CN115550872A - Early warning method, electronic device and computer-readable storage medium - Google Patents
Early warning method, electronic device and computer-readable storage medium Download PDFInfo
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Abstract
The embodiment of the application relates to the technical field of vehicle networking, in particular to an early warning method, electronic equipment and a computer readable storage medium. The early warning method comprises the following steps: determining an early warning scene of the main vehicle; determining an early warning algorithm corresponding to the early warning scene; determining the position of the main vehicle after the preset time according to the early warning algorithm, and estimating the time required for collision of the main vehicle according to the position; and outputting early warning information of early warning grade according to the time required by the collision of the main vehicle and the preset early warning safety time, so that the early warning cost and the early warning complexity can be reduced, and the early warning pertinence is improved.
Description
Technical Field
The embodiment of the application relates to the technical field of vehicle networking, in particular to an early warning method, electronic equipment and a computer readable storage medium.
Background
With the development of the vehicle to outside information exchange (V2X for short), the convenience and safety of driving are well guaranteed. At present, when early warning information is pushed based on a V2X technology, a commonly adopted mode is as follows: acquiring and analyzing a V2X signal to obtain V2X early warning information; acquiring and analyzing driver image information, and judging the driving state of a driver; selecting a corresponding pushing strategy according to the V2X early warning information and the driving state of a driver; and calling the human-computer interaction equipment according to a pushing strategy, and pushing the V2X early warning information to a driver. In the process, the image information of the driver can be acquired only by using the camera, the driving state of the driver needs to be judged, the cost is relatively high, the process is relatively complex, the early warning information pushed to the driver cannot reflect the danger degree, and the early warning pertinence is relatively low.
Disclosure of Invention
The embodiment of the application mainly aims to provide an early warning method, electronic equipment and a computer-readable storage medium, and aims to reduce early warning cost and early warning complexity and improve early warning pertinence.
In order to at least achieve the above object, an embodiment of the present application provides a method for controlling a terminal, including: determining an early warning scene of the main vehicle; determining an early warning algorithm corresponding to the early warning scene; determining the position of the main vehicle after the preset time according to the early warning algorithm, and estimating the time required for collision of the main vehicle according to the position; determining an early warning grade according to the time length required by the collision of the main vehicle and the preset early warning safety time length; and outputting early warning information of early warning grades according to the time required by the collision of the main vehicle and the preset early warning safety time.
To achieve the above object, an embodiment of the present application further provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the above-mentioned early warning method
In order to achieve at least the above object, an embodiment of the present application further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the above-mentioned early warning method.
In the embodiment of the application, an early warning algorithm corresponding to an early warning scene of a main vehicle is determined based on the early warning scene, then the position of the main vehicle after the preset time is determined according to the early warning algorithm, the time required for the main vehicle to collide is estimated according to the position, and then early warning information of early warning grade is output according to the time required for the main vehicle to collide and the preset early warning safety time. In the embodiment of the application, the early warning algorithm corresponding to the early warning scene can be selected based on the early warning scene where the main vehicle is located, so that the following early warning related operation can be directly carried out based on the early warning algorithm corresponding to the early warning scene, and one of various different early warning algorithms does not need to be used for trying the early warning algorithm suitable for the current early warning scene where the main vehicle is located, so that the early warning efficiency can be improved. In addition, the early warning method in the embodiment of the application does not need to use a camera to acquire the image information of the driver, so that the driving state of the driver is judged, the cost is relatively low, and the process is relatively simple. Meanwhile, in the embodiment of the application, the early warning grade is determined according to the time required by the collision of the main vehicle and the preset early warning safety time, and the early warning information is sent according to the early warning grade, so that the sent early warning information can reflect the current danger degree to a certain extent, and the improvement of the pertinence of early warning is facilitated.
Drawings
Fig. 1 is a schematic flow chart of an early warning method in an embodiment of the present application;
FIG. 2 is a flow chart illustrating one implementation of step 101 mentioned in an embodiment of the present application;
fig. 3 is a schematic flow chart of another implementation of step 101 mentioned in the embodiments of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that in the examples of the present application, numerous technical details are set forth in order to provide a better understanding of the present application. However, the technical solutions claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments. The following embodiments are divided for convenience of description, and should not constitute any limitation to the specific implementation manner of the present application, and the embodiments may be mutually incorporated and referred to without contradiction.
The embodiment of the application relates to an early warning method, which is mainly used for early warning aiming at dangerous conditions possibly occurring in the driving process of a vehicle. The early warning method can be applied to electronic equipment. The electronic device is arranged on a host vehicle, such as a V2X device on the host vehicle. The V2X technology is a key technology of a future intelligent transportation system, and enables communication between vehicles, between vehicles and a base station and between base stations. Therefore, a series of traffic information such as real-time road conditions, road information, pedestrian information and the like is obtained, so that the driving safety is improved, the congestion is reduced, the traffic efficiency is improved, the vehicle-mounted entertainment information is provided, and the like. However, in a specific implementation, the electronic device may also be an On Board Unit (OBU), a vehicle data recorder, or a terminal device such as a mobile phone and a tablet computer, and both the On board device and the terminal device may store an application program for implementing the early warning method in this embodiment. The implementation details of the early warning method of the present embodiment are specifically described below, and the following description is only provided for the convenience of understanding, and is not necessary to implement the present embodiment.
In one embodiment, the flow diagram of the warning method may refer to fig. 1, including:
step 101: determining an early warning scene of the main vehicle;
step 102: determining an early warning algorithm corresponding to an early warning scene;
step 103: determining a first position of the main vehicle after the preset time according to an early warning algorithm, and estimating the time required for collision of the main vehicle according to the first position;
step 104: and outputting early warning information of early warning grade according to the time required by the collision of the main vehicle and the preset early warning safety time.
In the embodiment, an early warning algorithm corresponding to the early warning scene is determined based on the early warning scene of the main vehicle, then the position of the main vehicle after the preset time is determined according to the early warning algorithm, the time required for the main vehicle to collide is estimated according to the position, and then early warning information of early warning grade is output according to the time required for the main vehicle to collide and the preset early warning safety time. In the embodiment of the application, the early warning algorithm corresponding to the early warning scene can be selected based on the early warning scene where the main vehicle is located at present, so that the subsequent early warning related operation can be directly performed based on the early warning algorithm corresponding to the early warning scene, and one of various different early warning algorithms does not need to be tried to try the early warning algorithm suitable for the current early warning scene where the main vehicle is located, so that the early warning efficiency can be improved. In addition, the early warning method in the embodiment of the application does not need to use a camera to acquire the image information of the driver, so that the driving state of the driver is judged, the cost is relatively low, and the process is relatively simple. Meanwhile, in the embodiment of the application, the early warning grade is determined according to the time required by the collision of the main vehicle and the preset early warning safety time, and the early warning information is sent according to the early warning grade, so that the sent early warning information can reflect the current danger degree to a certain extent, and the improvement of the pertinence of early warning is facilitated.
In step 101, a V2X device (hereinafter referred to as a first V2X device) on a host vehicle may acquire vehicle data of the host vehicle and acquire vehicle data of a distant vehicle, and then determine an early warning scene in which the host vehicle is located according to the vehicle data of the host vehicle and the vehicle data of the distant vehicle. Wherein, the Host Vehicle (HV) can be understood as the current Vehicle, and the Remote Vehicle (RV) can be understood as the Vehicle other than the Host Vehicle. HV may be understood as a target vehicle equipped with an on-board unit and running an application; the RV may be understood as a background vehicle that in cooperation with the HV can broadcast V2X messages periodically. The vehicle data may include Global Positioning System (GPS) data, and the current position information of the host vehicle and the current position information of the remote vehicle may be determined by the GPS data of the host vehicle and the GPS data of the remote vehicle, and the position information may be specifically latitude and longitude coordinates. The early warning scenario may include: the method comprises the following steps that early warning scenes possibly existing in the same lane of a main vehicle and a far vehicle, early warning scenes possibly existing in adjacent lanes of the main vehicle and the far vehicle, and early warning scenes possibly existing on two sides of a crossing of the main vehicle and the far vehicle; wherein, the early warning scene that main car and distant car probably exist in adjacent lane can further include again: the early warning scenes of the main vehicle and the far vehicle in the same-direction adjacent lane and the early warning scenes of the main vehicle and the far vehicle in the reverse adjacent lane are possible.
In one example, the possible pre-warning scenes of the main vehicle and the far vehicle in the same lane may include any one or a combination of the following: an emergency braking early warning scene, a fault vehicle reminding early warning scene, a vehicle out-of-control early warning scene, an emergency vehicle early warning scene and a rear-end collision early warning scene. The possible existing early warning scenes of the main vehicle and the far vehicle in the equidirectional adjacent lanes can comprise the following steps: and (5) changing the lane in the blind area to early warn the scene. The possible existing early warning scenes of the main vehicle and the far vehicle in the reverse adjacent lanes can comprise the following steps: and (5) a reverse overtaking early warning scene. The possible existing early warning scenes of the main vehicle and the distant vehicle on the two sides of the intersection can comprise: and (5) early warning scenes of the intersection. Wherein, the first and the second end of the pipe are connected with each other,
in one example, the implementation of step 101 can refer to fig. 2, which includes:
step 201: receiving V2X data sent by a remote vehicle; the V2X data comprises position information of a far vehicle;
step 202: acquiring the position information of the main vehicle, and determining the position relation of lanes where the main vehicle and the remote vehicle are located according to the position information of the main vehicle and the position information of the remote vehicle;
step 203: and determining the early warning scene of the main vehicle according to the position relation and the judgment conditions corresponding to different early warning scenes respectively.
In step 201, a V2X device (hereinafter referred to as a second V2X device) may also be disposed in the far car, and the second V2X device may send V2X data to the first V2X device, where the V2X data includes location information of the far car. For example, the second V2X device may obtain GPS data of a distant vehicle, determine location information of the distant vehicle according to the GPS data of the distant vehicle, and then transmit the location information to the first V2X device. In a specific implementation, the V2X data may further include, according to actual needs: speed, acceleration, heading angle, etc. of the remote vehicle.
In step 202, the first V2X device may acquire GPS data of the host vehicle, determine position information of the host vehicle from the GPS data of the host vehicle, and then determine a positional relationship of lanes where the host vehicle and the distant vehicle are located from the position information of the host vehicle and the position information of the distant vehicle.
In one example, the position information of the host vehicle and the position information of the distant vehicle are longitude and latitude coordinates of the host vehicle and longitude and latitude coordinates of the distant vehicle, respectively, and the first V2X device may convert the longitude and latitude coordinates of the host vehicle and the longitude and latitude coordinates of the distant vehicle into coordinates in a rectangular coordinate system first. Then, according to the coordinates of the main vehicle and the remote vehicle in the rectangular coordinate system and the coordinates of the lanes in the rectangular coordinate system, the lanes where the main vehicle and the remote vehicle are respectively located are respectively determined, and then according to the lanes where the main vehicle and the remote vehicle are respectively located, the position relation of the lanes where the main vehicle and the remote vehicle are located is determined. Wherein, the position relation of the lanes where the main vehicle (HV) and the far vehicle (RV) are positioned can be any one of the following types: the lane is a single lane (the HV and the RV are in the same lane, that is, the lanes in which the HV and the RV are located are the same), the adjacent lanes (the lanes in which the HV and the RV are located are adjacent to each other), and two sides of the intersection (the lanes in which the HV and the RV are located are opposite to each other with a zebra crossing interposed therebetween, that is, the lanes in which the HV and the RV are located are opposite to each other); wherein the main vehicle and the distant vehicle in the adjacent lanes may travel in the same direction or in opposite directions.
In step 203, the first V2X device may determine the early warning scene where the host vehicle is located according to the position relationship and the determination conditions respectively corresponding to the different early warning scenes. The judgment conditions corresponding to different early warning scenes can be preset according to actual needs.
In one example, when the positional relationship between lanes where the main vehicle and the far vehicle are located is the same lane, the first V2X device may determine the early warning scene where the main vehicle is located according to the determination conditions respectively corresponding to different early warning scenes in the same lane; wherein, different early warning scenes in the same lane include any one of the following or the combination thereof: an emergency braking early warning scene, a fault vehicle reminding early warning scene, a vehicle out-of-control early warning scene, an emergency vehicle early warning scene and a rear-end collision early warning scene.
In one example, when the first V2X device determines that the first judgment condition corresponding to the emergency braking early warning scene is met, determining that the early warning scene in which the host vehicle is located is the emergency braking early warning scene; the first judgment condition is that the main vehicle receives emergency braking information of a far vehicle. That is, if the preceding RV vehicle makes an emergency brake while the HV and RV are in the same lane, the emergency brake information is broadcast through short-range wireless communication. After receiving the emergency braking information of the remote vehicle, the HV can determine that the RV is in emergency braking, and then can determine that the current early warning scene of the HV is an emergency braking early warning scene. Wherein if the RV is emergency braking, the RV may broadcast emergency braking information through the second V2X device, and if the first V2X device is within a broadcast range of the second V2X device, the first V2X device may receive the emergency braking information.
In one example, when the first V2X device determines that the second determination condition corresponding to the warning scene of the fault vehicle reminding is met, determining that the warning scene where the main vehicle is located is the warning scene of the fault vehicle reminding; and the second judgment condition is that the main vehicle receives fault alarm information of a far vehicle. That is to say, when the HV and the RV are located in the same lane, if the vehicle RV around the HV broadcasts fault alarm information, after the first V2X device receives the fault alarm information, it may be determined that the current early warning scene where the HV is located is a fault vehicle reminding early warning scene. Wherein, if the RV breaks down, the RV can broadcast failure alarm information through the second V2X equipment, and if the first V2X equipment is in the broadcast range of the second V2X equipment, the first V2X equipment can receive the failure alarm information.
In one example, when the first V2X device determines that the third judgment condition corresponding to the early warning scene of vehicle runaway is met, determining that the early warning scene in which the main vehicle is located is the early warning scene of vehicle runaway; and the third judgment condition is that the master vehicle receives the vehicle out-of-control state information of the remote vehicle. That is to say, when the HV and the RV are located in the same lane, if the vehicle RV around the HV broadcasts the vehicle runaway state information, after receiving the vehicle runaway state information, the first V2X device may determine that the warning scene where the HV is currently located is a vehicle runaway warning scene. If the RV has a fault, the RV may broadcast vehicle runaway state information through the second V2X device, and if the first V2X device is within a broadcast range of the second V2X device, the first V2X device may receive the vehicle runaway state information.
In one example, when the first V2X device determines that the fourth judgment condition corresponding to the early warning scene of the emergency vehicle is met, determining that the early warning scene of the host vehicle is the early warning scene of the emergency vehicle; the fourth judgment condition is that the main vehicle receives the reminding information of the emergency vehicle; the emergency vehicle includes any one of: a fire truck, ambulance, police car, or other emergency calling vehicle, etc. That is to say, when the HV and the RV are located in the same lane, the HV indicates that the HV needs to give way to an emergency vehicle such as a fire truck, an ambulance, a police car, or another emergency call vehicle if receiving the emergency vehicle reminding information while the HV is in driving, and after receiving the emergency vehicle reminding information, the first V2X device may determine that the current early warning scene where the HV is located is an emergency vehicle early warning scene.
In one example, when the first V2X device determines that the fifth determination condition corresponding to the rear-end collision early warning scene is met, determining that the early warning scene in which the host vehicle is located is the rear-end collision early warning scene; and the fifth judgment condition is that the main vehicle and the far vehicle have the danger of rear-end collision. That is, when the HV and the RV are in the same lane, if the HV is on the main lane and there is a rear-end collision risk with the RV in the same lane right ahead, the first V2X device may determine that the warning scene in which the HV is currently located is a rear-end collision warning scene.
In one example, if the positional relationship between the lanes of the main vehicle and the far vehicle is an adjacent lane, the first V2X device may determine the early warning scene where the main vehicle is located according to the determination conditions respectively corresponding to different early warning scenes in the adjacent lane; wherein, different early warning scenes in adjacent lanes comprise any one of the following or the combination thereof: a blind area lane change early warning scene and a reverse overtaking early warning scene. The blind zone lane change early warning scene can be an early warning scene that the main vehicle and the far vehicle can travel in the same direction in adjacent lanes and the reverse overtaking early warning scene can be an early warning scene that the main vehicle and the far vehicle can travel in the reverse direction in the adjacent lanes.
In one example, when the first V2X device determines that the sixth judgment condition corresponding to the blind area lane change early warning scene is met, determining that the early warning scene where the main vehicle is located is the blind area lane change early warning scene; wherein the sixth determination condition is determination that the host vehicle is ready to enter the lane change and the distant vehicle is in or about to be in the blind area of the host vehicle. That is to say, when the HV and the RV are located in adjacent lanes and travel in the same direction, the first V2X device may determine whether the HV is ready to perform a lane change operation, and if it is determined that the HV is ready to enter a lane change, determine whether the RV is located in or about to enter an HV blind area, and if the HV is changing lanes and the RV is located in the HV blind area, the first V2X device may determine that the warning scene where the HV is currently located is a blind area lane change warning scene. The method for determining that the host vehicle is ready to enter the lane change can be as follows: whether the main vehicle turns on a steering lamp is detected, and if the steering lamp is turned on, the main vehicle can be determined to be ready to enter a lane change. The manner of judging whether the RV is in or about to enter the HV blind zone may be: and acquiring historical track points of the RV, fitting and predicting the driving intention of the RV according to the historical track points of the RV, and judging whether the RV is in or is about to enter the HV blind area according to the driving intention of the RV.
In one example, when the first V2X device determines that the seventh judgment condition corresponding to the reverse overtaking early warning scene is met, determining that the early warning scene where the main vehicle is located is the reverse overtaking early warning scene; and the seventh judgment condition is that the remote vehicle is determined to enter the lane change operation and the collision danger of the main vehicle and the remote vehicle is predicted. That is to say, when the HV and the RV are located in adjacent lanes and travel in reverse, the first V2X device may first determine whether the HV intends to change lanes, and if the HV enters a lane changing operation and it is determined that there may be collision danger avoidance between the HV and the RV, the first V2X device may determine that the early warning scene where the host vehicle is located is a reverse overtaking early warning scene.
In one example, when the position relation of lanes where the main vehicle and the distant vehicle are located is two sides of an intersection and the first V2X equipment determines that the eighth judgment condition corresponding to the intersection early warning scene is met, determining that the early warning scene where the main vehicle is located is the intersection early warning scene; wherein the eighth determination condition is that it is determined that the host vehicle enters or is about to enter the intersection. That is to say, the first V2X device may determine whether the HV and the RV are located at the intersection, that is, at both sides of the intersection, and if the HV and the RV are located at both sides of the intersection, the first V2X device may determine that the warning scene where the HV is currently located is the intersection warning scene. Wherein, the intersection can include: crossroads, T-intersections, and the like.
In one embodiment, the implementation of step 101 can refer to fig. 3, including:
step 301: and receiving the road side information transmitted by the road side unit.
Step 302: and determining an early warning scene of the main vehicle according to the roadside information and the position information of the main vehicle.
The Road Side Unit (RSU) is installed at the Road Side, and communicates with the On Board Unit (OBU) by adopting a Dedicated Short Range Communication (DSRC) technology to realize vehicle identification and electronic deduction.
In one example, when the roadside information is road danger condition prompting information, it may be determined that the early warning scene in which the host vehicle is located is a road danger condition prompting early warning scene. In a specific implementation, when a dangerous condition exists on a road, a roadside unit or a temporary roadside device near the road can broadcast road dangerous condition prompting information to the outside, and if a host vehicle is in the broadcasting range of the roadside unit, namely the position of the host vehicle is closer to the roadside unit, the first V2X device or an OBU loaded on the host vehicle can receive the broadcasted road dangerous condition prompting information.
In one example, when the roadside information is traffic sign information, it can be determined that the early warning scene in which the host vehicle is located is a traffic sign prompt early warning scene, and the traffic sign information is used for representing that the roadside unit detects the vehicle in which the traffic sign is located. It will be appreciated that during driving, if the vehicle fails, the driver will typically place a traffic sign in front of and/or behind the vehicle to alert the oncoming vehicle to avoid, that traffic sign information may be broadcast if the roadside unit detects a traffic sign placed in front of and/or behind the vehicle, and that the first V2X device or the OBU onboard the host may receive the traffic sign information broadcast if the host is within the broadcast range of the roadside unit. In a specific implementation, the time at which a collision between the host vehicle and the vehicle on which the traffic sign is placed may be calculated based on the position information of the traffic sign and the position information of the host vehicle, and the current warning level may be determined based on the time at which the collision may occur, thereby outputting the warning information of the warning level.
In one example, when the road side information is road data, whether traffic jam exists on a road in front of the host vehicle is detected according to the road data and the traveling data of the host vehicle, and when the traffic jam exists, the early warning scene where the host vehicle is located is determined to be the early warning scene of the traffic jam in front. The driving data of the host vehicle can comprise current position information, speed, acceleration, course angle and the like of the host vehicle, and the first V2X device can judge the position and the running direction of the host vehicle in the road network according to the driving data so as to judge whether the road in front of the host vehicle is congested.
In one example, when the road side information is speed limit information and the current speed of the host vehicle is determined not to meet the speed limit requirement, the early warning scene in which the host vehicle is located is determined to be a speed limit early warning scene. Wherein, the speed limit requirement can include: the current velocity of the host vehicle exceeds the defined velocity or the current velocity of the host vehicle is below the defined velocity. In specific implementation, the RSU can broadcast speed limit information, and if the current speed of the HV does not meet the speed limit requirement, the early warning scene where the HV is located can be determined to be the speed limit early warning scene.
In one example, when the road side information is signal lamp real-time state data of an intersection in front of the host vehicle, the early warning scene where the host vehicle is located is determined to be a red light running early warning scene or a green wave vehicle speed guiding early warning scene. In the specific implementation, when the HV loaded with the vehicle-mounted unit drives to the signal lamp to control the front intersection, the road data and the signal lamp real-time state data sent by the road side unit can be received, and if the road data represent that the main vehicle currently enters the front intersection, the early warning scene where the main vehicle is located can be determined to be a red light running early warning scene or a green wave vehicle speed guiding early warning scene.
In a specific implementation, if the participants of the early warning scenario are a main car and a far car, the early warning scenario may specifically include any one or a combination of the following: the system comprises an emergency braking early warning scene, a fault vehicle reminding early warning scene, a vehicle out-of-control early warning scene, an emergency vehicle early warning scene, a rear-end collision early warning scene, a blind area lane change early warning scene and a reverse overtaking early warning scene. If the participants of the early warning scene are the host vehicle and the roadside unit, the early warning scene may specifically include any one or a combination of the following: the system comprises a road dangerous condition prompting early warning scene, a traffic sign prompting early warning scene, a front congestion early warning scene, a speed limit early warning scene, a red light running early warning scene and a green wave vehicle speed guiding early warning scene. If the participants of the early warning scene are the main vehicle and the people, the early warning scene can be a collision early warning scene of the weak traffic participants. The emergency degree of different early warning scenes is different, for example, the emergency degree of the rear-end collision early warning scene can be larger than the emergency degree of the warning scene for reminding the fault vehicle. In specific implementation, the emergency degree of different early warning scenes can be set according to the hazard degree possibly caused by different early warning scenes. In a specific implementation, the host vehicle may also be in multiple early warning scenes at the same time, for example, if it is determined that the fifth determination condition corresponding to the rear-end collision early warning scene is met and the received roadside information is road data, and it is detected that traffic congestion exists on a road in front of the host vehicle according to the road data and the driving data of the host vehicle, it may be determined that the host vehicle is in the rear-end collision early warning scene and the front congestion early warning scene at the same time.
In one example, the electronic device may acquire environmental information of the host vehicle, determine an early warning scene in which the host vehicle is located according to the environmental information of the host vehicle; wherein, the environment information may include one or any combination of the following: the system comprises vehicle data of a remote vehicle, vehicle data of a main vehicle and road side information sent by a road side unit; the vehicle data of the remote vehicle can be V2X data of the remote vehicle, and the V2X data can contain course angle, speed, acceleration, GPS data and the like of the remote vehicle. The vehicle data of the host vehicle may include: heading angle, velocity, acceleration of the host vehicle, GPS data, and the like.
In step 102, the first V2X device may pre-store a corresponding relationship between the early warning scene and the early warning algorithm, so that the early warning algorithm corresponding to the early warning scene where the host vehicle is currently located may be determined according to the corresponding relationship. The early warning algorithm in each early warning scene may be an algorithm developed for the early warning scene, that is, the early warning algorithms corresponding to different early warning scenes may be stored in difference. The early warning algorithms corresponding to different early warning scenarios may be preset by a person skilled in the art according to actual needs, and this embodiment is not specifically limited to this.
In step 103, the first V2X device may determine a first position of the host vehicle after a preset time according to an early warning algorithm, and estimate a time required for collision of the host vehicle according to the first position. The time period required for the collision of the main vehicle can be the time period required for the collision of the main vehicle and a far vehicle, and the far vehicle can be a far vehicle which is close to the main vehicle or a far vehicle which is far away from the main vehicle but has a higher speed, and the like. Specifically, the first V2X device may determine, according to vehicle data of the host vehicle, a position of the host vehicle after a preset time, where the vehicle data of the host vehicle may include: heading angle, acceleration, speed, current position. The first V2X device can determine the position of the main vehicle after the preset time according to the course angle, the acceleration, the speed and the current position information of the main vehicle, and the first V2X device can also obtain the course angle, the acceleration, the speed and the current position of the far vehicle and determine the position of the far vehicle after the preset time according to the course angle, the acceleration, the speed and the current position information of the far vehicle. And then estimating the time length required for the collision between the main vehicle and the far vehicle according to the position of the far vehicle after the preset time, the position of the main vehicle after the preset time and the speed of the main vehicle. The preset time may be set according to actual needs, which is not specifically limited in this embodiment.
In one embodiment, after the early warning scenario and the early warning algorithm are determined, the first V2X device may first screen the distant vehicle in the early warning scenario to screen out a target distant vehicle that has a potential collision risk with the host vehicle in the early warning scenario, so that in step 103, a second position of the target distant vehicle after a preset time may be determined, and a time required for collision between the host vehicle and the target distant vehicle may be estimated according to the first position and the second position. The target distant vehicle having a potential collision risk with the host vehicle may be a distant vehicle having an excessively short lateral distance or longitudinal distance from the host vehicle. In a particular implementation, a distance threshold may be preset, and a distant vehicle may be determined to be a target distant vehicle if a lateral or longitudinal distance of the distant vehicle and the host vehicle is less than the preset distance threshold.
In the embodiment, the remote vehicles without potential collision risks are filtered, and early warning judgment is performed on the effective vehicles, namely the target remote vehicles, so that the calculation power is greatly saved, and the early warning efficiency is improved.
In step 104, the first V2X device may output the early warning information of the early warning level according to the time required for the collision of the host vehicle and the preset early warning safety time; wherein the early warning level can characterize the degree of risk.
In one example, the first V2X device may determine an early warning level corresponding to a duration interval in which a duration required for the collision of the host vehicle is located; the early warning safety time length is divided into a plurality of non-overlapping time length intervals, the non-overlapping time length intervals correspond to different early warning levels, and the shorter the time length represented by the non-overlapping time length intervals is, the higher the corresponding early warning level is; then outputting early warning information of early warning levels corresponding to the time interval; the shorter the time represented by the plurality of non-overlapping time intervals is, the higher the corresponding early warning level is. It can be understood that the shorter the duration represented by the duration interval indicates that the closer the time of collision to the current time, the higher the risk level and thus the higher the warning level. The early warning safety duration can be set according to actual needs, for example, can be set to 3 seconds. Assuming that 1 second is taken as an interval, the early warning safety time length can be divided into 3 non-overlapping time length intervals which are respectively [0, 1s), [1s,2s ] and [2s,3s ], and if the time length required by the collision of the host vehicle is within [2s,3s ], the early warning grade is set as three-level early warning; if the time required for the collision of the main vehicle is within [1s,2s ], setting the early warning grade as a secondary early warning; if the time length required by the collision of the main vehicle is [0,1s ], the early warning grade is set as a first-level early warning. The first-level early warning represents the highest danger degree, the second-level early warning represents the second-level early warning, and the third-level early warning represents the lowest danger degree. The early warning grades are from high to low: primary early warning, secondary early warning and tertiary early warning.
The first V2X device can output early warning information of early warning levels corresponding to the time interval. For example, the first V2X device may present the warning information in the form of graphical interface push or voice broadcast to the warning level of the current vehicle (i.e., the host vehicle), so as to reflect the current vehicle risk level in real time. The driver can visually acquire the danger degree of the current vehicle so as to timely react.
In one example, if the number of the early warning scenes where the main vehicle is located is multiple, the output early warning information may be multiple, the multiple early warning information respectively corresponds to different early warning scenes, and because different early warning scenes correspond to different degrees of urgency, the early warning information in different early warning scenes may also correspond to different degrees of urgency, and the multiple early warning information may be sorted according to different degrees of urgency, so as to output the early warning information sorted by different degrees of urgency. For example, if a plurality of pieces of warning information are output in a display manner, warning information with a high degree of urgency may be displayed in an enlarged manner, and warning information with a low degree of urgency may be displayed normally. If the plurality of early warning information are output in a voice mode, the early warning information with high emergency degree can be played preferentially, and then the early warning information with low emergency degree is played, namely the plurality of early warning information are played in sequence according to the sequence of the emergency degree of the early warning information from high to low.
It should be noted that the above examples in the embodiments of the present application are only for convenience of understanding, and do not limit the technical solutions of the present invention.
The steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, so long as the same logical relationship is included, which are within the scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
An embodiment of the present application further provides an electronic device, as shown in fig. 4, including at least one processor 401; and a memory 402 communicatively coupled to the at least one processor 401; the memory 402 stores instructions executable by the at least one processor 401, and the instructions are executed by the at least one processor 401, so that the at least one processor 401 can execute the control method of the terminal in the above-described embodiment.
Where the memory 402 and the processor 401 are coupled by a bus, which may include any number of interconnected buses and bridges that couple one or more of the various circuits of the processor 401 and the memory 402 together. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, etc., which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. Data processed by the processor 401 may be transmitted over a wireless medium through an antenna, which may receive the data and transmit the data to the processor 401.
The processor 401 is responsible for managing the bus and general processing and may provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And memory 402 may be used to store data used by processor 401 in performing operations.
An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored. The computer program realizes the above-described method embodiments when executed by a processor.
That is, as can be understood by those skilled in the art, all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (12)
1. An early warning method, comprising:
determining an early warning scene of the main vehicle;
determining an early warning algorithm corresponding to the early warning scene;
determining a first position of the main vehicle after a preset time according to the early warning algorithm, and estimating the time required for collision of the main vehicle according to the first position;
and outputting early warning information of early warning grades according to the time required by the collision of the main vehicle and the preset early warning safety time.
2. The warning method as claimed in claim 1, wherein the determining a warning scenario in which the host vehicle is located comprises:
receiving V2X data sent by a remote vehicle; wherein the V2X data comprises position information of the far vehicle;
acquiring the position information of the main vehicle, and determining the position relation of lanes where the main vehicle and the remote vehicle are located according to the position information of the main vehicle and the position information of the remote vehicle;
and determining the early warning scene where the main vehicle is located according to the position relation and the judgment conditions respectively corresponding to different early warning scenes.
3. The early warning method as claimed in claim 2, wherein the determining the early warning scene of the host vehicle according to the respective corresponding determination conditions of the positional relationship and different early warning scenes comprises:
when the position relation is the same lane, determining the early warning scene of the main vehicle according to the judgment conditions respectively corresponding to different early warning scenes in the same lane;
wherein, different early warning scenes in the same lane include any one of the following or their combination: an emergency braking early warning scene, a fault vehicle reminding early warning scene, a vehicle out-of-control early warning scene, an emergency vehicle early warning scene and a rear-end collision early warning scene.
4. The early warning method as claimed in claim 3, wherein the determining the early warning scene of the host vehicle according to the determination conditions corresponding to the different early warning scenes in the same lane comprises:
when the situation that a first judgment condition corresponding to an emergency braking early warning scene is met is determined, determining that the early warning scene where the main vehicle is located is the emergency braking early warning scene; the first judgment condition is that the main vehicle receives the emergency braking information of the far vehicle; or
When the second judgment condition corresponding to the warning scene of the fault vehicle reminding is determined to be met, determining that the warning scene where the main vehicle is located is the warning scene of the fault vehicle reminding; the second judgment condition is that the main vehicle receives fault alarm information of the far vehicle; or
When determining that the early warning scene of the out-of-control vehicle corresponds to the third judgment condition, determining that the early warning scene of the main vehicle is the out-of-control vehicle early warning scene; wherein the third determination condition is that the master vehicle receives vehicle out-of-control state information of the remote vehicle; or
When the fact that the fourth judgment condition corresponding to the early warning scene of the emergency vehicle is met is determined, the early warning scene where the main vehicle is located is determined to be the early warning scene of the emergency vehicle; the fourth judgment condition is that the host vehicle receives emergency vehicle reminding information; or
When determining that the fifth judgment condition corresponding to the rear-end collision early warning scene is met, determining that the early warning scene in which the main vehicle is positioned is the rear-end collision early warning scene; wherein the fifth determination condition is that the host vehicle and the distant vehicle are in a rear-end collision risk.
5. The early warning method as claimed in claim 2, wherein the determining the early warning scene of the host vehicle according to the respective corresponding determination conditions of the position relationship and the different early warning scenes comprises:
when the position relation is adjacent lanes, determining an early warning scene where the main vehicle is located according to judgment conditions respectively corresponding to different early warning scenes in the adjacent lanes;
wherein, different early warning scenes in the adjacent lane include any one of the following or their combination: a blind area lane change early warning scene and a reverse overtaking early warning scene.
6. The early warning method as claimed in claim 5, wherein the determining the early warning scene of the host vehicle according to the determination conditions corresponding to the different early warning scenes in the adjacent lanes comprises:
when determining that the sixth judgment condition corresponding to the blind area lane changing early warning scene is met, determining that the early warning scene where the main vehicle is located is the blind area lane changing early warning scene; wherein the sixth determination condition is that it is determined that the host vehicle is ready to enter a lane change and the distant vehicle is or is about to be in a blind area of the host vehicle;
when determining that the seventh judgment condition corresponding to the reverse overtaking early warning scene is met, determining that the early warning scene in which the main vehicle is located is the reverse overtaking early warning scene; wherein the seventh determination condition is that the remote vehicle is determined to enter the lane change operation and the collision risk between the host vehicle and the remote vehicle is predicted.
7. The early warning method as claimed in claim 2, wherein the determining the early warning scene of the host vehicle according to the respective corresponding determination conditions of the position relationship and the different early warning scenes comprises:
when the position relations are two sides of the intersection and the eighth judgment condition corresponding to the intersection early warning scene is determined to be met, determining that the early warning scene where the main vehicle is located is the intersection early warning scene; wherein the eighth determination condition is that it is determined that the host vehicle enters or is about to enter an intersection.
8. The warning method as claimed in claim 1, wherein the determining a warning scenario in which the host vehicle is located comprises:
receiving road side information sent by a road side unit;
determining an early warning scene of the main vehicle according to the roadside information and the position information of the main vehicle;
if the roadside information is road dangerous condition prompt information, determining that an early warning scene in which the main vehicle is located is a road dangerous condition prompt early warning scene;
if the roadside information is traffic sign information, determining that an early warning scene where the main vehicle is located is a traffic sign prompt early warning scene; the traffic sign information is used for representing that the road side unit detects the vehicle with the traffic sign;
if the roadside information is road data, detecting whether traffic jam exists on a road in front of the main vehicle according to the road data and the running data of the main vehicle, and determining that an early warning scene where the main vehicle is located is a front jam early warning scene when the traffic jam is detected;
if the roadside information is speed limit information and the current speed of the main vehicle is determined not to meet the speed limit requirement, determining that an early warning scene where the main vehicle is located is a speed limit early warning scene;
and if the roadside information is signal lamp real-time state data of the intersection in front of the main vehicle, determining that the early warning scene of the main vehicle is a red light running early warning scene or a green wave vehicle speed guiding early warning scene.
9. The early warning method as claimed in any one of claims 1 to 7, wherein the outputting early warning information of early warning level according to the time length required for the main vehicle to collide and the preset early warning safety time length comprises:
determining an early warning grade corresponding to the duration interval according to the duration interval in which the duration required by the collision of the main vehicle is located; the early warning safety time length is divided into a plurality of non-overlapping time length intervals, the non-overlapping time length intervals correspond to different early warning levels, and the shorter the time length represented by the non-overlapping time length intervals is, the higher the corresponding early warning level is;
and outputting the early warning information of the early warning grade corresponding to the time interval.
10. The warning method according to any one of claims 1 to 7, wherein after the determining the warning algorithm corresponding to the warning scenario, the method further comprises:
screening out a target remote vehicle with potential collision risk with the main vehicle in the early warning scene;
the estimating of the time required for the collision of the host vehicle according to the first position comprises:
and determining a second position of the target remote vehicle after a preset time, and estimating the time required for collision between the main vehicle and the target remote vehicle according to the first position and the second position.
11. An electronic device, comprising: at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the warning method of any one of claims 1 to 10.
12. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the warning method of any one of claims 1 to 10.
Priority Applications (2)
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| CN202110739376.4A CN115550872A (en) | 2021-06-30 | 2021-06-30 | Early warning method, electronic device and computer-readable storage medium |
| PCT/CN2022/086698 WO2023273513A1 (en) | 2021-06-30 | 2022-04-13 | Early-warning method, electronic device and computer-readable storage medium |
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| CN202110739376.4A CN115550872A (en) | 2021-06-30 | 2021-06-30 | Early warning method, electronic device and computer-readable storage medium |
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| CN106781692B (en) * | 2016-12-01 | 2020-09-04 | 东软集团股份有限公司 | Vehicle collision early warning method, device and system |
| US11189166B2 (en) * | 2017-11-02 | 2021-11-30 | Damon Motors Inc. | Anticipatory motorcycle safety system |
| CN108495330B (en) * | 2018-03-09 | 2019-11-08 | 清华大学 | A kind of anti-collision warning method for testing reliability of Che-vehicle information exchange communication |
| CN109413572A (en) * | 2018-10-31 | 2019-03-01 | 惠州市德赛西威汽车电子股份有限公司 | Vehicle collision prewarning and the optimization method and system of speed guidance |
| CN111508276B (en) * | 2020-04-23 | 2022-03-15 | 上汽通用汽车有限公司 | High-precision map-based V2X reverse overtaking early warning method, system and medium |
| CN111879360B (en) * | 2020-08-05 | 2021-04-23 | 吉林大学 | Automatic driving auxiliary safety early warning system in dark scene and early warning method thereof |
| CN112017438B (en) * | 2020-10-16 | 2021-08-27 | 宁波均联智行科技股份有限公司 | Driving decision generation method and system |
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