CN111572542A - Intelligent control system and method for avoiding pedestrians - Google Patents
Intelligent control system and method for avoiding pedestrians Download PDFInfo
- Publication number
- CN111572542A CN111572542A CN202010359354.0A CN202010359354A CN111572542A CN 111572542 A CN111572542 A CN 111572542A CN 202010359354 A CN202010359354 A CN 202010359354A CN 111572542 A CN111572542 A CN 111572542A
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- vehicle
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- 238000000034 method Methods 0.000 title claims description 10
- 230000008447 perception Effects 0.000 claims abstract description 19
- 230000004927 fusion Effects 0.000 claims abstract description 13
- 241000283070 Equus zebra Species 0.000 claims description 3
- 230000009193 crawling Effects 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 239000013589 supplement Substances 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/103—Static body considered as a whole, e.g. static pedestrian or occupant recognition
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses an intelligent control system for avoiding pedestrians, which comprises a camera, an image processing system, a radar, a perception fusion system, a vehicle control unit, a light control system, a brake system and a steering system. The vehicle recognizes that the pedestrian target exists in the pedestrian crosswalk, if the moving speed is normal, the vehicle creeps outside the pedestrian crosswalk to wait for all pedestrians to pass through, if the moving speed is lower than the normal moving speed, the vehicle is controlled to stop outside the pedestrian crosswalk when the possibility of the pedestrians cannot be eliminated, and the safety of the pedestrians is greatly improved.
Description
Technical Field
The invention relates to the technical field of intelligent automobiles, in particular to an intelligent control system and method for avoiding pedestrians.
Background
Today it is the direction of important research for vehicles to avoid pedestrians. Chinese patent 201710958679.9 discloses a method for identifying pedestrians using radar and camera, and patent application 201910403777.5 provides a method for extracting a pedestrian CNN feature map from a plurality of pictures, performing model training by simulating that a discriminant region of the pedestrian CNN feature map is blocked in an anti-friction learning manner, and then performing pedestrian re-identification by using the training model in combination with a target pedestrian image to obtain a result of the pedestrian re-identification. Patent application 201711338020.X adopts comparison of moving speed of an object whose image is recognized as a pedestrian, and if the moving speed of the pedestrian is met, it is determined as the pedestrian. Chinese patent 201610119218.8 sets up a model of the safety distance between the automobile and the pedestrian to give an early warning to the driver, and the distance enters a dangerous range to carry out auxiliary braking control. However, in the prior art, an intelligent control method for avoiding pedestrians is not provided.
Disclosure of Invention
The invention aims to provide an intelligent control system for avoiding pedestrians, which comprises a camera, an image processing system, a radar, a perception fusion system, a vehicle control unit, a light control system, a brake system and a steering system.
The invention also provides an intelligent control method for avoiding pedestrians, which comprises the following specific steps:
s1: the camera uploads a shot front intersection picture to an image processing system, the image processing system performs image recognition, pedestrian crossing information is recognized from the image, and the recognized information is transmitted to the vehicle control unit;
s2: after the vehicle control unit receives the pedestrian crossing information transmitted by the image processing system, the vehicle control unit controls the vehicle to reduce the speed in advance through the brake system;
s3: the vehicle controller controls the vehicle to reduce the vehicle speed and simultaneously informs the perception fusion system to work, and all pedestrian perception sensors and radars in the perception fusion system work;
s4: after the perception fusion system finds a pedestrian target through a sensor, the vehicle control unit plans a speed position driving route avoiding pedestrians through a steering system to pass through a crossing, and specific routes and driving modes are judged according to specific pedestrian conditions, wherein the specific conditions are as follows:
1) the moving speed of the pedestrian target is normal, and the vehicle can not keep the crawling speed to wait for all the pedestrian targets to pass through, so that the vehicle is controlled to stop outside the pedestrian crosswalk;
2) when the pedestrian target is static or the moving speed is far lower than the normal pedestrian crossing speed, the vehicle control unit informs the light control system to carry out light supplement perception on the target;
3) if the possibility of pedestrians cannot be eliminated, the vehicle control unit controls the vehicle to decelerate and brake to stop outside the zebra crossing;
s5: and manually confirming, and restarting the vehicle to drive again after safety is confirmed.
Compared with the prior art, the invention has the beneficial effects that: the vehicle recognizes that the pedestrian target exists in the pedestrian crosswalk, if the moving speed is normal, the vehicle creeps outside the pedestrian crosswalk to wait for all pedestrians to pass through, if the moving speed is lower than the normal moving speed, the vehicle is controlled to stop outside the pedestrian crosswalk when the possibility of the pedestrians cannot be eliminated, and the safety of the pedestrians is greatly improved.
Drawings
FIG. 1 is a schematic view of a crosswalk passing on a straight road;
fig. 2 is a schematic diagram of pedestrian crosswalk traffic on a crossroad.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
An intelligent control system for avoiding pedestrians comprises a camera, an image processing system, a radar, a perception fusion system, a vehicle control unit, a light control system, a brake system and a steering system.
The invention also provides an intelligent control method for avoiding pedestrians, which comprises the following specific steps:
s1: the camera uploads a shot front intersection picture to an image processing system, the image processing system performs image recognition, pedestrian crossing information is recognized from the image, and the recognized information is transmitted to the vehicle control unit;
s2: after the vehicle control unit receives the pedestrian crossing information transmitted by the image processing system, the vehicle control unit controls the vehicle to reduce the speed in advance through the brake system;
s3: the vehicle controller controls the vehicle to reduce the vehicle speed and simultaneously informs the perception fusion system to work, and all pedestrian perception sensors and radars in the perception fusion system work;
s4: after the perception fusion system finds a pedestrian target through a sensor, the vehicle control unit plans a speed position driving route avoiding pedestrians through a steering system to pass through a crossing, and specific routes and driving modes are judged according to specific pedestrian conditions, wherein the specific conditions are as follows:
1) the moving speed of the pedestrian target is normal, and the vehicle can not keep the crawling speed to wait for all the pedestrian targets to pass through, so that the vehicle is controlled to stop outside the pedestrian crosswalk;
2) when the pedestrian target is static or the moving speed is far lower than the normal pedestrian crossing speed, the vehicle control unit informs the light control system to carry out light supplement perception on the target;
3) if the possibility of pedestrians cannot be eliminated, the vehicle control unit controls the vehicle to decelerate and brake to stop outside the zebra crossing;
s5: and manually confirming, and restarting the vehicle to drive again after safety is confirmed.
The vehicle recognizes that the pedestrian target exists in the pedestrian crosswalk, if the moving speed is normal, the vehicle creeps outside the pedestrian crosswalk to wait for all pedestrians to pass through, if the moving speed is lower than the normal moving speed, the vehicle is controlled to stop outside the pedestrian crosswalk when the possibility of the pedestrians cannot be eliminated, and the safety of the pedestrians is greatly improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (2)
1. The utility model provides an intelligent control system who dodges pedestrian which characterized in that: the system comprises a camera, an image processing system, a radar, a perception fusion system, a vehicle control unit, a light control system, a brake system and a steering system.
2. An intelligent control method for avoiding pedestrians according to claim 1, characterized in that: the method comprises the following specific steps:
s1: the camera uploads a shot front intersection picture to an image processing system, the image processing system performs image recognition, pedestrian crossing information is recognized from the image, and the recognized information is transmitted to the vehicle control unit;
s2: after the vehicle control unit receives the pedestrian crossing information transmitted by the image processing system, the vehicle control unit controls the vehicle to reduce the speed in advance through the brake system;
s3: the vehicle controller controls the vehicle to reduce the vehicle speed and simultaneously informs the perception fusion system to work, and all pedestrian perception sensors and radars in the perception fusion system work;
s4: after the perception fusion system finds a pedestrian target through a sensor, the vehicle control unit plans a speed position driving route avoiding pedestrians through a steering system to pass through a crossing, and specific routes and driving modes are judged according to specific pedestrian conditions, wherein the specific conditions are as follows:
1) the moving speed of the pedestrian target is normal, and the vehicle can not keep the crawling speed to wait for all the pedestrian targets to pass through, so that the vehicle is controlled to stop outside the pedestrian crosswalk;
2) when the pedestrian target is static or the moving speed is far lower than the normal pedestrian crossing speed, the vehicle control unit informs the light control system to carry out light supplement perception on the target;
3) if the possibility of pedestrians cannot be eliminated, the vehicle control unit controls the vehicle to decelerate and brake to stop outside the zebra crossing;
s5: and manually confirming, and restarting the vehicle to drive again after safety is confirmed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010359354.0A CN111572542A (en) | 2020-04-30 | 2020-04-30 | Intelligent control system and method for avoiding pedestrians |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010359354.0A CN111572542A (en) | 2020-04-30 | 2020-04-30 | Intelligent control system and method for avoiding pedestrians |
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| Publication Number | Publication Date |
|---|---|
| CN111572542A true CN111572542A (en) | 2020-08-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010359354.0A Pending CN111572542A (en) | 2020-04-30 | 2020-04-30 | Intelligent control system and method for avoiding pedestrians |
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| CN (1) | CN111572542A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150332114A1 (en) * | 2014-05-14 | 2015-11-19 | Mobileye Vision Technologies Ltd. | Systems and methods for curb detection and pedestrian hazard assessment |
| US20170349169A1 (en) * | 2016-06-06 | 2017-12-07 | Robert Bosch Gmbh | Autonomous braking failure management in pedestrian protection |
| CN110304055A (en) * | 2019-07-10 | 2019-10-08 | 厦门金龙联合汽车工业有限公司 | A kind of car actively alleviates the control system and its application method of pedestrian impact |
| CN110322705A (en) * | 2019-07-15 | 2019-10-11 | 青岛海信网络科技股份有限公司 | A kind of method and device, the system of crossing pedestrian street crossing signal control |
| CN110834631A (en) * | 2019-11-01 | 2020-02-25 | 中国第一汽车股份有限公司 | Pedestrian avoiding method and device, vehicle and storage medium |
-
2020
- 2020-04-30 CN CN202010359354.0A patent/CN111572542A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150332114A1 (en) * | 2014-05-14 | 2015-11-19 | Mobileye Vision Technologies Ltd. | Systems and methods for curb detection and pedestrian hazard assessment |
| US20170349169A1 (en) * | 2016-06-06 | 2017-12-07 | Robert Bosch Gmbh | Autonomous braking failure management in pedestrian protection |
| CN110304055A (en) * | 2019-07-10 | 2019-10-08 | 厦门金龙联合汽车工业有限公司 | A kind of car actively alleviates the control system and its application method of pedestrian impact |
| CN110322705A (en) * | 2019-07-15 | 2019-10-11 | 青岛海信网络科技股份有限公司 | A kind of method and device, the system of crossing pedestrian street crossing signal control |
| CN110834631A (en) * | 2019-11-01 | 2020-02-25 | 中国第一汽车股份有限公司 | Pedestrian avoiding method and device, vehicle and storage medium |
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Application publication date: 20200825 |
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