CN114093200A - System and method for bidirectional multi-mode early warning of road vehicles - Google Patents
System and method for bidirectional multi-mode early warning of road vehicles Download PDFInfo
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Abstract
The invention discloses a system and a method for bidirectional multi-mode early warning of a road pedestrian and a vehicle, which relate to the technical field of intelligent traffic and solve the technical problems that the existing warning pedestrian and vehicle has a single bidirectional early warning function and warning information cannot be effectively transmitted to a traffic participation main body; the pedestrian mobile terminal is used for uploading pedestrian state information to the vehicle mobile terminal, the cloud control platform and the road side unit, receiving vehicle information sent from the cloud control platform, vehicle state information of the vehicle mobile terminal, traffic facility information sent from the road side unit and starting multi-mode early warning of the pedestrian mobile terminal by the vehicle mobile terminal or the cloud control platform; the invention improves the effectiveness of the information transfer capability between the vehicle and the traffic participants.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to the technical field of a system and a method for bidirectional multi-mode early warning of pedestrians and vehicles on a road.
Background
The development of the automobile industry, the number of automobiles is increased in a well-jet mode; in 2020, the number of vehicles in 70 cities in China exceeds 100 million, road traffic is increasingly complex, the population density of large cities is high, more capital constructions are needed, the number of roads is multiple, and the traffic safety problem of vulnerable road users is increasingly severe; the weak road users always want to keep the walking speed expected by themselves, and the overtaking phenomenon often occurs; for example, pedestrians confronted with each other often make an interlacing movement in order to avoid a mutual collision; or the current state of the users on the weak road can not effectively deal with the road conditions, for example, some users on the weak road have the problems of poor eyesight, inflexible ears, slow movement, slow response and the like, can not find the coming vehicle, can not avoid the coming vehicle, and can cause traffic accidents because the legs and the feet are not too late to avoid the coming vehicle; or, the user wears the earphones while running, so that external information cannot be effectively acquired, pedestrians are excessively concentrated on playing the mobile phone, and the like; in order to meet the traffic needs of people, creating urban traffic with people, vehicles, roads and environment coordination is an important pursuit target, and a multimodal enhancement method and a human-vehicle bidirectional interaction method for vulnerable road users are explored through the development and application of the mature intelligent network technology to protect the safety of roads.
In the prior art, publication No. CN105976640A discloses a safety warning method, a pedestrian shoe device, a vehicle-mounted platform and a system based on V2X communication, the pedestrian shoe device includes: the pedestrian information acquisition module is used for acquiring the walking characteristic information of the pedestrian according to a preset time interval and transmitting the walking characteristic information of the pedestrian to the information broadcasting module in real time; the information broadcasting module is used for broadcasting the walking characteristic information of the pedestrian to a target vehicle within a preset range in real time; the warning information receiving module is used for receiving safety warning information returned by the target vehicle, and the safety warning information is generated when collision danger exists between pedestrians and the vehicle according to the driving characteristic information and the walking characteristic information of the pedestrians after the driving characteristic information of the vehicle is acquired by the target vehicle; and the warning module is used for sending warning signals to the pedestrians according to the safety warning information. The invention can actively warn pedestrians, thereby greatly reducing the probability of safety accidents; however, in the existing traffic environment, road participants often cannot receive road information comprehensively and effectively due to handling of other things or physiological reasons in the process of advancing, so that information communication between people and vehicles is blocked or an expected reaction conflict (for example, pedestrians do not hear horn sounds) causes that reasonable reaction cannot be made, a traffic accident is caused, and further traffic jam is caused.
Disclosure of Invention
The invention aims to: in order to solve the technical problems, the invention provides a system and a method for bidirectional multi-mode early warning of a road man vehicle.
The technical scheme adopted by the invention is as follows: a system for bidirectional multi-mode early warning of pedestrians and vehicles on a road comprises a vehicle mobile terminal, a pedestrian mobile terminal, a cloud control platform and a road side unit, wherein the vehicle mobile terminal is used for uploading vehicle state information to the cloud control platform and the pedestrian mobile terminal, and receiving pedestrian information issued from the cloud control platform and pedestrian state information of the pedestrian mobile terminal; the pedestrian mobile terminal is used for uploading pedestrian state information to the vehicle mobile terminal, the cloud control platform and the road side unit, receiving vehicle information sent from the cloud control platform, vehicle state information of the vehicle mobile terminal, traffic facility information sent from the road side unit and starting multi-mode early warning of the pedestrian mobile terminal by the vehicle mobile terminal or the cloud control platform; the invention is based on V2X car networking environment, through V2X roadside equipment, cloud control platform, utilize on-board unit (OBU), mobile terminal to communicate the state information of passerby in real time; road position information, pedestrian crossing traffic light information and surrounding vehicle information are effectively informed to the vulnerable traffic participants through a multi-mode feedback method, and meanwhile, the position, the speed, the passing intention and the real-time state are also provided to the roadside motor vehicles according to the priority, so that the safety of the two parties is guaranteed.
The vehicle mobile terminal comprises a processor, a memory, a communication module, a GNSS module, an accelerometer/gyroscope, a sound output, a visual output and a tactile output, wherein the GNSS module is used for positioning, and the accelerometer/gyroscope is used for determining the direction data of the current vehicle mobile terminal.
The pedestrian mobile terminal comprises a processor, a storage, a memory, a communication module, a GNSS module, an accelerometer/gyroscope, an audio output module, a display output module, a vibration module and other sensing mode assemblies which are not mentioned, wherein the GNSS module is used for positioning, the accelerometer/gyroscope is used for determining the direction data of the current pedestrian mobile terminal, the audio output module is used for audio intervention mode warning, the display output module is used for screen message push mode warning, the vibration module is used for vibration mode warning, an information lamp of the communication module is used for mode warning of flickering light, and the current user terminal use condition is obtained through the pedestrian mobile terminal; real-time communication is provided through the C-V2X technology, and bidirectional multi-mode early warning is finally provided for people and vehicles on the road, wherein the multi-mode early warning mode achieves effective road information transmission by adding or strengthening part of modes and supporting each other to form effective redundancy.
The pedestrian state information of the pedestrian mobile terminal comprises whether the vision or the hearing of the pedestrian is concentrated on a certain article, and what state the vision or the hearing of the pedestrian is in the traffic environment.
The cloud control platform judges whether the people and the vehicles enter an early warning area through a PNPoly algorithm, and automatically sends positioning information to request data of the two parties; establishing a pedestrian mobile terminal behavior model by combining the traveling habit of the pedestrian mobile terminal; calculating the conventional speed and motion trail prediction of the pedestrian mobile terminal and the vehicle mobile terminal by combining GNSS positioning data; the method provides a pedestrian mobile terminal with a vehicle approaching through multiple modes, reminds the vehicle mobile terminal of the pedestrian perception state, and provides a passing suggestion through traffic light phase timing information and other traffic facility information.
The pedestrian mobile terminal is a mobile phone, an intelligent watch, a tablet computer, a notebook computer or other terminals.
The pedestrian mobile terminal reports data to a road side unit or a cloud control platform through a special message, vehicle information uploads the data to the road side unit or the cloud control platform through the vehicle mobile terminal, the message is processed by combining with SPAT, MAP information and vehicle information, traffic information around a current road traffic participant is fed back to the road side unit or the cloud control platform, and the cloud control platform provides appropriate modal feedback according to the feedback information and the using state of the pedestrian mobile terminal; the pedestrian mobile terminal obtains road information through multi-mode perception, the road information reacts to the passing of the vehicle, the vehicle obtains the unconventional state of pedestrians on the road side through the multi-mode perception, and reaction time and distance are reserved; the mode in the multi-mode early warning refers to the source or the form of each information, which is called a mode; for example, the multi-modal early warning means that an effective modal early warning mode is selected according to the current states of vehicles and vulnerable traffic participants in the same environment, when a main body participates in the traffic, the visual and auditory modes are mainly used, and the two modes are mutually matched to realize safe travel; however, in a scene with poor capability, the main body cannot ensure the simultaneous participation of vision and hearing, and at the moment, the information is received by using other modes through a multi-mode method, or the participation modal capability is enhanced, so that the effective transmission of the information of the traffic participation main body is achieved, and further, the reasonable response is made to the surrounding situation.
The vehicle mobile terminal, the pedestrian mobile terminal and the road side unit exchange information with each other through the PC 5.
The cloud control platform exchanges information with the vehicle mobile terminal, the pedestrian mobile terminal and the road side unit through 4G/5G.
A bidirectional multi-mode early warning method for road vehicles comprises the following steps:
step one, when a vehicle passes through a pedestrian, a vehicle machine acquires an advancing path corresponding to current vehicle speed and position information, and a pedestrian mobile terminal acquires an advancing speed and position of a participant and a behavior model and an advancing route corresponding to terminal state information;
directly communicating the vehicle and the pedestrian through a vehicle mobile terminal and a pedestrian mobile terminal, or transferring the vehicle mobile terminal and the pedestrian mobile terminal through a V2X server, and informing the states of the two parties to the other party;
step three, judging whether the double advancing paths and the speed have dangerousness or not, and judging the states of the two parties;
step four, determining which mode or modes are started to early warn according to the risk and the states of the two parties;
and fifthly, the two parties finish state information replacement through multi-mode early warning, necessary information is provided for reaction judgment of the two parties, and reasonable avoidance is achieved.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
when the pedestrian walks at the roadside, some scenes with inconvenience or incapability exist, for example, the elderly have dim eyesight and deafness and do not know to avoid, or the legs and feet are not able to avoid; or, the pedestrian can not effectively obtain sound information of the surrounding environment because the pedestrian takes the earphone to listen to the song on the roadside, such as whistling early warning of a rear vehicle; or the pedestrians in the 'lower head group' concentrate on the screen of the mobile phone and cannot receive the information of the surrounding environment with distraction, so that after the motor vehicle whistles in the state, the situation that the avoidance reaction of the expected vulnerable road user is not matched with the actual situation exists, the active avoidance reaction time of the vehicle owner is reduced, the avoidance difficulty is increased, and the hidden danger of traffic accidents is raised linearly; meanwhile, the weak traffic users can not make appropriate response to the insufficient acquisition of road traffic information or physiological weakness; therefore, the invention effectively communicates the human-vehicle-road information by the communication technology, and improves the road safety by a multi-mode bidirectional early warning method and system; the invention realizes prompt through the existing equipment and terminal, and reduces the threshold for realization and use; the scene of V2P has been enriched, based on V2P communication, can realize the early warning and the protection of weak road user, has promoted the validity of vehicle and weak traffic participant information transfer ability in the scene of V2P, wherein, V2P indicates to carry out information exchange between vehicle and the pedestrian.
In summary, the effectiveness of the present invention is represented by enhancing or providing additional five-sense sensing to form redundancy to ensure that the road information is sensed by the main body through the assistance of the peripheral device on the premise of fast and stable communication capability.
Drawings
The invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a schematic diagram of a roadside pedestrian-vehicle communication scenario of the present invention;
FIG. 3 is a schematic diagram showing a state of a mobile phone with a headset for playing a mobile game according to embodiment 1;
FIG. 4 is a schematic diagram of 4 modal early warning methods according to example 1;
FIG. 5 is a block diagram showing the basic components of a vehicle mobile terminal and a pedestrian mobile terminal;
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 5, a system for bidirectional multi-modal early warning of pedestrians and vehicles on a road comprises a vehicle mobile terminal, a pedestrian mobile terminal, a cloud control platform, and a roadside unit, wherein the vehicle mobile terminal is used for uploading vehicle state information to the cloud control platform and the pedestrian mobile terminal, and receiving pedestrian information issued from the cloud control platform and pedestrian state information of the pedestrian mobile terminal; the pedestrian mobile terminal is used for uploading pedestrian state information to the vehicle mobile terminal, the cloud control platform and the road side unit, receiving vehicle information sent from the cloud control platform, vehicle state information of the vehicle mobile terminal, traffic facility information sent from the road side unit and starting multi-mode early warning of the pedestrian mobile terminal by the vehicle mobile terminal or the cloud control platform; the invention is based on V2X car networking environment, through V2X roadside equipment, cloud control platform, utilize on-board unit (OBU), mobile terminal to communicate the state information of passerby in real time; road position information, pedestrian crossing traffic light information and surrounding vehicle information are effectively informed to the vulnerable traffic participants, and meanwhile, the position, the speed, the passing intention and the real-time state are also provided for the roadside motor vehicles according to the priority, so that the safety of traveling of the two parties is guaranteed.
The vehicle mobile terminal comprises a processor, a memory, a communication module, a GNSS module, an accelerometer/gyroscope, a sound output, a visual output and a tactile output, wherein the GNSS module is used for positioning, and the accelerometer/gyroscope is used for determining the direction data of the current vehicle mobile terminal; the pedestrian mobile terminal comprises a processor, a storage module, a memory, a communication module, a GNSS module, an accelerometer/gyroscope, an audio output module, a display output module and a vibration module, wherein the GNSS module is used for positioning, the accelerometer/gyroscope is used for determining the direction data of the current pedestrian mobile terminal, the audio output module is used for audio intervention modal warning, the display output module is used for screen message push modal warning, the vibration module is used for vibration modal warning, an information lamp of the communication module is used for flashing modal warning of light, and the current user terminal use condition is obtained through the pedestrian mobile terminal; real-time communication is provided through the C-V2X technology, and bidirectional multi-mode early warning is finally provided for people and vehicles on the road, wherein the multi-mode early warning mode achieves effective road information transmission by adding or strengthening part of modes and supporting each other to form effective redundancy.
The pedestrian state information of the pedestrian mobile terminal comprises whether the vision or the hearing of the pedestrian is concentrated on a certain article, and what state the vision or the hearing of the pedestrian is in the traffic environment.
The cloud control platform judges whether the people and the vehicles enter an early warning area through a PNPoly algorithm, and automatically sends positioning information to request data of the two parties; establishing a pedestrian mobile terminal behavior model by combining the traveling habit of the pedestrian mobile terminal; calculating the conventional speed and motion trail prediction of the pedestrian mobile terminal and the vehicle mobile terminal by combining GNSS positioning data; the method provides a pedestrian mobile terminal with a vehicle approaching through multiple modes, reminds the vehicle mobile terminal of the pedestrian perception state, and provides a passing suggestion through traffic light phase timing information and other traffic facility information.
The pedestrian mobile terminal is a mobile phone, an intelligent watch, a tablet personal computer or a notebook computer; the pedestrian mobile terminal reports data to a road side unit or a cloud control platform through a special message, vehicle information uploads the data to the road side unit or the cloud control platform through the vehicle mobile terminal, the message is processed by combining with SPAT, MAP information and vehicle information, traffic information around a current road traffic participant is fed back to the road side unit or the cloud control platform, and the cloud control platform provides appropriate modal feedback according to the feedback information and the using state of the pedestrian mobile terminal; the pedestrian mobile terminal obtains road information through multi-mode perception, the road information reacts to the passing of the vehicle, the vehicle obtains the unconventional state of pedestrians on the road side through the multi-mode perception, and reaction time and distance are reserved; the mode in the multi-mode early warning refers to the source or the form of each information, which is called a mode; for example, the multi-modal early warning means that an effective modal early warning mode is selected according to the current states of vehicles and vulnerable traffic participants in the same environment, when a main body participates in the traffic, the visual and auditory modes are mainly used, and the two modes are mutually matched to realize safe travel; however, in a scene with poor capability, the main body cannot ensure the simultaneous participation of vision and hearing, and at the moment, the information is received by using other modes through a multi-mode method, or the participation modal capability is enhanced, so that the effective transmission of the information of the traffic participation main body is achieved, and further, the reasonable response is made to the surrounding situation.
The vehicle mobile terminal, the pedestrian mobile terminal and the road side unit exchange information with each other through the PC 5; the cloud control platform exchanges information with the vehicle mobile terminal, the pedestrian mobile terminal and the road side unit through 4G/5G.
V2X is an abbreviation of vehicle-to-outside information exchange (vehicle-to-outside), RSU is an abbreviation of Road Side Unit (Road Side Unit), OBU is an abbreviation of On Board Unit, and SPAT is an abbreviation of Signal Phase and Timing Message.
Example 1
When a pedestrian plays a mobile phone game with an earphone at the roadside and walks, the sight of the pedestrian is concentrated on a mobile phone screen and listens to a game sound effect with the earphone, as shown in fig. 3, in the scene, the vision and the hearing of the pedestrian can be regarded as a partially or completely missing state in a traffic environment, at the moment, the pedestrian can hardly perceive nearby vehicles through a conventional mode of listening to the sound of a vehicle engine to whistle and observing the approach of the vehicles, therefore, nearby vehicles are obtained through an electronic compass and a GNSS positioning technology, threatening vehicles are identified and pushed to a terminal of the pedestrian, and the terminal is a mobile phone of a user in the scene, but the terminal is not limited to mobile phones such as a smart watch, a tablet computer, a notebook computer and the like; the terminal carries an earphone and has audio output for the pedestrian, and eyes are tightly stared at the state of the mobile phone screen, so that 4 modal early warning modes are provided, as shown in fig. 4, early warning message pushing occurs on the screen, the original audio output in the earphone is weakened and early warning broadcasting is provided, the vibration intensity is gradually improved according to the fact that the distance between a vehicle and the pedestrian approaches to the mobile phone, and a mobile phone flash lamp starts to flicker with frequency; at the moment, the vehicles in the event can provide information to warn the driver, the visual sense and the auditory sense of the right-hand pedestrian are temporarily unavailable, and the flashing of a pedestrian flash lamp also provides warning and calibration so that the driver has psychological expectation and judgment, if the pedestrian moves forward in the direction of the traffic light, the traffic light state can inform the pedestrian in a multi-mode manner, and the pedestrian is prevented from running the red light to enter the intersection; the method judges the sensory participation state (such as visual and auditory available or unavailable states) of the participants of the vulnerable road, the position and the advancing speed of the participants, the basic information (physiological state) of the participants, the current traffic environment (vehicle distance, weather and signal lamp state), and determines the specific participation mode of multi-mode early warning (such as visual message pushing, voice reminding, vibration reminding and other unreferenced modes) under the comprehensive consideration; meanwhile, the vehicle end determines multi-mode early warning through participant information (if the pedestrian is the old, the vehicle needs to expect more avoidance actions).
Claims (10)
1. A bidirectional multi-mode early warning system for pedestrians and vehicles on a road comprises a vehicle mobile terminal, a pedestrian mobile terminal, a cloud control platform and a road side unit, and is characterized in that the vehicle mobile terminal is used for uploading vehicle state information to the cloud control platform and the pedestrian mobile terminal, and receiving pedestrian information issued from the cloud control platform and the pedestrian state information of the pedestrian mobile terminal; the pedestrian mobile terminal is used for uploading pedestrian state information to the vehicle mobile terminal, the cloud control platform and the road side unit, receiving vehicle information issued from the cloud control platform, vehicle state information of the vehicle mobile terminal, traffic facility information issued by the road side unit and starting multi-mode early warning of the pedestrian mobile terminal by the vehicle mobile terminal or the cloud control platform.
2. The system of claim 1, wherein the vehicle mobile terminal comprises a processor, a memory, a communication module, a GNSS module, an accelerometer/gyroscope for determining the direction data of the current vehicle mobile terminal, a sound output, a visual output, and a tactile output.
3. The system of claim 1, wherein the pedestrian mobile terminal comprises a processor, a memory, a communication module, a GNSS module, an accelerometer/gyroscope, an audio output, a display output and a vibration module, wherein the GNSS module is used for positioning, the accelerometer/gyroscope is used for determining direction data of the current pedestrian mobile terminal, the audio output is used for audio intervention modal warning, the display output is used for screen message push modal warning, the vibration module is used for vibration modal warning, an information lamp of the communication module is used for modal warning of flashing light, and the current user terminal use condition is obtained through the pedestrian mobile terminal.
4. The system of claim 1, wherein the pedestrian state information of the pedestrian mobile terminal includes whether the vision or hearing of the pedestrian is focused on a certain item, and what state the vision or hearing of the pedestrian is in the traffic environment.
5. The system for the bidirectional multi-modal early warning of the pedestrians and the vehicles on the road according to claim 1, wherein the cloud control platform judges whether the pedestrians and the vehicles enter an early warning area through a PNPoly algorithm, and automatically sends positioning information to request data of the pedestrians and the vehicles; establishing a pedestrian mobile terminal behavior model by combining the traveling habit of the pedestrian mobile terminal; calculating the conventional speed and motion trail prediction of the pedestrian mobile terminal and the vehicle mobile terminal by combining GNSS positioning data; the method provides that the pedestrian mobile terminal has a vehicle to approach through a multi-modal feedback method, reminds the vehicle mobile terminal of the perception state of the pedestrian, and provides a passing suggestion through traffic light phase timing information and other traffic facility information.
6. The system of claim 1, wherein the pedestrian mobile terminal is a mobile phone, a smart watch, a tablet computer or a notebook.
7. The system of claim 1, wherein the pedestrian mobile terminal reports data to a roadside unit or a cloud control platform through a dedicated message, vehicle information uploads the data to the roadside unit or the cloud control platform through the vehicle mobile terminal, the message is processed by combining with SPAT, MAP information and vehicle information, traffic information around a current road traffic participant is fed back to the roadside unit or the cloud control platform, and the cloud control platform provides effective modal feedback according to the feedback information and the use state of the pedestrian mobile terminal; the pedestrian mobile terminal obtains road information through multi-mode perception, and the vehicle is reacted to the vehicle process, and the vehicle learns the unconventional state of the pedestrian on the road side through the multi-mode perception, and reserves the reaction time and the distance.
8. The system of claim 1, wherein the vehicle mobile terminal, the pedestrian mobile terminal and the road side unit exchange information with each other through the PC 5.
9. The system of claim 1, wherein the cloud control platform exchanges information with a vehicle mobile terminal, a pedestrian mobile terminal and a road side unit through 4G/5G.
10. A bidirectional multi-mode early warning method for road vehicles is characterized by comprising the following steps:
step one, when a vehicle passes through a pedestrian, a vehicle machine acquires an advancing path corresponding to current vehicle speed and position information, and a pedestrian mobile terminal acquires an advancing speed and position of a participant and a behavior model and an advancing route corresponding to terminal state information;
directly communicating the vehicle and the pedestrian through a vehicle mobile terminal and a pedestrian mobile terminal, or transferring the vehicle mobile terminal and the pedestrian mobile terminal through a V2X server, and informing the states of the two parties to the other party;
judging whether the advancing paths and speeds of the two parties are dangerous or not, and judging the states of the two parties;
step four, determining which mode or modes are started to early warn according to the risk and the states of the two parties;
and fifthly, the two parties finish respective effective perception and reception of the road information through multi-mode early warning, necessary information is provided for reaction judgment of the two parties, and reasonable avoidance is achieved.
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| CN115240470A (en) * | 2022-07-25 | 2022-10-25 | 广东轻工职业技术学院 | NR-V2X-based weak traffic participant collision early warning system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114627679A (en) * | 2022-03-17 | 2022-06-14 | 国汽智控(北京)科技有限公司 | Target perception method, device, equipment and system based on active beacon |
| CN114627679B (en) * | 2022-03-17 | 2024-01-23 | 国汽智控(北京)科技有限公司 | Target perception method, device, equipment and system based on active beacon |
| CN115240470A (en) * | 2022-07-25 | 2022-10-25 | 广东轻工职业技术学院 | NR-V2X-based weak traffic participant collision early warning system and method |
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