CN110299006B - Vehicle collision warning method, device and equipment - Google Patents

Vehicle collision warning method, device and equipment Download PDF

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Publication number
CN110299006B
CN110299006B CN201910577851.5A CN201910577851A CN110299006B CN 110299006 B CN110299006 B CN 110299006B CN 201910577851 A CN201910577851 A CN 201910577851A CN 110299006 B CN110299006 B CN 110299006B
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vehicle
current
information
time
current vehicle
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CN110299006A (en
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侍兴华
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Zhejiang Geely Holding Group Co Ltd
Zhejiang Geely Automobile Research Institute Co Ltd
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Zhejiang Geely Holding Group Co Ltd
Zhejiang Geely Automobile Research Institute Co Ltd
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    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/01Detecting movement of traffic to be counted or controlled
    • G08G1/0104Measuring and analyzing of parameters relative to traffic conditions
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/161Decentralised systems, e.g. inter-vehicle communication

Abstract

The invention relates to a vehicle collision warning method, which comprises the following steps: when the distance between the current vehicle and the intersection is a first preset distance, acquiring first state information of the current vehicle, second state information of an adjacent vehicle within a second preset distance of the current vehicle and road side information of the intersection; determining a target vehicle having a collision risk with the current vehicle based on the first state information, the second state information and a preset screening condition; determining a first time period for which the current vehicle is traveling at the intersection based on the first state information and the roadside information; acquiring a second time period when the target vehicle runs at the intersection, wherein the second time period is generated by the target vehicle based on the second state information and the road side information acquired by the target vehicle; when the first time period and the second time period have overlapping time points, an explicit warning of a vehicle collision is performed based on a driving state of the current vehicle at a kth time (k ≧ 1) before the current time. By implementing the invention, the generation of false alarms in the ICW algorithm can be reduced.

Description

Vehicle collision warning method, device and equipment
Technical Field
The invention relates to a vehicle driving control method, in particular to a vehicle collision warning method, device and equipment.
Background
An ICW (Intersection Collision Warning) function is an important function in an intelligent network-connected driving system, mainly aims at controlling the speed of vehicles driving to an Intersection from different directions, ensures that each vehicle can alternately pass through the Intersection and avoids Collision risks. The key to the ICW algorithm is that the host vehicle finds a distant vehicle that may create a risk of collision crossing the intersection ahead, alerting the host vehicle to slow down. With the development of the V2X function, the communication form of V2V between vehicles provides possibility for the realization of the collision early warning function in the non-line-of-sight range. Preventing false alarms is also a very important function after the basic early warning function of the ICW is implemented.
At present, there are many related research achievements on false alarms of vehicle safety early warning systems in a general sense, but there are basically no targeted reasons for false alarms generated in 17 scenes (T/CSAE, application layer and application data interaction standard of cooperative intelligent transportation system for vehicles, 53-2017) in the V2X national standard.
Disclosure of Invention
In view of the above problems in the prior art, an object of the present invention is to provide a method, an apparatus and a device for vehicle collision warning to reduce the generation of false alarms in the ICW algorithm.
The first aspect of the present invention provides a vehicle collision warning method, including: when the distance between the current vehicle and the intersection is a first preset distance, acquiring first state information of the current vehicle, second state information of an adjacent vehicle within a second preset distance of the current vehicle and road side information of the intersection; determining a target vehicle having a collision risk with the current vehicle based on the first state information, the second state information and a preset screening condition; determining a first time period for the current vehicle to travel at the intersection based on the first state information and the roadside information; acquiring a second time period of the target vehicle running at the intersection, wherein the second time period is generated based on the second state information and the road side information acquired by the target vehicle; and when the first time period and the second time period have overlapped time points, performing vehicle collision explicit warning based on the driving state of the current vehicle at the kth moment (k is more than or equal to 1) before the current time.
Further, the performing of the vehicle collision explicit warning based on the running state of the current vehicle at the kth time (k ≧ 1) before the current time includes: when the current vehicle is static at the kth moment before the current time, recording alarm information and acquiring historical alarm record information of the current vehicle at k time points before the current time; and when the current vehicle records warning information at k time points before the current time, executing vehicle collision explicit warning.
Further, the performing of the vehicle collision explicit warning based on the running state of the current vehicle at the kth time (k ≧ 1) before the current time includes: executing a vehicle collision explicit warning when the current vehicle is traveling at a kth time before the current time.
Further, the preset screening condition at least comprises one of the following conditions: the course angle included angle between the current vehicle and the adjacent vehicle is within a preset included angle range or the time of the current vehicle and the time of the adjacent vehicle running to the intersection are both more than or equal to preset time.
Further, the determining a target vehicle having a collision risk with the current vehicle based on the first state information, the second state information, and a preset screening condition includes: determining a first pre-selected colliding vehicle of the neighboring vehicles based on the first state information and the second state information; and determining a target vehicle with a collision risk with the current vehicle in the first pre-selected collision vehicles based on the preset screening condition.
Further, the determining a target vehicle having a collision risk with the current vehicle based on the first state information, the second state information, and a preset screening condition further includes: determining a second pre-selected colliding vehicle of the adjacent vehicles based on the preset screening condition; determining a target vehicle of the second pre-selected colliding vehicles having a collision risk with the current vehicle based on the first state information and the second state information.
Further, the value of k ranges from 3 to 5.
A second aspect of the present invention provides a vehicle collision warning apparatus, the apparatus comprising: the system comprises an information acquisition module, a road side information acquisition module and a road side information acquisition module, wherein the information acquisition module is used for acquiring first state information of a current vehicle, second state information of an adjacent vehicle within a second preset distance of the current vehicle and road side information of an intersection when the information acquisition module is away from the intersection by a first preset distance; the target vehicle confirmation module is used for determining a target vehicle with collision risk with the current vehicle based on the first state information, the second state information and preset screening conditions; a first time period determination module for determining a first time period for the current vehicle to travel at the intersection based on the first state information and the roadside information; a second time period acquisition module, configured to acquire a second time period in which the target vehicle travels at the intersection, where the second time period is generated based on the second state information and the roadside information acquired by the target vehicle; and the warning execution module is used for executing vehicle collision explicit warning based on the driving state of the current vehicle at the kth moment (k is more than or equal to 1) before the current time when the first time period and the second time period have overlapped time points.
Further, the alarm execution module includes: the warning information recording submodule is used for recording warning information when the current vehicle is static at the kth moment before the current time; the historical alarm information acquisition submodule is used for acquiring historical alarm record information of the current vehicle at k time points before the current time; and the warning execution submodule is used for executing vehicle collision explicit warning when the current vehicle records warning information at k time points before the current time.
A third aspect of the present invention provides a vehicle collision warning apparatus, characterized by comprising: a processor and a memory, said memory having stored therein at least one instruction, at least one program, code set, or instruction set, said at least one instruction, said at least one program, said code, and/or instruction set being loaded and executed by said processor to implement any of said vehicle collision warning methods.
Due to the technical scheme, the invention has the following beneficial effects:
according to the characteristics of ICW algorithm design, the adjacent vehicles with low collision probability are excluded by utilizing the vehicle end information of the current vehicle and the adjacent vehicles, the ICW algorithm judgment is not carried out, or the adjacent vehicles with low collision probability are excluded after the ICW algorithm judgment is carried out, so that the probability of false alarm is reduced;
aiming at untimely update of real-time information of the vehicle, an early warning mechanism relying on historical data is designed to increase the robustness of an ICW algorithm;
by utilizing the acquired roadside information, the running time of the selected target vehicle in the current vehicle and the adjacent vehicles to the intersection is integrated, the adjacent vehicles with lower collision probability are screened out in advance, and the probability of false alarms of the false alarms is reduced.
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In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic structural diagram of a vehicle collision warning system according to an embodiment of the present invention;
FIG. 2 is a flow chart of a vehicle collision warning method according to an embodiment of the present invention;
fig. 3 is a schematic flow chart illustrating a method for warning a vehicle collision according to an embodiment of the present invention, where a first time period during which the current vehicle travels at an intersection is determined based on the first state information and the roadside information;
fig. 4 is a schematic view of a scene in which a current vehicle enters an intersection in a vehicle collision warning method according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions.
Fig. 1 is a schematic structural diagram of a vehicle collision warning system according to an embodiment of the present invention, and as shown in fig. 1, the vehicle collision warning system includes a current vehicle information acquisition unit, an adjacent vehicle information acquisition unit, a drive test information acquisition unit, an ICW control unit, and an alarm unit, where the adjacent vehicle information acquisition unit and the ICW control unit communicate with each other using V2V, and the drive test information acquisition unit and the ICW control unit communicate with each other using V2I, where the drive test information acquisition unit defines standards of test points, and the ICW control unit defines an ICW algorithm based on roadside information.
The vehicle collision warning method of the present invention is described as follows, fig. 2 is a flow chart of a vehicle collision warning method provided by the embodiment of the present invention, and the present specification provides the method operation steps as described in the embodiment or the flow chart, but may include more or less operation steps based on conventional or non-creative labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. When an actual vehicle collision warning apparatus product is executed, it may be executed sequentially or in parallel (for example, in the context of a parallel processor or a multi-thread process) according to the method shown in the embodiment or the drawings. Specifically, as shown in fig. 2, the method may include:
step S201: when the distance between the current vehicle and the intersection is a first preset distance, acquiring first state information of the current vehicle, second state information of an adjacent vehicle within a second preset distance of the current vehicle and road side information of the intersection;
in the embodiment of the invention, the first state information comprises a position point, a course angle, a speed and an acceleration of the current vehicle, and the first state information can be obtained by a current vehicle information acquisition unit; the second state information comprises position points, course angles, speeds and accelerations of adjacent vehicles, and is acquired by the adjacent vehicle information acquisition unit.
The roadside information may be obtained by a roadside information acquisition unit, and specifically, may refer to a national standard document (T/CSAE, application layer and application data interaction standard for a cooperative intelligent transportation system, 53-2017), where the roadside information may include positions where lanes of a plurality of intersections corresponding to the intersection enter the intersection, for example, when the intersection corresponds to four intersections, the roadside information includes positions where the lanes of four intersections enter the intersection.
Step S203: determining a target vehicle having a collision risk with the current vehicle based on the first state information, the second state information and a preset screening condition;
in an embodiment of the present invention, the preset screening condition at least includes one of the following conditions: the course angle included angle between the current vehicle and the adjacent vehicle is within a preset included angle range or the time of the current vehicle and the time of the adjacent vehicle running to the intersection are both more than or equal to preset time. In a specific embodiment, the predetermined included angle ranges between 0 degrees and 15 degrees or between 165 degrees and 195 degrees.
In a specific embodiment, the determining a target vehicle having a collision risk with the current vehicle based on the first state information, the second state information, and a preset screening condition may include:
determining a first pre-selected colliding vehicle of the neighboring vehicles based on the first state information and the second state information;
in the embodiment of the invention, a first travel track with the current vehicle may be determined based on the first state information, a second travel track of an adjacent vehicle within the second prediction range may be determined based on the second state information, and the adjacent vehicle may be determined as the first pre-selected colliding vehicle when the second travel track intersects the first travel track.
And determining a target vehicle with a collision risk with the current vehicle in the first pre-selected collision vehicles based on the preset screening condition.
In the embodiment of the invention, adjacent vehicles within a preset included angle range with the current vehicle are screened from the first pre-selected collision vehicle, and the remaining first pre-selected collision vehicle is determined as a target vehicle with collision risk.
In another specific embodiment, the determining a target vehicle having a collision risk with the current vehicle based on the first state information, the second state information, and a preset screening condition may further include:
determining a second pre-selected colliding vehicle of the adjacent vehicles based on the preset screening condition;
in the embodiment of the invention, adjacent vehicles with the included angle of the heading angle of the current vehicle within the preset included angle range are screened out, and the remaining adjacent vehicles are determined as second preselected collision vehicles.
Determining a target vehicle of the second pre-selected colliding vehicles having a collision risk with the current vehicle based on the first state information and the second state information.
In the embodiment of the invention, a first travel track with the current vehicle may be determined based on the first state information, a second travel track of the second preselected colliding vehicle within the second prediction range may be determined based on the second state information, and the second preselected colliding vehicle may be determined as the target vehicle having the collision risk when the second travel track intersects with the first travel track.
Step S205: determining a first time period for the current vehicle to travel at the intersection based on the first state information and the roadside information;
in a specific embodiment, as shown in fig. 3, the determining the first time period during which the current vehicle travels at the intersection based on the first state information and the roadside information may include:
step S301: determining the position of the current vehicle entering the intersection and the position of the current vehicle exiting the intersection based on the road side information, the position point and the course angle of the current vehicle;
in the embodiment of the present invention, the roadside information includes a position of a lane line entering the intersection and a position of a lane line exiting the intersection, as shown in fig. 4, the position where the current vehicle enters the intersection is an intersection a of a dotted line extending forward from a head of the current vehicle and the lane line entering the intersection, and the position where the current vehicle exits the intersection is an intersection B of a dotted line extending forward from a head of the current vehicle and the lane line exiting the intersection.
Step S303: determining a time point when the current vehicle enters the intersection based on the position point of the current vehicle, the longitudinal distance from the antenna to the tail of the vehicle, the speed, the acceleration, the current time and the position of the current vehicle entering the intersection;
in an embodiment of the present invention, the position point of the current vehicle is determined by the position of the antenna of the current vehicle. The current vehicle enters the intersection, namely the whole vehicle body of the current vehicle just enters the intersection, obviously, the distance required by the current vehicle to travel when entering the intersection is the distance from the position point of the current vehicle to the position where the current vehicle enters the intersection plus the longitudinal distance from the antenna of the current vehicle to the tail of the vehicle. After the distance on which the current vehicle needs to travel to enter the intersection is known, the time required for the current vehicle to enter the intersection can be determined in combination with the current vehicle speed and acceleration, and the point in time at which the current vehicle enters the intersection can be determined in combination with the current time.
Step S305: determining a time point when the current vehicle exits the intersection based on the position point of the current vehicle, the longitudinal distance from the antenna to the tail of the vehicle, the speed, the acceleration, the current time and the position of the current vehicle exiting the intersection;
in the embodiment of the present invention, the current vehicle exiting the intersection means that the entire vehicle body of the current vehicle just exits the intersection, and obviously, the distance that the current vehicle needs to travel to exit the intersection is the distance from the position point of the current vehicle to the position where the current vehicle exits the intersection plus the longitudinal distance from the antenna of the current vehicle to the tail of the vehicle. After the distance required to be driven by the current vehicle to exit the intersection is known, the time required by the current vehicle to exit the intersection can be determined by combining the current vehicle speed and the acceleration, and the time point when the current vehicle enters the intersection can be determined by combining the current time.
Step S307: determining a first predicted time period for the current vehicle to travel at the intersection based on a time point at which the current vehicle enters the intersection and a time point at which the current vehicle exits the intersection.
In an embodiment of the present invention, a time point when the current vehicle enters the intersection is a start time point of the first prediction time period, and a time point when the current vehicle exits the intersection is an end time point of the first prediction time period.
Step S207: acquiring a second time period of the target vehicle running at the intersection, wherein the second time period is generated based on the second state information and the road side information acquired by the target vehicle;
in the embodiment of the invention, the target vehicle may calculate the second period of time using the same calculation method as the current vehicle.
Step S209: and when the first time period and the second time period have overlapped time points, performing vehicle collision explicit warning based on the driving state of the current vehicle at the kth moment (k is more than or equal to 1) before the current time.
In an application scenario that a vehicle is backed up and the vehicle is just accelerated from a standstill, and the like, misjudgment of an ICW algorithm is often caused due to untimely update of real-time information such as a vehicle position, a gear, a heading angle, and the like, in order to reduce unnecessary alarm, in a specific embodiment, the performing of the vehicle collision explicit alarm based on the driving state of the current vehicle at the kth time (k ≧ 1) before the current time may include:
when the current vehicle is static at the kth moment before the current time, recording alarm information and acquiring historical alarm record information of the current vehicle at k time points before the current time;
specifically, the interval between any two adjacent time points before the current time may be set according to actual requirements, for example, set to 0.1 s. In order to reduce the alarm misjudgment and simultaneously not excessively prolong the vehicle alarm waiting time, the value range of k is 3 to 5.
And executing vehicle collision explicit alarm when alarm information is recorded at k time points before the current time of the current vehicle.
In still other embodiments, the performing of the vehicle collision explicit warning based on the driving state of the current vehicle at a kth time (k ≧ 1) before the current time may further include:
and when the current vehicle is in a driving state at the kth moment (k is more than or equal to 1) before the current time, executing vehicle collision explicit alarm.
The embodiment of the invention also provides a vehicle collision warning device, which comprises:
the system comprises an information acquisition module, a road side information acquisition module and a road side information acquisition module, wherein the information acquisition module is used for acquiring first state information of a current vehicle, second state information of an adjacent vehicle within a second preset distance of the current vehicle and road side information of an intersection when the information acquisition module is away from the intersection by a first preset distance;
the target vehicle confirmation module is used for determining a target vehicle with collision risk with the current vehicle based on the first state information, the second state information and preset screening conditions;
a first time period determination module for determining a first time period for the current vehicle to travel at the intersection based on the first state information and the roadside information;
a second time period acquisition module, configured to acquire a second time period in which the target vehicle travels at the intersection, where the second time period is generated based on the second state information and the roadside information acquired by the target vehicle;
and the warning execution module is used for executing vehicle collision explicit warning based on the driving state of the current vehicle at the kth moment (k is more than or equal to 1) before the current time when the first time period and the second time period have overlapped time points.
In a specific embodiment, the alarm execution module may include:
the warning information recording submodule is used for recording warning information when the current vehicle is static at the kth moment before the current time;
the historical alarm information acquisition submodule is used for acquiring historical alarm record information of the current vehicle at k time points before the current time;
and the warning execution submodule is used for executing vehicle collision explicit warning when warning information is recorded at k time points before the current time of the current vehicle.
In still other embodiments, the alert execution sub-module may be further configured to execute a vehicle collision explicit alert when the current vehicle is traveling at a kth time before the current time.
The device of the device embodiment and the method embodiment are based on the same inventive concept.
According to the embodiment of the vehicle collision warning system, the vehicle collision warning method, the vehicle collision warning device or the vehicle collision warning equipment, the adjacent vehicle with lower collision probability is excluded by utilizing the vehicle end information of the current vehicle and the adjacent vehicle according to the characteristics of ICW algorithm design, the ICW algorithm judgment is not carried out, or the adjacent vehicle with lower collision probability is excluded after the ICW algorithm judgment is carried out, so that the possibility of false alarm is reduced; aiming at untimely update of real-time information of the vehicle, an early warning mechanism relying on historical data is designed to increase the robustness of an ICW algorithm; by utilizing the acquired roadside information, the running time of the selected target vehicle in the current vehicle and the adjacent vehicles to the intersection is integrated, the adjacent vehicles with lower collision probability are screened out in advance, and the probability of false alarms of the false alarms is reduced.
It should be noted that: the precedence order of the above embodiments of the present invention is only for description, and does not represent the merits of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the device, terminal and system embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference may be made to some descriptions of the method embodiments for relevant points.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

Claims (7)

1. A vehicle collision warning method, characterized in that the method comprises:
when the distance between the current vehicle and the intersection is a first preset distance, acquiring first state information of the current vehicle, second state information of an adjacent vehicle within a second preset distance of the current vehicle and road side information of the intersection;
determining a target vehicle having a collision risk with the current vehicle based on the first state information, the second state information and a preset screening condition;
determining a first time period for the current vehicle to travel at the intersection based on the first state information and the roadside information;
acquiring a second time period of the target vehicle running at the intersection, wherein the second time period is generated based on the second state information and the road side information acquired by the target vehicle;
when the first time period and the second time period have overlapped time points, performing vehicle collision explicit warning based on the driving state of the current vehicle at the kth moment (k is more than or equal to 1) before the current time, wherein the vehicle collision explicit warning comprises the following steps:
when the current vehicle is static at the kth moment before the current time, recording alarm information and acquiring historical alarm record information of the current vehicle at k time points before the current time;
when the current vehicle records warning information at k time points before the current time, executing vehicle collision explicit warning;
executing a vehicle collision explicit warning when the current vehicle is traveling at a kth time before the current time.
2. The vehicle collision warning method according to claim 1, wherein the preset screening condition includes at least one of:
the course angle included angle between the current vehicle and the adjacent vehicle is within a preset included angle range or the time of the current vehicle and the time of the adjacent vehicle running to the intersection are both more than or equal to preset time.
3. The vehicle collision warning method according to claim 2, wherein the determining a target vehicle having a collision risk with the current vehicle based on the first status information, the second status information, and a preset screening condition includes:
determining a first pre-selected colliding vehicle of the neighboring vehicles based on the first state information and the second state information;
and determining a target vehicle with a collision risk with the current vehicle in the first pre-selected collision vehicles based on the preset screening condition.
4. The vehicle collision warning method according to claim 2, wherein the determining a target vehicle having a collision risk with the current vehicle based on the first status information, the second status information, and a preset screening condition further comprises:
determining a second pre-selected colliding vehicle of the adjacent vehicles based on the preset screening condition;
determining a target vehicle of the second pre-selected colliding vehicles having a collision risk with the current vehicle based on the first state information and the second state information.
5. The vehicle collision warning method according to claim 1, wherein the value of k ranges from 3 to 5.
6. A vehicle collision warning device, characterized in that the device comprises:
the system comprises an information acquisition module, a road side information acquisition module and a road side information acquisition module, wherein the information acquisition module is used for acquiring first state information of a current vehicle, second state information of an adjacent vehicle within a second preset distance of the current vehicle and road side information of an intersection when the information acquisition module is away from the intersection by a first preset distance;
the target vehicle confirmation module is used for determining a target vehicle with collision risk with the current vehicle based on the first state information, the second state information and preset screening conditions;
a first time period determination module for determining a first time period for the current vehicle to travel at the intersection based on the first state information and the roadside information;
a second time period acquisition module, configured to acquire a second time period in which the target vehicle travels at the intersection, where the second time period is generated based on the second state information and the roadside information acquired by the target vehicle;
the warning execution module is used for executing vehicle collision explicit warning based on the driving state of the current vehicle at the kth moment (k is more than or equal to 1) before the current time when the first time period and the second time period have overlapped time points, and comprises the following steps:
the warning information recording submodule is used for recording warning information when the current vehicle is static at the kth moment before the current time;
the historical alarm information acquisition submodule is used for acquiring historical alarm record information of the current vehicle at k time points before the current time;
and the warning execution submodule is used for executing vehicle collision explicit warning when the current vehicle records warning information at k time points before the current time and executing vehicle collision explicit warning when the current vehicle runs at the kth moment before the current time.
7. A vehicle collision warning apparatus characterized by comprising: a processor and a memory, the memory having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, the at least one instruction, the at least one program, the set of codes, and/or the set of instructions being loaded and executed by the processor to implement the vehicle collision warning method according to any one of claims 1-5.
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