Non-motor vehicle driving auxiliary helmet and method based on laser radar

Abstract

The invention provides a non-motor vehicle driving auxiliary helmet and method based on a laser radar, and relates to the technical field of intelligent traffic and safety protection, the helmet comprises a helmet body, and a control system, a laser radar module and a voice broadcast system arranged on the helmet body; the laser radar module comprises a plurality of laser radars which at least comprise a front laser radar, a rear laser radar, a left laser radar and a right laser radar; and the control system comprises at least one chip processor and is used for receiving the signal data fed back by the laser radar module in real time, analyzing the signal data according to a preset priority rule and controlling the voice broadcast system to send a corresponding prompt to a wearer according to an analysis result. Compared with the prior art, the anti-interference capability and the practicability of the intelligent helmet are remarkably improved, and the maintenance cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transportation and safety protection technology, and in particular to a non-motor vehicle driving assistance helmet and method based on laser radar. Background Art

[0002] Cyclists face complex traffic environments, such as obstructed vision due to smog, ignoring oncoming vehicles at intersections, and being hit by out-of-control vehicles, which puts higher demands on the safety performance of helmets.

[0003] Helmets have a long history of development. Although significant progress has been made from metal to modern carbon fiber, multi-layer structures and intelligent technology, there are still shortcomings. Traditional helmets rely on passive safety structures to withstand impacts and do not solve the problem of accident prevention. Although smart helmets have introduced functions such as collision detection, Bluetooth music, and navigation, they face problems such as poor controller anti-interference, navigation system delays, head-up display (HUD) system data transmission delays and high maintenance costs, and camera failure in bad weather, which increase riding risks.

[0004] In addition, there is insufficient research in the field of non-motor vehicle obstacle avoidance, and helmet design ignores active obstacle avoidance and accident prevention. Therefore, there is a gap in the research of non-motor vehicle driving assistance systems. Summary of the invention

[0005] To this end, an embodiment of the present invention provides a non-motor vehicle driving assistance helmet and method based on laser radar, which is used to solve the problems in the prior art that non-motor vehicle driving helmets lack active obstacle avoidance and accident prevention functions, and that smart helmets have poor controller anti-interference, navigation system delays and high maintenance costs.

[0006] In order to solve the above problems, an embodiment of the present invention provides a non-motor vehicle driving assistance helmet based on laser radar, the helmet comprising a helmet body and a control system, a laser radar module and a voice broadcast system arranged on the helmet body; the laser radar module comprises a plurality of laser radars, including at least a front laser radar, a rear laser radar, a left laser radar and a right laser radar;

[0007] The front laser radar is used to detect obstacles, pedestrians and oncoming vehicles in front of the wearer's road; the rear laser radar is used to detect obstacles, pedestrians and oncoming vehicles behind the wearer's road; the left laser radar is used to detect obstacles and oncoming vehicles on the left side of the wearer's road; the right laser radar is used to detect obstacles and oncoming vehicles on the right side of the wearer's road;

[0008] The control system includes at least one chip processor, which is used to receive the signal data fed back by the laser radar module in real time and parse the signal data according to preset priority rules, and then control the voice broadcast system to issue corresponding reminders to the wearer based on the analysis results.

[0009] Preferably, the front laser radar is a single-line laser radar, which is arranged at the front center of the helmet body, higher than the front of the helmet body and obliquely downward (15±2) degrees from the horizontal plane.

[0010] Preferably, the rear laser radar, the left laser radar and the right laser radar are all single-line laser radars.

[0011] Preferably, the single-line laser radar is a TF10 single-line laser radar.

[0012] Preferably, the voice broadcast system includes voice broadcast groups arranged at the left center position and the right center position of the helmet body, and the voice broadcast groups are used to output reminder voices to assist the wearer in riding.

[0013] Preferably, the voice announcement group at the left center position of the helmet body consists of at least two voice announcements, and the voice announcement group at the right center position of the helmet body consists of at least two voice announcements.

[0014] Preferably, the chip processor is a STM32F7 controller.

[0015] The embodiment of the present invention further provides a non-motor vehicle driving assistance method based on laser radar, and the method is applied to the non-motor vehicle driving assistance helmet based on laser radar as described above, and specifically includes:

[0016] Start the power of the helmet and initialize the control system;

[0017] The control system receives signal data fed back by each laser radar;

[0018] The control system analyzes the received signal data to determine whether there are obstacles, pedestrians or oncoming vehicles in front, behind and on the side of the road;

[0019] Based on the judgment results, corresponding reminders are issued to the wearer through the voice broadcast system.

[0020] Preferably, when judging whether there are obstacles, pedestrians or oncoming vehicles in front, behind and on the side of the driving road, the control system performs interrupt processing according to a preset priority and broadcasts a reminder based on the processing result, wherein the preset priority is that the priority of the front obstacle is greater than the priority of the side obstacle, and the priority of the side obstacle is greater than the priority of the rear obstacle.

[0021] Preferably, it also includes a battery power detection step. After starting the power of the helmet, the battery power is first detected. If the power is insufficient, the wearer is reminded to charge through a voice broadcast system.

[0022] It can be seen from the above technical solutions that the present invention has the following beneficial effects:

[0023] (1) From the perspective of system design, the present invention adopts an offline system without the need to connect to the Internet. The data fusion of multiple single-line laser radars of non-motor vehicle helmets is processed by a single ARM software, which makes the control simple. While taking into account the data calculation speed, it avoids the problem of low decision-making efficiency caused by data delay and network congestion.

[0024] (2) From the perspective of application design, the controller of the present invention only works on the helmet. Considering the system failure caused by hardware aging, the helmet control system does not communicate with the non-motor vehicle motor system, which effectively avoids the non-motor vehicle (such as electric bicycle) motor malfunction caused by the motion control main program failure.

[0025] (3) From the perspective of sensor design, the present invention uses single-line laser radar on the front, rear and sides of the helmet, which effectively increases the blind spot coverage and enhances robustness.

[0026] (4) From the perspective of control methods, the multi-single-line laser radar fusion data processing of the present invention adopts a priority processing method. According to the danger level priorities of the front, rear and side set by the software in advance, when multiple dangers come, the danger priority is identified to achieve the purpose of reducing accident damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the implementation cases of the present invention or the technical solutions in the prior art, the following is a brief description of the drawings required for use in the embodiments. By referring to the drawings, the features and advantages of the present invention will be more clearly understood. The drawings are schematic and should not be understood as limiting the present invention in any way. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0028] Figure 1 A structural block diagram of a non-motor vehicle driving assistance helmet based on laser radar provided in an embodiment;

[0029] Figure 2 A top view of a non-motor vehicle driving assistance helmet in an embodiment;

[0030] Figure 3 is a front view of a non-motor vehicle driving assistance helmet in an embodiment;

[0031] Figure 4It is a left side view of the non-motor vehicle driving assistance helmet in the embodiment;

[0032] Figure 5 It is a right side view of the non-motor vehicle driving assistance helmet in the embodiment;

[0033] Figure 6 A rear view of the non-motor vehicle driving assistance helmet in the embodiment;

[0034] Figure 7 It is a flow chart of the ranging technology in the embodiment;

[0035] Figure 8 A flowchart of a non-motor vehicle driving assistance method based on laser radar provided in an embodiment;

[0036] Fig. 9 1 is a flow chart of the detection and obstacle avoidance principle of the non-motor vehicle driving assistance helmet in the embodiment. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] Embodiment 1

[0039] In order to solve the problems of the existing non-motor vehicle driving helmets lacking active obstacle avoidance and accident prevention functions, as well as the problems of poor anti-interference of the controller, navigation system delay and high maintenance cost in smart helmets. Figure 1 As shown, an embodiment of the present invention proposes a non-motor vehicle driving assistance helmet based on laser radar, which includes a helmet body and a control system, a laser radar module and a voice broadcast system arranged on the helmet body; the laser radar module includes multiple laser radars, including at least a front laser radar, a rear laser radar, a left laser radar and a right laser radar.

[0040] The front laser radar is used to detect obstacles, pedestrians and oncoming vehicles in front of the wearer's road; the rear laser radar is used to detect obstacles, pedestrians and oncoming vehicles behind the wearer's road; the left laser radar is used to detect obstacles and oncoming vehicles on the left side of the wearer's road; the right laser radar is used to detect obstacles and oncoming vehicles on the right side of the wearer's road.

[0041] The control system includes at least one chip processor, which is used to receive the signal data fed back by the laser radar module in real time and parse the signal data according to preset priority rules, and then control the voice broadcast system to issue corresponding reminders to the wearer based on the analysis results.

[0042] From the above technical solution, it can be seen that the present invention proposes a non-motor vehicle driving assistance helmet based on laser radar, which realizes all-round real-time monitoring of the surrounding environment of non-motor vehicles by integrating single-line laser radar modules at the front, rear, left and right sides, and combining the control system and voice broadcast system. The system adopts an offline design to avoid network delays and congestion, and effectively improves decision-making efficiency through priority data processing methods. The helmet not only enhances the driver's sense of safety, but also avoids the problem of non-motor vehicle motor malfunction caused by hardware aging, effectively reduces accident injuries, and significantly improves the anti-interference ability and practicality of the smart helmet compared to the existing technology, and reduces maintenance costs.

[0043] The specific structure of the non-motor vehicle driving assistance helmet of this embodiment is as follows Figures 2 to 6 Specifically, the laser radar based on the time-of-flight algorithm has the advantages of small size, light weight, low cost, excellent performance, strong resistance to ambient light interference, etc. It can be used as an upgraded replacement product in related fields based on serial communication to transmit distance information. TF10 is a high-performance short-range laser radar with a detection distance of greater than or equal to 10 meters under 10LUX illumination, and the longest detection distance can reach 20 meters.

[0044] This embodiment uses a TF10-based laser radar group to form a laser radar module for non-motor vehicle driving helmets. That is, a TF10-808 single-line laser radar L1 is used, which is located at a position slightly higher than the helmet body, 3 cm ahead, about 15 degrees ((15±2) degrees) downward from the horizontal plane, and located at the center of the front of the helmet body to form a front detection and obstacle avoidance system, which can effectively detect obstacles, pedestrians and oncoming vehicles in front of the wearer's forward path; a TF10-808 single-line laser radar L2 is used, which is located at a center position of about 5 cm from the bottom layer of the rear of the helmet body to form a rear detection and obstacle avoidance system, which can effectively detect obstacles, pedestrians and oncoming vehicles in the rear of the wearer's forward path; and a TF10-808 single-line laser radar L3 and L4 are used, which are located at the left and right rear sides of the helmet body respectively, to form a side detection and obstacle avoidance system, which can effectively detect obstacles or oncoming vehicles on the left and right sides of the wearer's forward path respectively.

[0045] The voice announcement system of this embodiment includes a voice announcement group arranged at the left center position and the right center position of the helmet body. The voice announcement group is used to output a reminder voice to assist the wearer in riding.

[0046] Specifically, the voice broadcast group at the center position of the left side of the helmet body consists of at least two voice broadcasts, and the voice broadcast group at the center position of the right side of the helmet body consists of at least two voice broadcasts.

[0047] This embodiment separates the control system of the non-motor vehicle driving assistance helmet from the non-motor vehicle motor control system and adopts a single-core controller whose chip processor is an STM32F7 controller. This can effectively avoid sending erroneous instructions due to the control system of the non-motor vehicle driving assistance helmet "running away", water ingress or other problems, causing the non-motor vehicle motor control system to execute erroneous instructions, and avoid dangerous phenomena such as sudden braking during driving or acceleration when stopping.

[0048] Furthermore, the single-line laser radar uses pulse ranging, that is, by emitting a laser beam and receiving its reflected signal, to measure the distance to the object. In this process, the STM32F7 controller plays a core role. Its ranging technology process is as follows: Figure 7 As shown, it calculates the distance based on the speed of laser propagation in the air and the time difference between laser emission and reception. The calculation formula is:

[0049]

[0050] Among them, S is the distance, C is the speed of the laser in the air, and T is the time difference between laser emission and reception.

[0051] When processing LiDAR data, the STM32F7 controller uses a nearest neighbor clustering algorithm to effectively identify obstacles. The execution process of this algorithm includes the following key steps:

[0052] First, data preprocessing is performed. This step aims to improve data quality and reduce random noise in the original data through a median filter, laying a solid foundation for subsequent processing.

[0053] Next, the distance calculation is performed. By calculating the Euclidean distance between adjacent LiDAR data points, potential obstacle areas and non-obstacle areas can be preliminarily distinguished. The distance measurement formula here is:

[0054]

[0055] Where (x1, y1) and (x2, y2) represent the coordinates of two consecutive data points.

[0056] Then, a preliminary cluster analysis is performed. According to the calculated distance, a threshold Td is set. If the distance between two adjacent points is less than Td, they are considered to belong to the same obstacle. This step helps to further distinguish obstacles from non-obstacles.

[0057] In addition, the algorithm also takes into account the characteristic of laser reflection intensity. If the reflection intensity of two points is similar, they can also be considered to belong to the same obstacle, which helps to improve the accuracy of clustering.

[0058] In terms of continuous frame association, the algorithm uses the idea of ​​the nearest neighbor algorithm to associate the radar point cloud data of the current frame with the data of the previous frame, thereby tracking the moving trajectory of dynamic obstacles and predicting their future positions.

[0059] Finally, the trajectory of the obstacle is optimized by combining the Kalman filter technology. Kalman filtering can effectively deal with measurement noise and uncertainty and provide more accurate obstacle position estimation.

[0060] In summary, the STM32F7 controller successfully uses the nearest neighbor clustering algorithm, feature extraction, continuous frame association, and Kalman filtering to effectively utilize single-line lidar data, thereby accurately identifying and tracking obstacles and obtaining their distance information. This comprehensive approach not only significantly improves the system's environmental perception capabilities, but also provides solid data support for the system's decision-making.

[0061] Embodiment 2

[0062] like Figure 8 As shown, the present invention provides a non-motor vehicle driving assistance method based on laser radar, which is applied to the non-motor vehicle driving assistance helmet based on laser radar in the above embodiment 1, and specifically includes:

[0063] Start the power of the helmet and initialize the control system;

[0064] The control system receives signal data fed back by each laser radar;

[0065] The control system analyzes the received signal data to determine whether there are obstacles, pedestrians or oncoming vehicles in front, behind and on the side of the road;

[0066] Based on the judgment results, corresponding reminders are issued to the wearer through the voice broadcast system.

[0067] Furthermore, the method also includes a battery power detection step. After starting the power of the helmet, the battery power is first detected. If the power is insufficient, the wearer is reminded to charge through a voice broadcast system.

[0068] Specifically, when judging whether there are obstacles, pedestrians or oncoming vehicles in front, behind and on the sides of the driving road, the control system performs interrupt processing according to the preset priority and broadcasts reminders according to the processing results, among which the preset priority is that the priority of front obstacles is greater than that of side obstacles, and the priority of side obstacles is greater than that of rear obstacles.

[0069] Fig. 9 The flow chart of the detection and obstacle avoidance principle of the non-motor vehicle driving assistance helmet is shown.

[0070] When the wearer does not start the power of the helmet, the control system of the helmet will not enter the working state. When the wearer starts the power of the helmet, the STM32F7 controller starts the power-on reset; if the battery voltage is low at this time, the helmet will broadcast a voice to remind the wearer to charge; if the battery is sufficient at this time, the helmet will broadcast a voice to remind the wearer that the helmet is fully charged, please feel free to drive, and enter the working state.

[0071] When the STM32F7 controller enters the working state, the single-line laser radar L1~L4 starts the blind spot scanning detection of the initial driving position of the non-motor vehicle. If a vehicle, pedestrian or other obstacle enters the blind spot detection range at this time, the STM32F7 controller will broadcast a voice reminder to the wearer.

[0072] If the single-line laser radar L1 detects a vehicle, pedestrian or other obstacle ahead of the road, the STM32F7 controller will broadcast a voice reminder to the wearer: There are vehicles or other obstacles ahead, please drive carefully. If the single-line laser radar L2 detects a fast-moving vehicle, pedestrian or other obstacle behind the road, the STM32F7 controller will broadcast a voice reminder to the wearer: There are fast-moving vehicles or other obstacles behind, please drive carefully. If the line laser radar L3 or L4 detects a moving vehicle, pedestrian or other obstacle on the left / right side, the STM32F7 controller will broadcast a voice reminder to the wearer: There are vehicles or other obstacles on the left / right side, please drive carefully.

[0073] After the non-motor vehicle starts, the STM32F7 controller will use the single-line laser radars L1 to L4 to enter the driving route. After the non-motor vehicle enters the driving route, the single-line laser radar L1 on the front of the helmet body, which is about 15 degrees from the ground, always detects the driving environment ahead; because the single-line laser radar L1 has a certain inclination angle, the single-line laser radar L1 can not only detect vehicles, pedestrians and other obstacles on the road surface of the driving path, but also detect small undulating pits of a certain height in the driving path; if the height and width of the undulating pits are within the obstacle detection tolerance range of the detection and obstacle avoidance system, the STM32F7 controller will not voice broadcast to remind the wearer; if the height and width of the undulating pits exceed the obstacle detection tolerance range of the detection and obstacle avoidance system, the STM32F7 controller will voice broadcast to remind the wearer.

[0074] After the non-motor vehicle enters the driving route, the single-line laser radar L2 on the rear of the helmet body, which is parallel to the horizontal plane, constantly detects the riding environment behind it. Since the single-line laser radar L2 is at a horizontal angle to the ground, it is only responsible for detecting vehicles, pedestrians or other obstacles in the 5-20 meter area on the rear path. If the detection target approaches quickly or continues to approach within the detection area, the STM32F7 controller will make a voice broadcast to remind the wearer. If the detection target maintains a relatively static motion state with the non-motor vehicle after entering the detection area, the STM32F7 controller will not make a voice broadcast to remind the wearer.

[0075] After a non-motor vehicle enters the driving route, the single-line laser radars L3 and L4 on the left and right rear sides of the helmet body will always detect the riding environment on the side; because L3 and L4 are at a horizontal angle to the ground, L3 and L4 are only responsible for detecting vehicles, pedestrians or other obstacles in the 5-20 meter area on the left and right sides; if the detection target enters the detection area and continues to approach the non-motor vehicle, the STM32F7 controller will broadcast a voice reminder to remind the wearer; otherwise, the STM32F7 controller will not remind.

[0076] If the single-line laser radar at the rear of the helmet body or the single-line laser radar on the left or right side detects an obstacle, and the single-line laser radar at the front of the helmet body also detects an obstacle, the STM32F7 controller will respond to the interrupt response, give priority to handling the obstacle in front, and remind the wearer through voice broadcast. If the single-line laser radar at the rear of the helmet body detects an obstacle, and the single-line laser radar at the front of the helmet does not detect an obstacle, but the single-line laser radar on the left or right side of the helmet body detects an obstacle, the STM32F7 controller will also interrupt the response, give priority to handling the side obstacle (left or right), and remind the wearer through the voice broadcast on the side of the helmet.

[0077] If the STM32F7 controller responds to the interrupt request and completes the interrupt processing, the STM32F7 controller will re-detect according to the real-time riding scene of the non-motor vehicle, and perform interrupt processing according to the principle that the priority of the front obstacle is greater than the priority of the side obstacle, and the priority of the side obstacle is greater than the priority of the rear obstacle.

[0078] When the non-motor vehicle stops, the STM32F76 controller will continue to maintain low-power operation mode and continue to monitor the detection data of each single-line laser radar L1~L4. If no moving objects or obstacles are detected for a long time (such as 5 minutes) and the non-motor vehicle is stationary, the STM32F76 controller will enter sleep mode to save power. At this time, if the helmet system needs to be reactivated, the wearer only needs to touch any button on the helmet or shake the helmet slightly to wake up the STM32F76 controller and restore the system to normal operation.

[0079] In order to facilitate users to perform system maintenance and software upgrades, the present invention provides a simple and easy-to-use maintenance interface. Users can connect the helmet to a smartphone or computer via a Bluetooth or USB interface, and use a special APP or software tool to perform system settings, data viewing, software updates, etc. In this way, even if the system needs to be upgraded or adjusted, the user can easily complete it without disassembling the helmet.

[0080] The laser radar-based non-motor vehicle driving assistance method of this embodiment is applied to the aforementioned laser radar-based non-motor vehicle driving assistance helmet. Therefore, the specific implementation method of the laser radar-based non-motor vehicle driving assistance method can be found in the embodiment section of the laser radar-based non-motor vehicle driving assistance helmet in the previous text. In order to avoid redundancy, it will not be repeated here.

[0081] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0082] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0083] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide for implementing the process in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0084] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from them are still within the protection scope of the invention.

Claims

1. A non-motor vehicle driving assistance helmet based on laser radar, characterized in that: It includes a helmet body and a control system, a laser radar module and a voice broadcast system arranged on the helmet body; the laser radar module includes a plurality of laser radars, including at least a front laser radar, a rear laser radar, a left laser radar and a right laser radar; The front laser radar is used to detect obstacles, pedestrians and oncoming vehicles in front of the wearer's road; the rear laser radar is used to detect obstacles, pedestrians and oncoming vehicles behind the wearer's road; the left laser radar is used to detect obstacles and oncoming vehicles on the left side of the wearer's road; the right laser radar is used to detect obstacles and oncoming vehicles on the right side of the wearer's road; The control system includes at least one chip processor, which is used to receive the signal data fed back by the laser radar module in real time and parse the signal data according to preset priority rules, and then control the voice broadcast system to issue corresponding reminders to the wearer based on the analysis results.

2. The non-motor vehicle driving assistance helmet based on laser radar according to claim 1 is characterized in that: The front laser radar is a single-line laser radar, which is arranged at the front center of the helmet body, higher than the front of the helmet body and obliquely downward (15±2) degrees from the horizontal plane.

3. The non-motor vehicle driving assistance helmet based on laser radar according to claim 1, characterized in that: The rear laser radar, the left laser radar and the right laser radar are all single-line laser radars.

4. The non-motor vehicle driving assistance helmet based on laser radar according to claim 2 or 3, characterized in that: The single-line laser radar is a TF10 single-line laser radar.

5. The non-motor vehicle driving assistance helmet based on laser radar according to claim 1, characterized in that: The voice broadcast system includes voice broadcast groups arranged at the left center position and the right center position of the helmet body, and the voice broadcast groups are used to output reminder voices to assist the wearer in riding.

6. The non-motor vehicle driving assistance helmet based on laser radar according to claim 5 is characterized in that: The voice broadcast group at the center position of the left side of the helmet body consists of at least two voice broadcasts, and the voice broadcast group at the center position of the right side of the helmet body consists of at least two voice broadcasts.

7. The non-motor vehicle driving assistance helmet based on laser radar according to claim 1, characterized in that: The chip processor is an STM32F7 controller.

8. A non-motor vehicle driving assistance method based on laser radar, characterized in that: The method is applied to the non-motor vehicle driving assistance helmet based on laser radar as claimed in any one of claims 1 to 7, specifically comprising: Start the power of the helmet and initialize the control system; The control system receives signal data fed back by each laser radar; The control system analyzes the received signal data to determine whether there are obstacles, pedestrians or oncoming vehicles in front, behind and on the side of the road; Based on the judgment results, corresponding reminders are issued to the wearer through the voice broadcast system.

9. The non-motor vehicle driving assistance method based on laser radar according to claim 8, characterized in that: When judging whether there are obstacles, pedestrians or oncoming vehicles in front, behind and on the side of the driving road, the control system performs interrupt processing according to the preset priority and broadcasts reminders according to the processing results. The preset priority is that the priority of front obstacles is higher than that of side obstacles, and the priority of side obstacles is higher than that of rear obstacles.

10. The non-motor vehicle driving assistance method based on laser radar according to claim 8, characterized in that: It also includes a battery power detection step. After starting the power of the helmet, the battery power is first detected. If the power is low, the wearer is reminded to charge through the voice broadcast system.

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