CN115346396A - Blind area early warning method, device, system, terminal and computer readable storage medium - Google Patents
Blind area early warning method, device, system, terminal and computer readable storage medium Download PDFInfo
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Abstract
The invention provides a blind area early warning method, a device, a system, a terminal and a computer readable storage medium, wherein the blind area early warning method comprises the following steps: acquiring detection data of a target object acquired by a detection system; the detection system comprises a plurality of detection units, wherein the detection units are used for detecting the mobile terminal worn by the target object to obtain detection data; determining position information corresponding to the mobile terminal based on the detection data; marking the target object at the corresponding position in the electronic map based on the position information; and broadcasting the marked electronic map to the passing vehicle. According to the blind area early warning method, the target object of the visual blind area is detected, the target object is marked on the electronic map according to the position information of the detected target object, the marked electronic map is broadcasted to vehicles passing the road to remind the vehicles passing the road, so that the vehicles can know the target object of the visual blind area, and the vehicles are prevented from colliding with the target object.
Description
Technical Field
The invention relates to the technical field of traffic safety, in particular to a blind area early warning method, a blind area early warning device, a blind area early warning system, a blind area early warning terminal and a computer readable storage medium.
Background
Frequent traffic accidents caused by the year-by-year proliferation of automobiles are more and more concerned, and serious losses are caused to the life and property safety, the social commuting efficiency and the like of people due to the accidents, wherein the accidents caused by the accidents are particularly concerned because the accidents are often disastrous and bad. In this kind of accident, because the sheltering from of the vehicle and other barriers that the roadside was berthhed, the uncertainty of external environment makes vehicle driver can't effectual discernment pedestrian's target to the pedestrian's target that is in the blind area also can't effectively be discerned to camera, laser radar and the millimeter wave device of vehicle or road side facility installation, thereby causes traffic safety hidden danger.
The traffic signal lamps and the zebra crossings are indispensable road configurations and play a role in a non-negligible way. However, although traffic lights are used for controlling the driving authority of pedestrians and vehicles, and laws clearly stipulate that motor vehicles should decelerate when passing through a crosswalk, should stop and give way when pedestrians pass through the crosswalk, and should avoid pedestrians passing through the road even when the motor vehicles pass through the road without traffic signals, accidents near the zebra crossing are frequent due to the reasons of unconsciousness, worry and chance of leaving and leaving, particularly, due to the existence of the ghost probe phenomenon, the pedestrians and the drivers cannot identify the existence of each other, and great potential safety hazards are caused to traffic safety.
Disclosure of Invention
The invention mainly solves the technical problem of providing a blind area early warning method, a device, a system, a terminal and a computer readable storage medium, and solves the problem that the position information of pedestrians around a vehicle cannot be acquired in the prior art.
In order to solve the technical problems, the first technical scheme adopted by the invention is as follows: a blind area early warning method is provided, and comprises the following steps: acquiring detection data of a target object acquired by a detection system; the detection system comprises a plurality of detection units, wherein the detection units are used for detecting the mobile terminal worn by the target object to obtain detection data; determining position information corresponding to the mobile terminal based on the detection data; marking the target object at the corresponding position in the electronic map based on the position information; and broadcasting the marked electronic map to the passing vehicle.
The detection unit is preset and establishes a communication channel with the road side unit; the step of acquiring the detection data of the target object acquired by the detection system comprises the following steps: presetting a plurality of detection units, and establishing a communication channel between the detection units and the road side units within a preset range; marking the marking information of the detection unit on the electronic map; the labeling information comprises labeling position information of each detection unit and labeling signal strength information among the detection units.
The detection data comprises detection signal intensity information between the target object and each detection unit; based on the detection data, determining the position information corresponding to the mobile terminal, including: and determining the position information of the mobile terminal based on the labeled position information of the detection units, labeled signal strength information among the detection units and detection signal strength information among the detection units and the mobile terminal.
Wherein, based on the labeled position information of the detecting units, the labeled signal strength information between the detecting units, and the detecting signal strength information between each detecting unit and the mobile terminal, the position information of the mobile terminal is determined, which comprises: judging whether the number of the detection units which detect the same mobile terminal at the same time is at least three; if the number of the detection units of the same mobile terminal is detected to be at least three at the same time, the position information of the mobile terminal is determined through a triangulation algorithm based on the position information of the detection units of the same mobile terminal, the labeled signal strength information among the detection units and the detection signal strength information between the detection units and the mobile terminal respectively.
Wherein, based on the labeled position information of the detecting units, the labeled signal strength information between the detecting units, and the detecting signal strength information between each detecting unit and the mobile terminal, the position information of the mobile terminal is determined, which comprises: determining a distance between the detection units based on the position information of the detection units; determining the distances between the detection units and the mobile terminal respectively based on the distance between the detection units, the labeled signal strength information between the detection units and the detection signal strength information between each detection unit and the mobile terminal respectively; and determining the position information of the mobile terminal according to the distance between each detection unit and the mobile terminal and the position information of each detection unit.
Based on the position information, marking the target object at the corresponding position in the electronic map, and further comprising: and if the number of the detection units of the same mobile terminal is not more than three at the same moment, broadcasting the acquired detection signal strength information between the detection unit of the same mobile terminal and the target object to adjacent road side units.
The detection system also comprises a vehicle-mounted detection unit; the blind area early warning method comprises the following steps: broadcasting information acquisition signals to vehicles within a preset range; and receiving the position information of the target object detected by the vehicle-mounted detection unit of the vehicle.
Based on the position information, marking the target object at the corresponding position in the electronic map comprises the following steps: judging whether a target object is marked on a position point in the electronic map, which is consistent with the position information of the target object; and if the target object is not marked at the position point in the electronic map which is consistent with the position information of the target object, marking the target object on the electronic map to generate a marked map based on the position information of the target object.
Wherein, based on the position information of the target object, the target object is marked in the electronic map to generate a marking map, and the method also comprises the following steps: and if the position point in the electronic map, which is consistent with the position information of the target object, has the marked target object, the marking of the target object on the electronic map is abandoned.
The blind area early warning method further comprises the following steps: and obtaining the distribution data of the target objects corresponding to the positions of all areas in the electronic map based on the labeling map.
Wherein, broadcast the mark map to the vehicle that passes by, include: and broadcasting the label map to the passing vehicle through a PC5 interface of the V2X communication module.
The blind area early warning method further comprises the following steps: judging whether the target object is in a preset danger area or not based on the position information of the target object; and if the target object is in the preset danger area, warning the target object.
In order to solve the above technical problems, the second technical solution adopted by the present invention is: the utility model provides a blind area early warning device, blind area early warning device includes: the information acquisition module is used for acquiring detection data of the target object acquired by the detection system; the detection system comprises a plurality of detection units, wherein the detection units are used for detecting the mobile terminal worn by the target object to obtain detection data; the analysis module is used for determining the position information corresponding to the mobile terminal based on the detection data; the marking module is used for marking the target object at the corresponding position in the electronic map based on the position information; and the early warning module is used for broadcasting the marked electronic map to the passing vehicle.
In order to solve the above technical problems, the third technical solution adopted by the present invention is: the utility model provides a blind area early warning system, blind area early warning system includes: the system comprises a road side unit, target detection equipment, a V2X communication module and a vehicle, wherein the road side unit is in communication connection with the vehicle within a preset range through the V2X communication module and is in signal connection with the target detection equipment; the target detection equipment is used for acquiring detection data of a target object; the target detection equipment comprises a plurality of detection units, and the detection units are used for detecting the mobile terminal worn by the target object to obtain detection data; the road side unit is used for acquiring detection data of the target object acquired by the target detection equipment; determining position information corresponding to the mobile terminal based on the detection data; marking the target object at the corresponding position in the electronic map based on the position information; and broadcasting the marked electronic map to the passing vehicle.
The vehicle comprises a vehicle-mounted detection module, and the vehicle-mounted detection module is used for detecting the position information of the target object.
Wherein, blind area early warning system still includes: and the warning equipment is in signal connection with the road side unit and is used for giving out a warning.
In order to solve the technical problems, the fourth technical scheme adopted by the invention is as follows: there is provided a terminal comprising a memory, a processor and a computer program stored in the memory and running on the processor, wherein the processor is used for executing the sequence data to realize the steps in the above-mentioned blind area early warning method.
In order to solve the above technical problems, a fifth technical solution adopted by the present invention is: there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps in the blind zone warning method as described above.
The beneficial effects of the invention are: different from the prior art, the blind area early warning method, the device, the system, the terminal and the computer readable storage medium are provided, and the blind area early warning method comprises the following steps: acquiring detection data of a target object acquired by a detection system; the detection system comprises a plurality of detection units, wherein the detection units are used for detecting the mobile terminal worn by the target object to obtain detection data; determining position information corresponding to the mobile terminal based on the detection data; marking the target object at the corresponding position in the electronic map based on the position information; and broadcasting the marked electronic map to the passing vehicle. According to the blind area early warning method, the target object of the visual blind area is detected, the target object is marked on the electronic map according to the position information of the detected target object, the marked electronic map is broadcasted to vehicles passing the road to remind the vehicles passing the road, so that the vehicles can know the target object of the visual blind area, and the vehicle is prevented from colliding with the target object to cause traffic safety hidden danger.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow diagram of a blind area early warning method provided by the present invention;
FIG. 2 is a schematic flow chart of an embodiment of a blind area early warning method provided by the present invention;
FIG. 3 is a schematic diagram of an embodiment of the blind spot warning method provided in FIG. 2;
FIG. 4 is a schematic block diagram of an embodiment of a blind area warning device provided by the present invention;
FIG. 5 is a schematic block diagram of an embodiment of a blind spot warning system provided by the present invention;
FIG. 6 is a schematic block diagram of one embodiment of a terminal provided by the present invention;
FIG. 7 is a schematic block diagram of one embodiment of a computer-readable storage medium provided by the present invention.
Detailed Description
The embodiments of the present application will be described in detail below with reference to the drawings.
In the following description, for purposes of explanation rather than limitation, specific details are set forth such as the particular system architecture, interfaces, techniques, etc., in order to provide a thorough understanding of the present application.
The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship. Further, the term "plurality" herein means two or more than two.
In order to make those skilled in the art better understand the technical solution of the present invention, the blind area warning method provided by the present invention is further described in detail below with reference to the accompanying drawings and the detailed description.
Referring to fig. 1, fig. 1 is a schematic flow chart of a blind area early warning method according to the present invention. The embodiment provides a blind area early warning method, which comprises the following steps.
S11: and acquiring detection data of the target object acquired by the detection system.
Specifically, the detection system comprises a plurality of detection units, and the detection units are used for detecting the mobile terminal worn by the target object within a preset range to obtain detection data. The road side unit acquires detection data of the target object acquired by the detection system. The detection unit is preset and establishes a communication channel with the road side unit.
In another embodiment, the detection system further comprises an onboard detection unit; the road side unit broadcasts information acquisition signals to vehicles within a preset range; and receiving the position information of the target object detected by the vehicle-mounted detection unit of the vehicle.
S12: and determining the corresponding position information of the mobile terminal based on the detection data.
Specifically, the position information of the mobile terminal is determined based on the labeled position information of the detection units, the labeled signal strength information among the detection units, and the detection signal strength information between each detection unit and the mobile terminal.
In a specific embodiment, whether the number of detection units detecting the same mobile terminal at the same time is at least three is judged; if the number of the detection units of the same mobile terminal is detected to be at least three at the same time, the position information of the mobile terminal is determined through a triangulation algorithm based on the position information of the detection units of the same mobile terminal, the label signal strength information among the detection units and the detection signal strength information between the detection units and the mobile terminal respectively detected at the same time. And if the number of the detection units of the same mobile terminal is not more than three at the same moment, broadcasting the acquired detection signal strength information between the detection unit of the same mobile terminal and the mobile terminal to adjacent road side units.
In one embodiment, the distance between the detection units is determined based on the position information of each detection unit; determining the distances between the detection units and the mobile terminal respectively based on the distances between the detection units, the labeled signal strength information between the detection units and the detection signal strength information between each detection unit and the mobile terminal respectively; and determining the position information of the mobile terminal according to the distance between each detection unit and the mobile terminal and the position information of each detection unit.
S13: and marking the target object at the corresponding position in the electronic map based on the position information.
Specifically, judging whether a target object is marked on a position point in the electronic map, which is consistent with the position information of the target object; and if the target object is not marked at the position point in the electronic map which is consistent with the position information of the target object, marking the target object on the electronic map to generate a marked map based on the position information of the target object. And if the position point in the electronic map, which is consistent with the position information of the target object, has the marked target object, the marking of the target object on the electronic map is abandoned.
S14: and broadcasting the marked electronic map to the passing vehicle.
Specifically, the annotation map is broadcast to the passing vehicles through the PC5 interface of the V2X communication module.
The blind area early warning method provided by the embodiment comprises the steps that a road side unit acquires detection data of a target object collected by a detection system; the detection system comprises a plurality of detection units, wherein the detection units are used for detecting the mobile terminal worn by the target object within a preset range to obtain detection data; determining position information corresponding to the mobile terminal based on the detection data; marking the target object at the corresponding position in the electronic map based on the position information; and broadcasting the marked electronic map to the passing vehicle. According to the blind area early warning method, the target object of the visual blind area is detected, the target object is marked on the electronic map according to the position information of the detected target object, the marked electronic map is broadcasted to vehicles passing the road to remind the vehicles passing the road, so that the vehicles can know the target object of the visual blind area, and the vehicle is prevented from colliding with the target object to cause traffic safety hidden danger.
Referring to fig. 2, fig. 2 is a schematic flowchart illustrating a blind area warning method according to an embodiment of the present invention. The embodiment provides a blind area early warning method, which is characterized in that a visual blind area inevitably exists due to the structure of a vehicle, and the visual blind area is also formed by the influence of terrain, the shielding of intersection buildings, the shielding of other vehicles and the inner wheel difference effect during turning. Further, due to the visual characteristics, when the driver focuses his attention in the front, the driver's own field of view may be involuntarily narrowed down to exacerbate the blind area range. Due to the structural characteristics of large vehicles represented by commercial vehicles, blind areas are much larger than those of common small vehicles, so that great psychological burden is generated on drivers, risks can be further aggravated if the drivers lose the blind areas, and a series of blind area collision traffic accidents are caused. The blind area early warning method provided by the embodiment is used for detecting the target object of the visual blind area, and broadcasting the position information of the target object to the passing vehicles so as to early warn the passing vehicles. The blind area early warning method comprises the following steps.
S201: a plurality of detection units are provided in advance.
Specifically, the blind zone of the vehicle is a region where the target object cannot be recognized by the vehicle or a road-side-mounted camera, a laser radar, and a millimeter wave device. That is, a blind zone is an area that is obstructed by a vehicle or other obstacle. In order to facilitate detection of a target object existing in a blind vision area of a vehicle and avoid collision between the vehicle and the target object, a plurality of detection units are arranged at preset positions in the blind vision area of the vehicle. In the present embodiment, the target object includes a pedestrian, a non-motor vehicle, and the like. Wherein, the driver and the pedestrian on the non-motor vehicle both wear the mobile terminal. The mobile terminal can be a mobile phone, an intelligent wearable device and the like. The detection unit comprises a probe device. The plurality of probe devices constitute a probe acquisition system. In another embodiment, the probe device can be arranged in a non-visual blind area, and the probe device can be set according to the actual situation.
In this embodiment, a roadside unit and a plurality of probe devices may be set within a preset range, and the plurality of probe devices set within the preset range are respectively registered with the roadside unit set within the preset range to establish a specific communication channel.
S202: and marking the marking information of the detection unit on the electronic map.
Specifically, the label information includes label position information of each detection unit and label signal strength information between the detection units.
And the road side unit in the preset range registers to the map system, and acquires a local area map in the preset range from the map system. And marking the detection unit on the electronic map according to the set real position of the detection unit. In one embodiment, the road side unit registers with the map system through the UU interface of the 5G communication module. The map system is a high-precision map system.
In a specific embodiment, the probe device reports the position information of the probe device to the road side unit, and reports the relative signal strength information between the probe device and other probe devices to the road side unit. The road side unit registers to the map system to establish a communication channel between the road side unit and the map system. The road side unit acquires an electronic map in a map system, and labels the probe equipment in the electronic map according to the acquired position information of the probe equipment. And further labeling the labeled signal strength information among the probe devices in the electronic map. Specifically, the labeled Signal Strength information between the probe devices is a relative RSSI (Received Signal Strength Indication) value between each probe device and other probe devices.
Specifically, the road side unit acquires position information of the road side unit reported by the probe equipment and relative RSSI values between the probe equipment and other probe equipment, and coordinate values [ (x) of the probe equipment are stored in the road side unit 1 ，y 1 )，(x 2 ，y 2 )，(x 3 ，y 3 )...]Relative RSSI values between probe devices [ R ] 1 ，R 2 ，R 3 ...]. The road side unit also stores high-precision map data of an area where the road side unit is acquired by the directed map system.
S203: and detecting the target object through the detection unit to obtain the detection signal strength information between the mobile terminal and each detection unit.
Specifically, the detected signal strength information is signal strength information between the detection unit and a mobile terminal carried by the target object.
When the target object is equipped with a mobile terminal, the detection unit detects the mobile terminal of the target object within a preset range. The detection unit detects the position of the mobile terminal, and the position information of the target object can be acquired by detecting the position information of the mobile terminal.
In a specific embodiment, the probe device obtains, in real time, detection data of the mobile terminal carried by the target object of the blind zone, where the detection data includes a Media Access Control (MAC) address of the mobile terminal, an RSSI value between the probe device and the mobile terminal, information acquisition time, and the like. And the probe equipment sends the detection data acquired in real time to a road side unit for establishing a communication channel. That is to say, the road side unit acquires the MAC address of the mobile terminal carried by the target object, the RSSI value between the mobile terminal and the probe device, and the information acquisition time through the probe device.
S204: and judging whether the number of the detection units which detect the same mobile terminal at the same time is at least three.
Specifically, the MAC address of one mobile terminal is unique, and the MAC address of one mobile terminal may represent one target object. That is, the MAC addresses of the mobile terminals carried by the same target object are the same.
In a specific embodiment, the roadside unit determines the number of probe devices which detect the mobile terminal carried by the same target object at the same time according to the MAC address of the mobile terminal carried by the target object acquired by each probe device and the information acquisition time.
In order to improve the detection accuracy of the position information of the target object, whether the number of probe devices of the mobile terminal carried by the same target object detected at the same time is more than or equal to three is judged. Therefore, fusion calculation is performed according to the detection data of all the probe devices which detect the same mobile terminal at the same time, and the position information of the target object is obtained more accurately.
If the number of the probe devices of the same mobile terminal is detected to be at least three at the same time, directly jumping to the step S205; and if the number of the probe devices of the same mobile terminal is less than three, directly jumping to the step S206.
S205: and determining the position information of the target object by a triangulation algorithm based on the position information of the detection units which detect the same mobile terminal at the same time, the labeled signal strength information among the detection units and the detection signal strength information between the detection units and the mobile terminal respectively.
Specifically, if the number of the probe devices that detect the same mobile terminal at the same time is at least three, the distances between the probe devices that detect the same mobile terminal at the same time and the mobile terminal may be obtained according to the position coordinates of the probe devices that detect the same mobile terminal at the same time, the relative RSSI values between the probe devices, and the RSSI values between the probe devices that detect the same mobile terminal and the mobile terminal at the same time.
According to the position information of the probe devices of the same mobile terminal detected at the same time, the distance between the probe devices of the same mobile terminal detected at the same time can be obtained.
And determining the position coordinates (X, Y) of the mobile terminal based on the position coordinates of the probe equipment, the distance between the probe equipment and the mobile terminal through a triangulation algorithm, and further obtaining the position coordinates of the target object carrying the mobile terminal.
Referring to fig. 3, fig. 3 is a schematic diagram illustrating an embodiment of the blind spot warning method provided in fig. 2.
In a specific embodiment, three probe devices detect the same mobile terminal at the same time, where the three probe devices include D1, D2, and D3, and the mobile terminal is E. The roadside unit stores therein position coordinates of three probe devices, D1 (x 1, y 1), D2 (x 2, y 2), and D3 (x 3, y 3). The relative RSSI values between probe devices D1 and D2, probe devices D1 and D3, and probe devices D2 and D3 are also stored in the roadside unit. The road side unit receives relative RSSI values with the mobile terminal E respectively acquired by the probe devices D1, D2 and D3.
And the road side unit respectively calculates the distance between D1 and D2, the distance between D2 and D3 and the distance between D1 and D3 according to the position coordinates D1 (x 1, y 1), D2 (x 2, y 2) and D3 (x 3, y 3) of the three probe devices.
The road side unit calculates a distance r1 between the probe devices D1 and E, a distance r2 between the probe devices D2 and E and a distance r3 between the probe devices D3 and E respectively according to the relative RSSI value between the probe devices D1 and D2, the relative RSSI value between the probe devices D1 and D3, the relative RSSI value between the probe devices D2 and D3, the distance between the probe devices D1 and D2, the distance between the probe devices D2 and D3, the distance between the probe devices D1 and D3 and the mobile terminal E respectively and the relative RSSI values between the probe devices D1, D2 and D3 and the mobile terminal E.
And the road side unit determines the position coordinates (x, y) of the mobile terminal E according to the distance r1 between the probe devices D1 and E, the distance r2 between the probe devices D2 and E, the distance r3 between the probe devices D3 and E and the position coordinates D1 (x 1, y 1), D2 (x 2, y 2) and D3 (x 3, y 3) of the three probe devices through a triangulation algorithm, and then obtains the position coordinates (x, y) of the target object carrying the mobile terminal E.
S206: and broadcasting the detected signal strength information between the detection unit and the mobile terminal which acquire the same target object to an adjacent area.
Specifically, when the target object carrying the mobile terminal is located at the edge of the preset range, the number of probe devices detecting the same mobile terminal at the same time may be less than three, and the roadside unit may not determine the position information of the mobile terminal, that is, the position information of the target object.
If the road side unit in the preset range cannot determine the position information of the target object, the position information of the mobile terminal can be determined by combining the detection data of the road side unit in the area adjacent to the preset range and combining the detection data of the road side unit in the adjacent area or the road side unit in the preset range with the detection data of the two road side units. Therefore, the road side unit which is in communication connection with the detected mobile terminal needs to broadcast the acquired detection data to other adjacent road side units through the air interface of the PC5 of the 5G communication module.
In a specific embodiment, the road side unit broadcasts the position coordinates of the probe devices detecting the mobile terminal, the relative RSSI value between the probe devices, the MAC address of the mobile terminal detected by the probe device, the RSSI value between the probe device and the mobile terminal, the information acquisition time and other information to other adjacent road side units, so that the adjacent road side units combine the received broadcast information with the detection data of the mobile terminal with the same MAC address and the information of the probe device acquired by the probe device in communication connection with the adjacent road side units to determine the position information of the mobile terminal, and further determine the position information of the target object.
S207: and broadcasting the information acquisition signal to the vehicles within the preset range.
Specifically, the road side unit broadcasts an information acquisition signal of the target object to vehicles within a preset range through a PC5 interface of the V2X module, so as to inform the vehicles within the preset range to detect the target object of the visual blind area.
After receiving the information acquisition signal sent by the road side unit, the vehicle detects the target object around the vehicle through the vehicle-mounted detection unit of the vehicle to obtain the position information of the target object around the vehicle. And the vehicle sends the detected position information of the target object to the road side unit through a PC5 interface of the V2X module.
In a specific embodiment, after receiving the information acquisition signal of the target object, the vehicle detects the target object around the vehicle by using a sensor mounted on the vehicle to obtain the position information of the target object around the vehicle, and sends the position information of the target object to the road side unit in a unicast manner. The sensor comprises a laser radar, a millimeter wave radar or an image acquisition device capable of position identification.
In another embodiment, the position information of the target object detected by the vehicle can be directly sent to other vehicles within the preset range.
S208: and receiving the position information of the target object detected by the vehicle-mounted detection unit of the vehicle.
S209: and judging whether the target object is marked on the position point which is consistent with the position information of the target object in the electronic map.
Specifically, in order to avoid the position information of the target object obtained by vehicle detection from coinciding with the position information of the target object detected by the probe device, it is necessary to determine whether the target object is marked at a corresponding position point on the electronic map based on the position information of the target object, so as to avoid repeated marking of the system and reduce workload.
In another embodiment, the vehicle registers with the map system through the UU interface of the 5G communication module, so that the vehicle establishes a communication connection with the map system. The vehicle-mounted unit of the vehicle acquires the electronic map from the map system and judges whether a position point corresponding to the position coordinate of the target object in the electronic map is marked or not, so that the redundant sending of messages caused by repeated recognition of the system is avoided, and the busy rate of a communication channel is increased.
If the target object is not marked at the position point in the electronic map which is consistent with the position information of the target object, directly jumping to the step S210; and if the target object is marked in the position point which is consistent with the position information of the target object in the electronic map, directly jumping to the step S211.
S210: and based on the position information of the target object, the target object is marked in the electronic map to generate a marked map.
Specifically, if no target object is marked at a position point in the electronic map that is consistent with the position information of the target object, the road side unit marks the target object on the electronic map according to the position information of the target object, so as to obtain a marked map. Wherein, the electronic map is a high-precision map. In particular, the electronic map may be a high-precision map of a local area. The high-precision map comprises a dynamic map layer and a static map layer, wherein the dynamic map layer comprises moving targets such as vehicles, pedestrians and the like; the static map layer comprises static targets such as roads, trees, buildings and the like.
In a specific embodiment, the target object is marked on the dynamic layer of the high-precision map according to the position information of the target object, and the dynamic layer marked with the target object is combined with the static layer to generate the marked map.
S211: and abandoning the marking of the target object on the electronic map.
Specifically, if a target object is marked at a position point in the electronic map that is consistent with the position information of the target object, the target object is abandoned from being marked at a corresponding position on the electronic map.
S212: and obtaining the distribution data of the target objects corresponding to the positions of all areas in the electronic map based on the labeling map.
Specifically, the road side unit analyzes the marked map to obtain a thermodynamic diagram of each area position in the electronic map, and further determines distribution data of target objects distributed in each area position to help judge whether additional sensing equipment needs to be added in a visual blind area of the vehicle or unnecessary visual field blocking obstacles need to be removed.
In another embodiment, the road side unit sends the labeled map to the map system through a UU interface of the 5G communication module, and the map system analyzes the received labeled map to obtain a thermodynamic diagram of each area position in the electronic map, so as to help judge whether additional sensing equipment needs to be added in a visual blind area of the vehicle or unnecessary visual field blocking obstacles need to be removed.
S213: and broadcasting the label map to the passing vehicle through a PC5 interface of the V2X communication module.
Specifically, the road side unit broadcasts the labeling map to the passing vehicles through a PC5 interface of the V2X communication module so as to remind the passing vehicles and avoid collision between the vehicles and target objects in the visual field blind areas.
S214: and judging whether the position information of the target object is in a preset dangerous area of the electronic map.
Specifically, it is determined whether the target object is in a preset danger area based on the position information of the target object. The preset dangerous area comprises a motor vehicle lane, a parking space and the like.
If the position information of the target object is in the preset dangerous area of the electronic map, directly jumping to the step S215; and if the position information of the target object is not in the preset dangerous area of the electronic map, directly jumping to the step S216.
S215: and warning the target object.
Specifically, the position information of the target object is in a preset dangerous area of the electronic map, so that the pedestrian in the visual blind area can be warned in a voice reminding and/or acousto-optic early warning mode, the pedestrian in the preset dangerous area is urged to leave quickly, and the collision between the pedestrian and the vehicle is avoided.
S216: and continuing to detect the target object.
Specifically, if the position information of the target object is not in the preset dangerous area of the electronic map, the target object of the blind visual area is continuously detected.
The blind area early warning method provided by the embodiment comprises the following steps: a road side unit acquires detection data of a target object acquired by a detection system; the detection system comprises a plurality of detection units, wherein the detection units are used for detecting the mobile terminal worn by the target object within a preset range to obtain detection data; determining position information corresponding to the mobile terminal based on the detection data; marking the target object at the corresponding position in the electronic map based on the position information; and broadcasting the marked electronic map to the passing vehicle. According to the blind area early warning method, the target object of the visual blind area is detected, the target object is marked on the electronic map according to the position information of the detected target object, the marked electronic map is broadcasted to vehicles passing the road to remind the vehicles passing the road, so that the vehicles can know the target object of the visual blind area, and the vehicle is prevented from colliding with the target object to cause traffic safety hidden danger.
Referring to fig. 4, fig. 4 is a schematic block diagram of an embodiment of a blind area early warning device provided by the present invention. The embodiment provides a blind area early warning device 40, and the blind area early warning device 40 includes an information acquisition module 41, an analysis module 42, a labeling module 43, and an early warning module 44.
The information acquisition module 41 is configured to acquire detection data of a target object acquired by the detection system; the detection system comprises a plurality of detection units, and the detection units are used for detecting the mobile terminal worn by the target object within the preset range to obtain detection data.
The analysis module 42 is configured to determine corresponding location information of the mobile terminal based on the detection data.
The labeling module 43 is configured to label the target object at a corresponding position in the electronic map based on the position information.
The early warning module 44 is configured to broadcast the marked electronic map to the passing vehicles.
The blind area early warning device provided by the embodiment detects the target object of the visual blind area, marks the target object on the electronic map according to the position information of the detected target object, and broadcasts the marked electronic map to vehicles passing by so as to remind the vehicles passing by, so that the vehicles can know the target object of the visual blind area, and the vehicle is prevented from colliding with the target object to cause traffic safety hidden trouble.
Referring to fig. 5, fig. 5 is a schematic block diagram of an embodiment of the blind spot warning system according to the present invention. The embodiment provides a blind area early warning system 50, and blind area early warning system 50 includes roadside unit 51, target detection equipment 52 and V2X communication module 53 and vehicle 54, and roadside unit 51 is through V2X communication module 53 and vehicle 54 communication connection within the predetermined range, and roadside unit 51 and target detection equipment 52 signal connection.
The target detection device 52 is used for acquiring detection data of a target object; the object detection device 52 includes a plurality of detection units 521, and the detection units 521 are configured to detect a mobile terminal worn by an object within a preset range to obtain detection data.
The road side unit 51 is configured to obtain detection data of a target object collected by a target detection device; determining position information corresponding to the mobile terminal based on the detection data; marking the target object at the corresponding position in the electronic map based on the position information; and broadcasting the marked electronic map to the vehicles passing by.
In one embodiment, the vehicle 54 includes an in-vehicle detection module 541, and the in-vehicle detection module 541 is used for detecting the position information of the target object.
In one embodiment, the blind spot warning system 50 further includes: and the warning equipment 55 is in signal connection with the road side unit 51 and is used for giving out warning.
The blind area early warning system provided by this embodiment marks the target object on the electronic map by detecting the target object in the visual blind area according to the position information of the detected target object, and broadcasts the marked electronic map to the vehicles passing by the way to remind the vehicles passing by the way, so that the vehicles can know the target object in the visual blind area, and the vehicle is prevented from colliding with the target object, and the traffic safety hidden danger is caused.
Referring to fig. 6, fig. 6 is a schematic block diagram of an embodiment of a terminal provided in the present invention. The terminal 70 in this embodiment includes: the processor 71, the memory 72, and a computer program stored in the memory 72 and capable of running on the processor 71 are not described herein for avoiding repetition in the above-mentioned blind area warning method when the computer program is executed by the processor 71.
Referring to fig. 7, fig. 7 is a schematic block diagram of an embodiment of a computer-readable storage medium provided by the present invention.
In an embodiment of the present application, a computer-readable storage medium 90 is further provided, where the computer-readable storage medium 90 stores a computer program 901, the computer program 901 includes program instructions, and a processor executes the program instructions, so as to implement the blind area early warning method provided in the embodiment of the present application.
The computer-readable storage medium 90 may be an internal storage unit of the computer device of the foregoing embodiment, such as a hard disk or a memory of the computer device. The computer-readable storage medium 90 may also be an external storage device of the computer device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc., provided on the computer device.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (18)
1. A blind area early warning method is characterized by comprising the following steps:
acquiring detection data of a target object acquired by a detection system; the detection system comprises a plurality of detection units, and the detection units are used for detecting the mobile terminal worn by the target object to obtain the detection data;
determining position information corresponding to the mobile terminal based on the detection data;
marking the target object at a corresponding position in an electronic map based on the position information;
and broadcasting the marked electronic map to a passing vehicle.
2. The blind area early warning method according to claim 1, wherein the detection unit is preset and establishes a communication channel with a road side unit;
the step of acquiring the detection data of the target object acquired by the detection system comprises the following steps:
marking the marking information of the detection unit on the electronic map; the labeling information includes labeling position information of each detection unit and labeling signal strength information between the detection units.
3. The blind area early warning method according to claim 2, wherein the detection data includes detection signal strength information between the mobile terminal and each of the detection units;
the determining the position information corresponding to the mobile terminal based on the detection data includes:
and determining the position information of the mobile terminal based on the labeled position information of the detection units, the labeled signal strength information among the detection units and the detection signal strength information among the detection units and the mobile terminal.
4. The blind area early warning method according to claim 3,
the determining the location information of the mobile terminal based on the labeled location information of the detection units, the labeled signal strength information between the detection units, and the detection signal strength information between each detection unit and the mobile terminal includes:
judging whether the number of the detection units which detect the same mobile terminal at the same time is at least three;
and if the number of the detection units of the same mobile terminal is detected to be at least three at the same moment, determining the position information of the mobile terminal by a triangulation algorithm based on the position information of the detection units of the same mobile terminal, the label signal strength information between the detection units and the detection signal strength information between the detection units and the mobile terminal respectively.
5. The blind area early warning method according to claim 4,
the determining the location information of the mobile terminal based on the labeled location information of the detection units, the labeled signal strength information between the detection units, and the detection signal strength information between each detection unit and the mobile terminal includes:
determining a distance between the detection units based on the position information of each of the detection units;
determining distances between the detection units and the mobile terminal respectively based on the distances between the detection units, the label signal strength information between the detection units and the detection signal strength information between each detection unit and the mobile terminal respectively;
and determining the position information of the mobile terminal according to the distance between each detection unit and the mobile terminal and the position information of each detection unit.
6. The blind area early warning method according to claim 4,
the labeling of the target object is carried out at the corresponding position in the electronic map based on the position information, and the method further comprises the following steps:
and if the number of the detection units of the same mobile terminal does not reach three at the same time, broadcasting the detection signal strength information between the detection unit of the same mobile terminal and the mobile terminal to the adjacent road side units.
7. The blind area early warning method according to any one of claims 1 to 6, wherein the detection system further comprises a vehicle-mounted detection unit;
the blind area early warning method comprises the following steps:
broadcasting information acquisition signals to the vehicles within a preset range;
and receiving the position information of the target object detected by the vehicle-mounted detection unit of the vehicle.
8. The blind area early warning method according to claim 1,
the labeling of the target object at the corresponding position in the electronic map based on the position information comprises:
judging whether a position point in the electronic map, which is consistent with the position information of the target object, is marked with the target object;
and if the target object is not marked at the position point in the electronic map which is consistent with the position information of the target object, marking the target object on the electronic map to generate a marking map based on the position information of the target object.
9. The blind area early warning method according to claim 8,
the marking the target object in the electronic map based on the position information of the target object to generate a marking map further comprises:
and if the target object is marked at the position point in the electronic map which is consistent with the position information of the target object, abandoning to mark the target object on the electronic map.
10. The blind area early warning method according to claim 1, further comprising:
and obtaining the distribution data of the target object corresponding to each area position in the electronic map based on the labeling map.
11. The blind area early warning method according to claim 1, wherein the blind area early warning method is characterized in that
The broadcasting the annotation map to a passing vehicle comprises:
and broadcasting the label map to the passing vehicle through a PC5 interface of the V2X communication module.
12. The blind area early warning method according to claim 1, further comprising:
judging whether the target object is in a preset dangerous area or not based on the position information of the target object;
and if the target object is in the preset dangerous area, warning the target object.
13. The utility model provides a blind area early warning device which characterized in that, blind area early warning device includes:
the information acquisition module is used for acquiring detection data of the target object acquired by the detection system; the detection system comprises a plurality of detection units, and the detection units are used for detecting the mobile terminal worn by the target object to obtain the detection data;
the analysis module is used for determining the position information corresponding to the mobile terminal based on the detection data;
the marking module is used for marking the target object at the corresponding position in the electronic map based on the position information;
and the early warning module is used for broadcasting the marked electronic map to the passing vehicle.
14. The utility model provides a blind area early warning system which characterized in that, blind area early warning system includes: a road side unit, an object detection device, a V2X communication module and a vehicle,
the road side unit is in communication connection with the vehicles within a preset range through the V2X communication module, and the road side unit is in signal connection with the target detection equipment;
the target detection equipment is used for acquiring detection data of a target object; the target detection equipment comprises a plurality of detection units, and the detection units are used for detecting the mobile terminal worn by the target object to obtain the detection data;
the road side unit is used for acquiring detection data of the target object acquired by the target detection equipment; determining position information corresponding to the mobile terminal based on the detection data; marking the target object at a corresponding position in an electronic map based on the position information; and broadcasting the marked electronic map to the vehicles passing by.
15. The blind spot warning system of claim 14 wherein the vehicle includes an on-board detection module for detecting location information of the target object.
16. The blind area warning system of claim 14, further comprising:
and the warning equipment is in signal connection with the road side unit and is used for giving out a warning.
17. A terminal, characterized in that the terminal comprises a memory, a processor and a computer program stored in the memory and running on the processor, the processor being configured to execute the sequence data to implement the steps in the blind spot warning method according to any one of claims 1 to 12.
18. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the blind spot warning method according to any one of claims 1 to 12.
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