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

Abstract

The application provides a pedestrian and vehicle anti-collision method and device, an electronic device and a storage medium, wherein the method comprises the following steps: determining the current pedestrian action information of a pedestrian in real time; in the case that it is determined according to the pedestrian action information that the pedestrian meets the anti-collision detection requirement, determining the passing time information of the pedestrian based on the pedestrian action information, and performing a data receiving task; in the case that the vehicle passing time information from a vehicle is obtained through the data receiving task, determining an anti-collision strategy for preventing the pedestrian and the vehicle from colliding based on the passing time information of the pedestrian and the vehicle passing time information. Through the application, the technical problem that the vehicle and pedestrian anti-collision auxiliary mechanism in the related art has high vehicle cost and still has a collision risk is solved.

Description

Technical Field

[0001] This application relates to the field of data processing technology, and in particular to a method and apparatus for pedestrian and vehicle collision avoidance, electronic equipment and storage medium. Background Technology

[0002] Collision avoidance mechanisms between vehicles and pedestrians have always been a key focus in the field of vehicle research. Compared to intersections with traffic lights, the probability of pedestrian-vehicle collisions is significantly higher at intersections without traffic lights, mainly in the following aspects:

[0003] (1) Most pedestrians do not have a strong sense of safety when crossing zebra crossings at intersections without traffic lights, especially the elderly and children, who need to be reminded by others and lack external assistance and intervention mechanisms.

[0004] (2) When pedestrians cross the zebra crossing at intersections without traffic lights, they may hesitate, walk slowly or rush, and their intentions may be easily misunderstood by vehicles. At the same time, pedestrians may not accurately estimate the speed of vehicles, and their driving intentions may be easily misunderstood by pedestrians, which may increase 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] Therefore, it is particularly important to achieve collision prevention for pedestrians and vehicles at intersections without traffic lights. To achieve this goal, the following technical approaches mainly exist:

[0006] (1) By using electronic information technology to actively project virtual zebra crossings and virtual traffic lights at intersections protected by traffic lights and emit buzzers, the real physical world's traffic light protected intersections can be imitated to serve as a warning and reminder to pedestrians. However, this technology relies heavily on modern electronic technologies such as lights and sound control, and most of the virtual zebra crossing signals, traffic light signals, and buzzer signals are actively emitted by the vehicles, which increases the difficulty and cost of vehicle production and manufacturing, and is not conducive to implementation and promotion.

[0007] (2) Real-time perception of intersections without traffic lights is achieved through vehicle LiDAR, millimeter-wave radar, cameras and other sensors, which identify and classify targets such as pedestrians. Pedestrian intentions are identified through prediction algorithms, and vehicle acceleration, deceleration and stopping actions are executed through regulation and control algorithms to achieve pedestrian collision avoidance. However, this technology has high requirements for sensor hardware and algorithms, which increases the cost per vehicle and development manpower. Moreover, external environments such as fog, rain, snow and darkness 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 mechanisms in related technologies suffer from high vehicle costs and still pose a collision risk. Summary of the Invention

[0009] This application provides a method and apparatus for pedestrian and vehicle collision avoidance, an electronic device and a storage medium, to at least solve the technical problem that existing vehicle and pedestrian collision avoidance assistance mechanisms have high vehicle costs and still pose a collision risk.

[0010] According to one aspect of the embodiments of this application, a pedestrian-vehicle collision avoidance method is provided, applied to the pedestrian end, including:

[0011] Real-time determination of pedestrian movement information;

[0012] If the pedestrian is determined to meet the collision avoidance detection requirements based on the pedestrian action information, the pedestrian's passage time information is determined based on the pedestrian action information, and a data receiving task is executed. The collision avoidance detection requirements include: there is an intersection without traffic lights within the pedestrian's preset first range, and the pedestrian's passage time information includes: the walking time of the pedestrian to the nearest target intersection without traffic lights.

[0013] When the vehicle passage time information from the vehicle is obtained through the data receiving task, a collision avoidance strategy is determined based on the pedestrian passage time information and the vehicle passage time information to prevent the pedestrian from colliding with the vehicle. The vehicle passage time information includes the travel time of the vehicle to the target intersection without traffic lights.

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

[0015] Real-time acquisition of pedestrian location information and pedestrian walking routes;

[0016] The step of determining whether a pedestrian meets the collision avoidance detection requirements based on the pedestrian movement information includes:

[0017] Identify the first intersection without traffic lights on the walking route, wherein the target intersection without traffic lights includes the first intersection without traffic lights;

[0018] Based on the pedestrian location information, the second intersection without traffic lights that is closest to the pedestrian is determined, wherein the target intersection without traffic lights includes the second intersection without traffic lights;

[0019] If the first intersection without traffic lights and / or the second intersection without traffic lights are determined to be within the preset first range, then the pedestrian is determined to meet the collision avoidance detection requirements.

[0020] Optionally, as described in the aforementioned method, determining the pedestrian's passing time information based on the pedestrian movement information includes:

[0021] The pedestrian's walking speed is determined based on the pedestrian's stride length and the cadence in the pedestrian's action information.

[0022] The first duration is obtained by dividing the first distance between the pedestrian and the starting point of the target intersection without traffic lights by the walking speed, and the second duration is obtained by dividing the second distance between the pedestrian and the ending point of the target intersection without traffic lights by the walking speed.

[0023] Based on the first duration, the second duration, and the target intersection without traffic lights, the pedestrian crossing time information is determined;

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

[0025] Optionally, as described above, determining a collision avoidance strategy based on the pedestrian passage time information and the vehicle passage time information to prevent a collision between the pedestrian and the vehicle includes:

[0026] Based on the pedestrian passage time information and the vehicle passage time information, if the time interval between the pedestrian passing through the target intersection without traffic lights and the time of the earliest vehicle passing through the target intersection without traffic lights are within a preset time difference range, a collision avoidance strategy is determined to remind the pedestrian of the collision risk. The earliest vehicle is the vehicle that arrives at the target intersection without traffic lights earliest among all vehicles corresponding to the vehicle passage time information.

[0027] If the time interval during which the pedestrian passes through the target intersection without traffic lights is determined to be outside the preset time difference between the time interval during which the earliest vehicle passes through the target intersection without traffic lights, a collision avoidance strategy is determined that does not require alerting the pedestrian to the risk of collision.

[0028] Optionally, as described above, obtaining the vehicle passage time information from the vehicle through the data receiving task includes:

[0029] On the vehicle side, the vehicle's current vehicle movement information is determined in real time. If the vehicle meets the collision avoidance detection requirements based on the vehicle movement information, the vehicle passage time information is determined based on the vehicle movement information. Then, the vehicle passage time information sent by the vehicle side is obtained through the data receiving task. The collision avoidance detection requirements include: there is an intersection without traffic lights within a preset second range of the vehicle. The vehicle passage time information includes: the travel time of the vehicle to the nearest target intersection without traffic lights.

[0030] Optionally, as described above, the vehicle terminal determines the vehicle's current vehicle movement information in real time, including:

[0031] The vehicle terminal obtains the vehicle's location information and navigation route in real time.

[0032] The vehicle terminal determines whether the vehicle meets the collision avoidance detection requirements based on the vehicle movement information, including:

[0033] The vehicle end determines the 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 terminal determines the fourth intersection without traffic lights closest to the vehicle based on the vehicle positioning information, wherein the target intersection without traffic lights includes the fourth intersection without traffic lights.

[0035] If the vehicle determines that the third intersection without traffic lights and / or the fourth intersection without traffic lights are within the preset second range, the vehicle terminal determines that the vehicle meets the collision avoidance detection requirements.

[0036] Optionally, as described above, the vehicle terminal is further configured to determine a collision avoidance strategy to prevent a collision between the vehicle and the pedestrian based on the vehicle passage time information and the pedestrian passage time information, including:

[0037] Based on the vehicle's passage time information and the pedestrian's passage time information, if the time interval between the vehicle's passage time at the target intersection without traffic lights and the time interval between the earliest pedestrian's passage time at the target intersection without traffic lights are within the target time difference range, the vehicle terminal determines a collision avoidance strategy to warn the vehicle of a collision risk. The earliest pedestrian is the pedestrian who arrives at the target intersection without traffic lights earliest among all pedestrians whose passage time information is available.

[0038] If the time interval between the time when the vehicle passes the target intersection without traffic lights and the time interval between the time when the earliest pedestrian passes the target intersection without traffic lights are not within the target time difference range, the vehicle terminal determines a collision avoidance strategy that does not require reminding the vehicle of the collision risk.

[0039] According to another aspect of the embodiments of this application, a pedestrian and vehicle collision avoidance device is also provided, applied to the pedestrian end, comprising:

[0040] The determination module is used to determine the current pedestrian movement information in real time;

[0041] The receiving module is used to determine the pedestrian's passage time information based on the pedestrian's movement information when it is determined that the pedestrian meets the anti-collision detection requirements, and to perform a data receiving task. The anti-collision detection requirements include: there is an intersection without traffic lights within a preset first range of the pedestrian, and the pedestrian passage time information includes: the walking time of the pedestrian to the nearest target intersection without traffic lights.

[0042] The strategy determination module is used to determine a collision avoidance strategy to prevent the pedestrian from colliding with the vehicle based on the pedestrian passing time information and the vehicle passing time information obtained through the data receiving task. The vehicle passing time information includes the travel time of the vehicle to the target intersection without traffic lights.

[0043] According to another aspect of the embodiments of this application, an electronic device is also provided, 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 through the communication bus; wherein the memory is used to store a computer program; and the processor is used to execute the method steps of any of the above embodiments by running the computer program stored in the memory.

[0044] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, wherein a computer program is stored therein, wherein the computer program is configured to execute the method steps of any of the above embodiments when running.

[0045] In this embodiment, the pedestrian's current movement information is determined in real time. If the pedestrian meets the collision avoidance detection requirements based on the movement information, the pedestrian's passage time information is determined based on the movement information, and a data receiving task is executed. The collision avoidance detection requirements include: the existence of a traffic light-free intersection within a preset first range of the pedestrian. The pedestrian passage time information includes: the walking time of the pedestrian to the nearest target traffic light-free intersection. If vehicle passage time information is obtained through the data receiving task, a collision avoidance strategy to prevent collisions between the pedestrian and the vehicle is determined based on the pedestrian passage time information and the vehicle passage time information. The vehicle passage time information includes: the travel time of the vehicle to the target traffic light-free intersection. Since the walking time and vehicle passing time information can be used to determine the walking time and driving time of pedestrians and vehicles from the target intersection without traffic lights, the correlation between the time of appearance of pedestrians and vehicles at the target intersection without traffic lights can be obtained based on the pedestrian passing time and vehicle passing time information. This allows for the determination of the probability of a collision between pedestrians and vehicles, and thus the determination of a collision avoidance strategy to prevent collisions between pedestrians and vehicles. This achieves the technical effect of effectively preventing collisions between vehicles and pedestrians, and solves the technical problems of high vehicle costs and the continued risk of collisions in related technologies. Attached Figure Description

[0046] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0047] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0049] Figure 2 This is a schematic flowchart of an optional pedestrian and vehicle collision avoidance method applied to the pedestrian end according to an embodiment of this application;

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

[0051] Figure 4 This is a schematic flowchart of an optional pedestrian and vehicle collision avoidance method applied to a vehicle according to an embodiment of this application;

[0052] Figure 5 This is a schematic flowchart of another optional pedestrian and vehicle collision avoidance method applied to a vehicle according to an embodiment of this application;

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

[0054] Figure 7 This is a structural block diagram of an optional electronic device according to an embodiment of this application. Detailed Implementation

[0055] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort 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, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0057] According to one aspect of the embodiments of this application, a method for avoiding collisions between pedestrians and vehicles is provided. Optionally, in this embodiment, the above-described method for avoiding collisions between pedestrians and vehicles can be applied to, for example... Figure 1 The hardware environment shown consists of terminal 1402 and server 1404. For example... 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.) to the terminal or clients 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 aforementioned network may include, but is not limited to, at least one of the following: wired network, wireless network. The aforementioned wired network may include, but is not limited to, at least one of the following: wide area network, metropolitan area network, local area network. The aforementioned wireless network may include, but is not limited to, at least one of the following: Wi-Fi (Wireless Fidelity), Bluetooth. The terminal is not limited to PC, mobile phone, tablet computer, etc.

[0059] The pedestrian and vehicle collision avoidance method of this application embodiment can be executed by a server, a terminal, or both. Alternatively, the execution of the pedestrian and vehicle collision avoidance method of this application embodiment by a terminal can be performed by a client installed on it.

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

[0061] Step S202: Determine the current pedestrian movement information 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 movement information through smartphones and other smart mobile devices. Pedestrian movement information can be information that characterizes a pedestrian's movement on the road, such as real-time location, movement route, movement speed, etc.

[0064] As an optional implementation, as described above, step S202, which involves determining the pedestrian's current movement information in real time, may include the following steps: acquiring the pedestrian's location information and walking route in real time. Specifically, the pedestrian location information may be the pedestrian's GPS location or BeiDou location. The pedestrian's walking route may be: when the pedestrian first walks on an unmarked route, walking navigation can be activated, and this navigation route can be identified as the walking route. Furthermore, all intersections without traffic lights along the walking route can be automatically identified, and each intersection without traffic lights can be marked.

[0065] Step S204: If it is determined that the pedestrian meets the collision avoidance detection requirements based on the pedestrian action information, the pedestrian's passage time information is determined based on the pedestrian action information, and the data receiving task is executed. The collision avoidance detection requirements include: there is an intersection without traffic lights within the pedestrian's preset first range, and the pedestrian passage time information includes: the walking time of the pedestrian to the nearest target intersection without traffic lights.

[0066] Specifically, after determining the pedestrian's movement information, the system can analyze all intersections within a first-order radius centered on the pedestrian, and then identify intersections without traffic lights. If an intersection without traffic lights exists within the pedestrian's first-order radius, the pedestrian meets the collision avoidance detection requirements. Once the collision avoidance requirements are met, the pedestrian's transit time information can be determined based on this movement information. This transit time information includes the walking time required for the pedestrian to reach the nearest target intersection without traffic lights; in other words, it refers to the time required for the pedestrian to walk from their current location to the target intersection without traffic lights.

[0067] Once it is determined that the pedestrian meets the collision avoidance detection requirements, it is not only necessary to determine the walking time of the pedestrian 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 terminal also performs a data receiving task in order to obtain vehicle passing time information from vehicles.

[0068] In some optional implementations, the aforementioned step S204, determining whether a pedestrian meets the collision avoidance detection requirements based on pedestrian movement information, can be achieved through the following steps: identifying a first traffic-light-free intersection on the walking route, wherein the target traffic-light-free intersection includes the first traffic-light-free intersection; determining the second traffic-light-free intersection closest to the pedestrian based on pedestrian positioning information, wherein the target traffic-light-free intersection includes the second traffic-light-free intersection; and determining that the pedestrian meets the collision avoidance detection requirements if the first and / or second traffic-light-free intersections are within a preset first range. Specifically, when a pedestrian first walks along a new walking route, pedestrian navigation is activated, thereby locking onto the traffic-light-free protected intersections on the walking route and marking them as the first traffic-light-free intersection, and recording the GPS location coordinates Ppi of the first traffic-light-free intersection. Optionally, the current walking route can be automatically saved and marked, so that navigation does not need to be activated again when walking along the same route again. After obtaining pedestrian location information, the second traffic light-free intersection closest to the pedestrian can be determined based on the pedestrian location information. Optionally, when the second traffic light-free intersection is located on the walking route, the second traffic light-free intersection is the first traffic light-free intersection. When the second traffic light-free intersection is not on the walking route, the second traffic light-free intersection is the traffic light-free intersection closest to the pedestrian. Considering the possibility that pedestrians may change their walking routes and directions at any time, the system on the pedestrian end performs collision avoidance detection if the first and / or second intersections without traffic lights are within a preset first range. This achieves data filtering, better detecting intersections without traffic lights that pedestrians might pass through, and minimizing mobile phone computing resources. The specific method is as follows: Before each walk, the system sets a collision avoidance detection distance safety threshold Rp (i.e., the radius corresponding to the preset first range) on the mobile phone. It then receives a circular area with the pedestrian as the center and a radius of Rp as the aforementioned first range and determines whether there is location information Poi for intersections without traffic lights within this first range. Optionally, if the map does not directly mark the second intersection without traffic lights, the location information Poi is derived from prior GPS location information marked by other pedestrians and vehicles, and the system continuously determines whether Ppi and Poi are within this range. Optionally, this can be specifically achieved by performing the following steps: if the first intersection without traffic lights and / or the second intersection without traffic lights are within a preset first range, determine that the pedestrians meet the collision avoidance detection requirements:

[0069] (1) If both Ppi and Poi fall outside the first range, it is assumed that the current navigation route and the pedestrian's surroundings are far from the intersection without traffic lights. The pedestrian will not pass through the intersection without traffic lights for a long period of time. Therefore, the pedestrian does not meet the collision detection requirements and there is no need to perform data calculation and transmission 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 from the intersection without traffic lights in the navigation route at the current moment, but there is an intersection without traffic lights in the surrounding environment of the pedestrian. In this case, if the pedestrian moves towards Poi, there is a risk of collision between the pedestrian and the vehicle. It can also be determined that the pedestrian meets the collision detection requirements. The smart mobile terminal can remind the pedestrian in the form of vibration and ringing, for example: Please keep the navigation route and 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 time, and there is a risk of collision between the pedestrian and the car. As a result, the pedestrian meets the collision detection requirements. The pedestrian terminal is verified through the data screening stage. The pedestrian smart mobile terminal needs to perform detection calculation, data transmission and reception, judgment and reminder work.

[0072] As an optional implementation, if it is determined that the pedestrian meets the collision avoidance detection requirements, the aforementioned step S204, determining the pedestrian's passage time information based on pedestrian action information, can be achieved by the following method: determining the pedestrian's walking speed according to the pedestrian's stride length and the step frequency in the pedestrian action information; obtaining a first duration by dividing the first distance between the pedestrian and the starting point of the target intersection without traffic lights by the walking speed, and obtaining a second duration by dividing the second distance between the pedestrian and the ending point of the target intersection without traffic lights by the walking speed; determining the pedestrian's passage time information based on the first duration, the second duration, and the target intersection without traffic lights; and sending the pedestrian's passage time information externally. For a given pedestrian, the pedestrian can pre-set their own stride length according to the actual situation and record it as L (unit: cm). The step frequency in the pedestrian action information can be monitored in real time by a smart mobile terminal and recorded as K (unit: times / minute). Then, based on the stride length and step frequency, the pedestrian's walking speed LK / 6000 (unit: meters / second) can be determined. Pedestrians can obtain the real-time walking distance Sps (i.e., the first distance, in meters) from the starting point of the nearest traffic-light-free intersection and the real-time walking distance Spe (i.e., the second distance) from the endpoint of the target traffic-light-free intersection based on the real-time location information and navigation route of their smart mobile terminals. Assuming the pedestrian walks at a constant speed, the theoretical walking time to the starting point of the target traffic-light-free intersection can be calculated in real time as Tpos = 6000 * Sps / L * K (i.e., the first time, in seconds) and the theoretical walking time to the endpoint of the target traffic-light-free intersection as Tpoe = 6000 * Spe / L * K (i.e., the second time, in seconds). Furthermore, the intelligent mobile terminal can also be equipped with a time correction compensation module, which can dynamically update the actual walking time (Tpas, in seconds) and (Tpae, in seconds) of the pedestrian to the starting point and ending point of the target traffic-light-free intersection based on parameters such as the pedestrian's current real-time walking frequency, the distance already walked, and the aforementioned theoretical walking time. After obtaining the first and second durations, a correspondence between these durations and the target traffic-light-free intersection can be established, and the pedestrian's passage time information can be obtained. This information determines that a pedestrian is walking at the target traffic-light-free intersection within the time range between the current first and second durations. This passage time information can also be sent out so that nearby vehicles about to cross the target traffic-light-free intersection are aware of the collision risk and need to drive cautiously.

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

[0074] Step S206: After obtaining vehicle passage time information from the vehicle through the data receiving task, a collision avoidance strategy for preventing collisions between pedestrians and vehicles is determined based on pedestrian passage time information and vehicle passage time information. The vehicle passage time information includes the travel time of the vehicle to the target intersection without traffic lights.

[0075] In other words, after the data receiving task is activated on the pedestrian terminal, when a vehicle is about to pass through the target intersection without traffic lights, the vehicle's transit time information can be obtained. This transit time information includes the vehicle's travel time to the target intersection without traffic lights. Optionally, the mobile terminal executes the data receiving task and receives, via the mobile network, the travel times of all vehicles around the pedestrian that have passed the data filtering stage (i.e., where collision avoidance detection requirements exist) arriving at the same target intersection without traffic lights. Preferably, when there are multiple vehicles, a sorting algorithm can be used to identify the earliest vehicle arriving at the target intersection without traffic lights, whose arrival time is Tcamin, and this time is calculated and updated in real time.

[0076] After obtaining vehicle passage time information, it can be combined with pedestrian passage time information to determine the time relationship between pedestrians and vehicles passing through the target intersection without traffic lights. This allows for the determination of a collision avoidance strategy to prevent collisions between pedestrians and vehicles. Optionally, if the time relationship indicates a large time difference between the two (e.g., exceeding a preset time difference), the collision avoidance strategy can be determined to eliminate the need to warn pedestrians of a collision risk. Conversely, if the time relationship indicates a small time difference between the two (e.g., within a preset time difference), the collision avoidance strategy can be determined to warn pedestrians of a collision risk.

[0077] like Figure 3 As shown, as an optional implementation, the collision avoidance strategy for preventing collisions between pedestrians and vehicles, as described in step S206 above, can be achieved through the following steps:

[0078] Step S302: Based on pedestrian and vehicle passage time information, if the time interval of the pedestrian passing through the target intersection without traffic lights and the time of the earliest vehicle passing through the target intersection without traffic lights are within a preset time difference range, a collision avoidance strategy is determined to remind pedestrians of the risk of collision. The earliest vehicle is the vehicle that arrives at the target intersection without traffic lights earliest among all vehicles corresponding to the passage time information of all vehicles.

[0079] Specifically, this time interval can be the interval between the second duration and the first duration. For example, when the first duration is Tpas and the second duration is Tpae, the time interval can be [Tpas, Tpae], indicating the time between the current time Tpas and Tpae when a pedestrian is crossing the target intersection without traffic lights. Since vehicles cross the intersection very quickly, the earliest vehicle passage time information can only include the time Tcamin when the vehicle passes the target intersection without traffic lights. The time interval between pedestrians crossing the target intersection without traffic lights and the time when vehicles pass the target intersection without traffic lights can include the following situations if the time difference between them is within a preset time range:

[0080] Tcamin–Tpae≤0s&Tcamin–Tpas>T1, that is, the preset time difference range is T1+Tpas<Tcamin<Tpae, where T1 can be a short duration, such as 1s, 2s, 3s, etc. Taking T1 as 2s as an example, it means that the pedestrian's walking time to the destination of the target intersection without traffic lights is later than the earliest vehicle's travel time to the target intersection without traffic lights, and the pedestrian's walking time to the starting point of the target intersection without traffic lights is 2s or more earlier than the earliest vehicle's travel time to the target intersection without traffic lights. In other words, during the pedestrian's crossing of the road, a vehicle will pass through the intersection, and it is considered that there is a risk of collision between the pedestrian and the vehicle at the target intersection without traffic lights. Therefore, the following collision avoidance strategy can be determined to remind the pedestrian of the collision risk. The smart mobile terminal will issue a voice prompt to the pedestrian: "There is a risk of collision between you and a vehicle at the target intersection without traffic lights. Please be highly vigilant, pay attention to the vehicles at the intersection, and cross the intersection carefully."

[0081] Step S304: If the time interval between the pedestrian's passage through the target intersection without traffic lights and the time of the earliest vehicle's passage through the target intersection without traffic lights are not within the preset time difference range, determine a collision avoidance strategy that does not require reminding the pedestrian of the collision risk.

[0082] The time interval during which pedestrians cross the target intersection without traffic lights and the time interval during which vehicles cross the target intersection without traffic lights are not within the preset time difference range can include the following situations:

[0083] (1) If Tcamin–Tpae>T2, where T2 can be 8s, 9s, etc., taking T2 as 10s as an example, it means that the pedestrian's walking time to the end of the target intersection without traffic lights is 10s faster than the earliest vehicle's travel time to the target intersection without traffic lights. That is, the pedestrian will completely cross the target intersection without traffic lights 10s after the first vehicle passes through the intersection 10s later, and the pedestrian will cross 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. Therefore, the following collision avoidance strategy can be determined without reminding the pedestrian of the collision risk. For example, a smart mobile terminal can issue a voice prompt to the pedestrian: "Your risk of collision with the vehicle is low at the target intersection without traffic lights. Please maintain your current walking frequency and route through the intersection."

[0084] (2) If 0s < Tcamin – Tpae ≤ T2, taking T2 as 10s as an example, that is, the walking time of the pedestrian to the end of the target intersection without traffic lights is 0s-10s faster than the travel time of the earliest vehicle to the target intersection without traffic lights. That is, the pedestrian has completely passed the end of the target intersection without traffic lights for 0s-10s before the first vehicle passes the target intersection without traffic lights. It can be considered that the risk of collision between the pedestrian and the vehicle at the target intersection without traffic lights is low. Therefore, the following anti-collision strategy is determined without reminding the pedestrian of the collision risk. The smart mobile terminal sends a reminder to the pedestrian through vibration and voice: The risk of collision between you and the vehicle at the current target intersection without traffic lights is low. Please maintain your current walking frequency and route to pass through the intersection and pay attention to the vehicles at the intersection.

[0085] (3) If Tcamin–Tpas≤T1, taking T1 as 2s as an example, that is, the pedestrian’s walking time to the starting point of the target intersection without traffic lights is more than 2s later than the earliest vehicle’s travel time to the target intersection without traffic lights. That is, 2s 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 already passed the intersection. 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. Therefore, the following anti-collision strategy is determined without reminding the pedestrian of the risk of collision. The smart mobile terminal sends a reminder to the pedestrian through vibration and voice: The risk of collision between you and the vehicle at the current target intersection without traffic lights is low. Please maintain the current walking frequency and route to pass through the intersection and pay attention to the vehicles at the intersection.

[0086] In this embodiment, the pedestrian's current movement information is determined in real time. If the pedestrian meets the collision avoidance detection requirements based on the movement information, the pedestrian's passage time information is determined based on the movement information, and a data receiving task is executed. The collision avoidance detection requirements include: the existence of a traffic light-free intersection within a preset first range of the pedestrian. The pedestrian passage time information includes: the walking time of the pedestrian to the nearest target traffic light-free intersection. If vehicle passage time information is obtained through the data receiving task, a collision avoidance strategy to prevent collisions between the pedestrian and the vehicle is determined based on the pedestrian passage time information and the vehicle passage time information. The vehicle passage time information includes: the travel time of the vehicle to the target traffic light-free intersection. Since the walking time and vehicle passing time information can be used to determine the walking time and driving time of pedestrians and vehicles from the target intersection without traffic lights, the correlation between the time of appearance of pedestrians and vehicles at the target intersection without traffic lights can be obtained based on the pedestrian passing time and vehicle passing time information. This allows for the determination of the probability of a collision between pedestrians and vehicles, and thus the determination of a collision avoidance strategy to prevent collisions between pedestrians and vehicles. This achieves the technical effect of effectively preventing collisions between vehicles and pedestrians, and solves the technical problems of high vehicle costs and the continued risk of collisions in related technologies.

[0087] As an optional implementation, obtaining the vehicle passage time information from the vehicle through the data receiving task includes:

[0088] On the vehicle side, the vehicle's current vehicle movement information is determined in real time. If the vehicle meets the collision avoidance detection requirements based on the vehicle movement information, the vehicle passage time information is determined based on the vehicle movement information. Then, the vehicle passage time information sent by the vehicle side is obtained through the data receiving task. The collision avoidance detection requirements include: there is an intersection without traffic lights within a preset second range of the vehicle. The vehicle passage time information includes: the travel time of the vehicle to the nearest target intersection without traffic lights.

[0089] In other words, the vehicle's current movement information can be determined in real time at the vehicle end. If the vehicle meets the collision avoidance detection requirements based on the movement information, the vehicle's passing time information can be determined based on the movement information. Then, the pedestrian end can obtain the vehicle passing time information sent by the vehicle end through a data receiving task.

[0090] By performing the above steps on the vehicle side to determine the vehicle's current movement information in real time, and based on the vehicle movement information determining that the vehicle meets the collision avoidance detection requirements, and then determining the vehicle's passage time information based on the vehicle movement information, it can be done through methods such as... Figure 4 The steps shown correspond to a method for pedestrian and vehicle collision avoidance applied to the vehicle side:

[0091] Step S402: Determine the vehicle's current movement information in real time.

[0092] Specifically, vehicles can obtain their corresponding vehicle movement information through the in-vehicle infotainment system. This vehicle movement information can be information that characterizes the vehicle's movement on the road, such as real-time location, navigation route, and vehicle speed.

[0093] As an optional implementation, as described above, step S402, determining the vehicle's current movement information in real time, may include the following steps: acquiring the vehicle's location information and navigation route in real time. The vehicle location information may be the real-time acquired GPS or BeiDou positioning location. When the vehicle first travels on an unmarked navigation route, the navigation system needs to be activated. The vehicle will automatically lock onto and mark the intersection without traffic lights on the navigation route, and simultaneously record the location coordinates (Pci) of the intersection (this route will be automatically saved and marked later, so navigation does not need to be activated again for subsequent trips). Optionally, the vehicle and pedestrian terminals can be interconnected in real time via mobile network communication, and during the data detection and calculation phase and the judgment and reminder phase, they can receive and receive pedestrian movement information, vehicle movement information, location information of intersections without traffic lights, and arrival time information of intersections without traffic lights, etc., in real time.

[0094] Step S404: If it is determined that the vehicle meets the collision avoidance detection requirements based on the vehicle movement information, the vehicle passage time information is determined based on the vehicle movement information, and the data receiving task is executed. The collision avoidance detection requirements include: there is an intersection without traffic lights within the vehicle's preset second range, and the vehicle passage time information includes: the travel time of the vehicle to the nearest target intersection without traffic lights.

[0095] Specifically, after determining the vehicle's movement information, the system can analyze all intersections within a second range centered on the vehicle, and then identify intersections without traffic lights. If an intersection without traffic lights exists within the vehicle's second range, the vehicle is deemed to meet the collision avoidance detection requirements. The second range can be defined as the collision avoidance detection distance safety threshold Rc set by the driver according to the navigation route and the vehicle's infotainment system. The vehicle calculates the distance Sc from its current location to the next intersection without traffic lights based on the navigation route. If Sc is greater than Rc, the vehicle is considered too far from the next intersection without traffic lights, and is unlikely to pass through it within a considerable timeframe. Therefore, the vehicle does not meet the collision avoidance detection requirements, and no data reception task is needed, thus saving on the vehicle's computing resources. If the vehicle meets the collision avoidance detection requirements, the vehicle's passage time information can be determined based on its movement information. The vehicle transit time information includes the travel time from the current location to the nearest intersection without traffic lights on the navigation route. In other words, the travel time refers to the time required for the vehicle to travel from its current location to the target intersection without traffic lights.

[0096] Once it is determined that the vehicle meets the collision avoidance detection requirements, it is necessary not only to determine the time it takes for the vehicle to travel to the target intersection without traffic lights, but also to determine whether there are other pedestrians who need to cross the target intersection without traffic lights in order to achieve the purpose of true collision avoidance. Therefore, the vehicle also performs a data receiving task to obtain pedestrian crossing time information from the pedestrian terminal.

[0097] In some optional implementations, the determination that the vehicle meets the collision avoidance detection requirements based on vehicle movement information in step S404 can be achieved through the following steps: identifying a third intersection without traffic lights on the navigation route, wherein the target intersection without traffic lights includes the third intersection without traffic lights; identifying a fourth intersection without traffic lights closest to the vehicle based on vehicle positioning information, wherein the target intersection without traffic lights includes the fourth intersection without traffic lights; and determining that the vehicle meets the collision avoidance detection requirements if the third and / or fourth intersections without traffic lights are within a preset second range. Specifically, when the vehicle first navigates along a new navigation route, the navigation route is activated, thereby locking the intersections without traffic lights on the navigation route and marking them as the third intersection without traffic lights, and recording the GPS location coordinates Pci of the third intersection without traffic lights. Optionally, the current navigation route can be automatically saved and marked, so that navigation does not need to be activated again when navigating along the same route again. After obtaining vehicle location information, the fourth intersection without traffic lights closest to the vehicle can be determined based on this information. Optionally, if the fourth intersection without traffic lights is on the navigation route, it is the third intersection without traffic lights; if it is not on the navigation route, it is the closest intersection without traffic lights to the vehicle. Considering the possibility that the driver may change the driving route at any time, the vehicle side determines whether the vehicle meets the collision avoidance detection requirements when the third and / or fourth intersections without traffic lights are within a preset second range. This achieves the purpose of data filtering, better detecting intersections without traffic lights that the vehicle may pass through, and maximizing the saving of vehicle computing resources. The specific method is as follows: Before each driving, the driver sets the collision avoidance detection distance safety threshold Rc (i.e., the preset second range) through the vehicle system. The vehicle then calculates the distance from the current position to the threshold based on the navigation route. The route distance Sc at a traffic light-free intersection (i.e., the third and / or fourth traffic light-free intersection) is considered to be greater than Rc. If Sc is greater than Rc, the vehicle is considered to be far from the next traffic light-free intersection and will not pass through the intersection for a considerable period of time. Therefore, no further data calculation or transmission is required, thus saving vehicle-mounted computing resources. If Sc is less than or equal to Rc, the vehicle is considered to be close to the next traffic light-free intersection and there is a risk of collision with pedestrians. The vehicle-mounted terminal verifies this through a data filtering stage, while the vehicle-mounted terminal performs subsequent data processing operations and ultimately alerts the people in the vehicle.

[0098] As an optional implementation, if it is determined that the vehicle meets the collision avoidance detection requirements, the vehicle passage time information in step S404 can be determined based on vehicle movement information by the following method: dividing the distance between the vehicle and the target intersection without traffic lights by the vehicle speed to obtain the third duration; determining the vehicle passage time information based on the third duration and the target intersection without traffic lights; and sending the vehicle passage time information externally. In other words, for any given vehicle, the vehicle terminal determines the distance between the vehicle and the target intersection without traffic lights based on the vehicle's real-time GPS location information and navigation information. Then, by dividing this distance by the vehicle speed, the third duration Tca (unit: s) can be obtained. After obtaining the third duration, a correspondence between the third duration and the target intersection without traffic lights can be established, and the vehicle passage time information can be obtained. Therefore, based on the vehicle passage time information, it can be determined that a vehicle will arrive at the target intersection without traffic lights at a time three hours from the current time. Furthermore, the vehicle's transit time information can be sent out to inform pedestrians about the potential collision risk at the target intersection without traffic lights, thus urging them to exercise caution when crossing. Additionally, the third duration can be calculated in real-time using a vehicle kinematics model, combining driving distance with vehicle speed / acceleration, to estimate the distance to the next intersection without traffic lights. The vehicle's transit time information is stored and updated locally on the vehicle and transmitted in real-time to pedestrians near the vehicle who have passed the data screening stage via a mobile network and V2P technology.

[0099] Step S406: After obtaining pedestrian passing time information from pedestrians through the data receiving task, a collision avoidance strategy is determined based on vehicle passing time information and pedestrian passing time information to prevent collisions between vehicles and pedestrians. The pedestrian passing time information includes the walking time of the pedestrian to the target intersection without traffic lights.

[0100] In other words, after the vehicle starts the data receiving task, when a pedestrian is about to cross the target intersection without traffic lights, the vehicle can obtain the pedestrian's passing time information. This pedestrian passing time information includes the walking time of the pedestrian from the target intersection to the target intersection without traffic lights. Furthermore, it can also include the time of the pedestrian's arrival at the starting point and ending point of the target intersection without traffic lights, i.e., Tpas and Tpae. Optionally, the vehicle executes the data receiving task and receives the walking time of all pedestrians around the pedestrian who have passed the data filtering stage (i.e., there is a collision avoidance detection requirement) arriving at the same target intersection without traffic lights through the mobile network. Preferably, when there are multiple pedestrians, a sorting algorithm can be used to identify the earliest pedestrian to arrive at the target intersection without traffic lights, whose arrival time at the starting point and ending point of the intersection is Tpasmin and Tpaemin, respectively, and this time is calculated and updated in real time.

[0101] After obtaining pedestrian passage time information, it can be combined with vehicle passage time information to determine the time relationship between pedestrians and vehicles passing through the target intersection without traffic lights. This allows for the determination of a collision avoidance strategy to prevent collisions between pedestrians and vehicles. Optionally, if the time relationship indicates a large time difference between the two (e.g., exceeding a preset time difference), the collision avoidance strategy can be determined to eliminate the need to warn pedestrians of a collision risk. Conversely, if the time relationship indicates a small time difference between the two (e.g., within a preset time difference), the collision avoidance strategy can be determined to warn pedestrians of a collision risk.

[0102] like Figure 5 As shown, as an optional implementation, the aforementioned step S406, determining a collision avoidance strategy to prevent collisions between vehicles and pedestrians based on vehicle passage time information and pedestrian passage time information, can be achieved through the following steps:

[0103] Step S502: Based on the vehicle passage time information and pedestrian passage time information, if the time interval between the vehicle passing through the target intersection without traffic lights and the earliest pedestrian passing through the target intersection without traffic lights is within the target time difference range, a collision avoidance strategy is determined to remind the vehicle of the collision risk. The earliest pedestrian is the pedestrian who arrives at the target intersection without traffic lights earliest among all pedestrians whose passage time information is provided.

[0104] Specifically, this time interval can be the interval between the second duration and the first duration. For example, for any pedestrian, when the first duration is Tpas and the second duration is Tpae, the time interval can be [Tpas, Tpae], indicating that the pedestrian is crossing the target intersection without traffic lights between the current time Tpas and Tpae. Since vehicles pass through the intersection very quickly, the vehicle passage time information can only include the time Tca when the vehicle passes through the target intersection without traffic lights. When the earliest pedestrian arrives at the starting point and ending point of the target intersection without traffic lights at times Tpasmin and Tpaemin, respectively, the time interval between the pedestrian crossing the target intersection without traffic lights and the time when the vehicle passes through the target intersection without traffic lights can include the following situations within the preset time difference range:

[0105] If Tpasmin–Tca≤0s&Tpaemin–Tca>T3, meaning the target time difference range is Tpasmin≤Tca<Tpaemin-T3, taking T3 as 2s as an example, the vehicle's current arrival time at the target intersection without traffic lights is later than the earliest pedestrian's walking time at the starting point of the intersection, and the vehicle's current arrival time at the target intersection without traffic lights is 2s earlier than the earliest pedestrian's arrival time at the endpoint of the intersection. This means that during the vehicle's crossing, a pedestrian will be crossing the intersection, indicating a potential collision risk. Therefore, a collision avoidance strategy can be determined to warn the vehicle of this risk. The vehicle's infotainment system will issue a voice warning: "There is a risk of collision with pedestrians at the upcoming intersection without traffic lights. Please remain highly vigilant, observe pedestrians at the intersection, and cross with caution." Furthermore, the relevant warning information will be transmitted to nearby vehicles via V2V technology for information sharing.

[0106] Step S504: If the time interval between the time when the vehicle passes through the target intersection without traffic lights and the time interval between the earliest time when the pedestrian passes through the target intersection without traffic lights are not within the target time difference range, determine a collision avoidance strategy that does not require reminding the vehicle of the collision risk.

[0107] (1) If Tpasmin-Tca>T4, where T4 can be a relatively long duration, such as 5s, 4s, 6s, etc., taking T4 as 5s as an example, it means that the vehicle's travel time to the intersection without traffic lights is 5s faster than the earliest walking time to the starting point of the intersection without traffic lights. In other words, the first pedestrian (i.e., the earliest pedestrian) will cross the starting point of the intersection 5s after the vehicle has completely passed through the intersection without traffic lights. The car will cross the intersection before the pedestrian. It can be assumed that the risk of collision between the vehicle and the pedestrian at the intersection without traffic lights is extremely low. Therefore, a collision avoidance strategy that does not require reminding the vehicle of the collision risk can be determined. For example, the vehicle's infotainment system can issue a voice prompt to the vehicle: "The risk of collision between you and the pedestrian is low at the upcoming intersection without traffic lights. Please continue driving through the intersection on your current route."

[0108] (2) If 0s < Tpasmin – Tca ≤ T4, meaning the vehicle's travel time to the intersection without traffic lights is 0-5s faster than the earliest walking time to the intersection's starting point, then the first pedestrian will cross the intersection 0-5s after the vehicle has completely passed through. The car and pedestrian will cross the intersection first. Therefore, the risk of collision between the vehicle and pedestrian at this intersection is considered low. A collision avoidance strategy that does not require warning the vehicle of a potential collision risk can be determined. For example, the vehicle's infotainment system could issue a voice prompt: "The risk of collision with pedestrians at this intersection is low. Please continue driving along the current route through the intersection and pay attention to pedestrians."

[0109] (3) If Tpaemin–Tca≤T1, T1 can be a short duration, such as 1s, 2s, 3s, etc. Taking T1 as 2s as an example, it means that the driving time of the vehicle to the intersection without traffic lights is more than 2s later than the time of the earliest pedestrian to reach the end of the intersection without traffic lights. That is, 2s or more before the vehicle reaches the intersection without traffic lights according to the current driving route, the pedestrian has already crossed 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. A collision avoidance strategy that does not need to remind the vehicle of the risk of collision can be determined. For example, the vehicle terminal can issue a voice prompt to the vehicle: The risk of collision between you and the pedestrian at the intersection without traffic lights is low. Please maintain the current walking frequency and route through the intersection and pay attention to the pedestrians at the intersection.

[0110] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

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

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

[0113] Module 61 is used to determine the current pedestrian movement information in real time;

[0114] The receiving module 62 is used to determine the pedestrian's passage time information based on the pedestrian's movement information when it is determined that the pedestrian meets the anti-collision detection requirements, and to perform a data receiving task. The anti-collision detection requirements include: there is an intersection without traffic lights within the pedestrian's preset first range, and the pedestrian passage time information includes: the walking time of the pedestrian to the nearest target intersection without traffic lights.

[0115] The strategy determination module 63 is used to determine a collision avoidance strategy to prevent collisions between pedestrians and vehicles based on the pedestrian passing time information and the vehicle passing time information obtained from the vehicle passing time information obtained through the data receiving task. The vehicle passing time information includes the travel time of the vehicle to the target intersection without traffic lights.

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

[0117] In addition to the modules described above, the apparatus in this embodiment may also include modules that perform any of the methods described in any of the aforementioned embodiments of pedestrian and vehicle collision avoidance methods 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 content disclosed in the above embodiments. It should also be noted that the above modules, as part of a device, can operate in environments such as... Figure 1 The hardware environment shown can be implemented through software or hardware, and the hardware environment includes the network environment.

[0119] According to another aspect of the embodiments of this application, an electronic device for implementing the above-described 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 this application, an electronic device is also provided, comprising: 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 through the communication bus 1504.

[0121] Memory 1503 is used to store computer programs;

[0122] When processor 1501 executes the program stored in memory 1503, it performs the following steps:

[0123] Step S202: Determine the current pedestrian movement information in real time.

[0124] Step S204: If it is determined that the pedestrian meets the collision avoidance detection requirements based on the pedestrian action information, the pedestrian's passage time information is determined based on the pedestrian action information, and the data receiving task is executed. The collision avoidance detection requirements include: there is an intersection without traffic lights within the pedestrian's preset first range, and the pedestrian passage time information includes: the walking time of the pedestrian to the nearest target intersection without traffic lights.

[0125] Step S206: After obtaining vehicle passage time information from the vehicle through the data receiving task, a collision avoidance strategy for preventing collisions between pedestrians and vehicles is determined based on pedestrian passage time information and vehicle passage time information. The vehicle passage time information includes the travel time of the vehicle to the target intersection without traffic lights.

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

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

[0128] As an example, the memory 1503 described above may include, but is not limited to, the determining module 61, receiving module 62, and strategy determining module 63 in the pedestrian and vehicle collision avoidance device applied to the pedestrian end, and the determining module 71, receiving module 72, and strategy determining module 73 in the pedestrian and vehicle collision avoidance device applied to the vehicle end. Furthermore, it may include, but is not limited to, other module units in the pedestrian and vehicle collision avoidance device applied to the pedestrian end, and other module units in the pedestrian and vehicle collision avoidance device applied to the vehicle end, which will not be elaborated further in this example.

[0129] The processors mentioned above can be general-purpose processors, including but not limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; they 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, or discrete hardware components.

[0130] This application also provides a computer-readable storage medium, which includes a stored program, wherein the program executes the method steps of the above method embodiments when it runs.

[0131] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, ROMs, RAMs, portable hard drives, magnetic disks, or optical disks.

[0132] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0133] If the integrated units in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in the aforementioned computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, 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. This computer software product is stored in a storage medium and includes several instructions to cause 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 this application.

[0134] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0135] In the several embodiments provided in this application, it should be understood that the disclosed client can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection between units or modules, and may be electrical or other forms.

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

[0137] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0138] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for preventing collisions between pedestrians and vehicles, characterized in that, Applications for pedestrians include: Real-time determination of pedestrian movement information; If the pedestrian is determined to meet the collision avoidance detection requirements based on the pedestrian action information, the pedestrian's passage time information is determined based on the pedestrian action information, and a data receiving task is executed. The collision avoidance detection requirements include: there is an intersection without traffic lights within the pedestrian's preset first range, and the pedestrian's passage time information includes: the walking time of the pedestrian to the nearest target intersection without traffic lights. When the vehicle passage time information from the vehicle is obtained through the data receiving task, a collision avoidance strategy is determined based on the pedestrian passage time information and the vehicle passage time information to prevent the pedestrian from colliding with the vehicle. The vehicle passage time information includes the travel time of the vehicle to the target intersection without traffic lights. The real-time determination of pedestrians' current movement information includes: Real-time acquisition of pedestrian location information and pedestrian walking routes; The step of determining whether a pedestrian meets the collision avoidance detection requirements based on the pedestrian movement information includes: Identify the first intersection without traffic lights on the walking route, wherein the target intersection without traffic lights includes the first intersection without traffic lights; Based on the pedestrian location information, the second intersection without traffic lights that is closest to the pedestrian is determined, wherein the target intersection without traffic lights includes the second intersection without traffic lights; If the first intersection without traffic lights and / or the second intersection without traffic lights are determined to be within the preset first range, the pedestrian is determined to meet the collision avoidance detection requirements, wherein the first range is a circular range with the pedestrian as the center and the radius being the distance safety threshold.

2. The method according to claim 1, characterized in that, The step of determining the pedestrian's passing time information based on the pedestrian movement information includes: The pedestrian's walking speed is determined based on the pedestrian's stride length and the cadence in the pedestrian's action information. The first duration is obtained by dividing the first distance between the pedestrian and the starting point of the target intersection without traffic lights by the walking speed, and the second duration is obtained by dividing the second distance between the pedestrian and the ending point of the target intersection without traffic lights by the walking speed. Based on the first duration, the second duration, and the target intersection without traffic lights, the pedestrian crossing time information is determined; The pedestrian passing time information is sent to the outside world.

3. The method according to claim 1, characterized in that, The collision avoidance strategy determined based on the pedestrian passing time information and the vehicle passing time information to prevent collisions between the pedestrian and the vehicle includes: Based on the pedestrian passage time information and the vehicle passage time information, if the time interval between the pedestrian passing through the target intersection without traffic lights and the time of the earliest vehicle passing through the target intersection without traffic lights are within a preset time difference range, a collision avoidance strategy is determined to remind the pedestrian of the collision risk. The earliest vehicle is the vehicle that arrives at the target intersection without traffic lights earliest among all vehicles corresponding to the vehicle passage time information. If the time interval during which the pedestrian passes through the target intersection without traffic lights is determined to be outside the preset time difference between the time interval during which the earliest vehicle passes through the target intersection without traffic lights, a collision avoidance strategy is determined that does not require alerting the pedestrian to the potential collision risk.

4. The method according to claim 1, characterized in that, The process of obtaining vehicle transit time information from the vehicle through the data receiving task includes: On the vehicle side, the vehicle's current vehicle movement information is determined in real time. If the vehicle meets the collision avoidance detection requirements based on the vehicle movement information, the vehicle passage time information is determined based on the vehicle movement information. Then, the vehicle passage time information sent by the vehicle side is obtained through the data receiving task. The collision avoidance detection requirements include: there is an intersection without traffic lights within a preset second range of the vehicle. The vehicle passage time information includes: the travel time of the vehicle to the nearest target intersection without traffic lights.

5. The method according to claim 4, characterized in that, The vehicle terminal determines the vehicle's current movement information in real time, including: The vehicle terminal obtains the vehicle's location information and navigation route in real time. The vehicle terminal determines whether the vehicle meets the collision avoidance detection requirements based on the vehicle movement information, including: The vehicle end determines the 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 terminal determines the fourth intersection without traffic lights closest to the vehicle based on the vehicle positioning information, wherein the target intersection without traffic lights includes the fourth intersection without traffic lights. If the vehicle determines that the third intersection without traffic lights and / or the fourth intersection without traffic lights are within the preset second range, the vehicle terminal determines that the vehicle meets the collision avoidance detection requirements.

6. The method according to claim 4, characterized in that, The vehicle terminal is also used to determine a collision avoidance strategy to prevent the vehicle from colliding with the pedestrian based on the vehicle's passage time information and the pedestrian's passage time information, including: Based on the vehicle's passage time information and the pedestrian's passage time information, if the time interval between the vehicle's passage time at the target intersection without traffic lights and the time interval between the earliest pedestrian's passage time at the target intersection without traffic lights are within the target time difference range, the vehicle terminal determines a collision avoidance strategy to warn the vehicle of a collision risk. The earliest pedestrian is the pedestrian who arrives at the target intersection without traffic lights earliest among all pedestrians whose passage time information is available. If the time interval between the time when the vehicle passes the target intersection without traffic lights and the time interval between the time when the earliest pedestrian passes the target intersection without traffic lights are not within the target time difference range, the vehicle terminal determines a collision avoidance strategy that does not require reminding the vehicle of the collision risk.

7. A pedestrian and vehicle collision avoidance device, characterized in that, Applications for pedestrians include: The determination module is used to determine the current pedestrian movement information in real time; The receiving module is used to determine the pedestrian's passage time information based on the pedestrian's movement information when it is determined that the pedestrian meets the anti-collision detection requirements, and to perform a data receiving task. The anti-collision detection requirements include: there is an intersection without traffic lights within a preset first range of the pedestrian, and the pedestrian passage time information includes: the walking time of the pedestrian to the nearest target intersection without traffic lights. The strategy determination module is used to determine a collision avoidance strategy to prevent the pedestrian from colliding with the vehicle based on the pedestrian passing time information and the vehicle passing time information obtained through the data receiving task. The vehicle passing time information includes the travel time of the vehicle to the target intersection without traffic lights. The receiving module is used for: Real-time acquisition of pedestrian location information and pedestrian walking routes; The step of determining whether a pedestrian meets the collision avoidance detection requirements based on the pedestrian movement information includes: Identify the first intersection without traffic lights on the walking route, wherein the target intersection without traffic lights includes the first intersection without traffic lights; Based on the pedestrian location information, the second intersection without traffic lights that is closest to the pedestrian is determined, wherein the target intersection without traffic lights includes the second intersection without traffic lights; If the first intersection without traffic lights and / or the second intersection without traffic lights are determined to be within the preset first range, the pedestrian is determined to meet the collision avoidance detection requirements, wherein the first range is a circular range with the pedestrian as the center and the radius being the distance safety threshold.

8. 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, characterized in that... The memory is used to store computer programs; The processor is configured to perform the method of any one of claims 1 to 6 by running the computer program stored in the memory.

9. 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 described in any one of claims 1 to 6 when it is run.

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