Pedestrian visual reminding method

Abstract

The invention discloses a pedestrian visual reminding method, which relates to the technical field of intelligent transportation and comprises the following steps of: acquiring vehicle operation parameters and environment parameters through a vehicle-mounted sensor, and transmitting the vehicle operation parameters and the environment parameters to a vehicle control unit ECU (Electronic Control Unit); the vehicle control unit ECU calculates an acceleration change rate based on the vehicle operation parameters, judges the vehicle operation state in combination with a preset acceleration threshold value, and obtains a prompt mode combination weight and a prompt strength coefficient in combination with the environment parameters; and generating a visual prompt control instruction according to the prompt mode combination weight and the prompt intensity coefficient, and outputting a dynamic visual prompt according to the visual prompt control instruction to complete pedestrian visual prompt. According to the invention, the visual prompt control instruction is generated and various external prompt devices are driven to carry out dynamic output, so that the prompt content is always kept clear, visual and differentiated under different illumination and traffic scenes. Pedestrian perception efficiency can be improved, and vehicle and pedestrian interaction safety is enhanced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent transportation, in particular to a pedestrian visual prompting method. BACKGROUND

[0002] With the rapid development of intelligent networked vehicles and advanced driving assistance systems (ADAS), vehicle active safety technology gradually evolves towards multi-source information fusion and intelligent decision-making. Traditional pedestrian safety protection mainly relies on sound and light alarms, braking intervention, and vehicle body optimization, but as the urban traffic environment becomes more complex and the degree of vehicle intelligence improves, single or passive prompting methods have been difficult to meet the real-time and effectiveness requirements. In recent years, vehicle sensors and environmental perception technology have been widely used in intelligent driving scenarios, through the coordinated work of cameras, radars, optical fiber sensors, and vehicle speed and acceleration sensors, vehicles can obtain real-time multi-dimensional operating parameters and surrounding environment data. Some research has attempted to link vehicle operating status with external prompting devices to achieve visual prompting for pedestrians through display screens, LED light strips, or projection devices, thereby improving the safety perception of traffic participants. However, existing technologies generally have problems such as single prompting strategy, lagging output response, and insufficient environmental adaptability, making it difficult to achieve precise prompting for complex dynamic traffic scenarios.

[0003] Existing pedestrian visual prompting solutions are mostly based on fixed threshold triggering and simple light signal control, failing to fully utilize the dynamic characteristics of vehicle operating parameters. For example, acceleration and its rate of change are important indicators of vehicle driving intent, but most systems only use the absolute value of speed or acceleration for state judgment, resulting in inaccurate acceleration or deceleration state prompting and difficulty in reflecting vehicle behavior trends in a timely manner. In addition, external factors such as ambient light intensity and pedestrian density are not effectively integrated, and the prompt brightness, range, and mode lack adaptive adjustment capabilities, which can easily result in unclear prompts in high-brightness environments or excessive stimulation of pedestrian vision at night, affecting prompt effectiveness and road safety. Although some research has introduced multi-mode prompting, the weight distribution and output intensity adjustment still rely on fixed parameters, which cannot be dynamically optimized according to real-time traffic environment and vehicle state. Therefore, existing technologies still have deficiencies in the pertinence, coordination, and human-machine environmental adaptability of prompt information. SUMMARY

[0004] In view of the problems existing in the prior art, the present application is proposed. Therefore, the problem to be solved by the present application is how to provide a pedestrian visual prompting method.

[0005] To solve the above technical problems, the present application provides the following technical solutions:

[0006] In a first aspect, the present application provides a pedestrian visual prompting method, which comprises collecting vehicle running parameters and environmental parameters by a vehicle-mounted sensor, and transmitting the vehicle running parameters and the environmental parameters to a vehicle control unit (ECU);

[0007] The vehicle control unit (ECU) calculates an acceleration change rate based on the vehicle running parameters, judges a vehicle running state in combination with a preset acceleration threshold value, and obtains a prompt mode combination weight and a prompt intensity coefficient in combination with the environmental parameters;

[0008] A visual prompting control instruction is generated according to the prompt mode combination weight and the prompt intensity coefficient, a dynamic visual prompt is output according to the visual prompting control instruction, and the pedestrian visual prompting is completed.

[0009] As a preferred scheme of the pedestrian visual prompting method, the vehicle running parameters include a driving speed, an acceleration, and a current gear state; and the environmental parameters include an environmental light intensity and a pedestrian existence information around the vehicle.

[0010] As a preferred scheme of the pedestrian visual prompting method, the calculation of the acceleration change rate based on the vehicle running parameters comprises:

[0011] After receiving the vehicle running parameters and the environmental parameters, the acceleration change rate is calculated and is expressed as:

[0012]

[0013] wherein, α is the acceleration change rate, a c is the acceleration data at a current time, a p is the acceleration data at a previous time, and Δt is a sampling time interval.

[0014] As a preferred scheme of the pedestrian visual prompting method, the judgment of the vehicle running state in combination with the preset acceleration threshold value comprises:

[0015] It is judged whether it is a forward gear condition based on the current gear state, the vehicle running state is judged only under the forward gear condition, when the acceleration continuously and for more than a predetermined time is greater than a predetermined first acceleration threshold value and the acceleration change rate is greater than a predetermined first acceleration change rate threshold value in a continuous sampling time window, it is determined that the vehicle running state is an acceleration state;

[0016] When the acceleration continuously and for more than a predetermined time is less than a predetermined second acceleration threshold value and the acceleration change rate is less than a predetermined second acceleration change rate threshold value in a continuous sampling time window, it is determined that the vehicle running state is a deceleration state.

[0017] As a preferred scheme of the pedestrian visual reminding method, the combination weight of the prompting mode and the prompting intensity coefficient are obtained according to the environment parameters, and the combination weight of the prompting mode is normalized and expressed as:

[0018] The combination weight of the prompting mode is calculated according to the vehicle operation parameters and the environment parameters, and the combination weight of the prompting mode is normalized and expressed as:

[0019]

[0020] Wherein, W is the combination weight of the prompting mode, w1, w2, w3 and w4 are weight coefficients, v is the current vehicle speed, v max is the maximum allowable vehicle speed, a is the current acceleration, a max is the maximum allowable acceleration, L env is the intensity of the ambient light, L max is the maximum ambient light intensity, P de is the pedestrian existence identifier, W norm is the normalized combination weight of the prompting mode;

[0021] The interval of the normalized combination weight of the prompting mode and the priority of the pedestrian existence identifier are mapped to the activation combination of the specific prompting device;

[0022] The prompting intensity coefficient is calculated and expressed as:

[0023]

[0024] Wherein, K is the prompting intensity coefficient, k base is the basic intensity, k1, k2 and k3 are adjustment coefficients, L norm is the ambient light intensity normalization coefficient.

[0025] As a preferred scheme of the pedestrian visual reminding method, the combination weight of the prompting mode and the prompting intensity coefficient are obtained according to the environment parameters, and the combination weight of the prompting mode is normalized and expressed as:

[0026] The prompting template is analyzed to confirm the type and corresponding priority of the prompting device to be activated, the combination weight of the prompting mode provided by the vehicle control unit ECU is used to allocate the corresponding control amplitude ratio to different prompting devices, and the intensity coefficient is used to adjust the specific amplitude value of the output parameter;

[0027] The combination weight of the prompting mode and the prompting intensity coefficient are converted into visual prompting control instructions through a parameter mapping function, and the generated visual prompting control instructions are sent to each execution terminal according to the predetermined communication protocol.

[0028] As a preferred scheme of the pedestrian visual reminding method, the combination weight of the prompting mode and the prompting intensity coefficient are obtained according to the environment parameters, and the combination weight of the prompting mode is normalized and expressed as:

[0029] After receiving the visual prompt control instruction, each prompt device outputs dynamic visual prompts according to the assigned parameters;

[0030] The LED light strip adjusts the light color and flashing frequency in real time according to the vehicle operating state: when the vehicle is in an acceleration state, the color transitions from green to yellow according to a preset gradient curve, and the flashing frequency is simultaneously increased; when the vehicle is in a deceleration state, the color changes from green to red, and the flashing frequency is simultaneously decreased; the display panel presents corresponding symbol information according to the vehicle operating state determination result;

[0031] The light projection device projects a dynamic arrow pattern to the ground; when the vehicle operating state is an acceleration state, the length of the projected arrow increases by a set proportion; when the vehicle operating state is a deceleration state, the length of the arrow is shortened.

[0032] In a second aspect, the present application provides a computer device, comprising a memory and a processor, the memory storing a computer program, wherein: the processor implements the steps of a pedestrian visual prompting method when executing the computer program.

[0033] In a third aspect, the present application provides a computer readable storage medium, storing a computer program, wherein: the computer program is executed by a processor to implement the steps of a pedestrian visual prompting method.

[0034] The present application has the beneficial effects that: the method calculates the acceleration change rate and dynamically adjusts the prompt weight and intensity in combination with environmental factors, realizes the early identification of the vehicle motion trend and the adaptive optimization of the prompting strategy, enhances the pertinence and response speed of the prompt; by generating a visual prompt control instruction and driving multiple external prompt devices to dynamically output, the prompt content always remains clear, intuitive and differentiated under different light and traffic scenes. The problems of prompt response lag and insufficient adaptability are effectively solved, the pedestrian perception efficiency is improved, and the vehicle and pedestrian interaction safety is enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0036] Figure 1 It is a flowchart of a pedestrian visual prompting method. DETAILED DESCRIPTION

[0037] In order to make the above objectives, characteristics and advantages of the present application more apparent, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work should fall within the protection scope of the present application.

[0038] In the following description, a large number of specific details are set forth in order to facilitate a thorough understanding of the present application. However, the present application can also be implemented in other different manners from those described, and those skilled in the art can make similar generalizations without departing from the spirit and scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0039] Secondly, one embodiment or embodiments referred to herein can include a specific feature, structure or characteristic that can be included in at least one implementation of the present application. In different places in the specification, one embodiment does not refer to the same embodiment, nor does it refer to an embodiment that is separate or selectively excluded from other embodiments.

[0040] Reference Figure 1 For the first embodiment of the present application, the embodiment provides a pedestrian visual prompting method, comprising:

[0041] S1, collecting vehicle running parameters and environmental parameters through a vehicle-mounted sensor, and transmitting the vehicle running parameters and the environmental parameters to a vehicle control unit ECU;

[0042] Specifically, the vehicle driving speed data is collected in real time through a vehicle speed sensor, the vehicle acceleration data is collected through an acceleration sensor, the current gear state of the vehicle is collected through a gear sensor, the environmental light intensity data is collected through an environmental fiber sensor, and the existence information of pedestrians around the vehicle is collected through a pedestrian detection sensor; the vehicle driving speed data, the vehicle acceleration data, the current gear state of the vehicle, the environmental light intensity data and the existence information of pedestrians around the vehicle are transmitted to the vehicle control unit (ECU) through the CAN bus;

[0043] The vehicle running parameters include driving speed, acceleration and current gear state, and the environmental parameters include environmental light intensity and existence information of pedestrians around the vehicle;

[0044] The vehicle running parameters and the environmental parameters are transmitted to the vehicle control unit (ECU) in a set priority order through the vehicle-mounted CAN bus. After the ECU receives the data, it first completes synchronization processing to unify the time reference of different sampling sources, and eliminates incomplete or incorrect data. Then, the data is stored in a circular buffer as an input for subsequent vehicle running state determination and prompt strategy generation.

[0045] S2, the vehicle control unit ECU calculates the acceleration change rate based on the vehicle operating parameters, and judges the vehicle operating state in combination with the preset acceleration threshold value, and obtains the prompt mode combination weight and prompt intensity coefficient in combination with the environmental parameters;

[0046] Specifically, after the vehicle control unit (ECU) receives the vehicle operating parameters and environmental parameters, the vehicle acceleration and deceleration state is determined in real time according to the following logic and the matching prompt strategy is generated, and the acceleration change rate is calculated, which is represented as:

[0047]

[0048] Wherein, a is the acceleration change rate, a c is the current acceleration data, a p is the acceleration data of the previous moment, and Δt is the sampling time interval.

[0049] Determine whether it is a forward gear condition based on the current gear state. Only in the forward gear condition, the vehicle operating state is determined. When the acceleration is continuously greater than the predetermined first acceleration threshold value in the continuous sampling time window and the duration exceeds the predetermined time, and the acceleration change rate is greater than the predetermined first acceleration change rate threshold value, it is determined that the vehicle operating state is acceleration state.

[0050] When the acceleration is continuously less than the predetermined second acceleration threshold value in the continuous sampling time window and the duration exceeds the predetermined time, and the acceleration change rate is less than the predetermined second acceleration change rate threshold value, it is determined that the vehicle operating state is deceleration state.

[0051] On the basis of obtaining the vehicle operating state judgment result, the prompt mode combination weight is calculated according to the vehicle operating parameters and environmental parameters, and the prompt mode combination weight is normalized, which is represented as:

[0052]

[0053] Wherein, W is the prompt mode combination weight, w1, w2, w3 and w4 are weight coefficients, v is the current vehicle speed, v max is the maximum allowable vehicle speed, a is the current acceleration, a max is the maximum allowable acceleration, L env is the intensity of environmental light, L max is the maximum environmental light intensity, P de is the pedestrian existence identifier (1 for existence and 0 for nonexistence), W norm is the normalized prompt mode combination weight.

[0054] According to the interval of the normalized prompt mode combination weight and the priority of the pedestrian existence identifier, the activation combination of the specific prompt device is mapped:

[0055] When pedestrian exists, the identification P de = 1, all pedestrian-related prompts are enabled; otherwise, according to the ranking of the normalized prompt mode combination weight, a hierarchical logic is adopted, for example, only a single display panel is enabled at a low level, a display panel and an LED light belt are enabled at a medium level, and a projection device is enabled at a high level.

[0056] The prompt intensity coefficient is calculated and mapped to the output intensity and projection range, represented as:

[0057]

[0058] Wherein, K is the prompt intensity coefficient, k base is the basic intensity, k1, k2 and k3 are adjustment coefficients, L norm is the ambient light intensity normalization coefficient;

[0059] The prompt intensity coefficient is mapped to the device control quantity, and upper and lower limits are clipped to meet the device bearing range. When mapping, the sign information of speed and acceleration is used to adjust the prompt style, and the corresponding device output parameter set of each state is defined in the mapping table.

[0060] S3, according to the prompt mode combination weight and the prompt intensity coefficient, a visual prompt control instruction is generated, and a dynamic visual prompt is output according to the visual prompt control instruction, and the pedestrian visual prompting is completed.

[0061] Specifically, the visual prompt control command includes type selection, output parameter range and dynamic adjustment information for driving each prompt device.

[0062] First, the prompt template is parsed to confirm the types of prompt devices to be enabled and the corresponding priority, such as the combination of LED light belt, display panel and light projection device. Then, according to the prompt mode combination weight provided by the ECU, the different prompt devices are assigned corresponding control amplitude proportion, and the intensity coefficient is used to adjust the specific amplitude of the output parameter, such as the change degree of prompt brightness, display contrast, flicker frequency or projection range.

[0063] The prompt mode combination weight and the prompt intensity coefficient are converted into executable visual prompt control instructions through a parameter mapping function,

[0064] For the LED light strip, control instructions containing color gradient track and flashing cycle are generated, and the brightness and flashing frequency are linearly or nonlinearly mapped according to the size of the prompt intensity coefficient, so as to realize the dynamic prompt effect changing with the vehicle running state; for the display panel, display symbols, graphic content and brightness adjustment parameters are generated; for the light projection device, adjustment instructions of pattern style and projection distance are generated, so that the projection pattern length and color change with the vehicle speed, and the projection brightness is enhanced in low light environment; the generated visual prompt control instructions are sent to each execution terminal according to the established communication protocol.

[0065] After receiving the visual prompt control instructions, each prompt device outputs dynamic visual prompt according to the parameters assigned to it, and the LED light strip adjusts the light color and flashing frequency in real time according to the vehicle running state: when the vehicle is in the acceleration state, the color transitions from green to yellow according to the preset gradient curve, and the flashing frequency is simultaneously increased to enhance the prompt effect; when the vehicle is in the deceleration state, the color changes from green to red, and the flashing frequency is reduced; the display panel presents the corresponding symbol information according to the vehicle running state determination result of the ECU, and adjusts the display brightness according to the ambient light intensity;

[0066] The light projection device projects a dynamic arrow pattern to the ground, and the color, length and range of the projection pattern change according to the vehicle speed; when the vehicle is in the acceleration state, the length of the projected arrow increases by a set proportion, and the color tends to a more eye-catching color scale; when the vehicle is in the deceleration state, the length of the arrow is shortened, and the color is backed to a low warning level; the projection range is adjusted according to the vehicle speed, and the projection brightness is adaptively adjusted in combination with the ambient light intensity data and the prompt intensity coefficient.

[0067] The embodiment also provides a computer device suitable for the case of the pedestrian visual prompting method, which includes a memory and a processor; the memory is used to store computer executable instructions, and the processor is used to execute the computer executable instructions to realize all or part of the steps of the method provided in the embodiment of the application.

[0068] The embodiment further provides a storage medium on which a computer program is stored, and the computer program is executed by a processor to perform the method in any optional implementation manner of the above-mentioned embodiments. The storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as a static random access memory (SRAM), an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a programmable read-only memory (PROM), a read-only memory (ROM), a magnetic storage, a flash memory, a magnetic disk, or an optical disk.

[0069] The storage medium proposed in the embodiment belongs to the same inventive concept as the data storage method proposed in the above-mentioned embodiments, and the technical details not described in the embodiment can be referred to the above-mentioned embodiments, and the embodiment has the same beneficial effects as the above-mentioned embodiments.

[0070] To sum up, the method realizes the early identification of the vehicle motion trend and the adaptive optimization of the prompt strategy by calculating the acceleration change rate and dynamically adjusting the prompt weight and intensity in combination with environmental factors, and enhances the pertinence and response speed of the prompt; the method generates visual prompt control instructions and drives various external prompt devices to dynamically output, so that the prompt content always remains clear, intuitive and differentiated under different light and traffic scenes. The method effectively solves the problems of prompt response lag and insufficient adaptability, and can improve the pedestrian perception efficiency and enhance the vehicle-pedestrian interaction safety.

[0071] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application but not limit the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the present application, and all of them should be covered in the scope of the claims of the present application.

Claims

1. A method for visual cues to pedestrians, characterized in that: include, Vehicle operating parameters and environmental parameters are collected by onboard sensors and transmitted to the vehicle control unit (ECU). The vehicle control unit (ECU) calculates the rate of change of acceleration based on vehicle operating parameters, and determines the vehicle's operating status by combining preset acceleration thresholds. It also combines environmental parameters to obtain the combination weight of prompting methods and the prompting intensity coefficient. Visual cue control instructions are generated by combining the weights and intensity coefficients of the cue methods, and dynamic visual cue instructions are output based on the visual cue control instructions to complete the visual reminder for pedestrians.

2. The pedestrian visual alert method as described in claim 1, characterized in that: The vehicle operating parameters include driving speed, acceleration, and current gear status; the environmental parameters include ambient light intensity and information on the presence of pedestrians around the vehicle.

3. The pedestrian visual alert method as described in claim 2, characterized in that: The calculation of the rate of change of acceleration based on vehicle operating parameters includes: After receiving vehicle operating parameters and environmental parameters, the rate of change of acceleration is calculated and expressed as: Where α is the rate of change of acceleration, a c Given the acceleration data at the current moment, a p The acceleration data is from the previous moment, and Δt is the sampling time interval.

4. The pedestrian visual alert method as described in claim 3, characterized in that: The method of determining the vehicle's operating status by combining a preset acceleration threshold includes: Based on the current gear status, it is determined whether it is a forward gear condition. The vehicle operation status is determined only under the forward gear condition. When the acceleration is continuously greater than a predetermined first acceleration threshold for a continuous sampling time window and the duration exceeds a predetermined time, and the acceleration change rate is greater than a predetermined first acceleration change rate threshold, the vehicle operation status is determined to be an acceleration state. When the acceleration is continuously less than a predetermined second acceleration threshold within a continuous sampling time window and the duration exceeds a predetermined time, and the rate of change of acceleration is less than a predetermined second rate of change of acceleration threshold, the vehicle's operating state is determined to be a deceleration state.

5. The pedestrian visual alert method as described in claim 4, characterized in that: The combination of environmental parameters to obtain the combined weight of the prompting method and the prompting intensity coefficient includes: The combined weights of the prompting methods are calculated based on vehicle operating parameters and environmental parameters, and then normalized, as follows: Where W represents the combined weight of the prompting methods, w1, w2, w3, and w4 are weight coefficients, v represents the current vehicle speed, and v max The maximum permissible speed is given by 'a', and the current acceleration is given by 'a'. max For the maximum permissible acceleration, L env For ambient light intensity, L max For maximum ambient light intensity, P de W is a marker for pedestrians. norm The weights are combined for the normalized prompting method; The normalized prompting method combination weight range is mapped to the pedestrian presence identifier priority and then to the specific prompting device activation combination. The strength coefficient is calculated and expressed as follows: Where K is the warning intensity coefficient, k base The basic strength is given by k1, k2, and k3, which are adjustment coefficients, and L. norm This is the normalized coefficient for ambient light intensity.

6. The pedestrian visual cueing method as described in claim 5, characterized in that: The step of generating visual cue control instructions by combining weights and cue intensity coefficients based on the cue method includes: The prompt template is analyzed to confirm the types of prompt devices to be activated and their corresponding priorities. Based on the prompt method combination weights provided by the vehicle control unit (ECU), different prompt devices are assigned corresponding control amplitude ratios. The intensity coefficient is used to adjust the specific amplitude of the output parameters. The combination weights and intensity coefficients of the prompting methods are converted into visual prompting control instructions through a parameter mapping function; the generated visual prompting control instructions are sent to each execution terminal according to a predetermined communication protocol.

7. The pedestrian visual alert method as described in claim 6, characterized in that: The step of outputting dynamic visual cues based on visual cue control commands includes: Upon receiving the visual cue control command, each cue device outputs dynamic visual cues according to the assigned parameters; The LED light strip adjusts the light color and flashing frequency in real time according to the vehicle's operating status: when the vehicle is accelerating, the color transitions from green to yellow according to a preset gradient curve, and the flashing frequency is increased simultaneously; when the vehicle is decelerating, the color changes from green to red, and the flashing frequency is reduced; the display panel presents corresponding symbol information based on the vehicle's operating status. The light projection device projects dynamic arrow patterns onto the ground; when the vehicle is accelerating, the length of the projected arrow increases by a set ratio; when the vehicle is decelerating, the length of the arrow shortens.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, it implements the steps of the pedestrian visual alert method according to any one of claims 1 to 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, it implements the steps of the pedestrian visual alert method according to any one of claims 1 to 7.

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