Vehicle and pedestrian identification method, device and system

Abstract

The invention discloses a vehicle and pedestrian identification method, device and system, and the method comprises the steps: transmitting a control instruction to each signal transmitter, enabling each signal transmitter to transmit a respective detection signal according to the control instruction, and enabling a pedestrian terminal device to generate a feedback signal according to at least one detection signal after receiving the at least one detection signal; acquiring a feedback signal, and performing pedestrian attribute recognition and pedestrian position recognition according to the feedback signal to obtain a recognition result; and determining whether there is a collision risk between the vehicle and the pedestrian according to the identification result, and if yes, controlling the vehicle to execute an anti-collision measure. According to the invention, a parallel pedestrian recognition scheme can be provided when the existing pedestrian recognition scheme of the vehicle fails or even fails, and the pedestrian recognition accuracy of the vehicle is ensured.

Description

Technical Field

[0001] This application belongs to the field of pedestrian detection technology, and in particular relates to a vehicle and pedestrian identification method, device and system. Background Technology

[0002] Vehicle pedestrian detection technology plays a crucial role in vehicle safety. Currently, using sensors such as cameras and radar, vehicles can identify pedestrians on the road in real time, improving road traffic safety and efficiency. However, pedestrian detection can become difficult when cameras or radar sensors malfunction or fail. Summary of the Invention

[0003] The embodiments of this application provide a vehicle and pedestrian recognition method, apparatus and system, which can at least to some extent provide a parallel pedestrian recognition scheme when the existing pedestrian recognition scheme for vehicles fails or even becomes ineffective, thus ensuring the accuracy of pedestrian recognition for vehicles.

[0004] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part from practice of this application.

[0005] A first aspect of this application provides a pedestrian recognition method applied to a vehicle. The vehicle includes an on-board controller and multiple signal transmitters distributed at different locations within the vehicle. The multiple signal transmitters are communicatively connected to the on-board controller. The multiple signal transmitters and the on-board controller are respectively configured to communicate with a pedestrian terminal device. The method is executed on the on-board controller and includes: Control commands are sent to each of the signal transmitters so that each of the signal transmitters emits its own detection signal according to the control commands, so that the pedestrian terminal device generates a feedback signal based on the at least one detection signal after receiving at least one detection signal; The feedback signal is acquired, and pedestrian attribute recognition and pedestrian location recognition are performed based on the feedback signal to obtain the recognition result. Based on the identification results, it is determined whether there is a risk of collision between the vehicle and the pedestrian. If there is a risk of collision, the vehicle is controlled to perform collision avoidance measures.

[0006] Optionally, the step of identifying pedestrian attributes and pedestrian locations based on the feedback signal includes: The identification code carried in the feedback signal is compared with a preset reference identification code. If the identification code matches the reference identification code, the feedback signal is determined to be issued by the pedestrian terminal device. When the feedback signal is emitted by the pedestrian terminal device, pedestrian location is identified based on the feedback signal.

[0007] Optionally, the step of identifying the pedestrian's location based on the feedback signal includes: Based on the location information carried in the feedback signal, a first relative position of the pedestrian relative to the vehicle is determined, wherein the location information is a second relative position of the vehicle relative to the pedestrian.

[0008] Optionally, determining whether there is a risk of collision between the vehicle and the pedestrian based on the identification result includes: Based on the recognition results, the pedestrian's motion data is obtained, including the pedestrian's real-time location, motion trajectory, and speed attribute. Based on the vehicle's own driving status and the pedestrian's motion data, a dynamic collision risk assessment model is used to predict the third relative position between the pedestrian and the vehicle. The dynamic collision risk assessment model is obtained by training the network to be trained using training samples, which include: vehicle driving status samples, pedestrian motion data samples, and collision risk assessment labels. The risk of collision between the vehicle and the pedestrian is determined based on the third relative position.

[0009] A second aspect of this application provides a pedestrian recognition device applied to a vehicle. The vehicle includes an on-board controller and signal transmitters distributed at different locations within the vehicle. The signal transmitters are communicatively connected to the on-board controller. The signal transmitters and the on-board controller are respectively used for communicative connections with pedestrian terminal devices. The device is disposed on the on-board controller and includes: The instruction issuing unit is used to issue control instructions to each of the signal transmitters, so that each of the signal transmitters issues its own detection signal according to the control instructions, so that the pedestrian terminal device generates a feedback signal according to the at least one detection signal after receiving at least one detection signal; The result acquisition unit is used to acquire the feedback signal, perform pedestrian attribute recognition and pedestrian location recognition based on the feedback signal, and obtain the recognition result. The control unit is used to determine whether there is a collision risk between the vehicle and the pedestrian based on the identification result, and if there is a collision risk, to control the vehicle to perform collision avoidance measures.

[0010] A third aspect of this application provides a pedestrian identification method applied to a pedestrian terminal device. The pedestrian terminal device is used to communicate with a vehicle's onboard controller and multiple signal transmitters. The multiple signal transmitters are located at different positions on the vehicle, and the multiple signal transmitters are communicatively connected to the onboard controller. The method includes: Receive at least one detection signal, wherein each detection signal is emitted by one of the signal transmitters, which emits the detection signal upon receiving a control command from the vehicle controller; A feedback signal is generated based on the at least one detection signal; The feedback signal is sent to the vehicle controller, so that the vehicle controller can identify pedestrian attributes and pedestrian positions based on the feedback signal, obtain identification results, determine whether there is a collision risk between the vehicle and the pedestrian based on the identification results, and if there is a collision risk, control the vehicle to perform collision avoidance measures.

[0011] Optionally, generating a feedback signal based on the at least one detection signal includes: For each of the detection signals, the received signal strength of the detection signal is obtained to obtain a strength measurement value; The second relative position of the pedestrian and the vehicle is determined based on multiple intensity measurements. The feedback signal is generated based on the identification code of the pedestrian terminal device and the second relative position.

[0012] A fourth aspect of this application provides a pedestrian recognition device applied to a pedestrian terminal device. The pedestrian terminal device is used to communicate with a vehicle's onboard controller and multiple signal transmitters. The multiple signal transmitters are located at different positions on the vehicle and are communicatively connected to the onboard controller. The device includes: A receiving unit is configured to receive at least one detection signal, wherein each detection signal is emitted by one of the signal transmitters, which emits the detection signal upon receiving a control command from the vehicle controller; A generation unit is configured to generate a feedback signal based on the at least one detection signal; The transmitting unit is used to send the feedback signal to the vehicle controller, so that the vehicle controller can perform pedestrian attribute recognition and pedestrian location recognition based on the feedback signal, obtain recognition results, determine whether there is a collision risk between the vehicle and the pedestrian based on the recognition results, and if there is a collision risk, control the vehicle to perform collision avoidance measures.

[0013] A fifth aspect of this application provides a vehicle, including: an on-board controller and a plurality of signal transmitters distributed at different locations on the vehicle, the plurality of signal transmitters being communicatively connected to the on-board controller, the plurality of signal transmitters and the on-board controller being respectively configured to communicate with a pedestrian terminal device, and the on-board controller being configured to perform the method as described in any of the first aspects.

[0014] A sixth aspect of this application provides a pedestrian recognition system, including: a pedestrian terminal device and a vehicle as described in the fifth aspect.

[0015] A seventh aspect of this application provides a computer-readable storage medium storing at least one computer program instruction, which is loaded and executed by a processor to perform the operation as described in any of the methods in the first aspect.

[0016] An eighth aspect of this application provides an electronic device including one or more processors and one or more memories, wherein at least one piece of program code is stored in the one or more memories, and the at least one piece of program code is loaded and executed by the one or more processors to perform the operation as described in any of the methods in the first aspect.

[0017] The embodiments of the present invention provide one or more technical solutions that achieve at least the following technical effects or advantages: The pedestrian recognition method of this application embodiment is applied to a vehicle, which includes: an on-board controller and multiple signal transmitters distributed at different locations in the vehicle. The multiple signal transmitters are communicatively connected to the on-board controller, and the multiple signal transmitters and the on-board controller are respectively used to communicate with a pedestrian terminal device. The method is executed on the on-board controller and includes: issuing control commands to each signal transmitter so that each signal transmitter emits its own detection signal according to the control command, so that the pedestrian terminal device generates a feedback signal based on the at least one detection signal after receiving it; acquiring the feedback signal; and performing pedestrian attribute recognition and pedestrian location recognition based on the feedback signal to obtain a recognition result. Based on the identification results, it is determined whether there is a collision risk between the vehicle and the pedestrian. If a collision risk exists, the vehicle is controlled to implement collision avoidance measures. Therefore, this application embodiment provides a solution that interacts with a pedestrian terminal device to identify pedestrians, based on existing pedestrian identification schemes for vehicles (such as radar detection, camera detection, etc.). This provides a parallel pedestrian identification scheme to ensure the accuracy of pedestrian identification for vehicles when existing pedestrian identification schemes fail or malfunction.

[0018] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0019] 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. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can derive other drawings from these drawings without creative effort. In the drawings: Figure 1 A flowchart of a pedestrian recognition method according to an embodiment of this application is shown; Figure 2 A structural diagram of a pedestrian recognition device according to an embodiment of this application is shown; Figure 3 A flowchart of a pedestrian recognition method according to an embodiment of this application is shown; Figure 4 A structural diagram of a pedestrian recognition device according to an embodiment of this application is shown; Figure 5 A structural block diagram of a vehicle according to an embodiment of this application is shown; Figure 6 A structural diagram of a pedestrian recognition system according to an embodiment of this application is shown; Figure 7 A schematic diagram of the structure of a computer system suitable for implementing the electronic device of the present application is shown. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0021] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0022] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different models and / or processor devices and / or microcontroller devices.

[0023] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0024] It should also 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 uses of these terms 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.

[0025] The pedestrian recognition method of this application embodiment will be described below with reference to the accompanying drawings.

[0026] Figure 1 A flowchart of a pedestrian recognition method according to an embodiment of this application is shown.

[0027] A first aspect of this application provides a pedestrian recognition method applied to a vehicle. The vehicle includes an on-board controller and multiple signal transmitters distributed at different locations within the vehicle. The multiple signal transmitters are communicatively connected to the on-board controller. The multiple signal transmitters and the on-board controller are respectively used for communicative connections with a pedestrian terminal device. The method is executed on the on-board controller, and the method includes, but is not limited to: Step S101. Send control commands to each of the signal transmitters so that each of the signal transmitters sends its own detection signal according to the control commands, so that the pedestrian terminal device generates a feedback signal according to the at least one detection signal after receiving at least one detection signal; For example, the signal transmitter can be a radio frequency transmitter or a Bluetooth transmitter. The signal transmitters are distributed in different locations within the vehicle; for example, four signal transmitters are installed at the front, rear, left, and right sides of the vehicle, respectively.

[0028] For example, the vehicle controller can be a controller dedicated to pedestrian recognition, or it can be a controller that integrates pedestrian recognition-related functions on the basis of the vehicle's existing controller, such as integrating related functions into the vehicle controller.

[0029] For example, pedestrian terminal devices can be mobile terminals (such as mobile phones) held by pedestrians, wearable devices (such as watches), or devices specifically designed for pedestrian recognition interaction with vehicles (such as pedestrian signs).

[0030] In some embodiments, during vehicle operation, the on-board controller can periodically send control commands to various signal transmitters, for example, at intervals of 1 second, 2 seconds, 3 seconds, 10 seconds, etc.

[0031] In some embodiments, issuing control commands to each signal transmitter can be: issuing coordinated control commands to each of the signal transmitters, specifically: the vehicle controller dynamically allocates working time slots and modulation frequencies to signal transmitters at different locations based on the vehicle's current position, speed, and driving direction.

[0032] For example, transmitters in the vehicle's forward direction are prioritized and have higher signal transmission frequencies, while transmitters to the sides and rear use lower frequencies for scanning. This time-division and frequency-division multiplexing strategy ensures effective signal coverage of key areas, avoids mutual interference between signals, optimizes system power consumption, and achieves efficient and orderly active detection of the vehicle's surrounding environment.

[0033] Understandably, upon receiving a control command, each signal transmitter combines its own identification code with a precise timestamp, uses this as baseband information, modulates it onto a designated carrier frequency, and then transmits its unique detection signal. This ensures that subsequent pedestrian terminal devices receive not a homogeneous, simple signal, but a signal data packet containing the information of the transmitting entity. This provides the computational basis for the vehicle controller to perform high-precision positioning using algorithms such as time difference of arrival, ensuring the accuracy and reliability of pedestrian location identification.

[0034] In some embodiments, generating a feedback signal based on the at least one detection signal includes: Step S01. For each of the detection signals, obtain the received signal strength of the detection signal to obtain the intensity measurement value; For each received detection signal, the pedestrian terminal device can utilize its built-in radio frequency signal processing module to accurately measure the received signal strength of each signal and quantify it into a specific intensity measurement value. Understandably, this process can be completed synchronously within a very short time to capture the instantaneous state of the signal. To improve accuracy, the pedestrian terminal device can perform multiple rapid samplings of the signal from the same transmitter and employ filtering algorithms to eliminate abnormal fluctuations, ultimately obtaining a stable and reliable intensity measurement value. This intensity measurement value will serve as supporting data for subsequent relative position positioning of pedestrians and vehicles, and its accuracy contributes to improving the precision of position perception.

[0035] Step S02. Determine the second relative position between the pedestrian and the vehicle based on the multiple intensity measurements; For example, based on the acquired intensity measurements, the pedestrian terminal device can perform a triangulation-like logical judgment on this data. For instance, if a pedestrian is located at position A, the signal strength received from the first signal detector is the highest, while the signal strength received from the second and third signal detectors is weaker. Therefore, the pedestrian terminal device can conclude that the pedestrian is closest to the first signal detector. Alternatively, the pedestrian terminal device can estimate the pedestrian's two-dimensional coordinates and approximate distance relative to the vehicle's geometric center by comparing the relative magnitudes of signal intensities from different directions, i.e., the second relative position.

[0036] Step S03. Generate the feedback signal based on the identification code of the pedestrian terminal device and the second relative position.

[0037] Understandably, based on the determined second relative position, the pedestrian terminal device encapsulates the pedestrian's identification code and the second relative position into a data set to obtain a feedback signal. For example, the identification code 123 indicates that the feedback signal was issued by the pedestrian terminal device, signifying that the vehicle and pedestrian have exchanged location information.

[0038] Step S102. Obtain the feedback signal, and perform pedestrian attribute recognition and pedestrian location recognition based on the feedback signal to obtain the recognition result; In some embodiments, the process of identifying pedestrian attributes and pedestrian locations based on the feedback signal includes: Step S1021. Compare the identification code carried in the feedback signal with a preset reference identification code. If the identification code is consistent with the reference identification code, then determine that the feedback signal was issued by the pedestrian terminal device. Understandably, upon receiving a feedback signal, the vehicle controller first parses it to extract the identification code of the embedded pedestrian terminal device. Then, the vehicle controller compares this identification code with a baseline identification code stored locally or synchronized in real-time from the cloud. This comparison process not only performs precise string matching but also verifies the encrypted signature of the identification code to ensure its authenticity and validity, thereby accurately determining whether the feedback signal originates from a legitimate and trusted registered pedestrian terminal device. This step serves to authenticate the identity attributes, filtering out interference from irrelevant devices or counterfeit signals, and providing strong data support for subsequent critical risk decisions.

[0039] Step S1022. When the feedback signal is issued by the pedestrian terminal device, pedestrian location identification is performed based on the feedback signal.

[0040] In some embodiments, the step of identifying the pedestrian's location based on the feedback signal includes: Based on the location information carried in the feedback signal, a first relative position of the pedestrian relative to the vehicle is determined, wherein the location information is a second relative position of the vehicle relative to the pedestrian.

[0041] For example, after identity verification is successful, the vehicle controller parses the pedestrian's terminal device's second relative position from the feedback signal and uses it as the observation input. Furthermore, the vehicle controller integrates the precise transmission times of the signals recorded by each transmitter with the arrival times of the feedback signals to independently calculate a set of TDOA positioning data based on the time difference of arrival. Finally, through a data fusion algorithm (such as Kalman filtering), the location information reported by the terminal and the positioning data autonomously calculated by the vehicle are weighted, fused, and complemented to dynamically generate a more accurate and reliable real-time precise location of the pedestrian, while simultaneously estimating their speed and trajectory.

[0042] Step S103. Determine whether there is a collision risk between the vehicle and the pedestrian based on the identification result. If there is a collision risk, control the vehicle to perform collision avoidance measures.

[0043] In some embodiments, determining whether there is a risk of collision between the vehicle and the pedestrian based on the identification result includes: Step S1031. Based on the recognition result, obtain the pedestrian's motion data, which includes the pedestrian's real-time location, motion trajectory, and speed attribute; Step S1032. Based on the vehicle's own driving state and the pedestrian's motion data, predict the third relative position between the pedestrian and the vehicle using a dynamic collision risk assessment model. The dynamic collision risk assessment model is obtained by training the network to be trained using training samples, which include: vehicle driving state samples, pedestrian motion data samples, and collision risk assessment labels. It's important to note that the dynamic collision risk assessment model is a deep learning network trained on a massive amount of data. The training samples contain a vast combination of vehicle driving states (such as speed, acceleration, and steering angle) and pedestrian motion data (position, trajectory, and speed), labeled with either "risk" or "safe" assessment tags. During model execution, real-time vehicle state and pedestrian motion data are used as input. Through its complex internal nonlinear mapping, it not only predicts the precise third-order relative position of the pedestrian and vehicle within the next few seconds but also directly outputs a quantified collision probability value. This model can learn the complex game-theoretic behavior in human-vehicle interactions, thereby achieving proactive and adaptive risk assessment.

[0044] Step S1033. Determine whether there is a risk of collision between the vehicle and the pedestrian based on the third relative position.

[0045] In some embodiments, after obtaining the third relative position, all potential intersection points of the predicted trajectories of the vehicle and pedestrian within a future time window (e.g., 2-5 seconds) can be acquired. For each intersection point, its corresponding time difference of arrival is calculated. If there exists an intersection point where the time difference of arrival between the two parties is less than a preset safety threshold (e.g., 1 second), it is determined that there is a risk of collision.

[0046] In some embodiments, controlling the vehicle to perform collision avoidance measures includes: Implement collision avoidance measures corresponding to the urgency of the risk.

[0047] For example, the system can issue audible and visual warnings to the driver via the in-vehicle human-machine interface system. If the risk escalates or the driver fails to respond in time, the system will automatically apply slight intermittent braking and simultaneously trigger the pretensioning of the pedestrian-side seatbelt. In extremely high-risk emergencies, the system will perform full autonomous emergency braking and, in conjunction with the electronic stability system, provide necessary steering assistance to maximize collision avoidance or mitigate impact injuries. The entire process ensures a smooth transition from warning to control, balancing safety and driving experience.

[0048] Based on the above disclosure, the pedestrian recognition method of this application embodiment is applied to a vehicle. The vehicle includes an on-board controller and multiple signal transmitters distributed at different locations within the vehicle. The multiple signal transmitters are communicatively connected to the on-board controller, and both the multiple signal transmitters and the on-board controller are communicatively connected to a pedestrian terminal device. The method is executed on the on-board controller and includes: issuing control commands to each signal transmitter so that each signal transmitter emits its own detection signal according to the control command, so that the pedestrian terminal device generates a feedback signal based on at least one detection signal after receiving it; acquiring the feedback signal, performing pedestrian attribute recognition and pedestrian location recognition based on the feedback signal to obtain a recognition result; determining whether there is a collision risk between the vehicle and the pedestrian based on the recognition result, and if there is a collision risk, controlling the vehicle to perform anti-collision measures. Therefore, this application embodiment provides a scheme for recognizing pedestrians by interacting with a pedestrian terminal device, based on existing pedestrian recognition schemes for vehicles (such as radar detection, camera detection, etc.). This provides a parallel pedestrian recognition scheme when existing pedestrian recognition schemes for vehicles fail or are ineffective, ensuring the accuracy of pedestrian recognition for vehicles.

[0049] Figure 2 A structural diagram of a pedestrian recognition device according to an embodiment of this application is shown.

[0050] A second aspect of this application provides a pedestrian recognition device 200 applied to a vehicle. The vehicle includes an on-board controller and signal transmitters distributed at different locations within the vehicle. The signal transmitters are communicatively connected to the on-board controller. The signal transmitters and the on-board controller are respectively used for communicative connections with pedestrian terminal devices. The device 200 is disposed on the on-board controller and includes: The instruction issuing unit 201 is used to issue control instructions to each of the signal transmitters, so that each of the signal transmitters issues its own detection signal according to the control instructions, so that the pedestrian terminal device generates a feedback signal according to the at least one detection signal after receiving at least one detection signal; The result acquisition unit 202 is used to acquire the feedback signal, perform pedestrian attribute recognition and pedestrian location recognition based on the feedback signal, and obtain the recognition result. The control unit 203 is used to determine whether there is a collision risk between the vehicle and the pedestrian based on the identification result, and if there is a collision risk, to control the vehicle to perform collision avoidance measures.

[0051] Figure 3 A flowchart of a pedestrian recognition method according to an embodiment of this application is shown.

[0052] A third aspect of this application provides a pedestrian identification method applied to a pedestrian terminal device. The pedestrian terminal device is used to communicate with a vehicle's onboard controller and multiple signal transmitters. The multiple signal transmitters are located at different positions on the vehicle, and the multiple signal transmitters are communicatively connected to the onboard controller. The method includes: Step S301. Receive at least one detection signal, wherein each detection signal is emitted by one of the signal transmitters, which emits the detection signal upon receiving a control command from the vehicle controller; Step S302. Generate a feedback signal based on the at least one detection signal; Step S303. Send the feedback signal to the vehicle controller so that the vehicle controller can identify pedestrian attributes and pedestrian positions based on the feedback signal, obtain identification results, determine whether there is a collision risk between the vehicle and the pedestrian based on the identification results, and if there is a collision risk, control the vehicle to perform collision avoidance measures.

[0053] In some embodiments, generating a feedback signal based on the at least one detection signal includes: For each of the detection signals, the received signal strength of the detection signal is obtained to obtain a strength measurement value; The second relative position of the pedestrian and the vehicle is determined based on multiple intensity measurements. The feedback signal is generated based on the identification code of the pedestrian terminal device and the second relative position.

[0054] Figure 4 A structural diagram of a pedestrian recognition device according to an embodiment of this application is shown.

[0055] A fourth aspect of this application provides a pedestrian recognition device 30, applied to a pedestrian terminal device. The pedestrian terminal device is used to communicate with a vehicle's onboard controller and multiple signal transmitters. The multiple signal transmitters are located at different positions on the vehicle and are communicatively connected to the onboard controller. The device 30 includes: The receiving unit 31 is configured to receive at least one detection signal, wherein each detection signal is emitted by one of the signal transmitters, which emits the detection signal upon receiving a control command from the vehicle controller; The generation unit 32 is used to generate a feedback signal based on the at least one detection signal; The sending unit 33 is used to send the feedback signal to the vehicle controller, so that the vehicle controller can perform pedestrian attribute recognition and pedestrian position recognition based on the feedback signal, obtain recognition results, determine whether there is a collision risk between the vehicle and the pedestrian based on the recognition results, and if there is a collision risk, control the vehicle to perform collision avoidance measures.

[0056] Figure 5 A structural block diagram of a vehicle according to an embodiment of this application is shown.

[0057] A fifth aspect of this application provides a vehicle, including: an on-board controller 41 and a plurality of signal transmitters 42 distributed at different locations in the vehicle, wherein the plurality of signal transmitters 42 are communicatively connected to the on-board controller 41, and the plurality of signal transmitters 42 and the on-board controller 41 are respectively used to communicate with pedestrian terminal devices, and the on-board controller 41 is used to perform the method as described in any of the first aspects.

[0058] In some embodiments, the signal transmitter 42 may be an radio frequency transmitter or a Bluetooth transmitter. The various signal transmitters 42 may be located at different positions outside or inside the vehicle, such as the front, left, right, and rear of the vehicle.

[0059] In some embodiments, the vehicle controller 41 may be a controller dedicated to pedestrian recognition control, or it may be a controller that integrates pedestrian recognition control function on the basis of an existing controller in the vehicle, such as a vehicle controller.

[0060] Figure 6 A structural diagram of a pedestrian recognition system according to an embodiment of this application is shown.

[0061] A sixth aspect of this application provides a pedestrian recognition system, including: a pedestrian terminal device 50 and a vehicle 40 as described in the fifth aspect.

[0062] A seventh aspect of this application provides a computer-readable storage medium storing at least one computer program instruction, which is loaded and executed by a processor to perform the operations as described in any of the methods in the first aspect.

[0063] Computer-readable storage media may be portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the computer-readable storage medium of this application is not limited thereto. In this application, the readable storage medium may be any tangible medium that contains or stores a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0064] A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0065] Program code for performing the operations of this application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0066] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be 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 displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between units or modules may be electrical or other forms.

[0067] The units described as separate components may or may not be physically separate. Similarly, the components of the control device may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0068] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, 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 a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0069] Figure 7 A schematic diagram of the structure of a computer system suitable for implementing the electronic device of the present application is shown.

[0070] According to an eighth aspect of the present application, an electronic device is provided, including one or more processors and one or more memories, wherein at least one piece of program code is stored in the one or more memories, the at least one piece of program code being loaded and executed by the one or more processors to perform the operations performed as described in any of the methods in the first aspect.

[0071] like Figure 7As shown, the electronic device 400 is manifested in the form of a general-purpose computing device. The components of the electronic device 400 may include, but are not limited to: at least one processing unit 410, at least one storage unit 420, and a bus 430 connecting different system components (including storage unit 420 and processing unit 410).

[0072] The storage unit stores program code, which can be executed by the processing unit 410, causing the processing unit 410 to perform the steps described in the "Embodiment Method" section above according to various exemplary embodiments of this application.

[0073] Storage unit 420 may include readable media in the form of volatile storage units, such as random access memory (RAM) 421 and / or cache 422, and may further include read-only memory (ROM) 423.

[0074] Storage unit 420 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0075] Bus 430 can represent one or more of several bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the multiple bus structures.

[0076] Electronic device 400 can also communicate with one or more external devices 500 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 400, and / or with any device that enables electronic device 400 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed through I / O (input / output) interface 450, which can also be connected to display unit 440 to display the communication content. Furthermore, electronic device 400 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public network, such as the Internet) through network adapter 460. As shown, network adapter 460 communicates with other modules of electronic device 400 via bus 430. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 400, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0077] The functions described herein can be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions can be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and embodiments are within the scope and spirit of this invention and the appended claims. For example, due to the nature of software, the functions described above can be implemented using software executed by a processor, hardware, firmware, hardwired, or any combination thereof. Furthermore, the functional units can be integrated into a single processing unit, or each unit can exist physically separately, or two or more units can be integrated into a single unit.

[0078] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A pedestrian recognition method, characterized in that, The method is applied to a vehicle, the vehicle including: an on-board controller and multiple signal transmitters distributed at different locations within the vehicle, the multiple signal transmitters being communicatively connected to the on-board controller, the multiple signal transmitters and the on-board controller being respectively used for communicatively connecting to a pedestrian terminal device, the method being executed on the on-board controller, the method including: Control commands are sent to each of the signal transmitters so that each of the signal transmitters emits its own detection signal according to the control commands, so that the pedestrian terminal device generates a feedback signal based on the at least one detection signal after receiving at least one detection signal; The feedback signal is acquired, and pedestrian attribute recognition and pedestrian location recognition are performed based on the feedback signal to obtain the recognition result. Based on the identification results, it is determined whether there is a risk of collision between the vehicle and the pedestrian. If there is a risk of collision, the vehicle is controlled to perform collision avoidance measures.

2. The method according to claim 1, characterized in that, The process of identifying pedestrian attributes and pedestrian locations based on the feedback signal includes: The identification code carried in the feedback signal is compared with a preset reference identification code. If the identification code matches the reference identification code, the feedback signal is determined to be issued by the pedestrian terminal device. When the feedback signal is emitted by the pedestrian terminal device, pedestrian location is identified based on the feedback signal.

3. The method according to claim 2, characterized in that, The step of identifying pedestrian location based on the feedback signal includes: Based on the location information carried in the feedback signal, a first relative position of the pedestrian relative to the vehicle is determined, wherein the location information is a second relative position of the vehicle relative to the pedestrian.

4. The method according to any one of claims 1-3, characterized in that, Determining whether there is a risk of collision between the vehicle and the pedestrian based on the identification result includes: Based on the recognition results, the pedestrian's motion data is obtained, including the pedestrian's real-time location, motion trajectory, and speed attribute. Based on the vehicle's own driving status and the pedestrian's motion data, a dynamic collision risk assessment model is used to predict the third relative position between the pedestrian and the vehicle. The dynamic collision risk assessment model is obtained by training the network to be trained using training samples, which include: vehicle driving status samples, pedestrian motion data samples, and collision risk assessment labels. The risk of collision between the vehicle and the pedestrian is determined based on the third relative position.

5. A pedestrian recognition device, characterized in that, Applied to a vehicle, the vehicle includes: an on-board controller and signal transmitters distributed at different locations within the vehicle, the signal transmitters being communicatively connected to the on-board controller, the signal transmitters and the on-board controller being respectively used for communicative connections with pedestrian terminal devices, the device being disposed within the on-board controller, and the device comprising: The instruction issuing unit is used to issue control instructions to each of the signal transmitters, so that each of the signal transmitters issues its own detection signal according to the control instructions, so that the pedestrian terminal device generates a feedback signal according to the at least one detection signal after receiving at least one detection signal; The result acquisition unit is used to acquire the feedback signal, perform pedestrian attribute recognition and pedestrian location recognition based on the feedback signal, and obtain the recognition result. The control unit is used to determine whether there is a collision risk between the vehicle and the pedestrian based on the identification result, and if there is a collision risk, to control the vehicle to perform collision avoidance measures.

6. A pedestrian recognition method, characterized in that, An application is made to a pedestrian terminal device, which is used to communicate with a vehicle's onboard controller and multiple signal transmitters located at different positions within the vehicle. The multiple signal transmitters are communicatively connected to the onboard controller. The method includes: Receive at least one detection signal, wherein each detection signal is emitted by one of the signal transmitters, which emits the detection signal upon receiving a control command from the vehicle controller; A feedback signal is generated based on the at least one detection signal; The feedback signal is sent to the vehicle controller, so that the vehicle controller can identify pedestrian attributes and pedestrian positions based on the feedback signal, obtain identification results, determine whether there is a collision risk between the vehicle and the pedestrian based on the identification results, and if there is a collision risk, control the vehicle to perform collision avoidance measures.

7. The method according to claim 6, characterized in that, The step of generating a feedback signal based on the at least one detection signal includes: For each of the detection signals, the received signal strength of the detection signal is obtained to obtain a strength measurement value; The second relative position of the pedestrian and the vehicle is determined based on multiple intensity measurements. The feedback signal is generated based on the identification code of the pedestrian terminal device and the second relative position.

8. A pedestrian recognition device, characterized in that, An application for pedestrian terminal equipment, the pedestrian terminal equipment being used to communicate with a vehicle's onboard controller and multiple signal transmitters, the multiple signal transmitters being located at different positions within the vehicle, and the multiple signal transmitters being communicatively connected to the onboard controller, the device comprising: A receiving unit is configured to receive at least one detection signal, wherein each detection signal is emitted by one of the signal transmitters, which emits the detection signal upon receiving a control command from the vehicle controller; A generation unit is configured to generate a feedback signal based on the at least one detection signal; The transmitting unit is used to send the feedback signal to the vehicle controller, so that the vehicle controller can perform pedestrian attribute recognition and pedestrian location recognition based on the feedback signal, obtain recognition results, determine whether there is a collision risk between the vehicle and the pedestrian based on the recognition results, and if there is a collision risk, control the vehicle to perform collision avoidance measures.

9. A vehicle, characterized in that, include: The vehicle controller and a plurality of signal transmitters distributed at different locations in the vehicle, the plurality of signal transmitters being communicatively connected to the vehicle controller, the plurality of signal transmitters and the vehicle controller being respectively used to communicate with pedestrian terminal equipment, the vehicle controller being used to perform the method as described in any one of claims 1-4.

10. A pedestrian recognition system, characterized in that, include: Pedestrian terminal equipment and the vehicle as described in claim 9.

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