CN109448439B

CN109448439B - Vehicle safe driving method and device

Info

Publication number: CN109448439B
Application number: CN201811587479.8A
Authority: CN
Inventors: 章伟; 张海波; 何瑞; 徐宝; 盛伟光
Original assignee: iFlytek Co Ltd
Current assignee: iFlytek Co Ltd
Priority date: 2018-12-25
Filing date: 2018-12-25
Publication date: 2021-03-23
Anticipated expiration: 2038-12-25
Also published as: CN109448439A

Abstract

The embodiment of the invention provides a method and a device for safe driving of a vehicle, and belongs to the technical field of vehicle driving. The method comprises the following steps: if the living body is detected in the first preset area at the current moment, acquiring the moving speed of the living body at the current moment and acquiring the moving speed of the vehicle at the current moment; and acquiring a collision prediction result according to the moving speed of the living body at the current moment and the moving speed of the vehicle at the current moment, and performing early warning according to the collision prediction result. According to the method provided by the embodiment of the invention, when the living body is detected in the first preset area at the current moment, the moving speed of the living body at the current moment is acquired, and the moving speed of the vehicle at the current moment is acquired. And obtaining a collision prediction result according to the moving speed of the living body at the current moment and the moving speed of the vehicle at the current moment so as to perform early warning. The living body can be detected, and whether the collision happens or not can be predicted according to the movement trend of the living body and the vehicle without being limited by network conditions, so that the method is wide in application range and low in risk.

Description

Vehicle safe driving method and device

Technical Field

The invention relates to the technical field of vehicle driving, in particular to a vehicle safe driving method and device.

Background

With the development of socio-economy, automobiles have become irreplaceable vehicles in human daily life. The traffic accidents that follow the traffic accidents also occur frequently, the driving safety problem becomes a focus of social attention, and powerful means is provided for solving the problem through the rapid development of intelligent technologies such as auxiliary driving, big data and machine learning. The traditional whistle warning mainly depends on the manual judgment of a driver, and the manual judgment often has errors and can cause irreparable loss when the driver is not concentrated or the visibility is low and the road section is far away. At present, in order to help a driver to make an accurate judgment, auxiliary driving is introduced to ensure safety. In the related art, methods for ensuring driving safety generally need to upload detected data to a cloud, so that a processing link is long, and any node in the processing link has a problem and may cause a risk. Therefore, the method has small application range and high risk.

Disclosure of Invention

In order to solve the above problems, embodiments of the present invention provide a method and an apparatus for safely driving a vehicle, which overcome the above problems.

According to a first aspect of embodiments of the present invention, there is provided a vehicle safe driving method including:

if the living body is detected in a first preset area at the current moment, acquiring the moving speed of the living body at the current moment and acquiring the moving speed of a vehicle at the current moment, wherein the first preset area refers to an area which is positioned in front of the vehicle and is in a preset range around the vehicle;

and acquiring a collision prediction result according to the moving speed of the living body at the current moment and the moving speed of the vehicle at the current moment, and performing early warning according to the collision prediction result.

According to the method provided by the embodiment of the invention, when the living body is detected in the first preset area at the current moment, the moving speed of the living body at the current moment is acquired, and the moving speed of the vehicle at the current moment is acquired. And acquiring a collision prediction result according to the moving speed of the living body at the current moment and the moving speed of the vehicle at the current moment, and performing early warning according to the collision prediction result. The living body can be detected, and whether the collision happens or not can be predicted according to the movement trend of the living body and the vehicle without being limited by network conditions, so that the method is wide in application range and low in risk.

In addition, the method can predict all living objects, namely, the possible collision between the living body and the vehicle besides predicting the possible collision between the vehicle and the vehicle, thereby further improving the application range of the method. Finally, after the living body is detected, whether collision occurs or not can be further predicted according to the movement trend, so that blind early warning is avoided, and the early warning result is more accurate.

According to a second aspect of the embodiments of the present invention, there is provided a vehicle safe running device including:

the first acquisition module is used for acquiring the moving speed of the living body at the current moment when the living body is detected in a first preset area at the current moment, wherein the first preset area refers to an area which is positioned in front of the vehicle and is in a preset range around the vehicle;

the second acquisition module is used for acquiring the moving speed of the vehicle at the current moment;

the third acquisition module is used for acquiring a collision prediction result according to the moving speed of the living body at the current moment and the moving speed of the vehicle at the current moment;

and the early warning module is used for early warning according to the collision prediction result.

According to a third aspect of embodiments of the present invention, there is provided an electronic apparatus, including:

at least one processor; and

at least one memory communicatively coupled to the processor, wherein:

the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method for safe driving of a vehicle provided by any of the various possible implementations of the first aspect.

According to a fourth aspect of the present invention, there is provided a non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method for safely driving a vehicle provided in any one of the various possible implementations of the first aspect.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not restrictive of embodiments of the invention.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

Fig. 1 is a schematic flow chart of a method for safely driving a vehicle according to an embodiment of the present invention;

fig. 2 is a schematic view of an implementation scenario of a method for safely driving a vehicle according to an embodiment of the present invention;

FIG. 3 is a schematic flow chart illustrating a method for safely driving a vehicle according to an embodiment of the present invention;

FIG. 4 is a schematic flow chart illustrating a method for safely driving a vehicle according to an embodiment of the present invention;

fig. 5 is a schematic view of an implementation scenario of a method for safely driving a vehicle according to an embodiment of the present invention;

fig. 6 is a schematic view of an implementation scenario of a method for safely driving a vehicle according to an embodiment of the present invention;

FIG. 7 is a schematic flow chart illustrating a method for safely driving a vehicle according to an embodiment of the present invention;

FIG. 8 is a schematic flow chart illustrating a method for safely driving a vehicle according to an embodiment of the present invention;

fig. 9 is a schematic flow chart of a method for safely driving a vehicle according to an embodiment of the present invention;

fig. 10 is a schematic view of an implementation scenario of a method for safely driving a vehicle according to an embodiment of the present invention;

fig. 11 is a schematic view of an implementation scenario of a method for safely driving a vehicle according to an embodiment of the present invention;

fig. 12 is a schematic flow chart of a method for safely driving a vehicle according to an embodiment of the present invention;

fig. 13 is a schematic view of an implementation scenario of a method for safely driving a vehicle according to an embodiment of the present invention;

fig. 14 is a schematic flow chart of a method for safely driving a vehicle according to an embodiment of the present invention;

fig. 15 is a schematic view of an implementation scenario of a method for safely driving a vehicle according to an embodiment of the present invention;

fig. 16 is a schematic view of an implementation scenario of a method for safely driving a vehicle according to an embodiment of the present invention;

fig. 17 is a schematic structural diagram of a vehicle safety driving apparatus according to an embodiment of the present invention;

fig. 18 is a block diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

With the development of socio-economy, automobiles have become irreplaceable vehicles in human daily life. The traffic accidents that follow the traffic accidents also occur frequently, the driving safety problem becomes a focus of social attention, and powerful means is provided for solving the problem through the rapid development of intelligent technologies such as auxiliary driving, big data and machine learning. The traditional whistle warning mainly depends on the manual judgment of a driver, and the manual judgment often has errors and can cause irreparable loss when the driver is not concentrated or the visibility is low and the road section is far away. At present, in order to help a driver to make an accurate judgment, auxiliary driving is introduced to ensure safety. In the related art, safe driving is generally achieved by the following three methods:

the first method is that position information among vehicles is uploaded to a cloud end, the cloud end predicts whether the vehicles have potential risks of collision or not in a calculation and estimation mode according to information such as speed and direction uploaded by the vehicles, and if the potential risks of collision exist, a driver is prompted.

The second method is that image data in front of a vehicle is collected through a camera and uploaded to a cloud end, people and the vehicle in the image are analyzed through an image recognition algorithm, whether collision is possible or not is predicted, and a prompt is given to a driver aiming at potential collision risks.

And in the third method, whether pedestrians exist near the vehicle and in the blind area of the field of vision of the driver is detected through infrared equipment, and if the pedestrians exist, a prompt is given to the driver.

For the first method, information such as the position and the speed of the vehicle needs to be uploaded to the cloud, collision prediction is carried out by the cloud, and then collision early warning is issued. Therefore, the method needs that the vehicles can be networked in real time, the network channel needs to have higher stability and transmission broadband, the computing performance requirement on the cloud end is high, and the use limit of the method is more. In addition, the method can only predict the collision between vehicles, and the prediction coverage is limited.

For the second method, the collision is predicted by collecting image data through the camera, and a large amount of video data needs to be transmitted to the cloud, so that the vehicles are also required to be networked in real time. The same as the first method, there are possible risks of large data transmission amount, high real-time performance, and the reliability of the network transmission channel cannot be guaranteed. In addition, there is also a risk that pedestrians and vehicles obstructed by objects cannot be detected by collecting data through the camera, and this part of the potential collision risk cannot be predicted.

For the third method, whether a pedestrian exists in a blind area of the field of vision of a driver near the vehicle is detected through an infrared device, the method has hysteresis, and the movement trend of the pedestrian is not judged. In addition, since the infrared device detects a living body which does not necessarily collide with the vehicle, a prompt is given, so that the prompt is blind.

In combination with an actual driving scene, when a vehicle runs on an actual road, pedestrians, animals or oncoming vehicles often need to be whistled to warn. In addition, when a driver is driving, attention is inevitably distracted, and particularly, the driver is in scenes such as roads and mountain roads with few people moving, and visibility reduction caused by weather and night. In view of the above situation and the drawbacks of the related art, embodiments of the present invention provide a safe driving method for a vehicle. Referring to fig. 1, the method includes:

101. and if the living body is detected in the first preset area at the current moment, acquiring the moving speed of the living body at the current moment and acquiring the moving speed of the vehicle at the current moment.

In 101, a living body refers to a living object such as a human or an animal in an arbitrary state, and a first preset region refers to a region located in front of a vehicle and within a preset range around the vehicle. The front of the vehicle may refer to the front in the driving direction of the vehicle, and the area in the preset range around the vehicle may refer to a fan-shaped area with the position of the vehicle as a vertex or a circular area with the position of the vehicle as a center, which is not particularly limited in the embodiment of the present invention. In addition, a living body in front of the vehicle may be detected by providing a detecting instrument for detecting a living body on the vehicle, and the installation position and the type of the detecting instrument are not particularly limited in the embodiment of the present invention. After the living body is detected in the first preset area, the moving speed of the living body at the current moment can be acquired, and the moving speed of the vehicle at the current moment can be acquired.

It should be noted that, if the first preset area is a circular area with the position of the vehicle as the center, the radius of the area may be 200 meters, and a specific scene may be as shown in fig. 2. In fig. 2, a region enclosed by a dotted line is a first preset region, a star icon represents a living body, a rectangular icon represents a vehicle, and L1 represents a distance between the living body and the vehicle. In addition, the moving speed of the vehicle at the current time may be read through a can bus on the vehicle, and the moving speed of the living body at the current time may be obtained through a speed detection device, which is not particularly limited in the embodiment of the present invention.

102. And acquiring a collision prediction result according to the moving speed of the living body at the current moment and the moving speed of the vehicle at the current moment, and performing early warning according to the collision prediction result.

After determining the moving speed of the living body and the vehicle at the current moment, since the moving track of the living body is predictable, for example, the moving track of the living body at the historical moment is extended, so as to predict the future traveling track of the living body, and the vehicle travels on the road, on the premise that the vehicle does not change the road, the traveling track of the vehicle is determinable, and the respective moving speeds of the two are known, so as to predict whether the living body and the vehicle will collide at the future moment, i.e., the collision prediction result can be obtained. Wherein the collision prediction result is used to indicate whether the vehicle and the living body are likely to collide. If a collision is likely to occur, a warning can be given to the driver in the vehicle.

It should be noted that the early warning mode may be a voice broadcast and/or a whistle mode, and this is not specifically limited in the embodiment of the present invention. The voice broadcasting mode can remind a driver in the vehicle, and the whistle mode can remind a living body of paying attention to vehicles coming and going. It should be noted that, if the living body is not detected in the first preset region at the current time, the detection may be performed again after waiting for a time period of a preset duration, that is, the detection may be performed periodically. The detection period may be 1 second, which is not specifically limited in this embodiment of the present invention. After the living body is detected,

steps

101 and 102 are performed.

Based on the contents of the above-described embodiments, as an alternative embodiment, the embodiment of the present invention does not specifically limit the manner of acquiring the moving speed of the living body at the current time. Referring to fig. 3, including but not limited to:

301. the position information of the living body at the current time is acquired, and the position information of the living body at the previous time at the current time is acquired.

As is clear from the above embodiment, the living body can be periodically detected. After the living body is detected and the position information of the living body is acquired in each period, the position information of the living body can be maintained. Accordingly, in 301, the position information of the living body saved at the last time can be acquired. In each period, the position information of the living body may be directly obtained by an apparatus for detecting the living body when the position information of the living body is obtained, or may be determined according to the position information of the vehicle and the distance between the vehicle and the living body, which is not particularly limited in the embodiment of the present invention.

302. And calculating the moving speed of the living body at the current moment according to the position information of the living body at the current moment, the position information of the living body at the previous moment and the time interval between the current moment and the previous moment.

Taking the example that the position information of the living body is represented by a coordinate value, the process of calculating the moving speed of the living body can be represented by the following formula:

where vp represents the moving speed of the living body at the present time. P1X is the X coordinate of the living body at the current time, P1preX is the X coordinate of the living body at the previous time, point P1Y is the Y coordinate of the living body at the current time, P1preY is the Y coordinate of the living body at the previous time, and t is the time interval between the current time and the previous time.

Based on the content of the foregoing embodiment, as an alternative embodiment, the embodiment of the present invention does not specifically limit the manner of acquiring the location information of the living body at the current time, and includes but is not limited to: and determining position information of the living body according to the living body information, wherein the living body information is used for indicating the position of the living body at the current moment, the living body information is detected by a detector, and the detector is installed on the vehicle.

The detector may be an infrared detector, which is not specifically limited in this embodiment of the present invention. In addition, the number of the infrared detectors mounted on the vehicle may be 2, which is not specifically limited in the embodiment of the present invention. After the coordinate system of the current time is established, the position information of the living body can be calculated according to the living body information.

Based on the contents of the above-described embodiments, as an alternative embodiment, the living body information may include a distance between the detecting instrument and the living body and an azimuth angle indicating a position of the living body. Taking 2 infrared detectors as an example, the azimuth angle may be an included angle between the first connection line and the second connection line. Wherein, the first connecting line refers to the connecting line between the living body and one of the infrared detectors, and the second connecting line refers to the connecting line between the two infrared detectors. Accordingly, the embodiment of the present invention does not specifically limit the manner in which the position information of the living body is determined from the living body information. Referring to fig. 4, including but not limited to:

401. and calculating the offset of the living body relative to the detector on different coordinate axes according to the distance and the azimuth angle between the detector and the living body.

For ease of understanding, the detectors are infrared detectors and the number is 2. As shown in fig. 5, a rectangle indicates the vehicle, and PC1 indicates the position of the positioning device in the vehicle, and is located at the center of the rectangle. PH1 represents one infrared detector, PH2 represents another infrared detector, and P1 represents a living body. L1 represents the distance between P1 and PH2, and L1' represents the distance between P1 and PH 1. The angle d is an included angle between the first connection line and the second connection line, that is, an azimuth angle, and can be obtained by scanning with an infrared detector or by calculating with an angle trilateral formula, which is not specifically limited in the embodiment of the present invention.

If a coordinate system is established by taking the positioning device in the vehicle in fig. 5, that is, the PC1 as the origin, and is taken as the coordinate system of the current moment, the included angle formed by the connecting line between P1 and PH1 and the negative direction of the X axis is (& lt + & gt & lt a). As can be seen from fig. 5, the offset of the living body with respect to the detector on the x axis is L1 '. multidot.sin (. sub.f), and the offset of the living body with respect to the detector on the y axis is L1'. multidot.cos (. sub.f). Wherein angle f is 270 ° + -angle d +. angle a.

402. And calculating the position information of the living body according to the position information of the detector and the offset of the living body relative to the detector on different coordinate axes.

As can be seen from the above, the coordinate system at the current time may be the coordinate system established with the PC1 as the origin, and the distance between the positioning device and the infrared detector, that is, the distance LH1 between PC1 and PH1 is known, and the azimuth angle of PH1, that is (× a + × b) in fig. 5, so that the position information of PH1, that is, the coordinates (XPH1, YPH1) of PH1 can be obtained. Specifically, XPH1 is LH1 sin (× a +. sub.b), and YPH1 is LH1 cos (× a +. sub.b).

By obtaining the position information of the measuring instrument and the offset of the living body with respect to the measuring instrument on different coordinate axes, the position information of the living body in the coordinate system at the current time can be calculated (XP1, YP 1). The method comprises the following specific steps: XP1 ═ XPH1+ L1 '. sin (. sub.f)), YP1 ═ YPH1+ L1'. cos (. sub.f)).

It should be further noted that in some application scenarios, the location information needs to be represented by latitude and longitude. Based on the method, after the longitude and latitude coordinates of the positioning device are obtained, the longitude and latitude of the living body can be calculated according to the longitude and latitude offset of the living body relative to the positioning device. As shown in fig. 6, R represents the earth radius and O represents the earth center. The three points of the earth's center, the living body and the positioning device can form a triangle. Since the distance between the point of the positioning device PC1 and the point of the living body P1 is small, the triangle can be approximated to a right-angled triangle, namely 90 degrees for the & lt OPC1P 1. Further, angle β is arctan (| P1PC1|/R), which is the longitude and latitude coordinate offset corresponding to the | P1PC1| distance. Based on this, the longitude and latitude of the living body P1 point can be calculated according to the following formula:

longitude: p1lng arctan (XP1/R) + PC1lng

Latitude: p1lat (arctan (YP1/R) + PC1lat

PC1lng indicates the longitude at the point of positioning device PC1, and PC1lat indicates the latitude at the point of positioning device PC 1. arctan (XP1/R) represents the longitude offset of the live P1 point relative to the PC1 point, and arctan (YP1/R) represents the latitude offset of the P1 point relative to the PC1 point. XP1 shows x-coordinates of the living body P1 at the current time in the above-described procedure, and YP1 shows y-coordinates of the living body P1 at the current time in the above-described procedure.

As can be seen from the above description of the embodiment, when calculating the moving speed of the living body at the current time, it is necessary to use the position information of the living body at the previous time at the current time in addition to the position information of the living body at the current time. Based on the contents of the foregoing embodiments, as an alternative embodiment, the embodiment of the present invention does not specifically limit the manner of acquiring the position information of the living body at the previous time of the current time. Referring to fig. 7, including but not limited to:

701. and acquiring the longitude and latitude difference value of the position of the vehicle between the current time and the previous time.

As can be seen from the above embodiments, the living body can be periodically detected. Meanwhile, the longitude and latitude can be periodically acquired and stored through the positioning device. Therefore, after the longitude and latitude of the positioning device at the current moment and the longitude and latitude of the positioning device at the previous moment are obtained, the difference between the two is obtained to obtain the longitude and latitude difference value (delta lng, delta lat).

702. And calculating the position information of the living body at the previous moment according to the longitude and latitude difference and the original position information of the living body at the previous moment, wherein the original position information of the living body at the previous moment is used for representing the coordinates of the living body in a coordinate system established at the previous moment.

The position information of the living body at the previous moment is used for representing the coordinates of the living body in a coordinate system established at the current moment, and the coordinate system established at the previous moment is different from the coordinate system established at the current moment. As can be seen from the above description of the embodiments, the coordinate system is established with the positioning device as the origin, and the vehicle is moving, so that the coordinate system established at the current time is different from the coordinate system established at the previous time in terms of the origin, and the original position information of the living body stored at the previous time, that is, the coordinate values of the living body stored at the previous time are referenced to the coordinate system established at the previous time. In addition, when calculating the displacement distance of the active point, it is meaningful to calculate only the coordinate values in the same coordinate system. Therefore, in this step, the coordinate values of the living body at the previous time can be normalized to the coordinate system established at the current time, and the specific process is as follows:

by combining the latitude and longitude difference of the position of the vehicle between the current time and the previous time and the content of the embodiment, the offset of the vehicle in the coordinate system between the current time and the previous time can be calculated to be (tan (Δ lng) × R, tan (Δ lat) × R). According to the offset and the original position information of the living body at the last moment, the position information of the living body at the last moment can be calculated: p1preX ═ P1preX '-tan (Δ lng) × R, and P1preY ═ P1 preY' -tan (Δ lat) × R.

Wherein P1preX 'represents an X coordinate mapped in a coordinate system established at the previous time by the previous time point P1, and P1 preY' represents a Y coordinate mapped in a coordinate system established at the previous time by the previous time point P1, that is, original position information of the living body at the previous time. The original location information may be pre-stored and obtained by querying the storage record. P1preX represents an X coordinate mapped in the coordinate system established at the current time by the point P1 at the previous time, and P1preY represents a Y coordinate mapped in the coordinate system established at the current time by the point P1 at the previous time, that is, position information of the living body at the previous time.

When the position information of the living body at the current time and the position information of the living body at the previous time are obtained, the moving speed of the living body at the current time can be calculated and obtained through the calculation formula in the embodiment. Based on the content of the foregoing embodiments, as an alternative embodiment, the embodiment of the present invention does not specifically limit the manner of acquiring the moving speed of the vehicle at the current time. Referring to fig. 8, including but not limited to:

801. and acquiring a longitude and latitude difference value of the position of the vehicle between the current time and the previous time, and calculating the displacement distance of the vehicle between the current time and the previous time according to the longitude and latitude difference value.

As can be seen from the above embodiments, the difference between the longitude and the latitude of the position where the vehicle is located between the current time and the previous time may be represented by (Δ lng, Δ lat), and the offset of the vehicle in the coordinate system between the current time and the previous time may be represented by (tan (Δ lng) × R, tan (Δ lat) × R). Based on this, the displacement distance of the vehicle between the current time and the previous time can be represented by the following formula:

802. and calculating the moving speed of the vehicle at the current moment according to the displacement distance and the time interval between the current moment and the previous moment.

The specific calculation process can refer to the following formula:

wherein vc represents the moving speed of the vehicle at the current moment, and the meaning of other parameters can refer to the content of the above embodiments, which is not described herein again.

Since it is necessary to predict whether the living body collides with the vehicle later, if the living body is on the road at the present moment, the future motion trajectory of the living body can be considered to move along the road, so that the prediction can be performed more easily. However, if the living body is not on the road at the current time, the motion trajectory thereof needs to be predicted, which makes the situation more complicated. Therefore, based on the above description and the contents of the above embodiments, as an alternative embodiment, it is also possible to determine whether the living body is on the road before acquiring the collision prediction result from the moving speed of the living body at the present time and the moving speed of the vehicle at the present time. The embodiment of the present invention is not specifically limited to the manner of determining whether the living body is on the road, and includes but is not limited to: and acquiring a road judgment result of the living body according to the position information of the living body at the current moment, wherein the road judgment result is used for indicating whether the living body is on the road.

As can be seen from the above description of the embodiment, the position information of the living body at the current time can be calculated. And the road information around the living body is also determined, so that it can be determined whether the living body is located on the road based on the road information around the living body and the position information of the living body.

According to the method provided by the embodiment of the invention, the road judgment result of the living body is obtained according to the position information of the living body at the current moment, and then collision prediction can be carried out according to whether the living body is on the road or not. The collision prediction can be carried out under different conditions, so that the method is wider in application range and more accurate in prediction result.

Based on the contents of the above-described embodiments, as an alternative embodiment, the embodiment of the present invention does not specifically limit the manner in which the road determination result of the living body is acquired from the position information of the living body at the present time. Referring to fig. 9, including but not limited to:

901. and determining two position points which are closest to the living body on each road in the road network information based on the road network information in the second preset area taking the position of the living body as the center.

Each road in the road network information is represented by a series of discrete position points, and the position information of the position points on each road is determined. By calculating the distance between the living body and each position point on each road, two position points on each road, which are closest to the living body, can be determined. It should be noted that the second preset area may be an area within a range of 500 meters with the position of the living body as a center, and this is not specifically limited in the embodiment of the present invention.

902. And acquiring a road judgment result of the living body according to the position information of the living body at the current moment and the position information of two position points which are closest to the living body on each road.

Specifically, for any road, it may be determined whether the living body is located on the road based on the position information of the living body at the present time and the position information of two position points on the road that are closest to the living body. Each road can be judged in the same way. If it is determined that the living body is located on a plurality of roads at the same time, for each of the plurality of roads, one nearest road may be selected from the plurality of roads as the road on which the living body is located, based on the distance between the living body and two location points on each road that are nearest to the living body.

According to the method provided by the embodiment of the invention, two position points which are closest to the living body on each road in the road network information are determined based on the road network information in the second preset area taking the position of the living body as the center. And acquiring a road judgment result of the living body according to the position information of the living body at the current moment and the position information of two position points which are closest to the living body on each road. Whether the living body is located on the road and which road can be determined, and collision prediction can be carried out subsequently according to different conditions, so that the method is wider in application range and more accurate in prediction result.

Based on the content of the foregoing embodiments, as an alternative embodiment, the embodiment of the present invention does not specifically limit the manner of obtaining the road determination result of the living body according to the position information of the living body at the current time and the position information of two position points on each road closest to the living body, and includes, but is not limited to: for any road, if the position information of the living body at the current time and the position information of two position points on any road, which are closest to the living body, meet a first preset condition, the living body is determined to be on any road, and if the position information of the living body at the current time and the position information of two position points on any road, which are closest to the living body, do not meet the first preset condition, the living body is determined not to be on any road.

Based on the content of the foregoing embodiment, as an optional embodiment, the first preset condition includes that a vertical distance from the living body to a first connecting line between two position points on any one road closest to the living body is smaller than a first preset threshold, and/or an included angle between a second connecting line and the first connecting line is smaller than a second preset threshold; and the second connecting line is a connecting line between the living body and one of two position points which are closest to the living body on any road.

As shown in fig. 10, for any road, PR1 and PR2 are two position points on the road, and the two position points are two position points on the road closest to the living body P1 point. Since the position information of each position point and the living body P1 point is determined, a triangle constituted by three points of PR1, PR2, and P1 is known. An included angle between the connecting line PR1PR2 and the connecting line P1PR2, namely ≈ PR1PR2P1, can be obtained by solving according to the three sides of the known triangle, and based on an angle solving formula of the triangle, the calculation process of the included angle can refer to the following formula:

the vertical distance from the point P1 to the first connecting line between the two position points PR1 and PR2, i.e. the length of the line segment P1P0, can be calculated according to the following formula:

S_POP1＝S_P1PR2*sin(∠PR1PR2P1)

as shown in fig. 10, angle PR1PR2P1 is relatively small, and the length of line segment P1P0 is also relatively short. For the other road, as shown in fig. 11, the angle PR1PR2P1 is relatively large, and the length of the line segment P1P0 is also relatively large. Therefore, the living body is more likely to be on the road corresponding to fig. 10 than the road corresponding to fig. 11. Of course, the actual implementation process also needs to be determined according to the specific content of the first preset condition and the determination result after the determination based on the first preset condition.

The value of the first preset threshold may be 5 meters, and the value of the second preset threshold may be 90 degrees, which is not specifically limited in the embodiment of the present invention.

When the collision prediction result is acquired based on the moving speed of the living body at the present time and the moving speed of the vehicle at the present time after the road determination result of the living body is obtained, the collision prediction result may be further acquired based on the road determination result, the moving speed of the living body at the present time, and the moving speed of the vehicle at the present time. As can be seen from the above embodiments, the road determination result can be classified into whether a living body is on the road and not on the road. Accordingly, based on the contents of the above-described embodiments, as an alternative embodiment, the embodiment of the present invention does not specifically limit the manner of obtaining the collision prediction result from the road determination result, the moving speed of the living body at the present time, and the moving speed of the vehicle at the present time. Referring to fig. 12, including but not limited to:

1201. and if the living body is on the road, determining the intersection point between the road where the living body is located and the road where the vehicle is located.

Since the directions of roads are known, the roads are usually intersected, so that the intersection point between the road where the living body is located and the road where the vehicle is located can be determined. If there is no intersection between the road on which the living body is located and the road on which the vehicle is located, it is assumed that the living body moves according to the current road and does not collide with the vehicle. At this time, step 101 in the embodiment corresponding to fig. 1 may be re-executed, that is, the living body is re-detected, and the steps are executed according to the flow sequence in the embodiment, which is not described herein again.

1202. And calculating a first time length required by the living body to move from the current position to the cross point according to the first distance between the cross point and the living body and the moving speed of the living body at the current moment, and calculating a second time length required by the vehicle to move from the current position to the cross point according to a second distance between the cross point and the vehicle and the moving speed of the vehicle at the current moment.

As shown in fig. 13, the intersection between the road on which the living body is located and the road on which the vehicle is located is CP 1. At this time, the first distance S between the point P1 of the living body and the intersection point CP1 can be calculated_P1CP1And calculating a second distance S between the PC1 point and the CP1 intersection point of the vehicle_PC1CP1. Note that, when the first distance between the point of the living body P1 and the intersection of the CP1 is calculated, distances between two adjacent position points among the point of the living body P1 and the intersection of the CP1 may be sequentially summed up for all the position points, and the summed result is taken as the first distance between the point of the living body P1 and the intersection of the CP 1. Similarly, the second distance between the PC1 point and the CP1 intersection may also be calculated in the same manner.

Wherein the first time length required for the living body to reach the CP1 point from the P1 point is T_P1CP1＝S_P1CP1Vp, the second time period T required for the vehicle to reach the CP1 point from the PC1 point_PC1CP1＝S_PC1CP1And/vc. Wherein vp is the moving speed of the living body at the current time, and vc is the moving speed of the vehicle at the current time.

1203. And if the first duration and the second duration do not meet the second preset condition, determining that the vehicle and the living body are not collided.

Specifically, the second preset condition may include that the first period of time is equal to the second period of time, i.e., indicating that the vehicle and the living body arrive at the intersection at the same time. At this time, it can be determined that the vehicle and the living body may collide. And if the second preset condition is not met, determining that the vehicle and the living body do not collide.

According to the method provided by the embodiment of the invention, when the living body is positioned on the road, the intersection point between the road where the living body is positioned and the road where the vehicle is positioned is determined. And calculating a first time length required by the living body to move from the current position to the cross point according to the first distance between the cross point and the living body and the moving speed of the living body at the current moment, and calculating a second time length required by the vehicle to move from the current position to the cross point according to a second distance between the cross point and the vehicle and the moving speed of the vehicle at the current moment. And if the first duration and the second duration do not meet the second preset condition, determining that the vehicle and the living body are not collided. Whether the living body and the vehicle collide at the road intersection can be determined according to the respective motion trends of the living body and the vehicle, so that the situation that the living body is on the road can be judged, the application range of the method is wider, and the prediction result is more accurate.

Based on the content of the foregoing embodiment, as an optional embodiment, the second preset condition includes that an absolute value of a difference between the first time duration and the second time duration is smaller than a third preset threshold, and/or the second distance is smaller than a fourth preset threshold. The third preset threshold may be 2 seconds, and the fourth preset threshold may be 100 meters, which is not specifically limited in this embodiment of the present invention.

The above description of the embodiments mainly states the collision prediction situation when a living body is on the road, but it is also possible that the living body is not on the road as understood from the above embodiments. Meanwhile, as can also be seen from the above embodiments, the road on which the vehicle is located may be represented by a series of discrete location points. Based on the above description and the contents of the above embodiments, as an alternative embodiment, the embodiment of the present invention is not particularly limited to the manner of obtaining the collision prediction result based on the road determination result, the moving speed of the living body at the current time, and the moving speed of the vehicle at the current time. Referring to fig. 14, including but not limited to:

1401. and if the living body is not positioned on the road, determining a predicted intersection point from all position points on the road where the vehicle is positioned, wherein the predicted intersection point is a possible intersection point between the moving track of the living body and the road where the vehicle is positioned.

Since the position of the living body at the last time of the current time and the position information of the position of the living body at the historical time before the current time are obtained according to the processes of the above embodiments, the historical moving track of the living body can be obtained based on the current time and the position of the living body at the historical time, so that the future moving track of the living body can be extended and predicted, and the intersection point between the moving track and the road where the vehicle is located can be determined, namely the predicted intersection point. It should be noted that the previous time of the current time and the historical time before the current time mentioned in the above embodiments are all the times when the living body is detected. If the living body is not detected at a certain time, the next time can be entered for continuing the living body detection, and the specific process can refer to the contents of the above embodiments, which is not described herein again.

1402. And calculating a third time length required by the living body to move from the current position to the predicted intersection point according to the third distance between the predicted intersection point and the living body and the moving speed of the living body at the current moment, and calculating a fourth time length required by the vehicle to move from the current position to the predicted intersection point according to the fourth distance between the predicted intersection point and the vehicle and the moving speed of the vehicle at the current moment.

As shown in fig. 15, the predicted intersection point is Pl 6. At this time, since the position information of the respective points is known, the third distance between the point P1 of the living body and the Pl6 predicted intersection can be calculated, and the fourth distance between the PC1 point where the vehicle is located and the Pl6 predicted intersection can be calculated.

Wherein the third time length required for the living body to reach Pl6 from P1 point is S_P1PL6And/vp. Wherein S is_P1PL6The distance from point P1 to point Pl6, vp is the moving speed of the living body at the present time. The fourth time period required for the vehicle to reach Pl6 from PC1 point is S_PC1PL6And/vc. Wherein vc is currentThe moving speed of the vehicle at that moment, S_PC1PL6The distance between point PC1 and point Pl 6.

1403. And if the third time length and the fourth time length do not meet the third preset condition, determining that the vehicle and the living body are not collided.

Specifically, the third preset condition may include that the third time period is equal to the fourth time period, i.e., indicating that the vehicle and the living body arrive at the predicted intersection at the same time. At this time, it can be determined that the vehicle and the living body may collide. And if the third preset condition is not met, determining that the vehicle and the living body do not collide.

According to the method provided by the embodiment of the invention, when the living body is not positioned on the road, the predicted intersection point is determined from all position points on the road where the vehicle is positioned. And calculating a third time length required by the living body to move from the current position to the predicted intersection point according to the third distance between the predicted intersection point and the living body and the moving speed of the living body at the current moment, and calculating a fourth time length required by the vehicle to move from the current position to the predicted intersection point according to the fourth distance between the predicted intersection point and the vehicle and the moving speed of the vehicle at the current moment. And if the third time length and the fourth time length do not meet the third preset condition, determining that the vehicle and the living body are not collided. Whether the living body and the vehicle collide at the predicted intersection can be determined according to respective motion trends of the living body and the vehicle, so that judgment can be carried out on the condition that the living body is not located on the road, the application range of the method is wider, and the prediction result is more accurate.

Based on the above description and the content of the foregoing embodiment, as an alternative embodiment, the third preset condition includes that an absolute value of a difference between the third time period and the fourth time period is smaller than a fifth preset threshold, and/or that a distance between the predicted intersection point and the vehicle is smaller than a sixth preset threshold. The fifth preset threshold may be 2 seconds, and the sixth preset threshold may be 100 meters, which is not specifically limited in this embodiment of the present invention.

Based on the above description and the contents of the above embodiments, as an alternative embodiment, the embodiment of the present invention does not specifically limit the manner of determining the predicted intersection from all the location points on the road where the vehicle is located. Referring to fig. 16, including but not limited to:

14011. and sequentially calculating a first slope of a connecting line between the position of the living body at the current moment and each position point based on the arrangement sequence of the position points on the road where the vehicle is located, and sequentially calculating a second slope of a connecting line between the position of the living body at the previous moment at the current moment and each position point.

Specifically, as shown in fig. 15, P1 represents the location of the living body at the current time, and P1pre represents the location of the living body at the previous time from the current time. A first slope of the line between P1 and Pl1, a second slope of the line between P1pre and Pl1, a first slope of the line between P1 and Pl2, a second slope of the line between P1pre and Pl2, a first slope of the line between P1 and Pl3, a second slope of the line between P1pre and Pl3, the same thing as the latter, may be calculated in sequence.

For example, the first slope of the line between Pl1 and P1 is K_P1Pl1(P1y-Pl1y)/(P1x-Pl1 x). The second slope of the line between Pl1 and P1pre is K_P1prePl1＝(P1prey-Pl1y)/(P1prex-Pl1x)。

14012. And calculating the absolute value of the difference between the first slope and the second slope corresponding to each position point to obtain the slope difference corresponding to each position point, determining the position point with the minimum slope difference in all the position points, and taking the position point with the minimum slope difference as a prediction intersection point.

Specifically, the absolute value of the difference between the first slope and the second slope corresponding to the position point Pl1 is Δ K_PL1＝|K_P1Pl1-K_P1prePl1L. Similarly, the absolute value of the difference between the first slope and the second slope corresponding to the subsequent position points, that is, the slope difference corresponding to the subsequent position points is Δ K in sequence_PL2、ΔK_PL3、ΔK_PL4、ΔK_PL5._PL10. Taking the position point with the smallest slope difference as Pl6 as an example, the position point Pl6 can be used as the predicted intersection point.

According to the method provided by the embodiment of the invention, the first slope of the connecting line between the position of the living body at the current moment and each position point is sequentially calculated based on the arrangement sequence of the position points on the road where the vehicle is located, and the second slope of the connecting line between the position of the living body at the previous moment and each position point at the current moment is sequentially calculated. And calculating the absolute value of the difference between the first slope and the second slope corresponding to each position point to obtain the slope difference corresponding to each position point, determining the position point with the minimum slope difference in all the position points, and taking the position point with the minimum slope difference as a prediction intersection point. The most possible moving track of the living body at present can be predicted based on the position of the living body at the present moment and the last moment of the present moment, and the possible intersection point of the living body and the vehicle can be predicted based on the predicted moving track of the living body, so that a basis is provided for the subsequent prediction of whether the collision between the living body and the vehicle occurs. In addition, the method can judge the situation that the living body is not on the road, so that the method has wider application range and more accurate prediction result.

Based on the content of the foregoing embodiments, embodiments of the present invention also provide a vehicle safe driving apparatus, which is used for executing the vehicle safe driving method provided in the foregoing method embodiments. Referring to fig. 17, the apparatus includes: a first obtaining module 1701, a second obtaining module 1702, a third obtaining module 1703 and an early warning module 1704; wherein the content of the first and second substances,

a first obtaining module 1701, configured to obtain a moving speed of a living body at a current time when the living body is detected in a first preset area at the current time, where the first preset area is an area located in front of a vehicle and within a preset range around the vehicle;

a second obtaining module 1702, configured to obtain a moving speed of the vehicle at the current time;

a third obtaining module 1703, configured to obtain a collision prediction result according to a moving speed of the living body at the current time and a moving speed of the vehicle at the current time;

and an early warning module 1704, configured to perform early warning according to the collision prediction result.

Based on the content of the above-described embodiment, as an alternative embodiment, the first obtaining module 1701 includes:

a first acquisition unit configured to acquire position information of a living body at a current time;

a second acquisition unit configured to acquire position information of the living body at a previous time of a current time;

and the first calculating unit is used for calculating the moving speed of the living body at the current moment according to the position information of the living body at the current moment, the position information of the living body at the previous moment and the time interval between the current moment and the previous moment.

Based on the content of the above-described embodiments, as an alternative embodiment, the first acquisition unit is configured to determine position information of the living body based on living body information, the living body information being indicative of a location of the living body at a current time, the living body information being detected by a detection instrument, the detection instrument being mounted on the vehicle.

Based on the contents of the above-described embodiments, as an alternative embodiment, the living body information includes a distance between the detecting instrument and the living body and an azimuth angle indicating a position of the living body; correspondingly, the first acquisition unit is used for calculating the offset of the living body relative to the detector on different coordinate axes according to the distance and the azimuth angle between the detector and the living body; and calculating the position information of the living body according to the position information of the detector and the offset of the living body relative to the detector on different coordinate axes.

Based on the content of the foregoing embodiment, as an optional embodiment, the second obtaining unit is configured to obtain a longitude and latitude difference value of a position where the vehicle is located between the current time and the previous time; and calculating the position information of the living body at the previous moment according to the longitude and latitude difference and the original position information of the living body at the previous moment, wherein the original position information of the living body at the previous moment is used for representing the coordinates of the living body in a coordinate system established at the previous moment, the position information of the living body at the previous moment is used for representing the coordinates of the living body in the coordinate system established at the current moment, and the coordinate system established at the previous moment is different from the coordinate system established at the current moment.

Based on the content of the foregoing embodiment, as an optional embodiment, the second obtaining module 1702 is configured to obtain a longitude and latitude difference of a position where the vehicle is located between the current time and the previous time, and calculate a displacement distance of the vehicle between the current time and the previous time according to the longitude and latitude difference; and calculating the moving speed of the vehicle at the current moment according to the displacement distance and the time interval between the current moment and the previous moment.

Based on the content of the foregoing embodiment, as an alternative embodiment, the apparatus further includes:

the fourth acquisition module is used for acquiring a road judgment result of the living body according to the position information of the living body at the current moment, and the road judgment result is used for indicating whether the living body is on the road or not;

accordingly, the third obtaining module 1703 is configured to obtain a collision prediction result according to the road determination result, the moving speed of the living body at the current time, and the moving speed of the vehicle at the current time.

Based on the content of the foregoing embodiment, as an optional embodiment, the fourth obtaining module includes:

the first determining unit is used for determining two position points which are closest to the living body on each road in the road network information based on the road network information in a second preset area taking the position where the living body is located as the center; each road in the road network information is represented by a series of discrete position points;

and the third acquisition unit is used for acquiring a road judgment result of the living body according to the position information of the living body at the current moment and the position information of two position points which are closest to the living body on each road.

Based on the content of the foregoing embodiment, as an alternative embodiment, the obtaining unit is configured to, for any one road, determine that the living body is on any one road if the position information of the living body at the current time and the position information of two position points on any one road, which are closest to the living body, satisfy a first preset condition, and determine that the living body is not on any one road if the position information of the living body at the current time and the position information of two position points on any one road, which are closest to the living body, do not satisfy the first preset condition.

Based on the content of the foregoing embodiment, as an alternative embodiment, the third obtaining module 1703 is configured to, when the living body is on a road, determine an intersection between the road where the living body is located and the road where the vehicle is located; calculating a first time length required by the living body to move from the current position to the cross point according to a first distance between the cross point and the living body and the moving speed of the living body at the current moment, and calculating a second time length required by the vehicle to move from the current position to the cross point according to a second distance between the cross point and the vehicle and the moving speed of the vehicle at the current moment; and if the first duration and the second duration do not meet the second preset condition, determining that the vehicle and the living body are not collided.

Based on the content of the foregoing embodiment, as an optional embodiment, the second preset condition includes that an absolute value of a difference between the first time duration and the second time duration is smaller than a third preset threshold, and/or the second distance is smaller than a fourth preset threshold.

Based on the above description of the embodiments, as an alternative embodiment, the road on which the vehicle is located is represented by a series of discrete location points; accordingly, the third obtaining module 1703 includes:

and a second determining unit for determining a predicted intersection point from all position points on the road on which the vehicle is located when the living body is not located on the road, the predicted intersection point being a possible intersection point between the moving track of the living body and the road on which the vehicle is located.

The second calculation unit is used for calculating a third time length required by the living body to move from the current position to the predicted intersection point according to the third distance between the predicted intersection point and the living body and the moving speed of the living body at the current moment, and calculating a fourth time length required by the vehicle to move from the current position to the predicted intersection point according to a fourth distance between the predicted intersection point and the vehicle and the moving speed of the vehicle at the current moment;

and a third determination unit configured to determine that the vehicle and the living body may collide when a third preset condition is satisfied between the third time period and the fourth time period, and determine that the vehicle and the living body may not collide if the third preset condition is not satisfied between the third time period and the fourth time period.

Based on the content of the above embodiment, as an optional embodiment, the second determining unit is configured to sequentially calculate, based on an arrangement order of the position points on the road where the vehicle is located, a first slope of a connection line between the position where the living body is located at the current time and each position point, and sequentially calculate a second slope of a connection line between the position where the living body is located at the previous time at the current time and each position point; and calculating the absolute value of the difference between the first slope and the second slope corresponding to each position point to obtain the slope difference corresponding to each position point, determining the position point with the minimum slope difference in all the position points, and taking the position point with the minimum slope difference as a prediction intersection point.

Based on the content of the foregoing embodiment, as an alternative embodiment, the third preset condition includes that an absolute value of a difference between the third time period and the fourth time period is smaller than a fifth preset threshold, and/or that a distance between the predicted intersection point and the vehicle is smaller than a sixth preset threshold.

According to the device provided by the embodiment of the invention, when the living body is detected in the first preset area at the current moment, the moving speed of the living body at the current moment is acquired, and the moving speed of the vehicle at the current moment is acquired. And acquiring a collision prediction result according to the moving speed of the living body at the current moment and the moving speed of the vehicle at the current moment, and performing early warning according to the collision prediction result. The living body can be detected, and whether the collision happens or not can be predicted according to the movement trend of the living body and the vehicle without being limited by network conditions, so that the device has wide application range and low risk.

In addition, the device can predict all living objects, namely, the possible collision between the living body and the vehicle besides the possible collision between the vehicle and the vehicle, thereby further improving the application range of the device. Finally, after the living body is detected, whether collision occurs or not can be further predicted according to the movement trend, so that blind early warning is avoided, and the early warning result is more accurate.

Fig. 18 illustrates a physical structure diagram of an electronic device, and as shown in fig. 18, the electronic device may include: a processor (processor)1810, a communication Interface 1820, a memory (memory)1830, and a communication bus 1840, wherein the processor 1810, the communication Interface 1820, and the memory 1830 communicate with each other via the communication bus 1840. The processor 1810 may call logic instructions in the memory 1830 to perform the following method: if the living body is detected in a first preset area at the current moment, acquiring the moving speed of the living body at the current moment and acquiring the moving speed of a vehicle at the current moment, wherein the first preset area refers to an area which is positioned in front of the vehicle and is in a preset range around the vehicle; and acquiring a collision prediction result according to the moving speed of the living body at the current moment and the moving speed of the vehicle at the current moment, and performing early warning according to the collision prediction result.

In addition, the logic instructions in the memory 1830 may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, an electronic device, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. 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 other various media capable of storing program codes.

Embodiments of the present invention further provide a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to perform the method provided in the foregoing embodiments when executed by a processor, and the method includes: if the living body is detected in a first preset area at the current moment, acquiring the moving speed of the living body at the current moment and acquiring the moving speed of a vehicle at the current moment, wherein the first preset area refers to an area which is positioned in front of the vehicle and is in a preset range around the vehicle; and acquiring a collision prediction result according to the moving speed of the living body at the current moment and the moving speed of the vehicle at the current moment, and performing early warning according to the collision prediction result.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A safe driving method for a vehicle, comprising:

if a living body is detected in a first preset area at the current moment, acquiring the moving speed of the living body at the current moment and acquiring the moving speed of a vehicle at the current moment, wherein the first preset area refers to an area which is positioned in front of the vehicle and is in a preset range around the vehicle;

acquiring a collision prediction result according to the moving speed of the living body at the current moment and the moving speed of the vehicle at the current moment, and performing early warning according to the collision prediction result;

before the collision prediction result is obtained according to the moving speed of the living body at the current moment and the moving speed of the vehicle at the current moment, the method further includes:

acquiring a road judgment result of the living body according to the position information of the living body at the current moment, wherein the road judgment result is used for indicating whether the living body is on a road or not;

correspondingly, the obtaining a collision prediction result according to the moving speed of the living body at the current moment and the moving speed of the vehicle at the current moment comprises:

acquiring a collision prediction result according to the road judgment result, the moving speed of the living body at the current moment and the moving speed of the vehicle at the current moment;

the path on which the vehicle is located is represented by a series of discrete location points; accordingly, the acquiring a collision prediction result according to the road determination result, the moving speed of the living body at the current time, and the moving speed of the vehicle at the current time includes:

if the living body is not located on the road, determining a predicted intersection point from all position points on the road where the vehicle is located, wherein the predicted intersection point is a possible intersection point between the moving track of the living body and the road where the vehicle is located;

acquiring the collision prediction result based on the prediction intersection point, the moving speed of the living body at the current moment and the moving speed of the vehicle at the current moment;

wherein the determining a predicted intersection point from all location points on the road where the vehicle is located comprises:

sequentially calculating a first slope of a connecting line between the position of the living body at the current moment and each position point based on the arrangement sequence of the position points on the road where the vehicle is located, and sequentially calculating a second slope of a connecting line between the position of the living body at the previous moment of the current moment and each position point;

and calculating the absolute value of the difference between the first slope and the second slope corresponding to each position point to obtain the slope difference corresponding to each position point, determining the position point with the minimum slope difference in all the position points, and taking the position point with the minimum slope difference as a prediction intersection point.

2. The method according to claim 1, wherein the acquiring of the moving speed of the living body at the current time includes:

acquiring position information of the living body at the current moment and acquiring position information of the living body at the previous moment of the current moment;

and calculating the moving speed of the living body at the current moment according to the position information of the living body at the current moment, the position information of the living body at the last moment and the time interval between the current moment and the last moment.

3. The method according to claim 2, wherein the acquiring of the position information of the living body at the current time includes:

and determining position information of the living body according to living body information, wherein the living body information is used for indicating the position of the living body at the current moment, and the living body information is detected by a detector which is arranged on the vehicle.

4. The method according to claim 3, wherein the living body information includes a distance between the detecting instrument and the living body and an azimuth angle indicating a position of the living body; accordingly, the determining the position information of the living body according to the living body information includes:

calculating the offset of the living body relative to the detector on different coordinate axes according to the distance between the detector and the living body and the azimuth angle;

and calculating the position information of the living body according to the position information of the detector and the offset of the living body relative to the detector on different coordinate axes.

5. The method according to claim 2, wherein the acquiring of the position information of the living body at a time immediately preceding the current time includes:

acquiring a longitude and latitude difference value of the position of the vehicle between the current time and the previous time;

and calculating the position information of the living body at the previous moment according to the longitude and latitude difference and the original position information of the living body at the previous moment, wherein the original position information of the living body at the previous moment is used for representing the coordinates of the living body in a coordinate system established at the previous moment, the position information of the living body at the previous moment is used for representing the coordinates of the living body in the coordinate system established at the current moment, and the coordinate system established at the previous moment is different from the coordinate system established at the current moment.

6. The method of claim 1, wherein the obtaining the moving speed of the vehicle at the current moment comprises:

acquiring a longitude and latitude difference value of the position of the vehicle between the current time and the previous time, and calculating the displacement distance of the vehicle between the current time and the previous time according to the longitude and latitude difference value;

and calculating the moving speed of the vehicle at the current moment according to the displacement distance and the time interval between the current moment and the previous moment.

7. The method according to claim 1, wherein the acquiring a road determination result of the living body from the position information of the living body at the current time includes:

determining two position points which are closest to the living body on each road in the road network information based on the road network information in a second preset area which takes the position of the living body as the center; wherein each road in the road network information is represented by a series of discrete location points;

acquiring a road judgment result of the living body according to the position information of the living body at the current moment and the position information of two position points which are closest to the living body on each road;

the acquiring a road judgment result of the living body according to the position information of the living body at the current moment and the position information of two position points on each road, which are closest to the living body, includes:

for any road, if the position information of the living body at the current moment and the position information of two position points on the any road, which are closest to the living body, meet a first preset condition, determining that the living body is located on the any road, and if the position information of the living body at the current moment and the position information of two position points on the any road, which are closest to the living body, do not meet the first preset condition, determining that the living body is not located on the any road;

the first preset condition comprises that the vertical distance from the living body to a first connecting line between two position points which are closest to the living body on any one road is smaller than a first preset threshold value, and/or an included angle between a second connecting line and the first connecting line is smaller than a second preset threshold value; wherein the second connection line is a connection line between the living body and one of two position points on the any one road closest to the living body.

8. The method according to claim 1, wherein the obtaining the collision prediction result based on the predicted intersection, and the moving speed of the living body at the current time and the moving speed of the vehicle at the current time includes:

calculating a third time length required by the living body to move from the current position to the predicted intersection point according to a third distance between the predicted intersection point and the living body and the moving speed of the living body at the current moment, and calculating a fourth time length required by the vehicle to move from the current position to the predicted intersection point according to a fourth distance between the predicted intersection point and the vehicle and the moving speed of the vehicle at the current moment;

and if the third time length and the fourth time length do not meet the third preset condition, determining that the vehicle and the living body are likely to collide.

9. The method according to claim 8, characterized in that said third preset condition comprises that the absolute value of the difference between said third period of time and said fourth period of time is less than a fifth preset threshold and/or that the distance between said predicted intersection and said vehicle is less than a sixth preset threshold.

10. A vehicular safe running device characterized by comprising:

the early warning module is used for carrying out early warning according to the collision prediction result;

the vehicle safe travel device further includes:

correspondingly, the third obtaining module is used for obtaining a collision prediction result according to the road judgment result, the moving speed of the living body at the current moment and the moving speed of the vehicle at the current moment;

the path on which the vehicle is located is represented by a series of discrete location points; correspondingly, the third obtaining module is specifically configured to:

11. An electronic device, comprising:

at least one processor; and

at least one memory communicatively coupled to the processor, wherein:

the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of any of claims 1 to 9.

12. A non-transitory computer-readable storage medium storing computer instructions that cause a computer to perform the method of any one of claims 1 to 9.