CN112562404B - Vehicle early warning method and device, computer equipment and medium - Google Patents
Vehicle early warning method and device, computer equipment and medium Download PDFInfo
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Abstract
The present disclosure provides a vehicle early warning method, a vehicle early warning device, a computer apparatus, and a computer readable medium, the method including: receiving a monitoring request sent by a first vehicle; generating early warning information in response to the fact that objects exist in the preset range around the second vehicle; and sending the early warning information to the first vehicle. And after the first vehicle receives the early warning information from the second vehicle, corresponding avoidance measures are taken. Through interaction among different vehicles, potential safety hazards caused by the fact that objects in the sight blind areas of drivers appear in the right front of the advancing routes of the vehicles suddenly are avoided.
Description
Technical Field
The disclosure belongs to the technical field of communication, and particularly relates to a vehicle early warning method, a vehicle early warning device, computer equipment and a computer readable medium.
Background
In the actual road driving process of the vehicle, the situation that an object in a blind area of a driver is suddenly appeared right ahead of the traveling route of the vehicle can be frequently met, so that the vehicle is avoided urgently, and a traffic accident occurs.
In the prior art, there are two main ways to identify objects near the vehicle and to identify whether a hazard is occurring. One method is to use a roadside camera to identify pedestrians, non-motor vehicles or motor vehicles and judge whether the traveling routes of the pedestrians, the non-motor vehicles or the motor vehicles collide. The drawbacks of this approach are: (1) roadside cameras do not always exist; (2) even if there is a roadside camera, the camera itself is limited in the range of acquiring video images by the width of the lens field of view, and the range that can be covered is limited. And secondly, monitoring whether objects exist in the front and the rear of the current vehicle within a preset distance range in real time by using a vehicle-mounted system, calculating distance data between the objects behind the current vehicle and the rear end of the current vehicle in real time, and determining whether to give an alarm according to the monitored result. The drawbacks of this approach are: (1) only the vehicle can be alarmed so as to avoid other vehicles in time; (2) the condition that the object in the blind area of the sight of the driver appears in the right front of the advancing route of the vehicle suddenly can not be early warned in time.
The prior art cannot realize the following functions: the potential safety hazard brought by the condition that objects in the blind area of the driver suddenly appear right ahead the advancing route of the vehicle can not be avoided in time.
Disclosure of Invention
In view of the above-mentioned shortcomings in the prior art, the present disclosure provides a vehicle early warning method, a vehicle early warning device, a computer device, and a computer readable medium.
As a first aspect of the present disclosure, there is provided a vehicle warning method including:
receiving a monitoring request sent by a first vehicle;
generating early warning information in response to the fact that the object exists in the preset range of the second vehicle;
and sending the early warning information to the first vehicle.
Preferably, the determining that the object exists within the preset range of the second vehicle includes:
determining that objects exist around the second vehicle or objects exist in the two directions in front of the second vehicle;
the generating of the early warning information includes:
and generating the early warning information in response to the fact that the second vehicle and the objects around the second vehicle accord with preset conditions. Preferably, the determining that the objects exist around the second vehicle includes:
determining that the first vehicle is positioned on the left side or the right side of the second vehicle, and pedestrians or non-motor vehicles exist in front of or behind the second vehicle within a first distance;
determine that this second vehicle, this second vehicle object all around accord with the preset condition, include:
and determining that the current speed of the second vehicle is less than a first threshold value, and the first vehicle is a motor vehicle which can reach a position flush with the front edge or the rear edge of the vehicle tail of the second vehicle within a preset time within a second distance on the left side or the right side of the second vehicle.
Preferably, the generating the warning information includes:
calculating a third distance between the front edge of the head of the first vehicle and the rear edge of the tail or the front edge of the head of the second vehicle;
determining the speed of a pedestrian or non-motor vehicle and the direction of travel of the pedestrian or non-motor vehicle in front of or behind the second vehicle;
determining an early warning level according to the speed of the pedestrian or non-motor vehicle and the traveling direction of the pedestrian or non-motor vehicle;
and generating the early warning information according to the third distance and the early warning grade.
Preferably, said determining an early warning level according to the speed of said pedestrian or non-motorized vehicle and the direction of travel of said pedestrian or non-motorized vehicle comprises:
responsive to determining that the speed of the pedestrian or non-motorized vehicle is not zero, and the direction of travel of the pedestrian or non-motorized vehicle is on the same side of the first vehicle as the second vehicle, and the speed of the pedestrian or non-motorized vehicle is greater than a second threshold, determining the early warning level as secondary;
responsive to determining that the speed of the pedestrian or non-motorized vehicle is not zero, and the direction of travel of the pedestrian or non-motorized vehicle is on the same side of the first vehicle as the second vehicle, and the speed of the pedestrian or non-motorized vehicle is less than or equal to the second threshold, determining the early warning level as one level;
in response to determining that the speed of the pedestrian or non-motor vehicle is zero, determining that the early warning level is one level.
Preferably, the method further comprises:
receiving early warning information sent by the second vehicle, and acquiring a third distance and an early warning grade in the early warning information;
in response to determining that the early warning level is in the second level, calculating brake parameters according to the third distance and the brake system parameters of the first vehicle;
and in response to determining that the driver of the first vehicle does not take braking measures, braking according to the braking parameters.
Preferably, the determining that objects exist in front of and behind the second vehicle includes:
determining that the first vehicle is positioned behind the second vehicle, and the third vehicle is positioned in front of the second vehicle;
determine that this second vehicle, this second vehicle object all around accord with the preset condition, include:
and determining that the current speed of the second vehicle is greater than a second threshold value, determining that the distance between the front edge of the vehicle head of the first vehicle and the rear edge of the vehicle tail of the second vehicle is less than a fourth distance, determining that the distance between the rear edge of the vehicle tail of the third vehicle and the front edge of the vehicle head of the second vehicle is less than the fourth distance, and determining that the speed of the second vehicle is greater than the speed of the third vehicle.
Preferably, the generating the warning information includes:
calculating a difference between the vehicle speed of the second vehicle and the vehicle speed of the third vehicle;
acquiring the speed of the second vehicle as the braking distance under the difference;
in response to determining that the braking distance is greater than the distance between the front edge of the head of the second vehicle and the rear edge of the tail of the third vehicle, determining that the early warning level is one level;
responding to the fact that the brake braking distance is larger than the distance between the front edge of the head of the second vehicle and the rear edge of the tail of the third vehicle, and the second vehicle takes braking measures, and determining that the early warning level is the second level;
and generating the early warning information according to the early warning grade, wherein if the early warning grade is of a second grade, the early warning information further comprises a braking force parameter of the second vehicle.
Preferably, the method further comprises:
receiving early warning information sent by the second vehicle, and acquiring early warning levels in the early warning information;
in response to determining that the early warning level is in the second level, obtaining a braking force parameter in the early warning information;
and in response to determining that the driver of the first vehicle does not take braking measures, braking according to the maximum braking system parameter or the braking parameter which is greater than or equal to the braking force parameter.
As a second aspect of the present disclosure, there is provided a vehicle warning device including:
the receiving module is used for receiving a monitoring request sent by a first vehicle;
the generating module is used for responding to the fact that objects exist in the preset range of the second vehicle and generating early warning information;
and the sending module is used for sending the early warning information to the first vehicle.
As a third aspect of the present disclosure, there is provided a computer apparatus comprising:
one or more processors;
a storage device, wherein one or more programs are stored thereon;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement a vehicle warning method as previously described.
As a fourth aspect of the present disclosure, there is provided a computer readable medium having a computer program stored thereon, wherein the program when executed implements a vehicle warning method as described above.
In the embodiment of the disclosure, the second vehicle receives the monitoring request sent by the first vehicle, and when the second vehicle determines that an object exists within the preset range of the second vehicle, the second vehicle notifies the first vehicle that a collision may occur, that is, sends out warning information to the first vehicle. And after the first vehicle receives the early warning information from the second vehicle, corresponding avoidance measures are taken. Through interaction among different vehicles, potential safety hazards caused by the fact that objects in the sight blind areas of drivers appear in the right front of the advancing routes of the vehicles suddenly are avoided.
Drawings
Fig. 1 is a flowchart of a vehicle early warning method provided in an embodiment of the present disclosure;
fig. 2 is another flowchart of a vehicle warning method provided in the embodiment of the present disclosure;
fig. 3 is another flowchart of a vehicle warning method provided in the embodiment of the present disclosure;
fig. 4 is a schematic view of a scene of a ghost probe provided in an embodiment of the present disclosure;
fig. 5 is a travel route map of a first vehicle in a ghost probe scene provided by an embodiment of the present disclosure;
fig. 6 is a functional schematic diagram of a fifth vehicle assistance early warning in a ghost probe scene according to the embodiment of the present disclosure;
fig. 7 is a schematic view of a wall-mount scene provided in the embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of a vehicle early warning device provided in the embodiment of the present disclosure.
Detailed Description
For a better understanding of the technical aspects of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
The embodiment of the disclosure provides a vehicle early warning method, a vehicle early warning device, computer equipment and a computer readable medium, aiming at potential safety hazards caused by the condition that an object in a blind area of a driver cannot be avoided from suddenly appearing right ahead of a traveling route of a vehicle in the prior art.
The case where an object in a blind area of the driver suddenly appears right ahead of the traveling route of the vehicle mainly includes two scenes. One is a ghost probe scene and the other is a ghost wall scene. A ghost probe scene, namely a pedestrian or a non-motor vehicle suddenly enters the right front of the traveling route of a driven vehicle from a blind area of a driver; in a wall-hitting scene, namely, a front vehicle suddenly makes an emergency avoidance action, and an obstacle (a static or low-speed vehicle) in front of the front vehicle is exposed, so that the vehicle is not in emergency avoidance. The embodiment of the disclosure mainly aims at the two scenes to implement the vehicle early warning method provided by the disclosure.
The following detailed description is made with reference to the accompanying drawings which respectively illustrate embodiments provided by the present disclosure.
Fig. 1 shows a flowchart of a vehicle early warning method provided by an embodiment of the present disclosure.
In a first aspect, the vehicle warning method is applicable to a vehicle warning device in a second vehicle. As shown in fig. 1, the present embodiment provides a vehicle warning method, including:
step 101, receiving a monitoring request sent by a first vehicle.
And the monitoring request is sent when the first vehicle determines that a blind area of the driver sight line blocked by the second vehicle exists in the advancing direction. The monitoring request comprises a communication connection identifier of the first vehicle, and the second vehicle establishes communication connection between the first vehicle and the monitored second vehicle according to the connection identifier of the first vehicle. In the embodiment of the disclosure, the communication between the vehicles may be a direct communication connection between the vehicles, or a communication connection established through a vehicle networking.
It should be noted that the first vehicle may send the monitoring request to the second vehicle via another vehicle. For example, in a ghost probe scenario, as shown in fig. 6, a first vehicle may request that a monitoring request be initiated by a fifth vehicle to a second vehicle. That is, on the traveling route of the first vehicle, the first vehicle may not recognize the identity of the second vehicle through a camera or the like because the second vehicle is blocked by the fifth vehicle, but the first vehicle needs to know whether a pedestrian exists before the second vehicle. The request sent by the first vehicle to the fifth vehicle at this time includes: a first vehicle requests a second vehicle to monitor whether an object is in front of the second vehicle; the first vehicle causes the fifth vehicle to forward the request for monitoring request to the second vehicle, including the communication connection identification of the first vehicle.
And 102, generating early warning information in response to the fact that the object exists in the preset range of the second vehicle.
In the step, the second vehicle receives the monitoring request sent by the first vehicle, determines that an object exists in a preset range of the second vehicle, and generates early warning information when the situation that a driver of the first vehicle is not in time of avoidance possibly occurs.
And 103, sending early warning information to the first vehicle.
In the step, the second vehicle sends early warning information to the first vehicle, so that the first vehicle takes corresponding avoidance measures according to the early warning information.
In the embodiment of the disclosure, the second vehicle receives the monitoring request sent by the first vehicle, and when the second vehicle determines that an object exists within the preset range of the second vehicle, the second vehicle notifies the first vehicle that a collision may occur, that is, sends out warning information to the first vehicle. And after the first vehicle receives the early warning information from the second vehicle, corresponding avoidance measures are taken. Through interaction among different vehicles, potential safety hazards caused by the fact that objects in the sight blind areas of drivers appear in the right front of the advancing routes of the vehicles suddenly are avoided.
In some embodiments, the step 102 of determining that there is an object within the preset range of the second vehicle includes: and determining that objects exist around the second vehicle or objects exist in the front of the second vehicle. In step 102, generating early warning information includes: and generating the early warning information in response to the fact that the second vehicle and the objects around the second vehicle accord with preset conditions.
In particular, the object is a pedestrian, a non-motor vehicle and a motor vehicle. The method comprises the steps of determining that objects exist around the second vehicle or objects exist in the front and back of the second vehicle, and determining that the second vehicle and the objects around the second vehicle accord with preset conditions means that the method is applied to ghost probe scenes or ghost wall scenes, determining that the second vehicle shelters from a sight blind area of a driver of the first vehicle, and the second vehicle has obstacles around, and generating early warning information to remind the first vehicle of avoiding when the driver of the first vehicle possibly avoids untimely conditions.
In some embodiments, the determining that objects are present around the second vehicle includes: and determining that the first vehicle is positioned on the left side or the right side of the second vehicle, and pedestrians or non-motor vehicles exist in front of or behind the second vehicle within a first distance, namely corresponding to a ghost probe scene. For example, as shown in the schematic view of the ghost probe in fig. 4, when the heads of the first vehicle, the second vehicle and the fourth vehicle are pointed at the same direction, there is a pedestrian or a non-motorized vehicle between the second vehicle and the fourth vehicle. Generally corresponding to the case of a narrow or bi-directional two-lane road (one motor lane in each direction).
It is to be understood that the ghost probe scenario is not limited to that shown in fig. 4, and that fig. 4 is only one exemplary view. For example, the ghost probe scenario also includes the following three cases.
1) The direction of the heads of the second vehicle and the fourth vehicle is the same, the direction of the heads of the first vehicle and the second vehicle is opposite, and a pedestrian or a non-motor vehicle is arranged between the second vehicle and the fourth vehicle. Generally corresponds to the situation that the vehicle stops at the roadside or the second vehicle and the fourth vehicle are in the lanes to slowly run.
2) The second vehicle is a large vehicle (e.g., a van), the first vehicle is pointed at the same direction as the head of the second vehicle, and a pedestrian or a non-motorized vehicle is in front of the second vehicle. The method generally corresponds to the situation that signal lamps at the intersection are changed (the small vehicles start quickly, and the large vehicles start slowly to cause speed difference) or the second vehicle runs slowly on a lane.
3) The second vehicle is a large vehicle (e.g., a bus), the first vehicle is directed opposite the nose of the second vehicle, and a pedestrian or non-motorized vehicle is behind the second vehicle. Generally corresponding to the case of a narrow or bi-directional two-lane road (one motor lane in each direction).
It accords with the preset condition to confirm this second vehicle, this second vehicle object all around, include: and determining that the current speed of the second vehicle is less than a first threshold value, and the first vehicle is a motor vehicle which can reach a position flush with the front edge or the rear edge of the vehicle tail of the second vehicle within a preset time within a second distance on the left side or the right side of the second vehicle. And determining that the first vehicle is about to reach the motor vehicle at the position where the front edge of the head of the second vehicle or the rear edge of the tail of the second vehicle is flush, wherein the speed of the second vehicle is relatively low, so that the first vehicle is likely to collide with a pedestrian or a non-motor vehicle in front of or behind the second vehicle, and at the moment, generating corresponding early warning information to remind the first vehicle of avoiding.
Here, the second distance is a width of the left and right sides of the vehicle body in a direction away from the vehicle body from the edge of the outside mirror, for example, 3 m, as shown by the width of the hatched area in fig. 5. The preset time is calculated from the traveling speed of the first vehicle and the vertical distance of the leading edge of the first vehicle from the level position of the leading edge (or the trailing edge) of the second vehicle. Typically 5 to 10 seconds. Specifically, the distance and the vehicle speed can be measured by adopting a vehicle-mounted radar, or can be obtained from a network side through a vehicle networking. As shown in fig. 5, the length of the shaded portion can be obtained by vehicle radar measurement.
Further, the generating the warning information includes:
calculating a third distance between the front edge of the head of the first vehicle and the rear edge of the tail or the front edge of the head of the second vehicle; determining the speed and direction of travel of a pedestrian or non-motorized vehicle in front of or behind the second vehicle; determining an early warning level according to the speed and the traveling direction of the pedestrian or the non-motor vehicle; and generating early warning information according to the third distance and the early warning level.
Wherein the third distance is equal to the vertical distance of the position where the vehicle-head front edge of the first vehicle is flush with the vehicle-head front edge (or the vehicle-tail rear edge) of the second vehicle plus the length of the vehicle body. For example, as shown in fig. 6, the third distance is equal to the length of the hatched portion.
It should be noted that the second vehicle detects the rear vehicle and may cause a detection blind area. As shown in fig. 6, there is a fifth vehicle behind the second vehicle, because the radar probe at the tail of the second vehicle cannot monitor the vertical distance between the front edge of the head of the first vehicle and the rear edge of the tail of the second vehicle (the range to be detected by the second vehicle is the rectangular shaded area in fig. 6). At this time, the second vehicle issues an assist monitoring request to the fifth vehicle, and assists monitoring by the fifth vehicle. The distance from the front edge of the head of the fifth vehicle to the rear edge of the tail of the second vehicle can be measured by the radar probe at the head of the fifth vehicle, and the distance from the rear edge of the tail of the fifth vehicle to the front edge of the head of the first vehicle can be measured by the radar probe at the tail of the fifth vehicle, so that the distance from the front edge of the head of the fifth vehicle to the rear edge of the tail of the second vehicle, the distance from the rear edge of the tail of the fifth vehicle to the front edge of the head of the first vehicle and the length of the body of the fifth vehicle are added by the fifth vehicle, and the vertical distance between the front edge of the head of the first vehicle and the rear edge of the tail of the second vehicle at the leveling position can be calculated. And the fifth vehicle sends the calculated vertical distance between the front edge of the head of the first vehicle and the level position of the rear edge of the tail of the second vehicle to the second vehicle. The second vehicle adds the vertical distance between the front edge of the head of the first vehicle and the flush position of the rear edge of the tail of the second vehicle to the length of the second vehicle itself, and can calculate the third distance.
It will be appreciated that the second vehicle may also directly obtain the location of the first vehicle via the internet of vehicles.
Further, in the step 103 of generating the warning information, determining the warning level according to the speed and the traveling direction of the pedestrian or the non-motor vehicle includes: responsive to determining that the speed of the pedestrian or non-motorized vehicle is not zero, and that the direction of travel of the pedestrian or non-motorized vehicle is on the same side of the second vehicle as the first vehicle, and that the speed of the pedestrian or non-motorized vehicle is greater than a second threshold (e.g., 0.5 meters per second), determining the early warning level as two-level; in response to determining that the speed of the pedestrian or the non-motor vehicle is not zero, the traveling direction of the pedestrian or the non-motor vehicle is located on the same side of the second vehicle as the first vehicle, and the speed of the pedestrian or the non-motor vehicle is smaller than or equal to a second threshold value, determining that the early warning level is one level; in response to determining that the speed of the pedestrian or non-motor vehicle is zero, determining the early warning level to be one level.
The term "the running direction of the pedestrian or the non-motor vehicle is on the same side of the first vehicle as the second vehicle" means that the pedestrian or the non-motor vehicle located in front of or behind the second vehicle runs along the running direction and may be collided with by the first vehicle. At this time, the warning information is transmitted toward the first vehicle on the same side as the traveling direction of the pedestrian or the non-motor vehicle.
And if the speed of the pedestrian or the non-motor vehicle in front of or behind the second vehicle is zero, sending early warning information to the first vehicles on the left and right sides of the second vehicle.
Fig. 2 shows another flowchart of a vehicle warning method provided by the embodiment of the disclosure.
Further, as shown in fig. 2, the vehicle warning method provided in this embodiment is applied to a first vehicle, and further includes:
step 201, early warning information sent by a second vehicle is received.
Step 202, acquiring a third distance and an early warning grade in the early warning information.
And step 203, responding to the condition that the early warning level is determined to be two levels, and calculating brake parameters according to the third distance and the brake system parameters of the first vehicle.
And step 204, in response to determining that the driver of the first vehicle does not take braking measures, braking according to the braking parameters. The brake parameters comprise parameters such as acceleration and brake distance. The braking parameters are used to brake until the first vehicle reaches a position flush with the leading edge (or trailing edge) of the second vehicle.
It should be noted that, if the early warning level is one level, or the driver of the first vehicle takes a braking measure, the vehicle early warning device in the first vehicle only sends out a prompt message prompting the driver to pay attention to avoidance until the first vehicle passes through a position flush with the front edge (or the rear edge) of the head of the second vehicle.
In some embodiments, the determining that objects are present in front of and behind the second vehicle includes: and determining that the first vehicle is positioned behind the second vehicle, and the third vehicle is positioned in front of the second vehicle, namely corresponding to a ghost wall scene. For example, a scene schematic diagram of a dashed line as shown in fig. 7. The third vehicle is stationary or traveling at a speed substantially lower than the speed of the first and second vehicles. Since the driver of the second vehicle (and the sensors on the vehicle) can directly observe the third vehicle, an emergency avoidance maneuver can be effectively made along the route in fig. 7. In this case, if the first vehicle is immediately following the second vehicle, causing the third vehicle to suddenly appear in front of the first vehicle, the first vehicle tends to collide with the third vehicle.
It accords with the preset condition to confirm this second vehicle, this second vehicle object all around, include: and determining that the current vehicle speed of the second vehicle is greater than a second threshold value, determining that the distance between the vehicle head front edge of the first vehicle and the vehicle head rear edge of the second vehicle is less than a fourth distance, determining that the distance between the vehicle head rear edge of the third vehicle and the vehicle head front edge of the second vehicle is less than the fourth distance, and determining that the vehicle speed of the second vehicle is greater than the vehicle speed of the third vehicle. And determining that the first vehicle is close to the second vehicle, the second vehicle is close to the third vehicle, the speed of the second vehicle is high, and the second vehicle possibly exceeds the third vehicle.
The fourth distance may be a legal safety distance, for example, the fourth distance may be a distance defined in the rules of the road traffic safety laws of the people's republic of china that "when the vehicle speed exceeds 100 km per hour, the vehicle should keep a distance of more than 100 meters from the vehicle ahead in the same lane" or may be a customized distance.
The calculation process of the customized distance comprises the following steps:
and after the second vehicle establishes a communication connection relation with the first vehicle, sending the brake system parameters of the self brake system to the first vehicle.
And the first vehicle calculates a proper self-defined distance according to the braking performance parameters of the second vehicle and the braking system parameters of the braking system of the first vehicle, and sends the calculation result to the second vehicle. As the self-defined distance, the calculation method may be: the ratio of the braking distance of the first vehicle to the braking distance of the second vehicle at the current travel speed is multiplied by the legal safety distance. Specifically, because the first vehicle is immediately following the second vehicle, the current traveling speeds of the first vehicle and the second vehicle are close to each other, and the first vehicle and the second vehicle can both adopt the respective current speeds as the traveling speeds for calculating the braking distance.
Further, the generating the warning information includes: calculating a difference between the vehicle speed of the second vehicle and the vehicle speed of the third vehicle; obtaining the braking distance of the second vehicle under the condition that the vehicle speed of the second vehicle is a difference value; determining that the early warning level is one level in response to determining that the braking distance is greater than the distance between the front edge of the head of the second vehicle and the rear edge of the tail of the third vehicle; responding to the fact that the braking distance is larger than the distance between the front edge of the head of the second vehicle and the rear edge of the tail of the third vehicle, and the second vehicle takes braking measures, and determining that the early warning level is the second level; and generating early warning information according to the early warning grade, wherein if the early warning grade is of a second grade, the early warning information further comprises a braking force parameter of the second vehicle.
The speed of the second vehicle is the braking distance under the difference, which is equivalent to the braking distance when the third vehicle is stationary and the second vehicle brakes with the difference speed. The fact that the braking distance is greater than the distance between the front edge of the head of the second vehicle and the rear edge of the tail of the third vehicle means that the second vehicle is not in time to brake and can collide with the third vehicle before the second vehicle stops, and therefore the second vehicle can take emergency avoidance measures.
Fig. 3 shows another flowchart of a vehicle warning method provided by the embodiment of the disclosure.
Further, as shown in fig. 3, the vehicle warning method provided in this embodiment is applied to a first vehicle, and further includes:
and step 301, receiving early warning information sent by a second vehicle.
And step 302, acquiring the early warning grade of the early warning information.
And 303, responding to the condition that the early warning level is determined to be the second level, and acquiring the braking force parameter in the early warning information.
And step 304, in response to determining that the driver of the first vehicle does not take braking measures, braking according to the maximum braking system parameter or the braking parameter which is greater than or equal to the braking force parameter.
The early warning level is one level, and the corresponding scene is that the second vehicle actively accelerates, possibly due to an attempt to overtake the third vehicle. The early warning level is two levels, the corresponding scene is that the third vehicle actively decelerates, and the second vehicle is forced to decelerate along with the deceleration.
It should be noted that, if the early warning level is one level, the vehicle early warning device in the first vehicle only sends out the prompt information for prompting the driver to pay attention to avoidance.
In the embodiment of the disclosure, when the second vehicle recognizes that an obstacle having a blind area of a driver's sight line appears on a traveling route of the first vehicle, and determines that the second vehicle and objects around the second vehicle meet preset conditions, the second vehicle notifies the first vehicle that collision may occur respectively, that is, the first vehicle sends out early warning information. And after the first vehicle receives the early warning information from the second vehicle, taking corresponding avoidance measures. Through interaction among different vehicles, potential safety hazards caused by the fact that objects in the sight blind areas of drivers appear in the right front of the advancing routes of the vehicles suddenly are avoided.
Fig. 8 shows a schematic structural diagram of a vehicle early warning device provided by the embodiment of the disclosure.
In a second aspect, as shown in fig. 8, based on the same technical concept as the embodiment corresponding to fig. 1, an embodiment of the present disclosure further provides a vehicle early warning device, including:
the receiving module 11 is configured to receive a monitoring request sent by a first vehicle.
And the generating module 12 is configured to generate the warning information in response to determining that an object exists within the preset range of the second vehicle.
And the sending module 13 is configured to send the warning information to the first vehicle.
In some embodiments, in the generating module 12, it is determined that an object exists within the preset range of the second vehicle, and the generating module is specifically configured to:
and determining that objects exist around the second vehicle or objects exist in the front of the second vehicle.
In the generating module 12, the early warning information is generated, and specifically, the early warning information is used for:
and generating the early warning information in response to the fact that the second vehicle and the objects around the second vehicle accord with preset conditions.
In some embodiments, in the generating module 12, it is determined that there are objects around the second vehicle, and the generating module is specifically configured to:
and determining that the first vehicle is positioned on the left side or the right side of the second vehicle, and pedestrians or non-motor vehicles exist in front of or behind the second vehicle within a first distance.
And determining that the second vehicle and objects around the second vehicle accord with preset conditions, including.
And determining that the current speed of the second vehicle is less than a first threshold value, and the first vehicle is a motor vehicle which can reach a position flush with the front edge or the rear edge of the vehicle tail of the second vehicle within a preset time within a second distance on the left side or the right side of the second vehicle.
In some embodiments, in the generating module 12, the generation of the warning information is specifically configured to:
and calculating a third distance between the front edge of the head of the first vehicle and the rear edge or the front edge of the tail of the second vehicle.
The speed and direction of travel of the pedestrian or non-motorized vehicle in front of or behind the second vehicle is determined.
And determining an early warning level according to the speed and the traveling direction of the pedestrian or the non-motor vehicle.
And generating the early warning information according to the third distance and the early warning grade.
In some embodiments, the generating module 12 determines the warning level according to the speed and the traveling direction of the pedestrian or the non-motor vehicle, and is specifically configured to:
determining the early warning level as secondary in response to determining that the speed of the pedestrian or non-motorized vehicle is not zero, the direction of travel of the pedestrian or non-motorized vehicle is on the same side of the first vehicle as the second vehicle, and the speed of the pedestrian or non-motorized vehicle is greater than a second threshold.
Determining the early warning level as one level in response to determining that the speed of the pedestrian or non-motorized vehicle is not zero, and the direction of travel of the pedestrian or non-motorized vehicle is on the same side of the first vehicle as the second vehicle, and the speed of the pedestrian or non-motorized vehicle is less than or equal to the second threshold.
In response to determining that the speed of the pedestrian or non-motor vehicle is zero, determining that the early warning level is one level.
In some embodiments, the receiving module 11 is further configured to receive the warning information sent by the second vehicle, and obtain a third distance and a warning level therein.
The device further comprises:
and the calculating module is used for responding to the condition that the early warning grade is two grades and calculating brake parameters according to the third distance and the brake system parameters of the first vehicle.
And the first control module is used for responding to the fact that the driver of the first vehicle does not take braking measures and braking according to the braking parameters.
In some embodiments, in the generating module 12, it is determined that there are objects in front of and behind the second vehicle, and the generating module is specifically configured to:
and determining that the first vehicle is positioned behind the second vehicle, and the third vehicle is positioned in front of the second vehicle.
Determine that this second vehicle, this second vehicle object all around accord with the preset condition, include:
and determining that the current speed of the second vehicle is greater than a second threshold value, determining that the distance between the front edge of the vehicle head of the first vehicle and the rear edge of the vehicle tail of the second vehicle is less than a fourth distance, determining that the distance between the rear edge of the vehicle tail of the third vehicle and the front edge of the vehicle head of the second vehicle is less than the fourth distance, and determining that the speed of the second vehicle is greater than the speed of the third vehicle.
In some embodiments, in the generating module 12, the generating of the warning information is specifically configured to:
calculating a difference between the vehicle speed of the second vehicle and the vehicle speed of the third vehicle.
And obtaining the speed of the second vehicle as the braking distance under the difference value.
And determining that the early warning grade is one grade in response to determining that the braking distance is greater than the distance between the front edge of the head of the second vehicle and the rear edge of the tail of the third vehicle.
And in response to the fact that the braking distance is larger than the distance between the front edge of the head of the second vehicle and the rear edge of the tail of the third vehicle, the second vehicle takes braking measures, and the early warning level is determined to be in a second level.
And generating the early warning information according to the early warning grade, wherein if the early warning grade is of a second grade, the early warning information further comprises a braking force parameter of the second vehicle.
In some embodiments, the receiving module 11 is further configured to receive the warning information sent by the second vehicle, and obtain a warning level therein.
The device further comprises:
the acquisition module is used for responding to the condition that the early warning level is the second level and acquiring the braking force parameter in the early warning information;
and the second control module is used for responding to the fact that the driver of the first vehicle does not take braking measures, and braking according to the maximum braking system parameter or the braking parameter which is larger than or equal to the braking force parameter.
In a third aspect, an embodiment of the present disclosure further provides a computer device, including: one or more processors; a storage device, wherein one or more programs are stored thereon; the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the vehicle warning method according to the first aspect in the embodiments of the present disclosure.
In a fourth aspect, the disclosed embodiments also provide a computer readable medium, on which a computer program is stored, where the program is executed to implement the vehicle warning method according to the first aspect in the disclosed embodiments.
It is to be understood that the above embodiments are merely exemplary embodiments that are employed to illustrate the principles of the present disclosure, and that the present disclosure is not limited thereto. It will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the disclosure, and these are to be considered as the scope of the disclosure.
Claims (10)
1. A vehicle early warning method, comprising:
receiving a monitoring request sent by a first vehicle;
generating early warning information in response to the fact that the object exists in the preset range of the second vehicle;
sending the early warning information to the first vehicle;
the generating of the early warning information includes:
calculating a third distance between the front edge of the head of the first vehicle and the rear edge of the tail or the front edge of the head of the second vehicle;
determining the speed and direction of travel of a pedestrian or non-motorized vehicle in front of or behind the second vehicle;
determining an early warning level according to the speed and the traveling direction of the pedestrian or the non-motor vehicle;
generating the early warning information according to the third distance and the early warning grade;
said determining an early warning level as a function of the speed and direction of travel of said pedestrian or non-motorized vehicle comprises:
responsive to determining that the speed of the pedestrian or non-motorized vehicle is not zero, and the direction of travel of the pedestrian or non-motorized vehicle is on the same side of the first vehicle as the second vehicle, and the speed of the pedestrian or non-motorized vehicle is greater than a second threshold, determining the early warning level as secondary;
responsive to determining that the speed of the pedestrian or non-motorized vehicle is not zero, and the direction of travel of the pedestrian or non-motorized vehicle is on the same side of the first vehicle as the second vehicle, and the speed of the pedestrian or non-motorized vehicle is less than or equal to the second threshold, determining the early warning level as one level;
in response to determining that the speed of the pedestrian or non-motor vehicle is zero, determining that the early warning level is one level.
2. The vehicle early warning method according to claim 1, wherein the determining that the object exists within the preset range of the second vehicle comprises:
determining that objects exist around the second vehicle or objects exist in the front and rear directions of the second vehicle;
the generating of the early warning information includes:
and generating the early warning information in response to the fact that the second vehicle and the objects around the second vehicle accord with preset conditions.
3. The vehicle early warning method according to claim 2, wherein the determining that objects are present around the second vehicle comprises:
determining that the first vehicle is positioned on the left side or the right side of the second vehicle, and pedestrians or non-motor vehicles exist in front of or behind the second vehicle within a first distance;
determine that this second vehicle, this second vehicle object all around accord with the preset condition, include:
and determining that the current speed of the second vehicle is less than a first threshold value, and the first vehicle is a motor vehicle which can reach a position flush with the front edge or the rear edge of the vehicle tail of the second vehicle within a preset time within a second distance on the left side or the right side of the second vehicle.
4. The vehicle warning method as claimed in claim 1, further comprising:
receiving early warning information sent by the second vehicle, and acquiring a third distance and an early warning grade in the early warning information;
responding to the fact that the early warning grade obtained from the early warning information sent by the second vehicle is of a second grade, and calculating brake parameters according to the third distance and the brake system parameters of the first vehicle;
and in response to determining that the driver of the first vehicle does not take braking measures, braking according to the braking parameters.
5. The vehicle early warning method according to claim 2, wherein the determining that objects exist in front of and behind the second vehicle comprises:
determining that the first vehicle is positioned behind the second vehicle, and the third vehicle is positioned in front of the second vehicle;
determine that this second vehicle, this second vehicle object all around accord with the preset condition, include:
and determining that the current speed of the second vehicle is greater than a second threshold value, determining that the distance between the front edge of the vehicle head of the first vehicle and the rear edge of the vehicle tail of the second vehicle is less than a fourth distance, determining that the distance between the rear edge of the vehicle tail of the third vehicle and the front edge of the vehicle head of the second vehicle is less than the fourth distance, and determining that the speed of the second vehicle is greater than the speed of the third vehicle.
6. The vehicle warning method of claim 5, wherein the generating the warning information comprises:
calculating a difference between the vehicle speed of the second vehicle and the vehicle speed of the third vehicle;
acquiring the speed of the second vehicle as the braking distance under the difference;
in response to determining that the braking distance is greater than the distance between the front edge of the head of the second vehicle and the rear edge of the tail of the third vehicle, determining that the early warning level is one level;
responding to the fact that the brake braking distance is larger than the distance between the front edge of the head of the second vehicle and the rear edge of the tail of the third vehicle, and the second vehicle takes braking measures, and determining that the early warning level is the second level;
and generating the early warning information according to the early warning grade, wherein if the early warning grade is of a second grade, the early warning information further comprises a braking force parameter of the second vehicle.
7. The vehicle warning method as claimed in claim 6, further comprising:
receiving early warning information sent by the second vehicle, and acquiring early warning levels in the early warning information;
in response to determining that the early warning level is in the second level, obtaining a braking force parameter in the early warning information;
and in response to determining that the driver of the first vehicle does not take braking measures, braking according to the maximum braking system parameter or the braking parameter which is greater than or equal to the braking force parameter.
8. A vehicle warning device, comprising:
the receiving module is used for receiving a monitoring request sent by a first vehicle;
the generating module is used for responding to the fact that objects exist in the preset range of the second vehicle and generating early warning information;
the sending module is used for sending the early warning information to the first vehicle;
the generation module is configured to:
calculating a third distance between the front edge of the head of the first vehicle and the rear edge of the tail or the front edge of the head of the second vehicle;
determining the speed and direction of travel of a pedestrian or non-motorized vehicle in front of or behind the second vehicle;
determining an early warning level according to the speed and the traveling direction of the pedestrian or the non-motor vehicle;
generating the early warning information according to the third distance and the early warning grade;
the generation module is specifically configured to:
responsive to determining that the speed of the pedestrian or non-motorized vehicle is not zero, and the direction of travel of the pedestrian or non-motorized vehicle is on the same side of the first vehicle as the second vehicle, and the speed of the pedestrian or non-motorized vehicle is greater than a second threshold, determining the early warning level as secondary;
responsive to determining that the speed of the pedestrian or non-motorized vehicle is not zero, and the direction of travel of the pedestrian or non-motorized vehicle is on the same side of the first vehicle as the second vehicle, and the speed of the pedestrian or non-motorized vehicle is less than or equal to the second threshold, determining the early warning level as one level;
in response to determining that the speed of the pedestrian or non-motor vehicle is zero, determining that the early warning level is one level.
9. A computer device, comprising:
one or more processors;
a storage device, wherein one or more programs are stored thereon;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the vehicle warning method of any one of claims 1-7.
10. A computer-readable medium on which a computer program is stored, wherein the program, when executed, implements a vehicle warning method as claimed in any one of claims 1 to 7.
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| CN113077657B (en) * | 2021-03-30 | 2022-07-05 | 上海华兴数字科技有限公司 | Method and device for alarming safety distance between vehicles |
| CN115547098A (en) * | 2021-06-29 | 2022-12-30 | 博泰车联网科技(上海)股份有限公司 | Monitoring and early warning method, storage medium and electronic equipment |
| CN114399915A (en) * | 2022-01-31 | 2022-04-26 | 重庆长安汽车股份有限公司 | Traffic light intersection safety auxiliary system and operation method |
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