CN113129643B

CN113129643B - Early warning method, system, device and storage medium

Info

Publication number: CN113129643B
Application number: CN202110428245.4A
Authority: CN
Inventors: 栗琦; 洪子麒; 谷金阳; 肖骁; 鲍建军; 徐佳磊; 李武辉
Original assignee: Ecarx Hubei Tech Co Ltd
Current assignee: Ecarx Hubei Tech Co Ltd
Priority date: 2021-04-21
Filing date: 2021-04-21
Publication date: 2022-12-27
Anticipated expiration: 2041-04-21
Also published as: CN113129643A

Abstract

The embodiment of the invention provides an early warning method, an early warning system, early warning equipment and a storage medium, which relate to the technical field of data processing, wherein the early warning method is applied to first equipment, and comprises the following steps: receiving early warning information which is sent by a second device and generated based on roadside information and vehicle running information of a vehicle, wherein the second device and the first device are installed on the vehicle, and the roadside information is as follows: and information collected by road side equipment installed in the running environment of the vehicle. And in the process of vehicle navigation, vehicle driving early warning is carried out based on the early warning information. By applying the scheme provided by the embodiment of the invention, the safety degree of vehicle driving can be improved.

Description

Early warning method, system, device and storage medium

Technical Field

The present invention relates to the field of data processing technologies, and in particular, to an early warning method, system, device, and storage medium.

Background

The driving environment of the vehicle is changed continuously during the driving process, and different influence factors influencing the driving of the vehicle may exist in different driving environments, so that a driver is required to adopt different driving modes according to the influence factors. For example, the above-mentioned influencing factor may be that a traffic light at an intersection displays a red light, in which case, a driver needs to drive a vehicle to stop for waiting; the above-mentioned influencing factor may also be the presence of road maintenance in front of the road, in which case the driver needs to drive the vehicle to change lanes or to select another road to drive.

In view of the above, in the driving process of the vehicle, if the vehicle driving early warning can be performed in advance for various influence factors in the driving environment where the vehicle is located, a driver of the vehicle can drive the vehicle based on the vehicle driving early warning, so that different driving modes can be adopted in advance for different influence factors, and the safety degree of vehicle driving is improved.

Disclosure of Invention

The embodiment of the invention aims to provide an early warning method, an early warning system, early warning equipment and a storage medium, so as to improve the safety degree of vehicle driving. The specific technical scheme is as follows:

in a first aspect, an embodiment of the present invention provides an early warning method, which is applied to a first device, and the method includes:

receiving early warning information which is sent by second equipment and generated based on roadside information and vehicle running information of a vehicle, wherein the second equipment and the first equipment are installed on the vehicle, and the roadside information is as follows: information collected by roadside equipment installed in a driving environment where the vehicle is located;

and in the process of vehicle navigation, performing vehicle driving early warning based on the early warning information.

In an embodiment of the present invention, before the receiving the warning information generated based on the roadside information and the vehicle driving information of the vehicle and transmitted by the second device, the method further includes:

obtaining vehicle running information of the vehicle through a vehicle bus;

transmitting the vehicle travel information to the second device.

In an embodiment of the present invention, the obtaining the vehicle driving information of the vehicle through a vehicle bus includes:

acquiring a bus database file coded according to a preset coding format through a vehicle bus;

decoding the bus database file according to a decoding table corresponding to the coding format to obtain a decoding result;

and selecting the vehicle running information of the vehicle from the decoding result.

In an embodiment of the present invention, the performing the vehicle driving warning based on the warning information during the vehicle navigation includes:

displaying a navigation map on a first map layer, and displaying the early warning information on a second map layer, wherein the second map layer is positioned above the first map layer;

and/or

And in the process of vehicle navigation, the early warning information is played in an audio form.

In a second aspect, an embodiment of the present invention provides an early warning method, which is applied to a second device, and the method includes:

obtaining roadside information and vehicle driving information of a vehicle on which the second device is installed, wherein the roadside information is: information collected by roadside equipment installed in a driving environment where the vehicle is located;

generating early warning information according to the roadside information and the vehicle driving information;

and sending the early warning information to first equipment, so that the first equipment carries out vehicle running early warning based on the early warning information in the vehicle navigation process, wherein the first equipment is installed on the vehicle.

In an embodiment of the present invention, the generating early warning information according to the roadside information and the vehicle driving information includes:

generating traffic prompt information according to traffic indication information and vehicle running information contained in the road side information;

and/or

And generating obstacle avoidance early warning information according to the obstacle information and the vehicle running information contained in the roadside information.

In one embodiment of the present invention, the vehicle driving information is: information selected from decoding results obtained by decoding the bus database file according to a decoding table, the information being transmitted by the first device.

In a third aspect, an embodiment of the present invention provides an early warning system, where the system includes:

a second device that obtains roadside information and vehicle travel information of a vehicle in which the second device is installed; generating early warning information according to the roadside information and the vehicle running information; sending the early warning information to first equipment; the roadside information is: the information is collected by road side equipment installed in a running environment where the vehicle is located, and the first equipment is installed on the vehicle;

the first equipment receives the early warning information sent by the second equipment; and in the process of vehicle navigation, performing vehicle driving early warning based on the early warning information.

In one embodiment of the present invention, the first device obtains vehicle travel information of the vehicle through a vehicle bus; transmitting the vehicle travel information to the second device;

the second device receives the vehicle running information transmitted by the first device.

In one embodiment of the invention, the first device obtains a bus database file encoded according to a preset encoding format through a vehicle bus; decoding the bus database file according to a decoding table corresponding to the coding format to obtain a decoding result; and selecting the vehicle running information of the vehicle from the decoding result.

In an embodiment of the present invention, the first device displays a navigation map on a first layer, and displays the warning information on a second layer, where the second layer is located on the first layer;

and/or

In an embodiment of the invention, the second device generates traffic prompt information according to traffic indication information and the vehicle driving information contained in the road side information;

and/or

In a fourth aspect, an embodiment of the present invention provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor and the communication interface complete communication between the processor and the memory through the communication bus;

a memory for storing a computer program;

a processor for implementing the method steps of any one of the first or second aspects when executing a program stored in the memory.

In a fifth aspect, the present invention provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method steps of any one of the first aspect or the second aspect.

In a sixth aspect, embodiments of the present invention further provide a computer program product including instructions, which, when run on a computer, cause the computer to perform the method steps of any one of the first or second aspects.

The embodiment of the invention has the following beneficial effects:

the early warning method provided by the embodiment of the invention is applied to first equipment, second equipment can generate early warning information based on roadside information and vehicle running information of a vehicle, and the first equipment carries out vehicle running early warning based on the early warning information in the vehicle navigation process after receiving the early warning information.

Therefore, the first equipment can perform vehicle driving early warning, so that a driver of the vehicle can drive the vehicle according to the vehicle driving early warning, and the safety degree of vehicle driving is improved. In addition, the first equipment can perform vehicle running early warning in the vehicle navigation process, so that a driver of the vehicle can drive the vehicle together based on the vehicle navigation and the vehicle running early warning, and the vehicle running safety degree is further improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.

Fig. 1 is a schematic flow chart of a first warning method provided in an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a first apparatus provided in an embodiment of the present invention;

fig. 3 is a schematic flow chart of a second warning method provided in the embodiment of the present invention;

fig. 4 is a schematic flowchart of a third warning method provided in an embodiment of the present invention;

fig. 5 is a schematic flowchart of a fourth warning method provided in an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a roadside subsystem, a vehicle-mounted subsystem, and a cloud control platform subsystem provided in an embodiment of the present invention;

fig. 7 is a schematic structural diagram of an early warning system provided in an embodiment of the present invention;

fig. 8 is a schematic flowchart of a fifth warning method according to an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of an electronic device provided in an embodiment of the present invention;

fig. 10 is a schematic structural diagram of another electronic device provided in the embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived from the embodiments given herein by one of ordinary skill in the art, are within the scope of the invention.

In order to perform vehicle driving early warning in the vehicle driving process, the embodiment of the invention provides an early warning method, a system, equipment and a storage medium.

In an embodiment of the present invention, an early warning method is provided, which is applied to a first device, and the method includes:

and receiving early warning information which is sent by the second equipment and generated based on the road side information and the vehicle running information of the vehicle. Wherein the second device and the first device are mounted on the vehicle, and the roadside information is: and information collected by road side equipment installed in the running environment of the vehicle.

And in the process of vehicle navigation, vehicle running early warning is carried out based on the early warning information.

Therefore, the first equipment can carry out vehicle driving early warning, so that a driver of the vehicle can drive the vehicle according to the vehicle driving early warning, and the safety degree of vehicle driving is improved. In addition, the first device can perform vehicle driving early warning in the vehicle navigation process, so that a driver of the vehicle can drive the vehicle together based on the vehicle navigation and the vehicle driving early warning, and the vehicle driving safety degree is further improved.

Referring to fig. 1, a schematic flow chart of a first warning method provided in an embodiment of the present invention is applied to a first device, and the method includes the following steps S101 to S102.

Specifically, the first device may be a car machine, an IHU (information Head Unit), an IVI (In-Vehicle information system), or any Vehicle-mounted information interaction terminal.

S101: and receiving early warning information which is sent by the second equipment and generated based on the road side information and the vehicle running information of the vehicle.

Wherein the second device and the first device are mounted to the vehicle. The roadside information is: and information collected by road side equipment installed in the running environment of the vehicle.

Specifically, the second device may be an OBU (On board Unit), and the second device may be capable of communicating with the road side device to obtain road side information collected by the road side device.

The roadside information may include: the position, the moving speed, the moving direction, the moving route, the type of the obstacle, etc. of the obstacle in the traveling environment may be, for example, a human, a vehicle, an animal, etc.

The vehicle travel information may include: the running speed, running route, running direction, vehicle position, vehicle braking condition and other information of the vehicle.

The vehicle position of the vehicle can be received from an RTK positioning base station through an RTK (Real-time kinematic) positioning receiving box installed in the vehicle.

In addition, the second device may send the warning information to the first device through a network such as an ethernet network or a WiFi network.

Furthermore, the warning information may be divided into different types, for example, a traffic prompt type and an obstacle avoidance warning type.

For example, the traffic guidance type warning information may include recommended vehicle speed warning information for guiding a driver to drive a vehicle at a recommended vehicle speed, traffic signal light warning information for prompting a display condition of a traffic signal light at an intersection of the driver, recommended lane warning information for guiding the driver to drive the vehicle in a recommended lane, traffic sign warning information for prompting traffic information indicated by a traffic sign installed on a road by the driver, and the like.

The early warning information of the obstacle avoidance early warning type can comprise forward collision early warning information for prompting that a driver has collision risk with a front obstacle, forward emergency brake early warning information for prompting the driver of emergency brake of a front vehicle, left turn auxiliary early warning information for prompting the driver of possible collision with the obstacle in the left turn process, lane change auxiliary early warning information for prompting the driver of possible collision with the obstacle in the lane change process, front vehicle fault early warning information for prompting a driver of a vehicle with a fault in front, front construction early warning information for prompting the driver of a road in front during construction and the like.

In an embodiment of the present invention, the second device may generate the warning information through steps S501 to S502 shown in fig. 5, which will not be described in detail herein.

S102: and in the process of vehicle navigation, vehicle driving early warning is carried out based on the early warning information.

Specifically, the vehicle navigation may be implemented by displaying a map and a navigation route on a screen of the first device.

In addition, the first device may display the warning information in the form of a text, a picture, or a video on the screen, so as to perform a warning of vehicle driving. The early warning information can be played in a sound mode, so that vehicle driving early warning is carried out.

Referring to fig. 2, a schematic structural diagram of a first device according to an embodiment of the present invention is provided.

The first Device includes a Controller Area Network (CAN) bus, a Micro Controller Unit (MCU), a Field Programmable Gate Array (FPGA), an Ethernet Switch (Ethernet Switch), and a Physical interface transceiver (PHY), which belong to a hardware Layer, where the PHY may be based on a 100Base-TX standard, and further includes a software navigation module, which belongs to an application Layer. The arrows shown in the figures indicate that the modules or devices on both sides of the arrow may perform data transmission in the direction of the arrow.

Referring to fig. 2, the first device may receive the early warning information through a PHY, the PHY may send the early warning information to an ethernet switch, the ethernet switch forwards the early warning information to an FPGA, and the FPGA sends the early warning information to a software navigation module, so that vehicle driving early warning is performed based on the early warning information in an application layer.

In one embodiment of the present invention, the step S102 may be implemented by the following step a and/or step B.

Step A: and displaying a navigation map on the first layer, and displaying the early warning information on the second layer.

Wherein the second layer is located above the first layer. The second layer may be a top layer, and the first layer may be a bottom layer.

Specifically, the warning information may be displayed in a form of a pop-up window in the second layer, and the size of the pop-up window is smaller than that of the first layer, so that the driver can also view the navigation map displayed in the first layer when the warning information is displayed.

In addition, the pop-up window may be displayed in a preset area of the screen, and different types of warning information may be displayed in different areas of the screen. The number of the early warning messages synchronously displayed in the screen may be less than or equal to a preset maximum number, for example, the preset maximum number may be 3.

For example, in the case where the first device displays a navigation map as described above, the recommended vehicle speed warning information may be displayed in the upper right corner region in synchronization with the traffic signal warning information of different lanes. The vehicle collision warning information may be displayed in a lower area, indicating that the vehicle is closer to another vehicle located in front of the vehicle.

In an embodiment of the present invention, when the amount of the early warning information is large, the early warning information may be sequentially displayed according to a generation time sequence of the early warning information. The display duration of the warning information may be a first preset duration, for example, the first preset duration may be 5s. The display of the warning information may be stopped after the influencing factor indicated by the warning information is released.

For example, in a case where the warning information is traffic light warning information, after the vehicle passes through an intersection where a traffic light corresponding to the traffic light warning information is located, the traffic light warning information may be stopped from being displayed.

And B, step B: and in the process of vehicle navigation, the early warning information is played in an audio form.

Specifically, a voice audio corresponding to the early warning information may be generated, and the early warning information may be played. The voice audio may be an audio of any language, wherein the voice audio may be generated by using an algorithm for generating an audio in the prior art, which is not described in detail herein.

In addition, when the number of the warning information is greater than 1, the warning information may be sequentially played in an audio form according to the generation time sequence of the warning information.

Referring to fig. 3, a schematic flow chart of a second warning method provided in the embodiment of the present invention further includes the following steps S103-S104 before the step S101, compared with the embodiment shown in fig. 1.

S103: and obtaining the vehicle running information of the vehicle through a vehicle bus.

Specifically, the vehicle bus may be a CAN bus, and the vehicle bus is connected to each device installed in the vehicle, and may acquire device information of each device, so that vehicle travel information of the vehicle may be acquired. For example, the devices may include motors, brakes, and the like.

Wherein, the MCU in the first device may be connected to the vehicle bus, and the first device may obtain the vehicle driving information.

S104: and transmitting the vehicle travel information to the second device.

Specifically, the first device may transmit the vehicle travel information to the second device via an ethernet network.

In an embodiment of the present invention, after the MCU in the first device obtains the vehicle driving information, the vehicle driving information may be sent to a software navigation module, i.e., a navigation Application program, through a BSP (Board Support Package) and an Application Programming Interface (API) in a frame, that is, the vehicle driving information is sent to an Application layer by a hardware layer of the first device. And the software navigation module sends the vehicle running information to the second equipment.

The software navigation module can receive and/or transmit the vehicle running information at the frequency of 10 hz.

Specifically, referring to fig. 2, the CAN bus may transmit the vehicle driving information to the FPGA through the software navigation module, the FPGA forwards the vehicle driving information to the ethernet switch, the ethernet switch transmits the vehicle driving information to the PHY, and the PHY may transmit the vehicle driving information to the second device.

As can be seen from the above, the first device may obtain vehicle driving information of the vehicle and send the vehicle driving information to the second device, so that the second device may generate warning information according to the vehicle driving information and feed the warning information back to the first device, so that the first device may perform vehicle driving warning.

Referring to fig. 4, a schematic flow chart of a third warning method provided in the embodiment of the present invention, compared with the embodiment shown in fig. 3, the step S103 may be implemented by the following steps S103A to S103C.

S103A: and acquiring a bus database file coded according to a preset coding format through a vehicle bus.

The bus Database file may be a file in a DBC (controller area network Database file) format, the DBC file is a coded file, and the first device may be directly connected to a Can bus to obtain the DBC file.

S103B: and decoding the bus database file according to the decoding table corresponding to the coding format to obtain a decoding result.

The decoding table records the corresponding relationship between the data before encoding and the data after encoding, so that the data before encoding corresponding to the data contained in the bus database file can be searched in the decoding table, and the bus database file is decoded to obtain a decoding result.

Specifically, the process of decoding the bus database file may be implemented in the MCU of the first device, that is, in a hardware layer of the first device.

S103C: and selecting the vehicle running information of the vehicle from the decoding result.

Specifically, a preset type of information may be selected from the decoded result as the vehicle travel information. For example, the preset types may be: travel speed, vehicle location, etc.

All the information included in the decoding result may be the vehicle travel information.

As can be seen from the above, the first device decodes the bus database file, selects the vehicle driving information, and then transmits the vehicle driving information to the second device. Therefore, the second device does not need to decode the bus database file, and does not need to acquire the decoding table. That is, the second device cannot decode the bus database file, and the first device may control the vehicle driving information that can be acquired by the second device, so that the security of the bus database file may be improved.

Referring to fig. 5, a flowchart of a fourth warning method provided in the embodiment of the present invention is shown, and is applied to a second device, where the method includes the following steps S501 to S503.

S501: road side information and vehicle travel information of a vehicle in which the second apparatus is installed are obtained.

Wherein, the roadside information is: and information collected by road side equipment installed in the running environment of the vehicle.

Specifically, the roadside apparatus may include a camera, a laser radar, a millimeter wave radar, a signal, a traffic signal, and the like, which are installed in the traveling environment.

The roadside equipment can transmit the collected roadside data to the industrial personal computer, and the industrial personal computer performs data fusion processing on the roadside data to obtain the roadside information. The industrial personal computer can perform data fusion on the roadside data through the prior art, and the embodiment of the invention does not need to be repeated again

The roadside data may include image data collected by a camera, laser point cloud data collected by a laser radar and/or a millimeter wave radar, traffic signal data of a traffic signal lamp, and the like.

Specifically, the roadside device may transmit the roadside data to an industrial personal computer through an Ethernet, wherein the roadside device may transmit the roadside data to a PoE (Power Over Ethernet) switch, and the PoE switch transmits the roadside data to the industrial personal computer.

After the industrial personal computer generates the roadside information, the roadside information may be sent to an RSU (Road Side Unit), and the RSU sends the roadside information to the second device. The RSU may send the roadside information to the second device based on a T/CSAE 53-2017 standard data transmission protocol.

Further, the vehicle travel information may be: and information selected from decoding results obtained by decoding the bus database file according to the decoding table, the information being transmitted by the first device.

Specifically, the first device may obtain the vehicle driving information through the steps S103A to S103C shown in fig. 4, which is not described again in the embodiment of the present invention.

Further, the second device may be connected to the vehicle bus so as to obtain vehicle travel information of the vehicle through the vehicle bus.

Specifically, the process of the first device obtaining the vehicle driving information is similar to the step S103 shown in fig. 3, and details of the embodiment of the present invention are not repeated.

S502: and generating early warning information according to the road side information and the vehicle running information.

Specifically, the roadside information may indicate an environmental condition of a driving environment in which the vehicle is located, and the vehicle driving information may indicate a driving condition of the vehicle itself, so that the warning information may be generated based on the roadside information and the vehicle driving information in consideration of the environmental condition and the driving condition.

In one embodiment of the present invention, the warning information may be generated through the following steps C and/or D.

Step C: and generating traffic prompt information according to the traffic instruction information and the vehicle running information contained in the road side information.

Wherein, above-mentioned traffic instruction information can include the signal lamp information that traffic signal lamp shows, including the count-down etc. of the signal lamp and the signal lamp of current demonstration, above-mentioned traffic instruction information can also include sign information etc. that the traffic sign instructed.

The traffic indication information can be sent to the first device as the traffic prompt information, and the first device can display the traffic prompt information, so that a driver can know the display condition of a traffic signal lamp in a driving environment and/or the traffic information indicated by a traffic sign.

Further, the distance between the vehicle and the intersection closest to the front may be determined based on the vehicle position included in the vehicle travel information. And the display condition of the signal lamp of the intersection can be determined according to the traffic indication information contained in the roadside information.

When the signal lamp displays a green light, a first suggested speed interval in which the vehicle can travel through the intersection before the countdown of the green light is finished without stopping the vehicle can be calculated according to the countdown duration and the distance of the green light. If the current driving speed of the vehicle is outside the first recommended speed interval, a red light running early warning prompt may be generated, and the first recommended speed interval and the red light running early warning prompt may be used as the traffic prompt information.

And under the condition that the signal lamp displays the red light, calculating a second suggested speed interval in which the vehicle can travel through the intersection after the countdown of the red light is finished under the condition of no stopping according to the countdown duration and the distance of the red light. If the current running speed of the vehicle is outside the second recommended speed interval, a red light running early warning prompt may be generated, and the second recommended speed interval and the red light running early warning prompt may be used as the traffic prompt information.

If the intersection comprises a plurality of lanes, a first suggested speed interval or a second suggested speed interval of the vehicle in different lanes can be obtained through calculation respectively.

Further, the distance between the vehicle and a preset number of intersections ahead may be determined based on the vehicle position included in the vehicle travel information, and the display condition of the signal lights at each intersection may be determined based on the traffic instruction information included in the roadside information. The third suggested speed interval in which the vehicle can travel through the intersection without stopping at each intersection can be calculated, the speed interval intersection of the third suggested speed intervals corresponding to each intersection can be determined, and if the speed interval intersection exists, the speed interval intersection can be used as the traffic prompt information. Then, if the driver drives the vehicle at the speed indicated by the intersection of the speed intervals, the vehicle can sequentially pass through a plurality of intersections without stopping the vehicle.

For example, the preset number may be 3.

If the intersection comprises a plurality of lanes, the intersection of the speed intervals of the vehicles in different lanes can be respectively determined and obtained to serve as the communication prompt information.

Step D: and generating obstacle avoidance early warning information according to the obstacle information and the vehicle driving information contained in the roadside information.

Specifically, the driving environment of the vehicle may include a plurality of obstacles that affect the driving of the vehicle, such as other vehicles, people, animals, construction barriers, and the like, and if a collision occurs between the vehicle and the obstacle, a safety accident may occur in the vehicle, so that the obstacle avoidance warning information may be generated, and the vehicle driving warning may be performed in a case where there is a possibility of collision between the vehicle and the obstacle.

In an embodiment of the present invention, the obstacle avoidance early warning information may be generated by at least one of the following manners (a) to (six).

And (I) judging whether collision possibility exists between the vehicle and an obstacle in front of the vehicle, and if so, generating forward collision early warning information as the obstacle avoidance early warning information.

Specifically, a speed difference between a driving speed included in the vehicle driving information and a speed of an obstacle included in the roadside information may be calculated, a ratio between a distance between the vehicle and the obstacle and the speed difference may be calculated, a collision duration may be obtained, and if the collision duration is less than a preset collision duration, it is determined that there is a possibility of collision between the vehicle and the obstacle, and forward collision warning information may be generated.

In addition, the collision time length, the obstacle position of the obstacle, and the like may be transmitted to the second device as part of the obstacle avoidance warning information.

And (II) if other vehicles in front of the vehicle brake emergently, generating front emergency brake early warning information as the obstacle avoidance early warning information.

Specifically, if the road side information includes the traveling speed of another vehicle in front of the vehicle, it may be determined that the another vehicle is suddenly braked if a speed difference of a speed decrease of the traveling speed of the another vehicle within a second preset time period is greater than a preset speed difference.

For example, the second preset time period may be 1s, and the preset speed difference may be 50km/h, or the like.

In addition, if the other vehicle has an OBU installed therein, the OBU installed in the other vehicle may broadcast braking information indicating emergency braking of itself when the other vehicle is emergently braked, and if the second device receives the braking information, it may be determined that the other vehicle is emergently braked.

In addition, the vehicle position of the other vehicle with the emergency brake can be used as a part of the obstacle avoidance early warning information and sent to the first device.

And (III) judging whether collision possibility exists between the vehicle and the obstacle in the process of turning left of the vehicle, and if so, generating left-turning auxiliary early warning information as the obstacle avoidance early warning information.

Specifically, the intersection between the predicted travel route and the travel route of the vehicle may be determined based on the predicted travel route of the obstacle included in the roadside information. Calculating a first required time for the vehicle to travel to the intersection point based on a travel speed included in the vehicle travel information, calculating a second required time for the obstacle to move to the intersection point based on an obstacle speed included in the roadside information, calculating an absolute value of a time difference between the first required time and the second required time, and determining that there is a possibility of collision between the vehicle and the obstacle if the absolute value is equal to or less than a preset time difference.

For example, the preset time difference may be 1s, 3s, or the like.

In addition, the obstacle position of the obstacle that may collide with the vehicle may be transmitted to the first device as part of the obstacle avoidance warning information.

And (IV) judging whether collision possibility exists between the vehicle and the obstacle in the vehicle lane changing process, and if so, generating lane changing auxiliary early warning information as the obstacle avoidance early warning information.

Specifically, a third required time for the obstacle to move to a distance from the vehicle that is less than or equal to a first preset distance may be calculated according to the obstacle speed of the obstacle located on the lane where the vehicle is to turn and the distance between the vehicle and the obstacle included in the roadside information, and if the third required time is less than the preset required time, it is determined that there is a possibility of collision between the vehicle and the obstacle.

For example, the first preset distance may be 3m, 5m, or the like, and the preset required time may be 1s, 3s, or the like.

In addition, the obstacle position of the obstacle that may collide with the vehicle, the third required time, and/or the like may be transmitted to the first device as part of the obstacle avoidance warning information.

And (V) if the roadside information indicates that a faulty vehicle exists in front of the vehicle, generating front vehicle fault early warning information as the obstacle avoidance early warning information.

Specifically, if the distance between the vehicle and the faulty vehicle is less than or equal to a second preset distance, the preceding vehicle fault warning information may be generated. For example, the second preset distance may be 200m, 300m, or the like.

And/or

And if the vehicle and the fault vehicle are positioned in the same lane, generating the fault early warning information of the front vehicle.

In addition, the vehicle position of the faulty vehicle included in the roadside information may be transmitted to the first device as a part of the obstacle avoidance warning information.

And (VI) if the roadside information indicates that a road construction area exists in front of the vehicle, generating front construction early warning information as the obstacle avoidance early warning information.

Specifically, if the distance between the vehicle and the road construction area is less than or equal to a third preset distance, the forward construction warning information may be generated. For example, the third preset distance may be 200m, 300m, or the like.

And/or

And generating the front construction early warning information if the vehicle and the road construction area are positioned in the same lane.

In addition, the position of the road construction area included in the roadside information may be transmitted to the first device as a part of the obstacle avoidance warning information.

S503: and sending the early warning information to first equipment, so that the first equipment carries out vehicle driving early warning based on the early warning information in the vehicle navigation process.

Wherein the first device is mounted to the vehicle.

Specifically, the second device may send the warning information to the first device through an ethernet or WiFi.

As described above, the second device can determine the environmental condition of the running environment in which the vehicle is located based on the roadside information and can determine the running condition of the vehicle itself based on the vehicle running information, and therefore can generate the warning information that enables the vehicle to run safely in the running environment in combination with the environmental condition and the running condition of the vehicle itself, so that the safety of the running of the vehicle can be improved.

In addition, the second device may transmit the generated warning information and/or the vehicle driving information to a cloud server, and the RSU and the industrial personal computer may transmit the roadside information to the cloud server, so that the cloud server may display the warning information, the vehicle driving information, the roadside information, and the like, and the cloud server may manage the warning information, the vehicle driving information, and the roadside information in the same manner.

Specifically, the second device, the RSU, and the industrial personal computer may send the information to the cloud server through a 4G or 5G wireless network based on an MQTT (Message Queuing Telemetry Transport) protocol.

Referring to fig. 6, a schematic structural diagram of a roadside subsystem, a vehicle-mounted subsystem, and a cloud control platform subsystem according to an embodiment of the present invention is provided.

The roadside subsystem shown in fig. 6 includes a signal machine, a laser radar, a millimeter wave radar, a camera, a PoE switch, an industrial personal computer, an RSU, and a first switch, which may be an optical fiber switch.

Specifically, the PoE switch is used for realizing data transmission between roadside equipment and the industrial personal computer, and the first switch is used for realizing data transmission between the RSU and the cloud control platform subsystem and between the industrial personal computer and the cloud control platform subsystem.

In addition, the vehicle-mounted subsystem shown in fig. 6 includes an IHU as a first device, an OBU as a second device, and an OBU antenna for transmitting received data to the OBU.

Moreover, the cloud control platform subsystem shown in fig. 6 includes a cloud server, a second switch and a database, and the second switch may be a light switch.

Specifically, the second switch is used for realizing data transmission between the cloud server and the vehicle-mounted subsystem and between the cloud server and the road side subsystem. The database is used for storing information received by the cloud server.

In addition, fig. 6 also includes a base station, where the base station may be a 4G or 5G base station, and is configured to implement data transmission among the cloud control platform subsystem, the road side subsystem, and the vehicle-mounted subsystem.

The arrows included in fig. 6 indicate that the devices on both sides of the arrows can perform data transmission in the directions indicated by the arrows.

Corresponding to the early warning method, the embodiment of the invention also provides an early warning system.

Referring to fig. 7, a schematic structural diagram of an early warning system according to an embodiment of the present invention is shown, where the system includes a first device 701 and a second device 702.

Fig. 8 is a schematic flow chart of a fifth warning method according to an embodiment of the present invention.

S801: the second device 702 obtains roadside information and vehicle travel information of a vehicle in which the second device 702 is installed.

The roadside information is: and information collected by road side equipment installed in the running environment of the vehicle.

S802: the second device 702 generates the warning information according to the roadside information and the vehicle driving information.

S803: the second device 702 sends the warning information to the first device 701.

The first device 701 is mounted on the vehicle.

S804: and in the process of vehicle navigation, the first device 701 performs vehicle driving early warning based on the early warning information.

In an embodiment of the present invention, the first device 701 obtains vehicle driving information of the vehicle through a vehicle bus; the vehicle travel information is transmitted to the second device 702.

The second device 702 receives the vehicle travel information transmitted from the first device 701.

As can be seen from the above, the first device may obtain the vehicle driving information of the vehicle, and send the vehicle driving information to the second device, so that the second device may generate the warning information according to the vehicle driving information, and feed the warning information back to the first device, so that the first device may warn the vehicle driving.

In an embodiment of the present invention, the first device 701 obtains a bus database file encoded according to a preset encoding format through a vehicle bus. And decoding the bus database file according to the decoding table corresponding to the coding format to obtain a decoding result. And selecting the vehicle running information of the vehicle from the decoding result.

In an embodiment of the present invention, the first device 701 displays a navigation map on a first layer, and displays the warning information on a second layer.

Wherein the second layer is located above the first layer.

And/or

The first device 701 plays the warning information in an audio form during the vehicle navigation process.

In an embodiment of the present invention, the second device 702 generates the traffic guidance information according to the traffic guidance information and the vehicle driving information included in the road side information.

And/or

The second device 702 generates obstacle avoidance warning information according to the obstacle information and the vehicle driving information included in the roadside information.

Specifically, the steps executed by the first device 701 included in the early warning system are similar to the early warning method applied to the first device 701, and the steps executed by the second device 702 are similar to the early warning method applied to the second device 702, which is not described again in this embodiment of the present invention.

An embodiment of the present invention further provides an electronic device, as a first device, as shown in fig. 9, which includes a processor 901, a communication interface 902, a memory 903, and a communication bus 904, where the processor 901, the communication interface 902, and the memory 903 complete mutual communication through the communication bus 904,

a memory 903 for storing computer programs;

the processor 901 is configured to implement the method steps of any of the above-described warning methods applied to the first device when executing the program stored in the memory 903.

When the first equipment provided by the embodiment of the invention is used for early warning, the first equipment can be used for early warning of vehicle running, so that a driver of a vehicle can drive the vehicle according to the early warning of vehicle running, and the safety degree of vehicle driving is improved. In addition, the first device can perform vehicle driving early warning in the vehicle navigation process, so that a driver of the vehicle can drive the vehicle together based on the vehicle navigation and the vehicle driving early warning, and the vehicle driving safety degree is further improved.

Another electronic device provided in an embodiment of the present invention is a second device, as shown in fig. 10, and includes a processor 1001, a communication interface 1002, a memory 1003, and a communication bus 1004, where the processor 1001, the communication interface 1002, and the memory 1003 complete mutual communication through the communication bus 1004,

a memory 1003 for storing a computer program;

the processor 1001 is configured to implement any of the method steps of the above-described warning method applied to the second device when executing the program stored in the memory 1003.

When the second device provided by the embodiment of the invention is applied to early warning, the second device can determine the environmental condition of the running environment where the vehicle is located based on the road side information and can determine the running condition of the vehicle based on the vehicle running information, so that early warning information which enables the vehicle to safely run in the running environment can be generated by combining the environmental condition and the running condition of the vehicle, and the running safety of the vehicle can be improved.

The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.

The communication interface is used for communication between the electronic equipment and other equipment.

The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Alternatively, the memory may be at least one memory device located remotely from the processor.

The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.

In yet another embodiment of the present invention, a computer-readable storage medium is further provided, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of any of the above-mentioned warning methods applied to the first device.

When the computer program stored in the computer-readable storage medium provided by the embodiment is applied to the first device for early warning, the first device can perform vehicle driving early warning, so that a driver of a vehicle can drive the vehicle according to the vehicle driving early warning, and the safety degree of vehicle driving is improved. In addition, the first equipment can perform vehicle running early warning in the vehicle navigation process, so that a driver of the vehicle can drive the vehicle together based on the vehicle navigation and the vehicle running early warning, and the vehicle running safety degree is further improved.

In yet another embodiment of the present invention, a computer-readable storage medium is further provided, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of any of the above-mentioned warning methods applied to the second device.

When the computer program stored in the computer-readable storage medium provided by this embodiment is applied to the first device to perform the warning, the second device may determine the environmental condition of the driving environment in which the vehicle is located based on the roadside information and may determine the driving condition of the vehicle itself based on the vehicle driving information, so that the warning information that enables the vehicle to safely drive in the driving environment may be generated in combination with the environmental condition and the driving condition of the vehicle itself, and thus the driving safety of the vehicle may be improved.

In a further embodiment provided by the present invention, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform any of the warning methods applied to the first device in the above embodiments.

When the computer program product provided by the embodiment is applied to the first device for early warning, the first device can perform vehicle driving early warning, so that a driver of the vehicle can drive the vehicle according to the vehicle driving early warning, and the safety degree of vehicle driving is improved. In addition, the first device can perform vehicle driving early warning in the vehicle navigation process, so that a driver of the vehicle can drive the vehicle together based on the vehicle navigation and the vehicle driving early warning, and the vehicle driving safety degree is further improved.

In a further embodiment of the present invention, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform any of the above-described pre-warning methods applied to the second device.

When the computer program product provided by the embodiment is applied to the first device for early warning, the second device may determine the environmental condition of the driving environment where the vehicle is located based on the roadside information and may determine the driving condition of the vehicle itself based on the vehicle driving information, so that early warning information that enables the vehicle to safely drive in the driving environment may be generated by combining the environmental condition and the driving condition of the vehicle itself, and thus, the driving safety of the vehicle may be improved.

In the above embodiments, all or part of the implementation may be realized by software, hardware, firmware, or any combination thereof. When implemented in software, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), among others.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on differences from other embodiments. In particular, the system, the electronic device, the computer-readable storage medium, and the computer program product are substantially similar to the method embodiments, so that the description is simple, and the relevant points can be referred to the partial description of the method embodiments.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims

1. An early warning method is applied to a first device, and comprises the following steps:

in the process of vehicle navigation, vehicle driving early warning is carried out based on the early warning information;

the second device generates early warning information based on the road side information and the vehicle running information of the vehicle, and the steps are as follows:

and/or

Generating obstacle avoidance early warning information according to obstacle information and vehicle running information contained in the roadside information;

wherein, according to the traffic instruction information and the vehicle driving information contained in the road side information, generating the traffic prompt information comprises:

determining the distance between the vehicle and the intersection closest to the front according to the vehicle position contained in the vehicle driving information, and determining the display condition of the signal lamp of the intersection according to the traffic indication information contained in the roadside information;

under the condition that a green light is displayed on the signal lamp, calculating a first suggested speed interval which can be used for driving the vehicle to pass through the intersection before the countdown of the green light is finished under the condition that the vehicle does not stop according to the countdown duration and the distance of the green light, if the current driving speed of the vehicle is positioned outside the first suggested speed interval, generating a red light running early warning prompt, and taking the first suggested speed interval and the red light running early warning prompt as traffic prompt information;

under the condition that the signal lamp displays the red light, calculating a second suggested speed interval which can be used for driving the vehicle to pass through the intersection after the countdown of the red light is finished under the condition that the vehicle does not stop according to the countdown duration and the distance of the red light, if the current driving speed of the vehicle is positioned outside the second suggested speed interval, generating a red light running early warning prompt, and taking the second suggested speed interval and the red light running early warning prompt as traffic prompt information;

if the intersection comprises a plurality of lanes, respectively calculating to obtain a first suggested speed interval or a second suggested speed interval of the vehicle in different lanes; determining distances between the vehicle and a preset number of intersections in front according to vehicle positions contained in the vehicle driving information, determining the display condition of signal lamps of each intersection according to traffic indication information contained in the roadside information, calculating a third suggested speed interval through which the vehicle can drive through the intersection under the condition of no stopping for each intersection, determining a speed interval intersection of the third suggested speed intervals corresponding to each intersection, and if the speed interval intersection exists, taking the speed interval intersection as traffic prompt information;

wherein, according to the obstacle information and the vehicle information of going that contain in the roadside information, generate and keep away barrier early warning information, include:

and judging whether the vehicle collides with the obstacle, and if so, generating obstacle avoidance early warning information.

2. The method according to claim 1, wherein before the receiving the warning information generated based on the roadside information and the vehicle driving information of the vehicle transmitted by the second device, the method further comprises:

obtaining vehicle running information of the vehicle through a vehicle bus;

transmitting the vehicle travel information to the second device.

3. The method of claim 2, wherein the obtaining vehicle travel information of the vehicle via a vehicle bus comprises:

4. The method according to any one of claims 1-3, wherein the performing of the vehicle driving warning based on the warning information during the vehicle navigation comprises:

displaying a navigation map on a first map layer, and displaying the early warning information on a second map layer, wherein the second map layer is positioned on the first map layer;

and/or

5. An early warning method is applied to a second device, and comprises the following steps:

generating early warning information according to the roadside information and the vehicle running information;

sending the early warning information to first equipment to enable the first equipment to carry out vehicle driving early warning based on the early warning information in the vehicle navigation process, wherein the first equipment is installed on the vehicle;

the generating of early warning information according to the roadside information and the vehicle driving information comprises:

and/or

the generating of the traffic prompt information according to the traffic indication information and the vehicle driving information included in the road side information includes:

determining the distance between the vehicle and the nearest intersection in front according to the vehicle position contained in the vehicle driving information, and determining the display condition of the signal lamp of the intersection according to the traffic indication information contained in the roadside information;

the generating obstacle avoidance early warning information according to the obstacle information and the vehicle driving information contained in the roadside information includes:

6. The method according to claim 5, wherein the vehicle travel information is: information selected from a decoding result obtained by decoding the bus database file according to a decoding table, the information being transmitted by the first device.

7. An early warning system, the system comprising:

a second device that obtains roadside information and vehicle travel information of a vehicle in which the second device is installed; generating early warning information according to the roadside information and the vehicle driving information; sending the early warning information to first equipment; the roadside information is: the information is collected by roadside equipment installed in a running environment where the vehicle is located, and the first equipment is installed on the vehicle;

the first equipment receives the early warning information sent by the second equipment; in the process of vehicle navigation, vehicle driving early warning is carried out based on the early warning information;

the second equipment generates traffic prompt information according to traffic indication information and the vehicle running information contained in the road side information;

and/or

if the intersection comprises a plurality of lanes, respectively calculating to obtain a first suggested speed interval or a second suggested speed interval of the vehicle in different lanes; determining distances between the vehicle and intersections with a preset number in front according to vehicle positions contained in the vehicle driving information, determining the display condition of signal lamps of each intersection according to traffic indication information contained in the roadside information, calculating a third suggested speed interval through which the vehicle can drive under the condition of no stopping for each intersection, determining a speed interval intersection of the third suggested speed interval corresponding to each intersection, and if the speed interval intersection exists, taking the speed interval intersection as the passing prompt information;

8. The system of claim 7,

the first device obtains vehicle running information of the vehicle through a vehicle bus; transmitting the vehicle travel information to the second device;

the second device receives the vehicle running information sent by the first device.

9. The system of claim 8,

the first equipment obtains a bus database file coded according to a preset coding format through a vehicle bus; decoding the bus database file according to a decoding table corresponding to the coding format to obtain a decoding result; and selecting the vehicle running information of the vehicle from the decoding result.

10. The system according to any one of claims 7-9,

the first device displays a navigation map on a first layer and displays the early warning information on a second layer, wherein the second layer is positioned on the first layer;

and/or

And in the process of vehicle navigation, playing the early warning information in an audio form.

11. The electronic equipment is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing the communication between the processor and the memory through the communication bus;

a memory for storing a computer program;

a processor for implementing the method steps of any one of claims 1-4 or 5-6 when executing a program stored in a memory.

12. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of claims 1-4 or 5-6.