CN112669607A

CN112669607A - Method and equipment for early warning of road facility structure risk based on Internet of vehicles

Info

Publication number: CN112669607A
Application number: CN202011557914.XA
Authority: CN
Inventors: 禹尧; 黄彦钦
Original assignee: Daimler AG
Current assignee: Mercedes Benz Group AG
Priority date: 2020-12-25
Filing date: 2020-12-25
Publication date: 2021-04-16

Abstract

The invention relates to the field of intelligent road traffic networks. The invention provides a method for early warning the structural risk of road facilities based on the Internet of vehicles technology, which comprises the following steps: acquiring at least one structural parameter characterizing a current structural characteristic of the asset, the at least one structural parameter being detected by means of a sensor device arranged on the asset or in its surroundings; judging whether the road facilities have structural risks according to at least one structural parameter; generating a safety alarm in case of judging that the road facility has a structural risk; safety alerts are sent to vehicles in the surroundings of the asset and/or to the supervision platform by means of car networking technology to prompt them to take corresponding safety measures. The invention also relates to a corresponding device, a road side unit, a vehicle and a supervision platform. The invention aims to enable vehicles to react to structural risks of road facilities in advance based on the internet of vehicles technology so as to effectively avoid traffic accidents.

Description

Method and equipment for early warning of road facility structure risk based on Internet of vehicles

Technical Field

The invention relates to a method for early warning the structural risk of a road facility based on an Internet of vehicles technology, equipment for early warning the structural risk of the road facility based on the Internet of vehicles technology, a road side unit, a vehicle and a supervision platform.

Background

With the popularization and development of mobile communication network technology and automatic driving technology, more and more vehicles are equipped with intelligent driving assistance systems. In order to achieve reliable driving safety and optimize road traffic efficiency, an automatic driving system is required to make correct prejudgments and decisions even in a complex traffic environment. However, timely, safe response to an emergency remains a major difficulty in the field of automated driving.

For safety events like those due to bridge collapse, it is required that the vehicle takes effective countermeasures in advance in case of exceeding the detection distance of the on-board sensors. Under such extreme conditions, accidents are easily caused by only relying on simple driving prohibition reminding or requiring a driver to take over, and if no proper technical scheme is available, functional safety needs to be guaranteed, so that the user satisfaction can be reduced due to the fact that a narrower automatic driving design operation domain is set.

In order to solve the problem, in the prior art, data support is provided for a navigation device of a vehicle based on the collection of shock absorption data of a bridge damper, wherein a bridge vibration peak curve is particularly sent to the navigation device of the vehicle, so that the navigation device of the vehicle judges the bridge traffic flow of the vehicle passing through a bridge time period according to the vibration peak curve, and if the traffic flow is more, a route is re-planned to avoid congestion and avoid causing the bridge to be subjected to more vibration.

However, the above solutions still have many disadvantages, and especially, the current information processing method only allows simple damping measurement data interaction, and cannot achieve the purpose of accurate early warning, and meanwhile, due to the high analysis processing requirements in terms of vehicle navigation devices and the accompanying huge hardware overhead, accident risks cannot be avoided in time for those vehicles with low automation degree, and thus, potential safety hazards still exist.

Disclosure of Invention

The invention aims to provide a method for early warning the structural risk of a road facility based on an Internet of vehicles technology, equipment for early warning the structural risk of the road facility based on the Internet of vehicles technology, a road side unit, a vehicle and a supervision platform, so as to at least solve part of problems in the prior art.

According to a first aspect of the present invention, there is provided a method for warning a structural risk of an asset based on internet of vehicles technology, the method comprising:

acquiring at least one structural parameter characterizing a current structural characteristic of the asset, the at least one structural parameter being detected by means of a sensing device arranged in the surroundings of the asset;

judging whether the road facilities have structural risks according to the at least one structural parameter;

generating a safety alert if it is determined that the asset is at structural risk; and

sending the security alert to a vehicle in the surroundings of the asset and/or to a regulatory platform via an internet of vehicles technology to prompt the vehicle and/or the regulatory platform to take corresponding security measures.

The invention comprises the following technical concepts: the invention monitors the structural safety condition of road facilities in real time by means of the sensing device arranged on the road side, and transmits early warning information to nearby vehicles through the internet of vehicles technology when potential safety hazards exist, so that the vehicles take preventive measures in advance, and risks are effectively avoided. In addition, the purposes of monitoring traffic states and adjusting traffic flows in a centralized manner can be achieved by transmitting early warning messages to the monitoring platform, so that accidents are avoided from the source. At the same time, the invention aims to directly transmit the warning message to the vehicle without requiring the vehicle to be equipped with complex computing power, so that even vehicles with low automation degree can benefit from the early warning strategy and the accident occurrence probability is reduced.

Optionally, the step of determining whether the asset is at structural risk comprises: comparing the acquired at least one structural parameter of the asset with a pre-stored reference structural parameter; and determining whether there is a structural risk of the asset in terms of the resonant characteristics of the asset based on the result of the comparison.

Optionally, the step of determining whether the asset is at structural risk comprises: calculating a difference value between the acquired current vibration frequency of the road facility and a pre-stored natural vibration frequency; and determining that the road equipment has a structural risk in terms of resonance characteristics if the difference is less than a predefined frequency threshold.

Optionally, the step of generating a security alert comprises: calculating the risk degree of the judged structural risk; determining a rating of the safety warning to be generated as a function of the ascertained degree of risk, the rating defining in particular a transmission range, a transmission frequency and/or a content of the safety warning, wherein in particular the range and/or the frequency of the transmission of the safety warning increases as the degree of risk increases; and generating a security alert at the determined ranking.

Here, the technical advantage is achieved, in particular, that by defining the degree of risk for the structural risk, the content, the transmission range and/or the transmission frequency of the safety warning can be dynamically adapted to the structural risk level of the road installation, whereby the severity of the risk present can be presented to the vehicle or the monitoring platform in a more intuitive manner in order for the vehicle and the monitoring platform to take more effective measures to avoid the occurrence of an accident. For example, in the case of a low degree of danger, safety warnings with a low classification can be generated, and the vehicle, in the case of receiving a corresponding safety warning, can offer a plurality of possible solutions with a greater degree of freedom, in order not to reduce the user comfort as far as possible while ensuring safety. However, in the case of a high degree of danger, a safety warning with a high classification is generated, which can be interpreted, in particular, as "high-risk" information on the vehicle, in which case the vehicle can take action such as emergency braking to minimize accident injuries.

Optionally, in the step of generating the safety warning, the risk level of the structure risk of the asset is found by: the method comprises the steps of constructing a normal distribution curve of natural vibration frequencies of the road facilities, determining the positions of the acquired current vibration frequencies of the road facilities in the section of the normal distribution curve, and calculating the danger degree of the structural risks of the road facilities according to the positions.

Optionally, in the step of generating the safety warning, the risk level of the structure risk of the asset is found by: constructing a multivariate function based on the acquired current vibration frequency of the road facility and a pre-stored natural vibration frequency, performing interval classification on the result value of the multivariate function, and obtaining the risk degree of the structural risk of the road facility according to the result of the interval classification.

Optionally, before the step of generating a security alarm, the method according to the invention further comprises the steps of:

acquiring performance parameters representing quality characteristics of the sensing device; and

and carrying out reliability inspection on the judged result according to the performance parameters.

According to a second aspect of the present invention, there is provided an apparatus for warning of a structural risk of an asset based on car networking technology, the apparatus being configured to perform the method according to the first aspect of the present invention, the apparatus comprising:

an acquisition module configured and adapted to acquire at least one structural parameter characterizing a current structural characteristic of the asset, said at least one structural parameter being detected by means of a sensing device arranged in the surroundings of the asset;

a determination module configured and adapted to determine whether there is a structural risk of the asset based on the at least one structural parameter; and

a generation module configured to generate a safety alert if it is determined that the asset is at structural risk; and

a transmission module configured to be adapted to send the safety alert to vehicles in the surroundings of the asset and/or to a supervision platform by means of vehicle networking technology to prompt the vehicles and/or the supervision platform to take corresponding safety measures.

According to a third aspect of the invention there is provided a road side unit comprising an apparatus according to the second aspect of the invention.

According to a fourth aspect of the present invention, there is provided a vehicle comprising control means configured to control the vehicle to take corresponding safety measures in the event of receipt of a safety alert transmitted in accordance with the method of the first aspect of the present invention.

Optionally, the control means is configured to match the received road infrastructure with in-vehicle map information.

Optionally, the control means is configured to take corresponding safety measures in dependence on the ranking of the received safety alerts and in dependence on the position of the vehicle relative to the asset.

Optionally, the control is configured to control the vehicle to immediately take emergency braking if the rating of the safety alert exceeds a predefined rating threshold and if the distance of the vehicle relative to the asset is less than a predefined distance threshold. Optionally, the control device is further configured to restart the system of the vehicle in case the safety alarm is not received again within a predetermined period of time in which the safety alarm is received.

Optionally, the control means is configured to control the navigation means of the vehicle to re-route around the asset if the ranking of the safety alert exceeds a predefined ranking threshold and if the distance of the vehicle relative to the asset is greater than a predefined distance threshold.

Optionally, the control means is configured to control the vehicle to maintain a greater safe distance and/or reduce vehicle speed in the event that the rating of the safety alert is less than a predefined rating threshold.

According to a fifth aspect of the present invention, there is provided a regulatory platform configured to take corresponding security measures in case of receiving a security alarm transmitted according to the method of the first aspect of the present invention, the security measures comprising:

a plausibility check of the structural risk of the roadway on the basis of sensor information of the further sensor device and/or a commercial data platform;

accident early warning information and/or accident information is sent to a rescue organization in the surrounding environment of the road facility; and

traffic flow restriction instructions and/or traffic closure instructions are sent to road side units and/or commercial data platforms in the ambient environment of the asset.

Drawings

The principles, features and advantages of the present invention may be better understood by describing the invention in more detail below with reference to the accompanying drawings. The drawings comprise:

fig. 1 shows a flow chart of a method for pre-warning of a structural risk of an asset based on car networking technology according to an exemplary embodiment of the present invention;

FIGS. 2a-2c show schematic diagrams of determining the risk level of a structural risk of an asset according to one example of the invention;

fig. 3 shows a block diagram of an apparatus for pre-warning of a structural risk of an asset based on car networking technology according to an exemplary embodiment of the present invention; and

fig. 4 shows a schematic diagram of an application scenario for early warning of structural risks of an asset based on car networking technology according to an exemplary embodiment of the present invention.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and exemplary embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of the invention.

Fig. 1 shows a flow chart of a method for warning of structural risks of an asset based on car networking technology according to an exemplary embodiment of the present invention.

In step S1, at least one structural parameter characterizing the current structural characteristics of the asset is acquired, which is detected by means of a sensor device arranged on the asset or in its surroundings.

In the sense of the present invention, road infrastructure is understood in particular to be: road structures which are overhead or have a defined height can be, for example, bridges (viaducts, pedestrian overpasses, city loops), tunnels, utility poles, highway gantries, high-voltage pylons, etc.

The at least one structural parameter may be displacement, velocity, acceleration, vibration frequency, vibration amplitude, etc. Here, "at least one structural parameter characterizes a current structural property of the asset" is to be understood as: such a structural parameter acquired in step S1 is not a previously known intrinsic property of the asset, but rather a real-time property of the asset which is present at the time of detection by means of the sensor device, in particular as a result of a combination of factors such as the current environmental conditions and traffic load.

The sensor device may be a component of a road-side unit arranged on the road infrastructure or in its surroundings, and may be, in particular, an inertial sensor, an acceleration sensor, a displacement sensor, a strain resistance sensor, an electronic pulse counting sensor, and other sensors which are customary in modern vibration measurement.

In step S2, it is determined whether there is a structural risk of the asset based on the at least one structural parameter.

In the sense of the present invention, the structural risk of the road installation is to be understood as: any situation that may occur in the construction of the road installation that endangers the safety of the traffic participants may be, among other things, collapse (e.g. due to resonance occurring), falling, shaking, breaking, etc.

As an example, the acquired at least one structural parameter of the asset may be compared with a pre-stored reference structural parameter of the asset (e.g. an intrinsic structural parameter of the asset, such as an intrinsic vibration frequency, etc.) and it may be determined whether the asset is at structural risk in terms of a resonance characteristic of the asset according to the result of the comparison. In the case where the structural parameter is the current vibration frequency (generated by external excitation) of the road system, the current vibration frequency of the road system can be compared with a previously stored natural vibration frequency, wherein in particular the difference between the current vibration frequency and the natural vibration frequency can be calculated. In the case where the difference is smaller than the predefined frequency threshold, it means that the frequency of the externally excited vibration of the road facility is the same as or very close to its own natural frequency, and the response generated in this case appears as a large amplitude vibration, thereby determining that the road facility is at a structural risk in terms of resonance characteristics.

Here, the natural frequency of the asset may be detected in advance by a sensor device in the surrounding environment or detected using another method and stored in advance as an intrinsic property of the asset, and recalled when it is necessary to determine the structural risk of the asset. The location of the asset may also be pre-stored by a regulatory platform, onboard maps, commercial data platform, etc., and recalled upon verification and/or dissemination of the information. When the natural vibration frequency of the road facility is tested, multiple orders of natural vibration frequencies are usually obtained, wherein the order corresponds to the degree of freedom, and 1 degree of freedom corresponds to the 1 order of natural vibration frequency (or 1 order mode). Although the structural continuum theoretically has infinite natural vibration frequencies of multiple orders, only low order natural vibration frequencies or specific order natural vibration frequencies are of interest in the present invention. The method of measuring and storing the natural frequency of vibration is not discussed in detail herein.

Optionally, before proceeding to step S3, a performance parameter characterizing the quality characteristic of the sensing device may be obtained, and the reliability of the determined structural risk may be checked according to the performance parameter. If the performance parameters result that the sensing device has a fault or is out of order, the structural risk can be timely fed back to the supervision platform and checked by other modes or based on other sensing devices.

In step S3, a safety alarm is generated when it is determined that the road facility is at risk of being structurally disposed.

As an example, a risk level of the structural risk may be found and the safety alarm to be generated may be ranked according to the risk level. For example, in the case where the acquired structural parameter is the current vibration frequency of the infrastructure, the closer the current vibration frequency is to the natural vibration frequency, the greater the possibility of resonance of the infrastructure and the vibration amplitude are, and thus the higher the risk level is defined.

In order to distinguish and quantify the individual risk levels of the structural risk, a multivariate function can be constructed with the natural vibration frequency and the current vibration frequency, and the risk level can be determined on the basis of the interval classification of the result values of the multivariate function. For example, such a multivariate function can be given by the following formula:

wherein Y represents a result value of the multivariate function, b represents a natural vibration frequency of the asset, f represents a frequency difference between an acquired current vibration frequency of the asset and the natural vibration frequency, p represents a peak value of the acquired current vibration frequency, c represents an order factor corresponding to the acquired current vibration frequency, a represents an order factor corresponding to the frequency difference, and d represents a structural integration factor of the asset. Different weights in terms of material, length, geographical area, cross-sectional load distribution characteristics of the road installation may for example be taken into account when determining the structural combination factor.

Furthermore, the risk level of the structural risk can also be determined by analyzing a normal distribution curve of the natural vibration frequency, which will be described in detail in conjunction with the following description.

Depending on the degree of risk of the structural risk of the asset, the safety alarms can be classified into different classes, for example: high risk, cautious and normal. The spatial range over which the safety warning is transmitted can be dynamically adapted to the risk level of the structural risk. For example, for a medium or low risk safety alert (e.g., caution), the safety alert may be sent to vehicles within a first distance (e.g., 200m) of the asset, and for a higher risk safety alert (e.g., high risk), the safety alert may be sent to vehicles within a second distance (e.g., 500m), thereby ensuring that more vehicles learn about the hazardous condition of the asset as early as possible and take timely action based on the V2X technology.

In addition to the spatial extent to which safety warnings are transmitted being dynamically adapted to the risk level of the structural risk, the transmission frequency and the transmission content of the safety warnings can be adapted in accordance with the risk level. For a more dangerous safety alarm, especially, concise reminder content can be frequently sent at shorter time intervals. For the supervision platform with more other vehicle dynamic information, the reminding content can be selectively and adjustably issued according to the dynamic change of the road facility danger index parameter and the characteristics (such as vehicle types) and states (such as vehicle speeds) of the vehicles.

In step S4, a security alert is sent to the vehicles in the surroundings of the asset and/or to the regulatory platform via the internet of vehicles technology to prompt the vehicles and/or the regulatory platform to take corresponding security measures.

In the sense of the present invention, a vehicle in the surroundings of an asset may be a vehicle that is passing and/or is about to pass through the road section in which the asset is located. These vehicles are equipped with communication means, for example based on V2X technology, in order to receive warning information about the structural risk of the road installation. These vehicles may in particular be at least partially automated, but they may also be vehicles with a lower degree of automation (e.g. driven manually).

A regulatory platform can be understood as a traffic authority or traffic control center with uniform decision-making capability and authority, where the checking, collection, distribution, traffic control, etc. of the structural risks of the road infrastructure can be centrally performed.

Fig. 2a-2c show schematic views of determining the risk level of a structural risk of an asset according to one example of the invention.

The risk level of the structural risk of the road installation is determined here by means of a normal distribution curve of the natural vibration frequencies of the road installation. In fig. 2a, normal distribution curves of the natural vibration frequency are shown for different road systems. Here, factors such as the structural strength, rigidity, material, and mass of the road infrastructure itself affect the form of the normal distribution curve, particularly the scale parameter σ.

In order to grade the structural risk of the infrastructure, different intervals may be defined for the normal distribution curve of the natural vibration frequency. An exemplary interval division is shown in fig. 2 b. Here, the frequency range of [0, μ -2 σ ], [ μ +2 σ, ∞ ] can be defined as a normal range, that is, a section with a low risk level, using the natural frequency as the position reference μ. The frequency ranges of [ mu-2 sigma, mu-sigma ] and [ mu + sigma, mu +2 sigma ] can be defined as discreet ranges, i.e. intervals of moderate risk. Further, the frequency range of [ μ - σ, μ + σ ] may be defined as a high risk range, i.e., an interval in which the risk degree is high. After the current vibration frequency of the asset is acquired, the degree of risk of the structural risk of the asset may be determined by determining in which section the current vibration frequency is located.

Here, for the structural risk classification and evaluation of road facilities, the standard normal distribution model is a more ideal and easily implemented probabilistic model. However, it is also conceivable to use other types of probabilistic models, which are exemplarily shown in fig. 2 c: the standard normal distribution is shown on the left side of fig. 2c and the log-normal distribution is shown on the right side of fig. 2 c.

Fig. 3 shows a block diagram of an apparatus for early warning of a structural risk of an asset based on car networking technology according to an exemplary embodiment of the present invention.

As shown in fig. 3, the device 1 comprises an acquisition module 10, a determination module 20, a generation module 30 and a transmission module 40, which are connected to each other in terms of communication technology.

The acquisition module 10 may be configured as a communication interface and be adapted to acquire at least one structural parameter characterizing a current structural property of the asset, which is detected by means of a sensing device arranged on the asset or in its surroundings. The acquisition module 10 may also be configured to be part of the sensing device itself. The determination module 20 is configured and adapted to determine whether a structural risk of the asset exists based on the at least one structural parameter. The decision module 20 optionally also has a memory (not shown), in which the intrinsic properties of the road installation can be stored, for example, as predefined values. The generation module 30 is configured and adapted to generate a security alarm in case it is determined that the road infrastructure is at structural risk. The transmission module 40 can likewise be designed as a communication interface and can be designed, for example, identically or differently to the acquisition module 10. The transmission module 40 is configured and adapted to send the safety alert to vehicles in the surroundings of the asset and/or to a supervision platform by means of car networking technology to prompt said vehicles and/or said supervision platform to take corresponding safety measures.

The device 1 may in particular be comprised by a road side unit arranged on the road infrastructure or in its surroundings. The device 1 may also be part of a vehicle or other infrastructure, for example a regulatory platform, equipped with V2X technology equipment.

As shown in fig. 4, a plurality of

roadside units

201, 202, 203 are arranged at preset intervals on the current road segment, and these

roadside units

201, 202, 203 are capable of wireless communication with a plurality of

vehicles

101, 102, 103 in the surrounding environment based on the V2X technology. In the section shown in fig. 4, the road infrastructure 300 can also be seen in the form of a bridge, the roadside unit 201 arranged at the road infrastructure 300 having, for example, the arrangement shown in fig. 3 according to the invention in order to be able to generate and transmit safety warnings concerning the structural risk of the road infrastructure and to pass on such safety warnings to the

vehicles

101, 102, 103 and to the supervision platform 400.

Although in the embodiment shown in fig. 4 only one road side unit 201 with a device 1 is shown at the asset 300, in practical applications a plurality of road side units may be arranged at an asset where there is a risk of structure and centrally supervised by the supervision platform 400.

In the present embodiment, the roadside unit 201 detects the impending resonance risk at the infrastructure 300 by the method according to the invention and determines that the risk level of such structural risk is "high risk". In this case, the roadside unit 201 sends a safety alert to vehicles within 500m of the infrastructure, which in the present embodiment relate to the

vehicles

101, 102, 103, for example. The control devices of these

vehicles

101, 102, 103 then selectively take one or more safety measures in response to the received safety alert, for example according to the classification of the received safety alert and according to the position of the vehicle itself relative to the asset 300. For those vehicles that are relatively distant from the asset 300 (e.g. the vehicle 103), the control means may control the navigation means of the vehicle to re-route the route, for example to perform a detour via the branch 301. Whereas for

vehicles

101, 102 already in the vicinity of the asset 300, in particular, which cannot take detour measures, emergency braking measures can be taken, respectively. It is also possible that after the emergency braking has been performed, the

vehicle

101, 102 can continue to detect a safety alarm and restart the vehicle by means of the respective control device if a safety alarm is not detected again within a predefined time period.

Furthermore, the roadside unit 201 may also send such safety alerts to the regulatory platform 400 in the event that it detects that the asset 300 is at risk of resonance. In response to a received security alert, and in particular to the ranking of the security alert, supervisory platform 400 may first communicate with other roadside units at asset 300, for example, to confirm the trustworthiness of such security alert. In case it is confirmed that the security alert is highly trusted, the supervision platform 400 may issue road closure instructions or traffic restriction instructions to a plurality of

road side units

201, 202, 203 for further forwarding by each

road side unit

201, 202, 203 to the

vehicles

101, 102, 103 in its own surroundings for a hierarchically higher security alert. Or, the monitoring platform 400 may also communicate with medical assistance agencies near the road facilities in time to report the accident information as soon as possible.

Although specific embodiments of the invention have been described herein in detail, they have been presented for purposes of illustration only and are not to be construed as limiting the scope of the invention. Various substitutions, alterations, and modifications may be devised without departing from the spirit and scope of the present invention.

Claims

1. A method of pre-warning of structural risks of an asset (300) based on car networking technology, the method comprising:

acquiring at least one structural parameter characterizing a current structural characteristic of the asset (300), said at least one structural parameter being detected by means of a sensing device arranged on the asset or in its surroundings;

-determining whether there is a structural risk of the asset (300) based on the at least one structural parameter;

generating a safety alert if it is determined that the asset (300) is at structural risk; and

-sending the safety alert to a vehicle (101, 102, 103) in the surroundings of the asset (300) and/or to a supervision platform (400) by means of an internet of vehicles technology to prompt the vehicle (101, 102, 103) and/or the supervision platform (400) to take corresponding safety measures.

2. The method of claim 1, wherein the step of determining whether the asset (300) is at structural risk comprises:

comparing the acquired at least one structural parameter of the asset (300) with a pre-stored reference structural parameter; and, determining, from the result of said comparison, whether there is a structural risk of the asset in terms of the resonant characteristics of the asset (300);

wherein preferably a difference of the acquired current vibration frequency of the asset (300) and a pre-stored natural vibration frequency is calculated; and determining that the road equipment (300) is at structural risk in terms of resonance characteristics if the difference is less than a predefined frequency threshold.

3. The method of claim 1 or 2, wherein the step of generating a security alert comprises:

calculating the risk degree of the judged structural risk;

determining a rating of the security alarm to be generated as a function of the ascertained degree of risk, the rating defining in particular a transmission range, a transmission frequency and/or a content of the security alarm, wherein the rating of the security alarm is preferably increased as the degree of risk increases; and

generating a security alert at the determined ranking.

4. The method according to claim 3, wherein in the step of generating a safety alarm, the risk level of the structure risk of the asset (300) is found by:

constructing a normal distribution curve of the natural vibration frequency of the road facility (300), determining the position of the acquired current vibration frequency of the road facility (300) in the section of the normal distribution curve, and calculating the danger degree of the structure risk of the road facility (300) according to the position; and/or

A multivariate function is constructed based on the acquired current vibration frequency of the road facility (300) and a pre-stored natural vibration frequency, the result value of the multivariate function is classified into sections, and the risk degree of the structure risk of the road facility (300) is obtained according to the result of the section classification.

5. The method according to any of claims 1 to 4, wherein prior to the step of generating a security alarm, the method according to the invention further comprises the steps of:

6. Device (1) for pre-warning of structural risks of an asset (300) based on car networking technology, the device (1) being configured to perform the method according to any of claims 1 to 5, the device comprising:

an acquisition module (10) configured to be adapted to acquire at least one structural parameter characterizing a current structural characteristic of the asset (300), said at least one structural parameter being detected by means of a sensing device arranged on the asset (300) or in its surroundings;

-a decision module (20) configured and adapted to decide whether a structural risk exists for the asset (300) depending on the at least one structural parameter;

a generating module (30) configured to generate a safety alert if it is determined that the asset (300) is at risk of a structure; and

a transmission module (40) configured to be adapted to send the safety alert to a vehicle (101, 102, 103) in the surroundings of the asset (300) and/or to a supervision platform (400) by means of an internet of vehicles technology to prompt the vehicle (101, 102, 103) and/or the supervision platform (400) to take corresponding safety measures.

7. A road side unit (201), the road side unit (201) comprising an apparatus (1) according to claim 6.

8. A vehicle (101, 102, 103), the vehicle (101, 102, 103) comprising a control device configured to control the vehicle (101, 102, 103) to take corresponding safety measures in case of receiving a safety alert transmitted according to the method of any one of claims 1 to 5.

9. A vehicle (101, 102, 103) according to claim 8, wherein the control device is configured to take corresponding safety measures depending on the ranking of the received safety alerts and depending on the position of the vehicle (101, 102, 103) relative to the asset (300),

preferably, the control arrangement is configured to control the vehicle (101, 102, 103) to immediately take an emergency brake if the rating of the safety alert exceeds a predefined rating threshold and if the distance of the vehicle from the asset (300) is less than a predefined distance threshold, wherein preferably the control arrangement is further configured to restart the vehicle (101, 102, 103) if no safety alert is received again within a predefined time period of receiving the safety alert;

preferably, the control device is configured to control a navigation device of the vehicle (101, 102, 103) to re-plan a route in order to detour the asset (300) if the rating of the safety alert exceeds a predefined rating threshold and if the distance of the vehicle (101, 102, 103) relative to the asset (300) is greater than a predefined distance threshold;

preferably, the control device is configured to control the vehicle (101, 102, 103) to maintain a greater safety distance and/or to reduce vehicle speed in case the rating of the safety alert is less than a predefined rating threshold.

10. A regulatory platform (400), the regulatory platform (400) being configured to take respective security measures in case of receiving a security alarm transmitted according to the method of any of claims 1 to 5, the security measures comprising:

a plausibility check of the structural risk of the asset (300) on the basis of sensor information of the further sensor device and/or a commercial data platform;

transmitting accident pre-warning information and/or accident information to a rescue authority in the surroundings of the asset (300);

traffic flow restriction instructions and/or traffic closure instructions are sent to roadside units (201) and/or commercial data platforms in the ambient environment of the asset (300).