CN112489495B - Vehicle early warning method and device, electronic equipment and storage medium - Google Patents
Vehicle early warning method and device, electronic equipment and storage medium Download PDFInfo
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- CN112489495B CN112489495B CN202011157655.1A CN202011157655A CN112489495B CN 112489495 B CN112489495 B CN 112489495B CN 202011157655 A CN202011157655 A CN 202011157655A CN 112489495 B CN112489495 B CN 112489495B
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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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- 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
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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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
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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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]
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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]
Abstract
The application provides a vehicle early warning method, a vehicle early warning device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring positioning equipment information, environment information, vehicle information and positioning information of each target vehicle in a target area; acquiring the position reliability information of each target vehicle according to the positioning equipment information and the environment information of each target vehicle; acquiring first vehicle information of each target vehicle according to the position reliability information, the vehicle information and the positioning information of each target vehicle; sending first whole vehicle information of each target vehicle in the target area to a current vehicle; acquiring azimuth information of all target vehicles relative to the current vehicle according to first whole vehicle information of all target vehicles in the target area and second whole vehicle information of the current vehicle; and carrying out early warning control on the current vehicle according to the azimuth information of all the target vehicles relative to the current vehicle. The method can effectively improve the accuracy of the early warning information, reduce misjudgment and improve the driving safety.
Description
Technical Field
The application relates to the technical field of intelligent networked automobiles, in particular to a vehicle early warning method and device, electronic equipment and a storage medium.
Background
The intelligent networked automobile is provided with advanced vehicle-mounted sensors, controllers, actuators and other devices, and is integrated with modern communication technology, so that intelligent information exchange and sharing between the automobile and X (people, automobile, road and cloud) can be realized; the intelligent automobile has the functions of complex environment perception, intelligent decision, cooperative control and the like, can realize safe, efficient, comfortable and energy-saving driving, and finally can realize a new generation of automobile operated by a substitute person.
For an intelligent internet automobile, a vehicle wireless to evolution (V2X) technology can realize sharing of real-time driving state information with other vehicles and facilities, and can also generate prediction information through a study and judgment algorithm. In the V2X early warning algorithm, it is first required that the host vehicle divides and judges the positions of a plurality of remote vehicles. Based on the position judgment of the remote vehicle, the early warning is realized. In the judgment of the direction of a far vehicle, the positioning precision is very critical to the influence of misinformation and missing report.
Currently, there is no unified standard for the use of positioning equipment, and the accuracy of the positioning equipment. Meanwhile, the equipment configured with V2X and the vehicle not configured with V2X equipment coexist for a long time, the positioning precision of the remote vehicle is difficult to confirm, and the problems of false alarm and missing report are easy to occur; in this case, how to start and how to determine the reliability of the positioning signal are necessary conditions for reducing false alarms and false negatives and for improving driving safety.
Disclosure of Invention
The application aims to solve the technical problems that false alarm and missing alarm are easy to occur in early warning and the accuracy is low in the prior art.
In order to solve the technical problem, a first aspect of the present application discloses a vehicle early warning method, including the following steps:
acquiring positioning equipment information, environment information, vehicle information and positioning information of each target vehicle in a target area;
acquiring the position reliability information of each target vehicle according to the positioning equipment information and the environmental information of each target vehicle;
acquiring first whole vehicle information of each target vehicle according to the position reliability information, the vehicle information and the positioning information of each target vehicle;
sending first whole vehicle information of each target vehicle in the target area to a current vehicle;
acquiring azimuth information of all target vehicles relative to the current vehicle according to first whole vehicle information of all target vehicles in the target area and second whole vehicle information of the current vehicle;
and carrying out early warning control on the current vehicle according to the direction information of all the target vehicles relative to the current vehicle.
Further, the obtaining of the location reliability information of each target vehicle according to the location device information and the environment information of each target vehicle includes:
acquiring positioning precision information of each target vehicle according to the positioning equipment information of each target vehicle, and acquiring positioning confidence probability information of each target vehicle according to the environmental information of each target vehicle;
and obtaining the position confidence information of the target vehicle according to the positioning precision information and the positioning confidence probability information.
Further, the position confidence information is confidence coding;
the obtaining of the location confidence information of the target vehicle according to the location precision information and the location confidence probability information includes:
obtaining a first code according to the positioning precision grade, and obtaining a second code according to the confidence probability; and acquiring the confidence coefficient code according to the first code and the second code.
Further, the current vehicle is subjected to early warning control according to the azimuth information of all the target vehicles relative to the current vehicle;
the method comprises the following steps:
screening and/or sequencing the azimuth information of all the target vehicles relative to the current vehicle according to target requirements to acquire target information;
and carrying out early warning control on the current vehicle according to the target information.
Further, the vehicle information of the target vehicle includes chassis data information of the target vehicle;
the second vehicle information of the current vehicle comprises chassis data information and positioning information of the current vehicle; the positioning information of the current vehicle includes position information and roadside information of the current vehicle.
The second aspect of the present application provides a vehicle warning device, including:
the acquisition module is used for acquiring positioning equipment information, environment information, vehicle information and positioning information of each target vehicle in the target area;
the acquisition module is used for acquiring the position reliability information of each target vehicle according to the positioning equipment information and the environment information of each target vehicle;
the acquisition module is used for acquiring first whole vehicle information of each target vehicle according to the position reliability information, the vehicle information and the positioning information of each target vehicle;
the sending module is used for sending first vehicle information of all target vehicles in the target area to a current vehicle;
the acquisition module is used for acquiring the direction information of all target vehicles relative to the current vehicle according to the first whole vehicle information of all target vehicles in the target area and the second whole vehicle information of the current vehicle;
and the early warning control module is used for carrying out early warning control on the current vehicle according to the azimuth information of all the target vehicles relative to the current vehicle.
Further, the obtaining module is specifically configured to:
acquiring positioning precision information of each target vehicle according to the positioning equipment information of each target vehicle, and acquiring positioning confidence probability information of each target vehicle according to the environment information of each target vehicle;
and obtaining the position confidence information of the target vehicle according to the positioning precision information and the positioning confidence probability information.
Further, the position confidence information is confidence coding; the acquisition module is specifically configured to:
obtaining a first code according to the positioning precision grade, and obtaining a second code according to the confidence probability; and acquiring the confidence coefficient code according to the first code and the second code.
A third aspect of the present application provides an electronic device comprising a processor and a memory, the memory having stored therein at least one instruction, at least one program, set of codes, or set of instructions, which is loaded and executed by the processor to implement the vehicle warning method.
A fourth aspect of the present application provides a computer storage medium, where at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the vehicle warning method.
By adopting the technical scheme, the application has the following beneficial effects:
according to the early warning method, the positioning accuracy of the target vehicle can be obtained according to the positioning equipment information of the target vehicle, and the positioning confidence probability information of the target vehicle can be obtained according to the environmental information of the target vehicle; obtaining the position reliability of the target vehicle according to the positioning precision information and the positioning confidence probability information; the problem of reliability of receiving the positioning signal can be effectively solved. Then, fusing first whole vehicle information of the target vehicle and second whole vehicle information of the current vehicle to obtain the position and position confidence of the target vehicle relative to the current vehicle, and performing early warning control based on the position and position confidence; after the positioning confidence coefficient is judged, whether the early warning scheme is started or not is judged, so that the accuracy of early warning information can be effectively improved, misjudgment is reduced, and the driving safety is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart diagram of a vehicle early warning method according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart illustrating a vehicle warning method according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of a vehicle warning device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making creative efforts shall fall within the protection scope of the present application.
Reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic may be included in at least one implementation of the present application. In the description of the embodiments of the present application, it is to be understood that the terms "upper", "lower", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," and the like 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 application described herein are capable of operation in sequences other than those illustrated or described herein.
The early warning method aims to solve the technical problems that false warning and missing warning are easy to occur in the prior art, and the accuracy is low. The following describes a specific embodiment of a vehicle warning method, and fig. 1 is a schematic flow chart of a vehicle warning method provided in the embodiment of the present application, and the present specification provides the method operation steps as in the embodiment or the flow chart, but may include more or less operation steps based on conventional or non-inventive 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. In practice, the system or server product may be implemented in a sequential or parallel manner (e.g., parallel processor or multi-threaded environment) according to the embodiments or methods shown in the figures. Specifically, as shown in fig. 1, the method may include:
s101, acquiring positioning equipment information, environment information, vehicle information and positioning information of each target vehicle in a target area;
the positioning device information is a positioning configuration of the target vehicle, for example, currently available positioning devices include a Global Navigation Satellite System (GNSS), real-Time kinematic (RTK) \ Real-Time dynamic code phase difference (RTD), inertial Measurement Unit (IMU), visual positioning, ultra Wide Band (UWB) device, and the like, and the positioning configuration of the target vehicle may be a combination of one or more positioning devices;
the environmental information may be the surrounding environment where the vehicle is located or the weather, for example, the surrounding environment may be an open place, a suburban area, an urban district, or the like, and the weather may be a rainy day or a sunny day, or the like;
the vehicle information may include chassis data of the vehicle, etc., which can reflect various aspects of the performance and conditions of the vehicle, such as vehicle speed, braking condition, throttle condition, etc.;
the positioning information may include vehicle position information and drive test information detected by the vehicle locating device.
S102, acquiring the position reliability information of each target vehicle according to the positioning equipment information and the environment information of each target vehicle; the method specifically comprises the following steps:
acquiring positioning precision information of each target vehicle according to the positioning equipment information of each target vehicle, and acquiring positioning confidence probability information of each target vehicle according to the environmental information of each target vehicle;
and obtaining the position confidence information of the target vehicle according to the positioning precision information and the positioning confidence probability information.
In the embodiment of the application, the positioning confidence information can be in a confidence coding form;
obtaining the position confidence information of the target vehicle according to the positioning precision information and the positioning confidence probability information, and the method comprises the following steps:
obtaining a first code according to the positioning precision grade, and obtaining a second code according to the confidence probability; and obtaining the confidence coefficient code according to the first code and the second code.
In the embodiment of the present application, a specific implementation manner of obtaining the location reliability information and encoding the location reliability information may be as follows:
different positioning accuracies can be formed according to the positioning device information of the target vehicle, i.e. the positioning configuration, for example, the positioning accuracy obtained by the positioning configuration combined by the GNSS and the RTK is less than 5cm, the grade is the highest, and can be 1 grade, and the positioning accuracy obtained by the positioning configuration combined by the GNSS signal and the UWB is slightly lower, and is 5-10cm, then the grade of the positioning accuracy can be 2 grade, etc., and the positioning accuracy of the target vehicle is graded according to the positioning device information of the target vehicle according to the method; coding 4 digits reflecting the positioning precision according to the grade; the specific division and coding are exemplified as follows: positioning accuracy is less than 5, the level is 1, and positioning codes are 0001; the positioning precision is 5-10cm, the grade is 2 grade, and the positioning code 0010 is obtained; positioning accuracy is 10-20, grade is 3, positioning code 0011; the positioning precision is 20-50cm, the grade is 4 grades, and the positioning code is 0100; the positioning precision is 50-100cm, the grade is 5 grades, and the positioning code is 0101; the positioning precision is 100-150cm, the grade is 6 grade, and the positioning code is 0110; the positioning precision is 150-200cm, the grade is 7 grades, and the positioning code is 0111; the positioning precision is 200-300cm, the grade is 8 grades, and the positioning code is 1000; the positioning accuracy is more than 300cm, the level is 9, and the code is positioned 1001.
Obtaining a positioning confidence probability according to the environmental information of the target vehicle, and dividing the grade of the positioning confidence probability, wherein for example, if the environment of the vehicle is an open place and the weather at that time is a clear day, the positioning confidence probability is higher and can be 1 grade, and if the environment of the vehicle is a suburban area and the weather is a clear day, the confidence probability is slightly lower than that of the open place and a clear scene, and can be 2 grades; coding the 4-bit number reflecting the positioning confidence probability according to the grade; the specific division and coding are exemplified as follows:
the environment is open place and clear day, the grade is 1, and the positioning code is 0001; the environment is suburb and sunny day, the grade is 2 grade, and the positioning code 0010; the environment is urban area and sunny day, the grade is 3 grade, and the positioning code 0011 is carried out; the environment is open place and rainy day, the grade is 4 grade, and the positioning code is 0100; the environment is suburb and rainy day, the grade is 5 grade, the positioning code is 0101; the environment is in rainy days in urban areas, the grade is 6, and the positioning code is 0110; combinations thereof. An 8-bit byte can be used for confidence probability coding and positioning precision coding. As shown in fig. 2, the upper 4 bits are used to indicate the probability of positioning accuracy, and the lower 4 bits are used to indicate the level of positioning accuracy.
The positioning confidence probability code is used as the first 4-bit number, the positioning precision code is used as the last 4-bit number, and an 8-bit code is formed, namely the confidence code, for example, if the positioning precision is 1 level and the positioning confidence probability is 1 level, the confidence code is 00010001.
S103, acquiring first vehicle information of each target vehicle according to the position reliability information, the vehicle information and the positioning information of each target vehicle; namely, the position confidence code of each vehicle, the vehicle chassis data information and the positioning information form the V2X information of the whole vehicle.
S104, sending first whole vehicle information of each target vehicle in the target area to the current vehicle; in the embodiment of the application, all vehicles in the target area can be target vehicles or can be partially target vehicles according to requirements, and the first whole vehicle information of all target vehicles, namely the overall V2X information of each vehicle is sent to the current vehicle in a wireless mode.
S105, acquiring azimuth information of all target vehicles relative to the current vehicle according to the first whole vehicle information of all target vehicles in the target area and the second whole vehicle information of the current vehicle;
in the embodiment of the application, the position of the target vehicle can be judged according to the positioning information of the target vehicle, and the position of the current vehicle can be judged according to the whole vehicle information of the current vehicle, so that the directions of all the target vehicles relative to the current vehicle, such as the position in the front or the position in the rear right, can be judged by taking the current vehicle as an origin or a center; because the whole vehicle information of the target vehicle comprises the confidence coefficient information, the direction is a direction with the confidence coefficient and can reflect the confidence coefficient of the direction judgment; and secondly, the whole vehicle information of the target vehicle also comprises vehicle information, namely chassis data information of the vehicle, and the azimuth change of the vehicle can be predicted in real time.
And S106, performing early warning control on the current vehicle according to the direction information of all the target vehicles relative to the current vehicle. It includes:
screening and/or sequencing azimuth information of all target vehicles relative to the current vehicle according to target requirements to obtain target information; and carrying out early warning control on the current vehicle according to the target information.
The method comprises the following steps that the direction information of all target vehicles relative to the current vehicle is screened and/or sorted according to target requirements, wherein the screening and/or mode can be based on 3 principles, firstly, the distance nearest principle, namely each type of early warning mainly processes the vehicles within a certain range with the host vehicle, for example, left collision early warning, namely the direction information of the target vehicles relative to the host vehicle within a certain range at the left, the front left or the rear left of the vehicle with the nearest distance needs to be screened; and performing early warning control, for example, judging the possibility of collision, sending collision reminding and the like. Secondly, a priority principle, namely, giving priority to early warning which occurs first, namely, ordering and screening the azimuth information of the target vehicle relative to the current vehicle, wherein the target vehicle is related to the early warning which occurs first and the early warning which occurs later, so as to obtain the target information containing the ordering; sending the data to a rear-end early warning judgment or early warning control module for processing item by item; thirdly, according to the confidence coefficient principle, if the azimuth information with lower confidence coefficient is obtained, the early warning function is not started, and the azimuth information is eliminated; and selecting the azimuth information of the vehicle corresponding to the confidence coefficient meeting the requirement according to the requirement.
And performing early warning control on the current vehicle according to the target information, performing early warning judgment according to the target information, determining whether to start early warning, and entering an early warning algorithm to implement an early warning function if the early warning is to be started. For scenes with low confidence coefficient, early warning judgment can not be started so as to avoid generating misjudgment.
In the embodiment of the application, an implementable scheme is adopted, and the step of screening and/or sorting the azimuth information of all target vehicles relative to the current vehicle according to the target requirements can be performed after the first vehicle information and the second vehicle information are combined as above; in another implementable scheme, the target information can be obtained by screening and/or sorting based on the whole vehicle information of the target vehicle, then the screened and/or sorted target information is sent to the current vehicle to be combined with the whole vehicle information of the current vehicle, and then early warning processing is performed.
In the embodiment of the application, the early warning efficiency can be improved by screening the orientation information according to the requirements. In the embodiment of the present application, the wide-range application scenario may be that a vehicle equipped with a V2X device broadcasts positioning information, confidence information, and other necessary information, such as speed and heading angle information, to other vehicles, and the host vehicle performs position fusion on the host vehicle chassis data information, roadside information, positioning information, and overall vehicle information of a remote vehicle, that is, a target vehicle, to determine direction information of the other vehicles relative to the host vehicle. And then carrying out early warning algorithm calculation based on the information.
The early warning method can acquire the positioning precision of the target vehicle according to the positioning equipment information of the target vehicle and acquire the positioning confidence probability information of the target vehicle according to the environmental information of the target vehicle; obtaining the positioning reliability of the target vehicle according to the positioning precision information and the positioning confidence probability information; the problem of reliability of receiving the positioning signal can be effectively solved. Then, the first whole vehicle information of the target vehicle and the second whole vehicle information of the current vehicle are fused to obtain the position and position confidence of the target vehicle relative to the current vehicle, and early warning control is performed based on the position and position confidence; after the positioning confidence is judged, whether the early warning scheme is started or not is judged, so that the accuracy of early warning information can be effectively improved, misjudgment is reduced, and the driving safety is improved. Namely, in the embodiment of the application, the information of the remote vehicle and the information of the current vehicle are fused to realize the judgment of the direction. Unlike conventional fusion schemes, fusion schemes increase confidence determinations. Namely, the current vehicle forms a series of position judgment with confidence coefficient based on the confidence coefficient of the remote vehicle positioning; and judging whether to start an early warning scheme or not based on the confidence. If the confidence coefficient is low, the early warning scheme is not started so as to improve the accuracy of early warning information and reduce misjudgment, thereby improving the driving safety.
FIG. 2 is a schematic flow chart illustrating a vehicle warning method according to an embodiment of the present disclosure; the vehicle early warning method in fig. 2 includes:
s201, acquiring positioning equipment information, environment information, vehicle information and positioning information of each target vehicle in a target area;
s202, acquiring positioning precision information of each target vehicle according to the positioning equipment information of each target vehicle, and acquiring positioning confidence probability information of each target vehicle according to the environment information of each target vehicle;
s203, acquiring a first code according to the positioning precision grade and acquiring a second code according to the confidence probability; and obtaining the confidence coefficient code according to the first code and the second code.
S204, acquiring first vehicle information of each target vehicle according to the position reliability information, the vehicle information and the positioning information of each target vehicle;
s205, sending first whole vehicle information of each target vehicle in the target area to the current vehicle;
s206, acquiring azimuth information of all target vehicles relative to the current vehicle according to the first whole vehicle information of all target vehicles in the target area and the second whole vehicle information of the current vehicle;
s207, screening and/or sequencing the azimuth information of all target vehicles relative to the current vehicle according to target requirements to acquire target information;
and S208, performing early warning control on the current vehicle according to the target information.
In a second aspect, the present application provides a vehicle warning device, which is based on the same inventive concept as the above method, and fig. 3 is a schematic diagram of a vehicle warning device 300 according to the present application, and the device includes:
an obtaining module 301, configured to obtain positioning device information, environment information, vehicle information, and positioning information of each target vehicle in a target area;
the acquisition module 301 is configured to acquire location reliability information of each target vehicle according to the location device information and the environment information of each target vehicle;
the acquisition module 301 is configured to acquire first vehicle information of each target vehicle according to the location reliability information, the vehicle information, and the location information of each target vehicle;
the sending module 302 is configured to send first vehicle information of all target vehicles in a target area to a current vehicle;
the acquiring module 301 is configured to acquire bearing information of all target vehicles relative to a current vehicle according to first vehicle information of all target vehicles in a target area and second vehicle information of the current vehicle;
and the early warning control module 303 is configured to perform early warning control on the current vehicle according to the direction information of all the target vehicles relative to the current vehicle. The early warning control may include early warning judgment, early warning processing, and the like.
In this embodiment of the application, the obtaining module 301 is specifically configured to:
acquiring positioning precision information of each target vehicle according to the positioning equipment information of each target vehicle, and acquiring positioning confidence probability information of each target vehicle according to the environment information of each target vehicle;
and obtaining the position confidence information of the target vehicle according to the positioning precision information and the positioning confidence probability information.
In the embodiment of the application, the position confidence information is confidence coding; the obtaining module 301 is specifically configured to:
obtaining a first code according to the positioning precision grade, and obtaining a second code according to the confidence probability; and acquiring a confidence coefficient code according to the first code and the second code.
A third aspect of the present application provides an electronic device, which includes a processor and a memory, where at least one instruction, at least one program, a set of codes, or a set of instructions is stored in the memory, and the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by the processor to implement a vehicle warning method.
A fourth aspect of the present application provides a computer storage medium, where at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or the at least one program is loaded and executed by a processor to implement a vehicle warning method.
Optionally, in this embodiment of the present application, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages 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, for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
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 hardware related to instructions of a program, and the program may be stored in a computer readable storage medium, where the above mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk.
The present invention is not limited to the above embodiments, and any modifications, equivalents, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A vehicle early warning method is characterized by comprising the following steps:
acquiring positioning equipment information, environment information, vehicle information and positioning information of each target vehicle in a target area; the positioning device information is the positioning configuration of the target vehicle, and the positioning configuration of the target vehicle can be one or a combination of a plurality of positioning devices; the vehicle information includes chassis data of the vehicle; the positioning information comprises vehicle position information and road side information;
acquiring positioning precision information of each target vehicle according to the positioning equipment information of each target vehicle, and acquiring positioning confidence probability information of each target vehicle according to the environment information of each target vehicle; obtaining the position confidence information of the target vehicle according to the positioning precision information and the positioning confidence probability information;
acquiring first whole vehicle information of each target vehicle according to the position reliability information, the vehicle information and the positioning information of each target vehicle;
sending first whole vehicle information of each target vehicle in the target area to a current vehicle;
acquiring azimuth information of all target vehicles relative to the current vehicle according to first whole vehicle information of all target vehicles in the target area and second whole vehicle information of the current vehicle;
and carrying out early warning control on the current vehicle according to the direction information of all the target vehicles relative to the current vehicle.
2. The vehicle warning method of claim 1, wherein the location confidence information is a confidence encoding;
the obtaining of the location reliability information of the target vehicle according to the location precision information and the location confidence probability information includes:
obtaining a first code according to the positioning precision grade, and obtaining a second code according to the confidence probability; and acquiring the confidence coefficient code according to the first code and the second code.
3. The vehicle early warning method according to claim 1, wherein the early warning control is performed on the current vehicle according to the azimuth information of all the target vehicles relative to the current vehicle;
the method comprises the following steps:
screening and/or sequencing the azimuth information of all target vehicles relative to the current vehicle according to target requirements to acquire target information;
and carrying out early warning control on the current vehicle according to the target information.
4. The vehicle warning method according to claim 1, wherein the vehicle information of the target vehicle includes chassis data information of the target vehicle;
the second whole vehicle information of the current vehicle comprises chassis data information and positioning information of the current vehicle; the positioning information of the current vehicle includes position information and roadside information of the current vehicle.
5. A vehicle warning device, comprising:
the acquisition module is used for acquiring positioning equipment information, environmental information, vehicle information and positioning information of each target vehicle in the target area; the positioning device information is the positioning configuration of the target vehicle, and the positioning configuration of the target vehicle can be one or a combination of a plurality of positioning devices; the vehicle information includes chassis data of the vehicle; the positioning information comprises vehicle position information and roadside information;
the acquisition module is used for acquiring the positioning precision information of each target vehicle according to the positioning equipment information of each target vehicle and acquiring the positioning confidence probability information of each target vehicle according to the environment information of each target vehicle; obtaining the position confidence information of the target vehicle according to the positioning precision information and the positioning confidence probability information;
the acquisition module is used for acquiring first whole vehicle information of each target vehicle according to the position reliability information, the vehicle information and the positioning information of each target vehicle;
the sending module is used for sending first vehicle information of all target vehicles in the target area to a current vehicle;
the acquisition module is used for acquiring the azimuth information of all target vehicles relative to the current vehicle according to the first whole vehicle information of all target vehicles in the target area and the second whole vehicle information of the current vehicle;
and the early warning control module is used for carrying out early warning control on the current vehicle according to the azimuth information of all the target vehicles relative to the current vehicle.
6. The vehicle early warning device according to claim 5, wherein the obtaining module is specifically configured to:
and acquiring the positioning precision information of each target vehicle according to the positioning equipment information of each target vehicle, and acquiring the positioning confidence probability information of each target vehicle according to the environment information of each target vehicle.
7. The vehicle warning device of claim 6, wherein the location confidence information is a confidence encoding; the acquisition module is specifically configured to:
obtaining a first code according to the positioning precision grade, and obtaining a second code according to the confidence probability; and acquiring the confidence coefficient code according to the first code and the second code.
8. An electronic device 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, or the set of instructions being loaded and executed by the processor to implement the vehicle warning method according to any one of claims 1 to 4.
9. A computer storage medium having at least one instruction or at least one program stored therein, the at least one instruction or the at least one program being loaded and executed by a processor to implement the vehicle warning method according to any one of claims 1 to 4.
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