CN110751844A - Emergency stop warning method and system based on V2X - Google Patents
Emergency stop warning method and system based on V2X Download PDFInfo
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- CN110751844A CN110751844A CN201911038261.1A CN201911038261A CN110751844A CN 110751844 A CN110751844 A CN 110751844A CN 201911038261 A CN201911038261 A CN 201911038261A CN 110751844 A CN110751844 A CN 110751844A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/095—Traffic lights
- G08G1/0955—Traffic lights transportable
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/009—Signalling of the alarm condition to a substation whose identity is signalled to a central station, e.g. relaying alarm signals in order to extend communication range
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/12—Messaging; Mailboxes; Announcements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
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Abstract
The invention provides an emergency stop warning method and system based on V2X, and belongs to the field of vehicle early warning. The method comprises the following steps: acquiring speed information, light information and warning board information of each vehicle in a first preset range in front of the vehicle; judging whether a target vehicle in a fault parking state exists in front of the vehicle according to the speed information, the light information and the warning board information; if the target vehicle exists, acquiring weather environment information of the location of the target vehicle, identity information and position information of the target vehicle; judging whether the placement of the warning board of the target vehicle is standard or not according to the weather environment information, the position information of the target vehicle and the warning board information; and if the placement of the warning board of the target vehicle is not standard, sending first warning information to the target vehicle to prompt the target vehicle to regulate the placement of the warning board. The emergency stop warning method and the emergency stop warning system can timely and effectively remind the anchored vehicle of standard placement of the warning board.
Description
Technical Field
The invention relates to the field of vehicle early warning, in particular to an emergency stop warning method and system based on V2X (vehicle to outside).
Background
When the vehicle is subjected to fault parking maintenance or accident breakdown on a road, the triangular warning board of the vehicle needs to be placed to remind other vehicles of avoiding, so that secondary traffic accidents are avoided.
Sometimes, the automobile triangle warning board is not placed, is forgotten to be placed, is not placed in time and is not placed in a standard mode, and the like, and the details easily cause traffic accidents caused by collision of automobiles.
When the problem that the triangular warning board is forgotten or irregularly placed for the anchored vehicle driver occurs, the existing technical scheme cannot timely and effectively remind the anchored vehicle driver, and therefore potential safety hazards exist.
Disclosure of Invention
The invention aims to provide an emergency stop warning method and system based on V2X, which can timely and effectively remind a broken vehicle of the standard placement of a warning board.
It is a further object of the present invention to alert other vehicles to avoid an anchored vehicle.
Another further object of the present invention is to improve the reliability of the warning information to improve driving safety.
Particularly, the invention provides an emergency stop warning method based on V2X, which comprises the following steps:
acquiring speed information, light information and warning board information of each vehicle in a first preset range in front of the vehicle;
judging whether a target vehicle in a fault parking state exists in front of the vehicle according to the speed information, the light information and the warning board information;
if the target vehicle exists, acquiring weather environment information of the location of the target vehicle, identity information and position information of the target vehicle;
judging whether the placement of the warning board of the target vehicle is standard or not according to the weather environment information, the position information of the target vehicle and the warning board information;
and if the placement of the warning board of the target vehicle is not standard, sending first warning information to the target vehicle to prompt the target vehicle to regulate the placement of the warning board.
Optionally, the emergency stop warning method further includes:
if the placement of the warning board of the target vehicle is not standard, inquiring the mobile phone information of the owner corresponding to the target vehicle according to the identity information of the target vehicle;
and sending the first warning information to the mobile phone of the vehicle owner.
Optionally, the first warning information includes information for reminding the target vehicle of placing the warning board and placing position information of the warning board.
Optionally, the emergency stop warning method further includes:
and if the placement of the warning board of the target vehicle is not standard, sending second warning information to the vehicle and other vehicles within a second preset range for reminding the vehicle and other vehicles to avoid the target vehicle.
Optionally, the emergency stop warning method further includes:
if the placement of the warning board of the target vehicle is not standard, sending the position information of the target vehicle to a cloud server, and enabling the cloud server to establish a virtual warning board on a map according to the position information of the target vehicle;
and receiving the virtual warning board and displaying the virtual warning board on a navigation map of the vehicle.
Optionally, the virtual warning board is established when the cloud server confirms that the reliability of the position information of the target vehicle exceeds a first preset value after receiving the position information of the target vehicle sent by the vehicles within a fourth preset range.
Optionally, judging whether the placement of the warning board of the target vehicle is standard according to the weather environment information, the position information of the target vehicle and the warning board information includes:
determining information of a road section where the target vehicle is located according to the position information of the target vehicle;
determining a warning board placement standard of the target vehicle according to the weather environment information and the information of the road section where the target vehicle is located;
and determining whether the placement of the warning board of the target vehicle is standard or not according to the placement standard of the warning board and the warning board information.
Optionally, judging whether the placement of the warning board of the target vehicle is standard according to the weather environment information, the position information of the target vehicle and the warning board information, further comprising:
receiving the weather environment information, the position information of the target vehicle and the warning board information sent by other vehicles within a fourth preset range;
performing data fusion on the weather environment information, the position information of the target vehicle and the warning board information sent by the vehicle and other vehicles in the fourth preset range to determine the reliability of data;
and judging whether the placement of the warning board of the target vehicle is standard or not according to the data with the reliability higher than the preset value.
In particular, the invention also provides an emergency stop warning system based on V2X, which comprises:
the first acquisition unit is used for acquiring speed information, light information and warning board information of each vehicle in a first preset range in front of the vehicle;
the processor judges whether a target vehicle in a fault parking state is stored in front of the vehicle according to the speed information, the light information and the warning board information;
the second acquisition unit is used for acquiring weather environment information of the location of the target vehicle, identity information and position information of the target vehicle when the target vehicle exists;
the processor is further used for judging whether the placement of the warning board of the target vehicle is standard or not according to the weather environment information, the position information of the target vehicle and the warning board information;
and the communication unit is used for sending first warning information to the target vehicle when the placement of the warning board of the target vehicle is not standard so as to prompt the target vehicle to standardize the placement of the warning board.
Optionally, the first acquisition unit includes a camera and a radar;
the processor is further used for fusing the information collected by the camera and the radar to acquire data with higher confidence.
The method and the system consider the environmental factors of the anchored vehicle and the placing condition of the warning board to judge whether the warning board of the anchored vehicle is placed in compliance or not, and if the warning board is not placed in compliance, first warning information is sent to the anchored vehicle, so that the anchored vehicle can be adjusted in time, secondary accidents are avoided as much as possible, and the safety is improved.
Furthermore, the first warning information is sent to the mobile phone of the owner of the anchor vehicle, so that the situation that the warning board cannot be placed correctly in time when the target vehicle does not receive the first warning information or the owner finds the information in time can be prevented, and the safety is further enhanced.
Further, when the anchored vehicle exists, second warning information is sent to the vehicle and other vehicles within a second preset range, and the second warning information is used for reminding the vehicle and other vehicles to avoid the target vehicle. And simultaneously, the position information of the target vehicle is sent to a cloud server, the cloud server establishes a virtual warning board on a map according to the position information and sends the virtual warning board to the vehicle on the road section so as to display the virtual warning board on a navigation map of the vehicle end. To remind the rear vehicle of the target vehicle to decelerate or to make route adjustment or emergency preparation in advance.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter, by way of illustration and not limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
FIG. 1 is a block flow diagram of an emergency stop alert method according to one embodiment of the invention;
fig. 2 is a block flow diagram of an emergency stop alert method according to another embodiment of the present invention;
FIG. 3 is a block diagram of the connection of an emergency stop warning system according to one embodiment of the present invention;
fig. 4 is a connection block diagram of an emergency stop warning system according to another embodiment of the present invention.
Detailed Description
Fig. 1 is a flow chart diagram of an emergency stop alert method according to one embodiment of the present invention. As shown in fig. 1, the present invention provides a V2X-based emergency stop warning method, which generally includes the steps of:
s10: the speed information, the light information and the warning board information of each vehicle in a first preset range in front of the vehicle are collected. The warning board information includes whether a warning board is placed, the position information of the warning board, and the like.
S20: and judging whether a target vehicle in a fault parking state exists in front of the vehicle according to the speed information, the light information and the warning board information. The target vehicle here is an anchor vehicle on the road. The light information here may be information such as a hazard warning flash, a contour light, a tail lamp, etc. of the target vehicle.
S30: and if the target vehicle exists, acquiring weather environment information of the place where the target vehicle is located, and identity information and position information of the target vehicle.
S40: and judging whether the placement of the warning board of the target vehicle is standard or not according to the weather environment information, the position information of the target vehicle and the warning board information.
For example, according to the traffic regulations, the triangular warning board is to be placed on the same lane as the failed vehicle, 50-100m behind the vehicle on the regular road, 150m behind the vehicle on the highway, and 200m behind the vehicle in rainy and foggy days with low visibility. If the triangular warning board meets a curved road, the triangular warning board is placed on the curved road, and if the triangular warning board is placed on a slope top or a slope bottom on a slope.
S50: and if the placement of the warning board of the target vehicle is not standard, sending first warning information to the target vehicle to prompt the target vehicle to regulate the placement of the warning board.
The emergency parking warning method of the embodiment considers the environmental factors and the warning board placing conditions of the anchored vehicle to judge whether the warning board of the anchored vehicle is placed in compliance or not, and if the warning board is not placed in compliance, first warning information is sent to the anchored vehicle, so that the anchored vehicle can be adjusted in time, secondary accidents are avoided as much as possible, and the safety is improved.
Fig. 2 is a flow chart diagram of an emergency stop warning method according to another embodiment of the present invention. In another embodiment, as shown in fig. 2, the emergency stop warning method further includes:
s60: if the placement of the warning board of the target vehicle is not standard, inquiring the mobile phone information of the owner corresponding to the target vehicle according to the identity information of the target vehicle;
s61: and sending the first warning information to the mobile phone of the vehicle owner.
On this embodiment was through sending first warning information to the car owner's cell-phone of the vehicle of breaking down simultaneously, can prevent that the target vehicle does not receive first warning information or when the car owner in time discovers this information, the condition of warning sign can't be put in time correctly to further strengthen the security.
The first warning information comprises information for reminding a target vehicle of placing a warning board and placing position information of the warning board. In other embodiments, the method can also comprise the information of forgetting to withdraw the warning board, and the like.
As shown in fig. 2, in one embodiment, the emergency stop warning method further includes:
s70: and if the placement of the warning board of the target vehicle is not standard, sending second warning information to the vehicle and other vehicles within a second preset range for reminding the vehicle and other vehicles to avoid the target vehicle. The other vehicles within the second preset range here may be passing vehicles at a distance from the rear of the target vehicle. The second warning information may include the relative position of the target vehicle and the host vehicle, and a warning of the placement of the warning board, for example, in the form of voice: the front 100m of the vehicle is provided with an anchored vehicle, occupies the leftmost lane and is not provided with a warning board.
In another embodiment, as shown in fig. 2, the emergency stop warning method further includes:
s80: and if the placement of the warning board of the target vehicle is not standard, sending the position information of the target vehicle to the cloud server, so that the cloud server establishes a virtual warning board on the map according to the position information of the target vehicle.
S81: the virtual warning board is received and displayed on a navigation map of the vehicle.
In this embodiment, the position information of the target vehicle is sent to the cloud server, so that the cloud server can mark the position where the warning board needs to be placed on the map, that is, the virtual warning board, and finally send the virtual warning board to the vehicles which are a certain distance away from the target vehicle, including the vehicle and other vehicles, and display the virtual warning board on the navigation map of the vehicles. For example, 150mm behind the target vehicle, to alert the rear vehicle to slow down or to make a route adjustment or emergency preparation in advance.
In another embodiment, the virtual warning board is established when the cloud server confirms that the reliability of the position information of the target vehicle exceeds a first preset value after receiving the position information of the target vehicle sent by the vehicles within a fourth preset range, and the virtual warning board is sent to the vehicle which is a certain distance away from the target vehicle.
The cloud server establishes a corresponding virtual triangular warning board and corresponding credibility information at a standard position on a map by collecting vehicle comprehensive information passing through the same road section, and continuously increases the credibility of the triangular warning board through information provided by a plurality of vehicles. When the credibility reaches a certain limit value, the cloud server informs vehicles on the same road section through the V2X technology, and formally establishes a virtual warning board on the navigation map. Therefore, the reliability of the abnormal scene can be accurately determined, so that the identification and early warning are more accurate and accurate, and the probability of misinformation and false alarm is reduced.
In one embodiment, S40 includes:
s41: and determining the information of the road section where the target vehicle is located according to the position information of the target vehicle. According to the position information of the target vehicle, in combination with the map information, information of a road section where the vehicle is currently located, such as whether the vehicle is on a curve, a slope, a lane on the order of several lanes, and the like, can be acquired.
S42: and determining the placement standard of the warning board of the target vehicle according to the weather environment information and the information of the road section where the target vehicle is located. For example, the weather is extreme weather such as rain and snow weather, heavy fog weather and the like, and the rain and fog weather with low visibility needs to be placed 200m behind the vehicle.
S43: and determining whether the placement of the warning board of the target vehicle is standard or not according to the placement standard of the warning board and the information of the warning board. Namely, whether the current warning board is placed normally is judged by comparing the warning board placing standard determined in the last step with the warning board placing condition of the current target vehicle.
In another embodiment, S40 further includes:
s44: and receiving weather environment information, position information of the target vehicle and warning board information sent by other vehicles within a fourth preset range.
S45: and performing data fusion on weather environment information, position information of the target vehicle and warning board information sent by the vehicle and other vehicles in a fourth preset range to determine the reliability of the data.
S46: and judging whether the placement of the warning board of the target vehicle is standard or not according to the data with the reliability higher than the preset value.
The embodiment receives the information of other vehicles at the same time, and the information is fused with the information collected by the vehicle, so that the identification reliability is commonly established, the misjudgment probability is reduced, and the information accuracy is improved.
Fig. 3 is a connection block diagram of an emergency stop warning system according to one embodiment of the present invention. As shown in fig. 3, the present invention also provides a V2X-based emergency stop warning system, which may generally include a first acquisition unit 10, a processor 20, a second acquisition unit 30, and a communication unit 40. The first collecting unit 10 is used for collecting speed information, light information and warning board information of each vehicle in a first preset range in front of the vehicle. And the processor 20 judges whether the target vehicle in the fault parking state is stored in front of the vehicle according to the speed information, the light information and the warning board information. The second collecting unit 30 is configured to collect weather environment information of a location of the target vehicle, identity information of the target vehicle, and location information of the target vehicle when the target vehicle exists. The processor 20 is further configured to determine whether the placement of the warning board of the target vehicle is normative according to the weather environment information, the position information of the target vehicle, and the warning board information. The communication unit 40 is configured to send first warning information to the target vehicle when the placement of the warning board of the target vehicle is not standardized, so as to prompt the target vehicle to standardize the placement of the warning board.
The emergency parking warning system of this embodiment considers the environmental factor of the vehicle of breaking down, whether the warning sign of the vehicle of breaking down is put the condition and is judged, if not then send first warning information for the vehicle of breaking down not standardize for this vehicle of breaking down can in time adjust, avoids the emergence of secondary accident as far as possible, improves the security.
Fig. 4 is a connection block diagram of an emergency stop warning system according to another embodiment of the present invention. As shown in fig. 4, optionally, the first acquisition unit 10 includes a camera 11 and a radar 12. For example, the camera 11 based on deep learning is used to identify the types of vehicles (cars, trucks, buses, etc.), license plates of vehicles, lane lines on the road. The vehicle type is combined, and the vehicle light starting state and the model of the triangular warning board can be accurately identified. The radar 12 can adopt a 77GHz millimeter wave radar 12, and the longitudinal detection range of the radar 12 in the long-distance mode is 0-250m, and the transverse detection range is +/-10 m. A target object in the range of 0 to 150m in front of the own vehicle is detected by the millimeter wave radar 12.
The processor 20 is further configured to fuse information collected by the camera 11 and the radar 12 to obtain data with higher confidence. The target object detection result and the lane line recognition result of the camera 11 and the millimeter wave radar 12 are fused, the placement distance information of the target vehicle and the triangular warning board which are detected together is reserved, information such as a dangerous warning flash lamp, a contour lamp and a rear tail lamp of the target vehicle is detected, and the vehicle is comprehensively judged to be in an emergency fault parking state.
As shown in fig. 4, the second collecting unit 30 optionally includes a light and rain sensor 13, a gradient sensor 14 and a GPS positioning module 15, and the light and rain sensor 13, the gradient sensor 14 and the GPS positioning module 15 may jointly determine weather environment information and geographical position information of the target vehicle. Optionally, V2X signals sent by other vehicles nearby can be collected at the same time, and the identification reliability is established. And jointly judging whether the target vehicle is in rainy and snowy weather, whether the fault vehicle is stopped on a straight road or a curved road, whether the fault vehicle is in a tunnel, an ascending slope or a descending slope and other environmental information by combining the data of the upper sensors, and judging whether the triangular warning board is placed in a non-placing mode, left-to-place mode, untimely-placing mode or irregular-placing mode and other abnormal conditions exist.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (10)
1. An emergency stop warning method based on V2X is characterized by comprising the following steps:
acquiring speed information, light information and warning board information of each vehicle in a first preset range in front of the vehicle;
judging whether a target vehicle in a fault parking state exists in front of the vehicle according to the speed information, the light information and the warning board information;
if the target vehicle exists, acquiring weather environment information of the location of the target vehicle, identity information and position information of the target vehicle;
judging whether the placement of the warning board of the target vehicle is standard or not according to the weather environment information, the position information of the target vehicle and the warning board information;
and if the placement of the warning board of the target vehicle is not standard, sending first warning information to the target vehicle to prompt the target vehicle to regulate the placement of the warning board.
2. The emergency stop warning method according to claim 1, further comprising:
if the placement of the warning board of the target vehicle is not standard, inquiring the mobile phone information of the owner corresponding to the target vehicle according to the identity information of the target vehicle;
and sending the first warning information to the mobile phone of the vehicle owner.
3. The emergency stop warning method according to claim 1 or 2,
the first warning information comprises information for reminding the target vehicle to place the warning board and placing position information of the warning board.
4. The emergency stop warning method according to claim 1 or 2, further comprising:
and if the placement of the warning board of the target vehicle is not standard, sending second warning information to the vehicle and other vehicles within a second preset range for reminding the vehicle and other vehicles to avoid the target vehicle.
5. The emergency stop warning method according to claim 4, further comprising:
if the placement of the warning board of the target vehicle is not standard, sending the position information of the target vehicle to a cloud server, and enabling the cloud server to establish a virtual warning board on a map according to the position information of the target vehicle;
and receiving the virtual warning board and displaying the virtual warning board on a navigation map of the vehicle.
6. The emergency stop warning method according to claim 5,
the virtual warning board is established when the cloud server confirms that the credibility of the position information of the target vehicle exceeds a first preset value after receiving the position information of the target vehicle sent by the vehicles within a fourth preset range.
7. The emergency stop warning method according to claim 1, wherein determining whether the placement of the warning board of the target vehicle is normative according to the weather environment information, the position information of the target vehicle, and the warning board information comprises:
determining information of a road section where the target vehicle is located according to the position information of the target vehicle;
determining a warning board placement standard of the target vehicle according to the weather environment information and the information of the road section where the target vehicle is located;
and determining whether the placement of the warning board of the target vehicle is standard or not according to the placement standard of the warning board and the warning board information.
8. The emergency stop warning method according to claim 7, wherein judging whether the placement of the warning board of the target vehicle is normative according to the weather environment information, the position information of the target vehicle, and the warning board information further comprises:
receiving the weather environment information, the position information of the target vehicle and the warning board information sent by other vehicles within a fourth preset range;
performing data fusion on the weather environment information, the position information of the target vehicle and the warning board information sent by the vehicle and other vehicles in the fourth preset range to determine the reliability of data;
and judging whether the placement of the warning board of the target vehicle is standard or not according to the data with the reliability higher than the preset value.
9. An emergency stop warning system based on V2X, comprising:
the first acquisition unit is used for acquiring speed information, light information and warning board information of each vehicle in a first preset range in front of the vehicle;
the processor judges whether a target vehicle in a fault parking state is stored in front of the vehicle according to the speed information, the light information and the warning board information;
the second acquisition unit is used for acquiring weather environment information of the location of the target vehicle, identity information and position information of the target vehicle when the target vehicle exists;
the processor is further used for judging whether the placement of the warning board of the target vehicle is standard or not according to the weather environment information, the position information of the target vehicle and the warning board information;
and the communication unit is used for sending first warning information to the target vehicle when the placement of the warning board of the target vehicle is not standard so as to prompt the target vehicle to standardize the placement of the warning board.
10. The emergency stop warning system according to claim 9,
the first acquisition unit comprises a camera and a radar;
the processor is further used for fusing the information collected by the camera and the radar to acquire data with higher confidence.
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| CN201911038261.1A CN110751844B (en) | 2019-10-29 | 2019-10-29 | Emergency stop warning method and system based on V2X |
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| CN201911038261.1A CN110751844B (en) | 2019-10-29 | 2019-10-29 | Emergency stop warning method and system based on V2X |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112907975A (en) * | 2021-01-23 | 2021-06-04 | 四川九通智路科技有限公司 | Detection method for abnormal parking based on millimeter wave radar and video |
| CN113173120A (en) * | 2021-04-14 | 2021-07-27 | 中山亿联智能科技有限公司 | 3D holographic projection curtain wall parking warning system and warning method |
| CN113301521A (en) * | 2021-05-24 | 2021-08-24 | 招商局检测车辆技术研究院有限公司 | Tunnel monitoring method and system based on V2X |
| CN113421438A (en) * | 2021-06-02 | 2021-09-21 | 上海大学 | Traffic accident warning board placing system and method based on unmanned aerial vehicle |
| CN115771455A (en) * | 2021-09-06 | 2023-03-10 | 博泰车联网(南京)有限公司 | Vehicle warning board placing method, system, medium and device |
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