intersection before the pedestrian. It can be considered that the current vehicle has a very low risk of colliding with pedestrians at the intersection without traffic lights, and an anti-collision strategy is determined that does not require reminding the vehicle of the risk of collision. For example, the vehicle terminal sends a voice prompt to the vehicle: You are currently approaching the intersection without traffic lights and the risk of collision with pedestrians is low. Please keep the current driving route through the intersection.

[0108] (2) If 0s<Tpasmin–Tca≤T4, the current driving time of the vehicle to the intersection without traffic lights is 0-5s faster than the earliest walking time to the starting point of the intersection without traffic lights, that is, the first pedestrian will pass the starting point of the intersection without traffic lights 0-5s after the vehicle has completely passed the intersection without traffic lights according to the current driving method, and the car will pass the intersection with the pedestrian first. It can be considered that the current vehicle has a low risk of colliding with pedestrians at the intersection without traffic lights, and an anti-collision strategy is determined that does not require reminding the vehicle of the risk of collision. For example, the vehicle terminal sends a voice prompt to the vehicle: You are currently approaching the intersection without traffic lights and the risk of collision with pedestrians is low. Please keep the current driving route through the intersection and pay attention to pedestrians at the intersection.

[0109] (3) If Tpaemin–Tca≤T1, T1 can be a shorter duration, such as 1s, 2s, 3s, etc. For example, T1 is 2s, which means that the current driving time of the vehicle arriving at the intersection without traffic lights is more than 2s later than the earliest driving time of the pedestrian who arrives at the end of the intersection without traffic lights. That is, 2s or more before the vehicle arrives at the intersection without traffic lights according to the current driving route, a pedestrian has already passed the end of the intersection. The pedestrian has crossed the road before the vehicle. It can be considered that the risk of collision between the car and the pedestrian is low at the current moment, and an anti-collision strategy is determined that does not require the vehicle to be reminded of the risk of collision. For example, the vehicle terminal sends a voice prompt to the vehicle: The risk of collision between you and pedestrians is low at the current intersection without traffic lights. Please maintain the current pace and route to pass the intersection, and pay attention to pedestrians at the intersection.

[0110] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0111] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM (Read-Only Memory) / RAM (Random Access Memory), a disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0112] According to another aspect of the embodiments of the present application, a pedestrian and vehicle anti-collision device applied to a pedestrian side for implementing the above-mentioned pedestrian and vehicle anti-collision method applied to a pedestrian side is also provided. Figure 6 is a structural block diagram of an optional pedestrian and vehicle collision avoidance device applied to a pedestrian side according to an embodiment of the present application, such as Figure 6 As shown, the device may include:

[0113] A determination module 61, for determining the current pedestrian action information of the pedestrian in real time;

[0114] The receiving module 62 is used to determine the pedestrian's passing time information based on the pedestrian's action information and perform the data receiving task when it is determined that the pedestrian meets the anti-collision detection requirements according to the pedestrian's action information, wherein the anti-collision detection requirements include: there is a traffic light-free intersection within the preset first range of the pedestrian, and the pedestrian's passing time information includes: the walking time from the pedestrian's action to the nearest target traffic light-free intersection;

[0115] The strategy determination module 63 is used to determine an anti-collision strategy for preventing collisions between pedestrians and vehicles based on the pedestrian passing time information and the vehicle passing time information when the vehicle passing time information is obtained from the vehicle through the data receiving task, wherein the vehicle passing time information includes: the driving time of the vehicle to the target intersection without traffic lights.

[0116] It should be noted that the determination module 61 in this embodiment can be used to execute the above step S202, the receiving module 62 in this embodiment can be used to execute the above step S204, and the policy determination module 63 in this embodiment can be used to execute the above step S206.

[0117] The device in this embodiment, in addition to the above modules, may also include a module for executing any method in any of the above embodiments of the method for avoiding collision between pedestrians and vehicles applied to pedestrians.

[0118] It should be noted that the examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the contents disclosed in the above embodiments. It should be noted that the above modules as part of the device can be run in Figure 1 In the hardware environment shown, it can be implemented by software or by hardware, wherein the hardware environment includes a network environment.

[0119] According to another aspect of an embodiment of the present application, an electronic device for implementing the above-mentioned pedestrian and vehicle collision avoidance method is also provided. The electronic device may be a server, a terminal, or a combination thereof.

[0120] According to another embodiment of the present application, there is also provided an electronic device, including: Figure 7 As shown, the electronic device may include: a processor 1501 , a communication interface 1502 , a memory 1503 and a communication bus 1504 , wherein the processor 1501 , the communication interface 1502 , and the memory 1503 communicate with each other via the communication bus 1504 .

[0121] Memory 1503, used for storing computer programs;

[0122] The processor 1501 is used to implement the following steps when executing the program stored in the memory 1503:

[0123] Step S202: determine the current pedestrian action information of the pedestrian in real time.

[0124] Step S204, when it is determined that the pedestrian meets the anti-collision detection requirements based on the pedestrian's movement information, the pedestrian's passing time information is determined based on the pedestrian's movement information, and the data receiving task is performed, wherein the anti-collision detection requirements include: there is a traffic light-free intersection within the preset first range of the pedestrian, and the pedestrian's passing time information includes: the walking time from the pedestrian to the nearest target traffic light-free intersection.

[0125] Step S206, when the vehicle passing time information is obtained from the vehicle through the data receiving task, an anti-collision strategy for preventing pedestrians from colliding with vehicles is determined based on the pedestrian passing time information and the vehicle passing time information, wherein the vehicle passing time information includes: the driving time of the vehicle to the target intersection without traffic lights.

[0126] Optionally, in this embodiment, the above-mentioned communication bus can be a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The communication interface is used for communication between the above-mentioned electronic device and other devices.

[0127] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0128] As an example, the memory 1503 may include, but is not limited to, the determination module 61, the receiving module 62, and the strategy determination module 63 in the pedestrian and vehicle anti-collision device applied to the pedestrian side, and the determination module 71, the receiving module 72, and the strategy determination module 73 in the pedestrian and vehicle anti-collision device applied to the vehicle side. In addition, it may also include, but is not limited to, other module units in the pedestrian and vehicle anti-collision device applied to the pedestrian side, and other module units in the pedestrian and vehicle anti-collision device applied to the vehicle side, which will not be repeated in this example.

[0129] The above-mentioned processor can be a general-purpose processor, which can include but not be limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; it can also be DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0130] An embodiment of the present application further provides a computer-readable storage medium, the storage medium including a stored program, wherein the method steps of the above method embodiment are executed when the program is run.

[0131] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a ROM, a RAM, a mobile hard disk, a magnetic disk, or an optical disk.

[0132] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0133] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling one or more computer devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.

[0134] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0135] In the several embodiments provided in the present application, it should be understood that the disclosed client can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0136] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution provided in this embodiment.

[0137] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0138] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for preventing collision between pedestrians and vehicles, characterized in that: Applied to pedestrians, including: Determine the pedestrian's current pedestrian movement information in real time; In the case where it is determined according to the pedestrian action information that the pedestrian meets the anti-collision detection requirements, the pedestrian passing time information is determined based on the pedestrian action information, and a data receiving task is performed, wherein the anti-collision detection requirements include: there is a traffic light-free intersection within the preset first range of the pedestrian, and the pedestrian passing time information includes: the walking time of the pedestrian to the nearest target traffic light-free intersection; When the vehicle passing time information is obtained from the vehicle through the data receiving task, an anti-collision strategy for preventing the pedestrian from colliding with the vehicle is determined based on the pedestrian passing time information and the vehicle passing time information, wherein the vehicle passing time information includes: the driving time of the vehicle to the target intersection without traffic lights.

2. The method according to claim 1, characterized in that: The real-time determination of the pedestrian's current pedestrian action information includes: Acquire the pedestrian positioning information of the pedestrian and the walking route of the pedestrian in real time; The determining, according to the pedestrian action information, that the pedestrian meets the anti-collision detection requirement includes: Determine a first intersection without a traffic light on the walking route, wherein the target intersection without a traffic light includes the first intersection without a traffic light; Determine, according to the pedestrian positioning information, a second intersection without a traffic light that is closest to the pedestrian, wherein the target intersection without a traffic light includes the second intersection without a traffic light; When it is determined that the first intersection without traffic lights and / or the second intersection without traffic lights is within the preset first range, it is determined that the pedestrian meets the anti-collision detection requirement.

3. The method according to claim 1, characterized in that: The determining of the pedestrian passing time information based on the pedestrian action information includes: Determine the walking speed of the pedestrian according to the walking step length of the pedestrian and the step frequency in the pedestrian action information; A first duration is obtained by dividing a first distance between the pedestrian and a starting point of a target intersection without traffic lights by the walking speed, and a second duration is obtained by dividing a second distance between the pedestrian and an end point of the target intersection without traffic lights by the walking speed; Determining the pedestrian passing time information according to the first duration, the second duration, and the target intersection without traffic lights; The pedestrian passing time information is sent to the outside.

4. The method according to claim 1, characterized in that The determining of the anti-collision strategy for preventing the pedestrian from colliding with the vehicle based on the pedestrian passing time information and the vehicle passing time information includes: Based on the pedestrian passing time information and the vehicle passing time information, when it is determined that the time interval of the pedestrian passing the target intersection without traffic lights and the time when the earliest vehicle passes the target intersection without traffic lights are within a preset time difference range, a collision avoidance strategy for reminding the pedestrian that there is a collision risk is determined, wherein the earliest vehicle is the vehicle that arrives at the target intersection without traffic lights earliest among the vehicles corresponding to the passing time information of all vehicles; When it is determined that the time interval of the pedestrian passing the target intersection without traffic lights and the time when the earliest vehicle passes the target intersection without traffic lights are not within the preset time difference range, an anti-collision strategy is determined that does not require the pedestrian to be reminded of the risk of collision.

5. The method according to claim 1, characterized in that: The obtaining of the vehicle passing time information from the vehicle through the data receiving task includes: At the vehicle end, the current vehicle motion information of the vehicle is determined in real time. When it is determined that the vehicle meets the anti-collision detection requirements based on the vehicle motion information, after the vehicle passing time information is determined based on the vehicle motion information, the vehicle passing time information sent by the vehicle end is obtained through the data receiving task, wherein the anti-collision detection requirements include: there is a traffic light-free intersection within a preset second range of the vehicle, and the vehicle passing time information includes: the driving time of the vehicle to the nearest target traffic light-free intersection.

6. The method according to claim 5, characterized in that The vehicle terminal determines the current vehicle action information of the vehicle in real time, including: The vehicle terminal acquires the vehicle positioning information of the vehicle and the navigation route of the vehicle in real time; The vehicle end determines, according to the vehicle action information, that the vehicle meets the anti-collision detection requirement, including: The vehicle terminal determines a third intersection without traffic lights on the navigation route, wherein the target intersection without traffic lights includes the third intersection without traffic lights; The vehicle end determines, according to the vehicle positioning information, a fourth intersection without a traffic light that is closest to the vehicle, wherein the target intersection without a traffic light includes the fourth intersection without a traffic light; The vehicle side determines that the vehicle meets the anti-collision detection requirement when determining that the third intersection without traffic lights and / or the fourth intersection without traffic lights is within the preset second range.

7. The method according to claim 5, characterized in that The vehicle end is further used to determine an anti-collision strategy for preventing the vehicle from colliding with the pedestrian based on the vehicle passing time information and the pedestrian passing time information, including: The vehicle determines, based on the vehicle passing time information and the pedestrian passing time information, that the time interval between the moment when the vehicle passes the target intersection without traffic lights and the earliest pedestrian passing the target intersection without traffic lights is within a target time difference range, and determines an anti-collision strategy for reminding the vehicle that there is a collision risk, wherein the earliest pedestrian is the pedestrian who arrives at the target intersection without traffic lights earliest among all pedestrians corresponding to the pedestrian passing time information; When the vehicle determines that the time interval between the moment when the vehicle passes the target intersection without traffic lights and the time when the earliest pedestrian passes the target intersection without traffic lights is not within the target time difference range, the vehicle determines an anti-collision strategy that does not require reminding the vehicle of the risk of collision.

8. A pedestrian and vehicle anti-collision device, characterized in that: Applied to pedestrians, including: A determination module, used to determine the current pedestrian action information of the pedestrian in real time; A receiving module, configured to determine the pedestrian's passing time information based on the pedestrian's action information, and perform a data receiving task, when it is determined that the pedestrian meets the anti-collision detection requirements according to the pedestrian's action information, wherein the anti-collision detection requirements include: there is a traffic light-free intersection within a preset first range of the pedestrian, and the pedestrian's passing time information includes: the walking time of the pedestrian to the nearest target traffic light-free intersection; A strategy determination module is used to determine an anti-collision strategy for preventing the pedestrian from colliding with the vehicle based on the pedestrian passing time information and the vehicle passing time information when the vehicle passing time information is obtained from the vehicle through the data receiving task, wherein the vehicle passing time information includes: the driving time of the vehicle to the target intersection without traffic lights.

9. An electronic device comprising a processor, a communication interface, a memory and a communication bus, wherein: The processor, the communication interface and the memory communicate with each other via the communication bus, wherein: The memory is used to store computer programs; The processor is configured to execute the method according to any one of claims 1 to 7 by running the computer program stored in the memory.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the method according to any one of claims 1 to 7 when executed.

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