CN113269990A

CN113269990A - Early warning method for vehicle collision and vehicle control system

Info

Publication number: CN113269990A
Application number: CN202110807619.3A
Authority: CN
Inventors: 乔辉
Original assignee: Ningbo Joynext Technology Corp
Current assignee: Ningbo Joynext Technology Corp
Priority date: 2021-07-16
Filing date: 2021-07-16
Publication date: 2021-08-17
Anticipated expiration: 2041-07-16
Also published as: CN113269990B

Abstract

The application discloses a vehicle collision early warning method and a vehicle control system, communication and information exchange with a V2X communication module of a second vehicle such as a motor vehicle are realized through a V2X communication module installed on a first vehicle such as an electric bicycle, a collision risk area of the second vehicle can be determined based on V2X communication, whether collision risk exists or not can be judged according to the collision risk area and the running track and/or real-time position of the first vehicle, collision early warning risk in real-time driving of the first vehicle such as the electric bicycle is realized, the problem that collision recognition is easily influenced by contamination of a vehicle-mounted sensor when collision recognition is carried out based on the vehicle-mounted sensor is avoided, and the safety of vehicle driving is improved.

Description

Early warning method for vehicle collision and vehicle control system

Technical Field

The application relates to the field of vehicle control, in particular to a vehicle collision early warning method and a vehicle control system.

Background

At present, the holding amount of non-motor vehicles such as electric bicycles is increasing in China and even in the world, and collision accidents among the non-motor vehicles and between the non-motor vehicles and the motor vehicles are increasing. In the face of the situations that vehicles parked at the roadside are suddenly opened and turned around, and the like, a driver of a non-motor vehicle can only recognize the situations by naked eyes, if the driver cannot find and make corresponding avoiding actions in time, collision accidents are easily caused, and the life safety of the driver is seriously influenced.

Therefore, there is a need for a method for early warning vehicle collision, which can be applied to a first vehicle such as a non-motor vehicle, and can recognize and early warn the collision before the collision occurs between the vehicles, so as to ensure the driving safety of the driver of the vehicle such as an electric bicycle.

Disclosure of Invention

In order to solve the defects of the prior art, the present application mainly aims to provide a vehicle collision warning method and a vehicle control system, so as to solve the above technical problems of the prior art.

In order to achieve the above object, the present application provides in a first aspect a method for warning of a vehicle collision, applied to a first vehicle, the first vehicle being a non-motor vehicle and the first vehicle being equipped with a first V2X communication module, the first vehicle communicating with a second vehicle equipped with a second V2X communication module through the first V2X communication module, the method comprising: determining a real-time early warning range corresponding to a first vehicle according to the real-time speed of the first vehicle, and acquiring a first signal sent by a second vehicle in the real-time early warning range through a second V2X communication module, wherein the first signal comprises a target running state corresponding to the second vehicle; determining a collision risk area corresponding to the second vehicle according to the corresponding target running state; judging whether the first vehicle has a collision risk with the second vehicle according to the real-time position and/or the running track of the first vehicle and a collision risk area corresponding to the second vehicle; when the first vehicle is judged to have the collision risk with the second vehicle and the real-time position of the first vehicle is not in the collision risk area, controlling the first vehicle to brake through a brake device of the first vehicle and sending a first early warning signal to the second vehicle having the collision risk through the first V2X communication module.

In some embodiments, the target operating state comprises a curve, the first signal further comprises a vehicle width of the second vehicle and a real-time location of the second vehicle; determining a collision risk area corresponding to the second vehicle according to the corresponding target running state, including: when the target running state corresponding to the second vehicle is turning, determining a first collision edge corresponding to the second vehicle according to the vehicle width of the second vehicle and a first early warning threshold corresponding to the target running state of the second vehicle; determining a second collision edge corresponding to the second vehicle according to the real-time position of the second vehicle and the real-time position of the first vehicle; and determining a collision risk area corresponding to the second vehicle according to the first collision edge and the second collision edge corresponding to the second vehicle.

In some embodiments, the target operating state includes opening a door, the first signal further includes a vehicle width of the second vehicle, a door width of a door to be opened, and a real-time position of the second vehicle; determining a collision risk area corresponding to the second vehicle according to the corresponding target running state, including: when the target running state corresponding to the second vehicle is that the door is opened, determining a third collision edge corresponding to the second vehicle according to the width of the door to be opened, the width of the second vehicle and a second early warning threshold corresponding to the target running state of the second vehicle; determining a second collision edge corresponding to the second vehicle according to the real-time position of the second vehicle and the real-time position of the first vehicle; and determining a collision risk area corresponding to the second vehicle according to the second collision edge and the third collision edge.

In some embodiments, the target operating state comprises acceleration and deceleration, the first signal further comprises a real-time speed and a real-time position of the second vehicle; the determining, according to the corresponding target operating state, a collision risk area corresponding to the second vehicle includes: when the target running state corresponding to the second vehicle is acceleration or deceleration, determining a running direction corresponding to the second vehicle according to a historical position included in a historical first signal of the second vehicle and the real-time position included in the first signal; generating a running track corresponding to the second vehicle according to the running direction corresponding to the second vehicle and the real-time speed of the second vehicle included in the first signal; and determining a collision risk area corresponding to the second vehicle according to the running track corresponding to the second vehicle.

In some embodiments, the determining, according to the real-time vehicle speed of the first vehicle, a corresponding real-time warning range of the first vehicle includes: determining the brake time corresponding to the first vehicle according to the real-time speed of the first vehicle; determining a real-time braking distance corresponding to the first vehicle according to the real-time vehicle speed and the braking time; and determining a real-time early warning range corresponding to the first vehicle according to the real-time braking distance.

In some embodiments, the first vehicle is further equipped with an auxiliary device, the method further comprising: providing first early warning information to a user of the first vehicle through the auxiliary device when the first vehicle is judged to have the collision risk with the second vehicle.

In a second aspect, the present application provides a method for warning of vehicle collision, applied to a second vehicle, the second vehicle being equipped with a second V2X communication module, the second vehicle communicating with a first vehicle equipped with a first V2X communication module through the second V2X communication module, wherein the first vehicle is a non-motor vehicle, the method comprising: in response to the fact that the change intention of the running state of a second vehicle is identified, determining a real-time early warning range corresponding to the second vehicle according to the changed target running state of the second vehicle; sending a first signal to a first vehicle within a corresponding real-time early warning range of the second vehicle through the second V2X communication module, wherein the first signal comprises a target running state of the second vehicle; in response to receiving a first early warning signal returned by the first vehicle through the first V2X communication module according to the first signal, providing corresponding second early warning information to a user in the second vehicle so that the user in the second vehicle stops switching the second vehicle to the target operation state according to the second early warning information.

In some embodiments, the method further comprises: determining a collision risk area corresponding to the second vehicle according to the target running state; acquiring a second signal sent by a first vehicle within the real-time early warning range through the second V2X communication module; determining a running track and/or a real-time position of the first vehicle according to the second signal sent by the first vehicle; judging whether the second vehicle has a collision risk with the first vehicle or not according to the running track and/or the real-time position of the first vehicle and a collision risk area corresponding to the second vehicle; and when the collision risk with the first vehicle is judged to exist, providing corresponding third early warning information for the user in the second vehicle so that the user in the second vehicle stops switching the second vehicle to the target running state according to the third early warning information.

In some embodiments, the second signal comprises at least one of a real-time position of the first vehicle, a preset maximum vehicle speed and a heading direction, and the determining the trajectory and/or the real-time position of the first vehicle from the second signal sent by the first vehicle comprises at least one of:

determining a corresponding running direction of the first vehicle according to a historical position included by the historical second signal of the first vehicle and the real-time position included by the second signal; determining a running track corresponding to the first vehicle according to the running direction corresponding to the first vehicle and the preset highest vehicle speed;

determining a running direction corresponding to the first vehicle according to the direction of the vehicle head; determining a running track corresponding to the first vehicle according to the running direction corresponding to the first vehicle and the preset highest vehicle speed;

and determining the real-time position corresponding to the second vehicle according to the real-time position included by the second signal.

In some embodiments, the target operating state includes turning and opening a vehicle door, and determining the corresponding collision risk zone according to the target operating state includes: when the target running state is turning or opening the door, determining a fifth collision edge corresponding to the second vehicle according to the vehicle width of the second vehicle and the door width of the door to be opened of the second vehicle; and determining a real-time early warning range corresponding to the second vehicle according to a preset sixth collision edge and a fifth collision edge corresponding to the second vehicle.

In a third aspect, the present application provides a vehicle control system applied to a first vehicle, the first vehicle being a non-motor vehicle and the first vehicle being mounted with a first V2X communication module, the first vehicle communicating with a second vehicle mounted with a second V2X communication module through the first V2X communication module, the vehicle control system comprising:

one or more processors;

and memory associated with the one or more processors for storing program instructions that, when read and executed by the one or more processors, perform operations comprising:

determining a real-time early warning range corresponding to a first vehicle according to the real-time speed of the first vehicle, and acquiring a first signal sent by a second vehicle in the real-time early warning range through a second V2X communication module, wherein the first signal comprises a target running state corresponding to the second vehicle;

determining a collision risk area corresponding to the second vehicle according to the corresponding target running state;

judging whether the first vehicle has a collision risk with the second vehicle according to the real-time position and/or the running track of the first vehicle and a collision risk area corresponding to the second vehicle;

when the first vehicle is judged to have the collision risk with the second vehicle and the real-time position of the first vehicle is not in the collision risk area, controlling the first vehicle to brake through a brake device of the first vehicle and sending a first early warning signal to the second vehicle having the collision risk through the first V2X communication module.

The beneficial effect that this application realized does:

the application provides a vehicle collision early warning method, which is applied to a first vehicle, and is characterized in that the first vehicle is a non-motor vehicle and is provided with a first V2X communication module, the first vehicle communicates with a second vehicle provided with a second V2X communication module through the first V2X communication module, and the method comprises the following steps: determining a real-time early warning range corresponding to a first vehicle according to the real-time speed of the first vehicle, and acquiring a first signal sent by a second vehicle in the real-time early warning range through a second V2X communication module, wherein the first signal comprises a target running state corresponding to the second vehicle; determining a collision risk area corresponding to the second vehicle according to the corresponding target running state; judging whether the first vehicle has a collision risk with the second vehicle according to the real-time position and/or the running track of the first vehicle and a collision risk area corresponding to the second vehicle; when the first vehicle is judged to have the collision risk with the second vehicle and the real-time position of the first vehicle is not in the collision risk area, the first vehicle is controlled to brake through a brake device of the first vehicle and a first early warning signal is sent to the second vehicle having the collision risk through the first V2X communication module, the application realizes communication and information exchange with a V2X communication module of the second vehicle through a V2X communication module installed on the first vehicle such as an electric bicycle, the collision risk area of the second vehicle can be determined based on the V2X communication, whether the collision risk exists can be determined according to the collision risk area and the running track and/or the real-time position of the first vehicle, the collision early warning risk in the real-time driving of the first vehicle such as the electric bicycle is realized, and the problem that the collision recognition is easily influenced by the contamination of an on-board sensor based on-board sensor is avoided, the safety of vehicle driving is improved;

the application discloses that the target running state comprises a curve, and the first signal further comprises a vehicle width of the second vehicle and a real-time position of the second vehicle; determining a collision risk area corresponding to the second vehicle according to the corresponding target running state, including: when the target running state corresponding to the second vehicle is turning, determining a first collision edge corresponding to the second vehicle according to the vehicle width of the second vehicle and a first early warning threshold corresponding to the target running state of the second vehicle; determining a second collision edge corresponding to the second vehicle according to the real-time position of the second vehicle and the real-time position of the first vehicle; according to the first collision edge and the second collision edge corresponding to the second vehicle, the collision risk area corresponding to the second vehicle is determined, the corresponding collision risk area can be determined according to the vehicle width of the second vehicle around the first vehicle and the real-time positions of the two vehicles, the first vehicle can recognize and early warn in time when the second vehicle turns or turns around suddenly, and the driving safety of a driver of the first vehicle is improved;

the application discloses that the target running state comprises opening of a vehicle door, and the first signal further comprises the vehicle width of the second vehicle, the vehicle door width of the vehicle door to be opened and the real-time position of the second vehicle; determining a collision risk area corresponding to the second vehicle according to the corresponding target running state, including: when the target running state corresponding to the second vehicle is that the door is opened, determining a third collision edge corresponding to the second vehicle according to the width of the door to be opened, the width of the second vehicle and a second early warning threshold corresponding to the target running state of the second vehicle; determining a second collision edge corresponding to the second vehicle according to the real-time position of the second vehicle and the real-time position of the first vehicle; determining a collision risk area corresponding to the second vehicle according to the second collision edge and the third collision edge, so that whether the second vehicle parked on the roadside collides when suddenly opening a vehicle door is early warned in advance, and the driving safety is improved;

the target running state comprises acceleration and deceleration, and the first signal further comprises the real-time speed and the real-time position of the second vehicle;

the application provides that the target running state comprises acceleration and deceleration, and determining the collision risk area corresponding to the second vehicle according to the corresponding target running state comprises: when the target running state corresponding to the second vehicle is acceleration or deceleration, determining a running direction corresponding to the second vehicle according to a historical position included in a historical first signal of the second vehicle and the real-time position included in the first signal; generating a running track corresponding to the second vehicle according to the running direction corresponding to the second vehicle and the real-time speed of the second vehicle included in the first signal; determining a collision risk area corresponding to the second vehicle according to the running track corresponding to the second vehicle, so that whether collision occurs or not is early warned in advance when the second vehicle suddenly brakes or accelerates, and the risk of rear-end collision between two vehicles is reduced;

the application provides according to the real-time speed of a vehicle, confirm the real-time early warning scope that first vehicle corresponds includes: determining the brake time corresponding to the first vehicle according to the real-time speed of the first vehicle; determining a real-time braking distance corresponding to the first vehicle according to the real-time vehicle speed and the braking time; according to the real-time braking distance, the corresponding real-time early warning range of the first vehicle is determined, the corresponding real-time early warning range can be determined according to the real-time braking distance of the first vehicle, and the early warning accuracy is prevented from being influenced by the fact that the real-time early warning range is too large or too small;

the method comprises the steps that when the first vehicle is judged to have the collision risk with the second vehicle, first early warning information is provided for a user of the first vehicle through the auxiliary device, early warning information can be provided for the user in time through sound and light signals and the like when the collision risk is identified, and early warning efficiency of vehicle collision is improved;

in another aspect, the present application also discloses a vehicle collision warning method applied to a second vehicle, the second vehicle being equipped with a second V2X communication module, the second vehicle communicating with a first vehicle equipped with a first V2X communication module through the second V2X communication module, wherein the first vehicle is a non-motor vehicle, the method comprising: in response to the fact that the change intention of the running state of a second vehicle is identified, determining a real-time early warning range corresponding to the second vehicle according to the changed target running state of the second vehicle; sending a first signal to a first vehicle within a corresponding real-time early warning range of the second vehicle through the second V2X communication module, wherein the first signal comprises a target running state of the second vehicle; in response to receiving a first early warning signal returned by the first vehicle through the first V2X communication module according to the first signal, providing corresponding second early warning information to a user in the second vehicle so that the user in the second vehicle stops switching the second vehicle to the target operation state according to the second early warning information, compared with the prior art that a second vehicle such as a motor vehicle relies on the early warning information extracted by a roadside unit through image recognition to perform collision early warning and causes the accuracy of the collision early warning to suffer from the problem of image definition and the like, in the application, information for collision early warning is directly exchanged between the first vehicle and the second vehicle, the recognition of collision risk is no longer limited by whether the roadside unit exists on a running road and the accuracy of the roadside unit on the image recognition, and the second vehicle can remind the user in the vehicle to stop responding operation state switching operation when the first vehicle returns the early warning information, the occurrence of vehicle collision events can be directly avoided, and the safety of road traffic is remarkably improved;

the application also discloses that a collision risk area corresponding to the second vehicle is determined according to the target running state; acquiring a second signal sent by a first vehicle within the real-time early warning range through the second V2X communication module; determining a running track and/or a real-time position of the first vehicle according to the second signal sent by the first vehicle; judging whether the second vehicle has a collision risk with the first vehicle or not according to the running track and/or the real-time position of the first vehicle and a collision risk area corresponding to the second vehicle; when the collision risk with the first vehicle is judged to exist, providing corresponding third early warning information for the user in the second vehicle so that the user in the second vehicle stops switching the second vehicle to the target running state according to the third early warning information, and the second vehicle can directly judge whether the collision risk exists based on a second signal sent by the first vehicle, is not limited to whether the image identification accuracy of a roadside unit or a roadside unit exists, can directly avoid the occurrence of a vehicle collision event, and remarkably improves the safety of road traffic;

the application proposes that the second signal includes at least one of a real-time position of the first vehicle, a preset maximum vehicle speed and a vehicle head direction, and the determining the running track and/or the real-time position of the first vehicle according to the second signal sent by the first vehicle includes at least one of the following situations: determining a corresponding running direction of the first vehicle according to a historical position included by the historical second signal of the first vehicle and the real-time position included by the second signal; determining a running track corresponding to the first vehicle according to the running direction corresponding to the first vehicle and the preset highest vehicle speed; determining a running direction corresponding to the first vehicle according to the direction of the vehicle head; determining a running track corresponding to the first vehicle according to the running direction corresponding to the first vehicle and the preset highest vehicle speed; and determining the corresponding real-time position of the second vehicle according to the real-time position included by the second signal, predicting the corresponding running track and the real-time position of the first vehicle through the first signal of the first vehicle, improving the accuracy of predicting the future running track of the first vehicle and further improving the accuracy of collision early warning.

All products of this application need not have all of the above-described effects.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a diagram of a vehicle collision warning system provided in an embodiment of the present application;

fig. 2 is a schematic position diagram of a real-time warning range of a first vehicle and a collision warning area of a second vehicle when a target driving state is turning according to an embodiment of the present application;

fig. 3 is a schematic position diagram of a real-time warning range of a first vehicle and a collision warning area of a second vehicle when a vehicle door is opened in a target driving state according to an embodiment of the present application;

FIG. 4 is a schematic position diagram of a real-time warning range of a second vehicle according to an embodiment of the present disclosure;

FIG. 5 is a flow chart of a method provided by an embodiment of the present application;

fig. 6 is a flowchart of a method provided by an embodiment of the present application.

Detailed Description

In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Example one

As described in the background art, since the first vehicle such as the electric bicycle lacks an active early warning function for collision, the first vehicle cannot accurately warn danger and easily cause a traffic accident when driving on a road, and since the first vehicle cannot provide a good safety guarantee for a user, once the first vehicle has a traffic accident, casualties are easily caused, and a serious threat is caused to the personal safety of the user of the first vehicle.

In the prior art, in order to improve the safety of a first vehicle during driving and avoid collision between a non-motor vehicle and the vehicle, a vehicle-mounted sensor is usually mounted on the vehicle, and early warning is performed when the vehicle-mounted sensor identifies other vehicles nearby with collision risks so as to avoid collision, or sensors are mounted on the non-motor vehicle and the vehicle, and collision risks are identified and early warning is performed through directional communication between the sensors. However, the sensor is easily contaminated in rainy and snowy weather, so that the identification of the sensor is not sensitive, and the early warning effect is easily influenced; and the data that can be transmitted between the sensors is very limited, does not have scalability and can not guarantee the early warning effect.

In order to solve the technical problems, the application provides a vehicle collision early warning method, which can realize collision early warning based on V2X communication between vehicles, and solves the technical problems in the prior art.

Specifically, as shown in fig. 1, a process of performing collision warning on a first vehicle by using the vehicle collision warning method disclosed in the embodiment of the present application includes:

s100, acquiring the real-time speed of a first vehicle through a vehicle-mounted terminal of the first vehicle, and determining the braking time of the first vehicle according to the real-time speed; determining the real-time braking distance of the first vehicle according to the braking time and the real-time speed; determining a real-time early warning range of the first vehicle according to the real-time braking distance of the first vehicle;

the first vehicle may be a non-motor vehicle such as an electric bicycle. In some embodiments, the first vehicle may also be any vehicle such as an automobile that may be equipped with an in-vehicle terminal.

When the first vehicle is a non-motor vehicle such as an electric bicycle, the vehicle-mounted terminal mounted thereon may have a first V2X communication module, and the first V2X communication module may have a V2X communication function. The V2X communication has good expandability, can support broadcasting and communication of other data or signals in other scenes in the future, and avoids the problems that the communication by means of sensors is limited by fixed data types and weak expandability of the communication supported by the sensors. Meanwhile, the second vehicle-mounted terminal also has a second V2X communication module, and the second V2X communication module also has a V2X communication function.

V2X is called Vehicle to evolution, that is, the connection between Vehicle and anything, and mainly includes V2V Vehicle and Vehicle (Vehicle), V2I Vehicle and infrastructure (Vehicle to infrastructure), V2P Vehicle and person (Vehicle to person), and V2N Vehicle and cloud (Vehicle to network), which is a technology for the Vehicle to communicate with the surrounding vehicles, people and things through sensors and network communication technology, and to analyze and decide according to the collected information.

The braking time required by the first vehicle to decelerate from the real-time speed to 0 or a preset value can be predicted according to the real-time speed of the first vehicle and the real-time road condition where the first vehicle is located through a pre-trained machine learning model. The corresponding relation between the preset real-time speed and the braking time can be determined through tests and the like, and the corresponding braking time is determined according to the corresponding relation between the preset real-time speed and the braking time; or the average braking time of the first vehicle is determined in advance through experiments and the average braking time is determined to be the braking time corresponding to each real-time speed.

According to the braking time and the real-time speed, the braking distance of the first vehicle can be determined. The braking distance of the first vehicle can be determined according to the braking time and the real-time speed through a preset machine learning model. The braking distance of the first vehicle may also be determined according to the braking time and the real-time speed by any other calculation method, which is not limited in the present application.

As shown in fig. 2, the real-time warning range of the first vehicle may be a circular area with the braking distance R as a radius and the center point of the first vehicle as a center.

In some embodiments, the first vehicle may periodically broadcast a second signal including a real-time speed and a real-time location of the first vehicle to surrounding vehicles according to a preset time period. The other vehicles receiving the second signal can judge the future running track of the first vehicle according to the historical second signal of the first vehicle and the newly received second signal so as to carry out early warning and judgment on collision.

S200, acquiring a first signal based on V2X sent by a second vehicle in the real-time early warning range through a second V2X communication module in real time through a first V2X communication module of the vehicle-mounted terminal;

specifically, the second vehicle may be any vehicle which is loaded with a second V2X communication module and has V2X communication capability in a real-time early warning range except the first vehicle.

The first signal may include information such as a real-time position of the second vehicle, a target operation state in a future period, a maximum vehicle speed, a vehicle length, a vehicle width, a door width of each door, and the like. The first signal may include all of the above information, or may include only information required for the first vehicle to calculate the collision warning range of the second vehicle, which is determined according to the target operating state of the second vehicle. The second vehicle can broadcast the first signal to surrounding vehicles in real time when the running state is to be switched to the corresponding target running state, so that the surrounding vehicles can perform collision early warning and subsequent processing such as braking and audible and visual warning signal emission for avoiding collision according to the broadcast signal.

S300, determining a collision risk area corresponding to each second vehicle according to the target running state included in the first signal;

specifically, the target operating state may include turning, opening a door, accelerating, decelerating, and the like.

When the included target operating state is a curve, as shown in fig. 2, the determination process of the collision risk region includes:

s310, when the included target running state is turning, determining a first collision edge corresponding to a second vehicle according to the vehicle width of the second vehicle and a first early warning threshold corresponding to the target running state, wherein the first early warning threshold is included in the first signal;

determining a second collision edge corresponding to a second vehicle according to the respective real-time positions of the first vehicle and the second vehicle;

as shown in fig. 2, wherein the first impact edge is defined by a width D1 and a width D2. The width D1 is a first warning threshold corresponding to the target operation state of turning, and the width D2 is 1/2 of the vehicle width of the first vehicle.

The second impact edge is determined from a width D3, wherein the width D3 may be derived from an inter-vehicle distance determined from the real-time locations of the first vehicle and the second vehicle. Specifically, when the first vehicle is located behind the second vehicle, the width D3 may be a distance of a head of the first vehicle with respect to a center position of the second vehicle in a direction parallel to a body of the second vehicle.

S311, generating a collision risk area corresponding to the second vehicle according to the first collision edge and the second collision edge;

the collision risk region may be a rectangular region defined by the first collision edge and the second collision edge as shown by the hatched portion of fig. 2. The first collision edge can be perpendicular to the vehicle body direction of the second vehicle or the included angle between the first collision edge and a straight line perpendicular to the vehicle body direction does not exceed the corresponding preset angle threshold, and the second collision edge can be parallel to the vehicle body direction of the second vehicle or the included angle between the second collision edge and the vehicle body direction does not exceed the corresponding preset angle threshold.

Specifically, the vehicle body direction of the second vehicle may be determined according to the running direction of the second vehicle, may also be determined by identifying and determining a real-time image collected by a vehicle-mounted camera of the first vehicle, or may be determined according to a lane line of a lane where the second vehicle is located, or may be determined in any manner such as determining that the vehicle body direction of the second vehicle is parallel to the vehicle body direction of the first vehicle.

As shown in fig. 2, the rectangular region is composed of two first collision edges and two second collision edges, wherein one end point of one second collision edge may be a center point of the second vehicle, and the rectangular region may also be disposed at any other preset position, which is not limited in this application.

S320, when the included target running state is the opening of the vehicle door, determining a third collision edge corresponding to the second vehicle according to the width of the vehicle door to be opened and a second early warning threshold corresponding to the target running state of the second vehicle;

determining a second collision edge corresponding to the second vehicle according to the real-time position of the second vehicle and the real-time position of the first vehicle;

as shown in fig. 3, the third collision edge is composed of a second preset threshold D4 and a width D5 corresponding to the target operation state of opening the door. The width D5 is determined according to the width of the door of the second vehicle to be opened and the width 1/2 of the vehicle.

The process of determining the second collision edge is the same as the process of determining the second collision edge when the target operation state is turning, and the embodiment of the present application is not described herein again.

S321, determining a collision risk area corresponding to the second vehicle according to the second collision edge and the third collision edge;

the collision risk zone may be a rectangular zone defined by the second collision edge and the third collision edge as shown in the shaded portion of fig. 3, wherein the end point of one of the second collision edges may be the center position of the second vehicle. The rectangular area may also be set at any other preset position, which is not limited in the present application.

The second collision edge can be parallel to the body direction of the second vehicle or the included angle between the second collision edge and the body direction does not exceed the corresponding preset angle threshold, and the third collision edge can be perpendicular to the body direction of the second vehicle or the included angle between the third collision edge and a straight line perpendicular to the body direction of the second vehicle does not exceed the corresponding preset angle threshold.

The determination process of the vehicle body direction of the second vehicle may be the same as the determination process of the vehicle body direction when the target operation state is turning, and is not described herein again.

When the included target operating state is acceleration or deceleration, the determination process of the collision risk region includes:

s330, determining a corresponding running direction of a second vehicle according to a historical position included in a historical first signal sent by the second vehicle through a second V2X communication module and a real-time position included in the first signal, wherein the historical first signal is acquired by the first V2X communication module;

specifically, the in-vehicle terminal of the first vehicle may store the previously received history first signal based on V2X sent by the second vehicle through the second V2X communication module. The stored historical first signals may be retrieved as needed to determine a future direction of travel of the second vehicle based on one or more of the historical positions of the second vehicle included in the historical first signals and the real-time position included in the currently received first signals.

A connecting line between the historical position and the real-time position can be generated according to the historical position and the real-time position, and the running direction of the second vehicle is determined according to the direction of the connecting line.

S331, generating a running track of the second vehicle according to the running direction and the real-time speed of the second vehicle;

and determining a collision risk area corresponding to the second vehicle according to the running track of the second vehicle.

According to the running direction and the real-time speed of the second vehicle, the running track of the second vehicle in a future period of time can be predicted. The collision risk area corresponding to the second vehicle can be generated according to the running track of the second vehicle and the vehicle width and length of the second vehicle. According to the running track of the second vehicle and the vehicle width and the vehicle length of the second vehicle, the passing area of the second vehicle when the second vehicle runs along the running track can be determined, and the passing area is determined to be the collision risk area corresponding to the second vehicle.

S400, judging whether the first vehicle has a collision risk with the second vehicle according to the real-time position and/or the running track of the first vehicle and a collision risk area corresponding to the second vehicle;

the running track of the first vehicle can be determined according to the navigation route set by the user of the first vehicle, the head direction of the first vehicle and other information. The trajectory of the first vehicle may also be identified by any other method or rule, which is not limited in this application.

When the real-time speed of the first vehicle is not 0 or the real-time speed of the first vehicle is 0 but there is an intention to accelerate, if there is an overlap between the trajectory of the first vehicle and the collision risk area of the second vehicle, it may be determined that there is a risk of collision between the first vehicle and the second vehicle. Otherwise, it can be determined that the first vehicle does not have a collision risk with the second vehicle.

When the real-time speed of the first vehicle is 0 and there is no intention to accelerate, if the real-time position of the first vehicle is within the collision risk area of the second vehicle, it may be determined that the first vehicle has a collision risk with the second vehicle. Otherwise, it can be determined that the first vehicle does not have a collision risk with the second vehicle.

Specifically, according to the running track of the first vehicle, real-time images such as traffic lights and road conditions on the running track are acquired through a preset camera and other sensors, or corresponding road condition data are acquired through V2X communication with a roadside unit RSU, and whether an acceleration intention exists or not is judged according to the real-time images and the road condition data, and whether the acceleration intention exists or not is judged according to the action of a user and the operation of equipment such as an acceleration device of the first vehicle.

When the target running state of the second vehicle is acceleration or deceleration, it may be determined that there is a collision risk if there is an intersection point, and it may be determined that there is no collision risk if there is no intersection point, according to the running track and/or the real-time position of the first vehicle and the running track of the second vehicle. In some embodiments, it may also be determined that an area through which the second vehicle travels along the travel track is a collision risk area according to the travel track of the second vehicle, the vehicle width of the second vehicle, and the vehicle length of the second vehicle, and it is determined whether there is a collision risk according to whether there is an overlap between the collision risk area and the travel track and/or the real-time position of the first vehicle.

S500, when the first vehicle is judged to have the collision risk with the second vehicle and the real-time position of the first vehicle is not in the collision risk area, controlling the first vehicle to brake through a brake device of the first vehicle;

the vehicle-mounted terminal of the first vehicle can send a corresponding control signal to the brake device so as to control the first vehicle to brake.

When the first vehicle is judged to have the collision risk with the second vehicle, the first early warning information can be sent to the user on the first vehicle through the auxiliary device of the first vehicle, so that the user can control the first vehicle to be away from the second vehicle with the collision risk in time or directly leave the first vehicle to avoid the collision to the human body. Specifically, the auxiliary device may be a display, a signal lamp, a speaker, or the like that can emit warning information based on sound or light.

Meanwhile, when it is determined that the first vehicle has a collision risk with the second vehicle, the first warning signal based on V2X may be sent to the second vehicle having the collision risk through the first V2X communication module, so that the second vehicle performs an avoidance operation such as stopping the original operation of switching to the target driving state after receiving the signal, thereby avoiding the collision.

Based on the early warning method for vehicle collision disclosed by the embodiment of the application, first vehicles such as electric bicycles and the like can realize collision early warning based on V2X communication, and the safety of the vehicles is improved.

Example two

In the prior art, when a second vehicle such as a motor vehicle performs collision warning based on V2X, it is common to acquire warning information such as real-time positions of vulnerable traffic participants such as non-motor vehicles and pedestrians from a roadside unit RSU through communication based on V2X, and perform collision warning based on the warning information acquired from the roadside unit RSU. The roadside unit RSU obtains corresponding early warning information such as real-time position and the like based on road image identification acquired by the camera, the accuracy of the early warning information is limited by the definition degree of the camera, and the accuracy is greatly influenced if the camera is stained. When no roadside unit exists near the position where the second vehicle is located, the second vehicle is difficult to give early warning whether the second vehicle collides with the traffic participant or not.

In order to improve the accuracy of collision early warning of second vehicles such as motor vehicles and the like, the application provides an early warning method applied to vehicle collision of the second vehicles, early warning information is exchanged through V2X communication between a first V2X communication module of a first vehicle and a second V2X communication module of the second vehicle, whether collision risks exist in the two sides of possible collision can be predicted respectively, the early warning success rate is remarkably improved compared with that of collision early warning only by one end of a motor vehicle, the early warning success rate is not limited by the accuracy of image recognition, and the safety of vehicle driving on a road is further improved.

Specifically, the process of using the method to carry out vehicle collision early warning comprises the following steps:

the same or similar contents in this embodiment as those in the first embodiment may refer to the above description, and are not repeated herein.

Step one, in response to the fact that the change intention of the target running state of a second vehicle is identified, determining a real-time early warning range corresponding to the second vehicle according to the changed target running state of the second vehicle;

the second vehicle may be a motor vehicle such as an automobile. In some embodiments, the second vehicle may also be any vehicle that may be equipped with an on-board terminal. The on-vehicle terminal mounted on the second vehicle may have a second V2X communication module having a V2X communication function.

The second vehicle can acquire a real-time image in the vehicle through the vehicle-mounted camera, judge the switching intention of the target running state according to the action of the user in the real-time image, or acquire the actions of opening a steering lamp in the vehicle, touching a vehicle door and the like of the user through the vehicle-mounted sensor and judge the switching intention of the target running state based on the acquired actions.

Specifically, the process of determining the real-time early warning range of the second vehicle includes: and when the target running state of the second vehicle is that the door of the vehicle is opened or the vehicle turns, determining a real-time early warning range corresponding to the second vehicle according to the vehicle width of the second vehicle and a preset early warning threshold value.

As shown in fig. 4, the shaded area is a real-time early warning range corresponding to the second vehicle when the target operation state of the second vehicle is that the door of the second vehicle is opened or the second vehicle turns. Specifically, the shaded area may be a rectangular area with the fifth collision edge D5 and the sixth collision edge, i.e., the preset warning threshold D6, as edges. The length of the D5 may be determined according to the sum of the vehicle width 1/2 of the second vehicle and the door width of the preset door of the second vehicle, and the length of the D6 may be determined according to the corresponding preset early warning threshold. As shown in fig. 4, the fifth collision edge does not exceed the corresponding angle threshold value in the direction perpendicular to the vehicle body direction of the second vehicle or in the angle with the straight line perpendicular to the vehicle body direction, and the sixth collision edge does not exceed the corresponding angle threshold value in the direction parallel to the vehicle body direction of the second vehicle or in the angle with the vehicle body direction.

When the first vehicle is located at the rear end of the second vehicle, the rectangular area may be located such that a lower left corner of the rectangular area overlaps with a lower left corner of the first vehicle and one of the sixth collision edges passes through a centerline of the second vehicle. The rectangular area can also be arranged at any other preset position, and the application does not limit the rectangular area.

The process of determining the real-time warning range of the second vehicle may further include: and when the target running state of the second vehicle is acceleration or deceleration, determining a real-time early warning range corresponding to the second vehicle according to the running track of the second vehicle.

Specifically, the corresponding running track can be obtained according to a navigation route set by a user through a vehicle-mounted terminal of the second vehicle, or according to the direction of the vehicle head and the real-time vehicle speed. And when the target running state is acceleration or deceleration, the corresponding real-time early warning ranges are all areas passed by the second vehicle when running along the running track.

Step two, sending a first signal to a first vehicle within a real-time early warning range so that the first vehicle can judge whether a collision risk exists according to the first signal;

the second vehicle can broadcast the first signal at preset time intervals, namely, through V2X communication, so that vehicles near the second vehicle can perform collision early warning in time according to the broadcast first signal, and the collision probability between the two vehicles is reduced.

Specifically, the technical scheme of the first vehicle determining whether the collision risk exists according to the first signal in this embodiment is the same as the technical scheme of the first vehicle determining whether the collision risk exists according to the first signal in the first embodiment, and details are not repeated here.

Step three, in response to the second V2X communication module receiving a first early warning signal returned by the first vehicle through the first V2X communication module, sending second early warning information to a user in the second vehicle so that the user in the second vehicle stops switching the second vehicle to a target running state according to the second early warning information;

after a real-time early warning range corresponding to the second vehicle is determined, determining a corresponding collision risk area according to the target running state;

specifically, the process of determining the collision warning area in the embodiment of the present application is the same as that in the first embodiment, and is not described herein again.

Step five, receiving a second signal broadcast by a first vehicle within a real-time early warning range;

the vehicle-mounted terminal of the first vehicle can broadcast a second signal in real time through V2X communication, wherein the second signal comprises at least one item of information of real-time speed, preset maximum speed, real-time position, head direction and the like of the first vehicle.

Step six, judging whether the second vehicle has the collision risk with the first vehicle or not according to the second signal and the collision risk area;

according to the second signal, the real-time position, the running track, the preset maximum vehicle speed and the real-time vehicle speed of the first vehicle can be determined.

When the second signal includes the real-time position, the running direction of the first vehicle may be predicted based on the real-time position included in the second signal and the historical position of the first vehicle included in the historical second signal. When the second signal includes the heading direction, the heading direction may be directly determined to be the running direction of the first vehicle.

When the real-time vehicle speed of the first vehicle is 0, if the real-time position of the first vehicle is within the collision risk area of the second vehicle, it can be determined that the second vehicle has a collision risk with the first vehicle. When the real-time vehicle speed of the first vehicle is not 0, the longest driving path, namely the running track of the first vehicle within the preset duration corresponding to the opening of the vehicle door or turning can be generated according to the driving direction and the preset highest vehicle speed. If the running track overlaps with the collision risk area, it can be determined that the second vehicle has a collision risk with the first vehicle.

And seventhly, when the second vehicle is judged to have the collision risk with the first vehicle, third early warning information is sent to a user in the second vehicle so that the user in the second vehicle stops switching the second vehicle to the target running state according to the third early warning information.

Meanwhile, the second vehicle can send a second early warning signal to the first vehicle with the collision risk, so that a user of the first vehicle can control the first vehicle to be far away from the collision risk area or leave the first vehicle immediately according to the second early warning signal, and collision is avoided or loss possibly caused by collision is reduced.

Based on the vehicle collision early warning method disclosed in the second embodiment of the application, the second vehicle can realize collision early warning based on V2X communication or perform collision avoidance operation based on the early warning signal sent by the first vehicle, so that the safety of the vehicle is improved.

EXAMPLE III

Corresponding to the first embodiment and the second embodiment, as shown in fig. 5, the present application provides a method for early warning of vehicle collision, which is applied to a first vehicle, where the first vehicle is a non-motor vehicle and is equipped with a first V2X communication module, and the first vehicle communicates with a second vehicle equipped with a second V2X communication module through the first V2X communication module, where the same or similar contents as those in the first embodiment may be referred to the above description, and are not repeated in the following description, and the method includes:

5100. determining a real-time early warning range corresponding to a first vehicle according to the real-time speed of the first vehicle, and acquiring a first signal sent by a second vehicle in the real-time early warning range through a second V2X communication module, wherein the first signal comprises a target running state corresponding to the second vehicle;

preferably, the determining a real-time early warning range corresponding to the first vehicle according to the real-time vehicle speed of the first vehicle includes: 5110. determining the brake time corresponding to the first vehicle according to the real-time speed of the first vehicle; 5111. determining a real-time braking distance corresponding to the first vehicle according to the real-time vehicle speed and the braking time; 5112. and determining a real-time early warning range corresponding to the first vehicle according to the real-time braking distance.

5200. Determining a collision risk area corresponding to the second vehicle according to the corresponding target running state;

preferably, the target operating state includes a curve, and the first signal further includes a vehicle width of the second vehicle and a real-time position of the second vehicle; determining a collision risk area corresponding to the second vehicle according to the corresponding target running state, including: 5210. when the target running state corresponding to the second vehicle is turning, determining a first collision edge corresponding to the second vehicle according to the vehicle width of the second vehicle and a first early warning threshold corresponding to the target running state of the second vehicle; 5211. determining a second collision edge corresponding to the second vehicle according to the real-time position of the second vehicle and the real-time position of the first vehicle; 5212. and determining a collision risk area corresponding to the second vehicle according to the first collision edge and the second collision edge corresponding to the second vehicle.

Preferably, the target operation state includes opening a door, and the first signal further includes a vehicle width of the second vehicle, a door width of the door to be opened, and a real-time position of the second vehicle; determining a collision risk area corresponding to the second vehicle according to the corresponding target running state, including: 5220. when the target running state corresponding to the second vehicle is that the door is opened, determining a third collision edge corresponding to the second vehicle according to the width of the door to be opened, the width of the second vehicle and a second early warning threshold corresponding to the target running state of the second vehicle; 5221. determining a second collision edge corresponding to the second vehicle according to the real-time position of the second vehicle and the real-time position of the first vehicle; 5222. and determining a collision risk area corresponding to the second vehicle according to the second collision edge and the third collision edge.

Preferably, the target operation state includes acceleration and deceleration, and the first signal further includes a real-time speed and a real-time position of the second vehicle;

the determining, according to the corresponding target operating state, a collision risk area corresponding to the second vehicle includes: 5230. when the target running state corresponding to the second vehicle is acceleration or deceleration, determining a running direction corresponding to the second vehicle according to a historical position included in a historical first signal of the second vehicle and the real-time position included in the first signal; 5231. generating a running track corresponding to the second vehicle according to the running direction corresponding to the second vehicle and the real-time speed of the second vehicle included in the first signal; 5232. and determining a collision risk area corresponding to the second vehicle according to the running track corresponding to the second vehicle.

5300. Judging whether the first vehicle has a collision risk with the second vehicle according to the real-time position and/or the running track of the first vehicle and a collision risk area corresponding to the second vehicle;

5400. when the first vehicle is judged to have the collision risk with the second vehicle and the real-time position of the first vehicle is not in the collision risk area, controlling the first vehicle to brake through a brake device of the first vehicle and sending a first early warning signal to the second vehicle having the collision risk through the first V2X communication module.

Preferably, the first vehicle is further equipped with an auxiliary device, and the method further comprises:

5500. providing first early warning information to a user of the first vehicle through the auxiliary device when the first vehicle is judged to have the collision risk with the second vehicle.

Example four

Corresponding to the first embodiment and the second embodiment, as shown in fig. 6, the present application provides a method for early warning of vehicle collision, which is applied to a second vehicle, where the first vehicle is a non-motor vehicle and is equipped with a first V2X communication module, the second vehicle is equipped with a second V2X communication module, and the second vehicle communicates with the first vehicle equipped with a first V2X communication module through the second V2X communication module, where contents identical or similar to those of the first embodiment in this embodiment may refer to the above description, and are not repeated in the following description, and the method includes:

6100. in response to the fact that the change intention of the running state of a second vehicle is identified, determining a real-time early warning range corresponding to the second vehicle according to the changed target running state of the second vehicle;

6200. sending a first signal to a first vehicle within a corresponding real-time early warning range of the second vehicle through the second V2X communication module, wherein the first signal comprises a target running state of the second vehicle;

6300. in response to receiving a first early warning signal returned by the first vehicle through the first V2X communication module according to the first signal, providing corresponding second early warning information to a user in the second vehicle so that the user in the second vehicle stops switching the second vehicle to the target operation state according to the second early warning information.

Preferably, the responding to the first early warning signal returned by the first vehicle through the first V2X communication module according to the first signal comprises: 6310. the first vehicle determines a real-time early warning range corresponding to the first vehicle according to the real-time vehicle speed of the first vehicle and acquires a first signal sent by a second vehicle within the real-time early warning range of the first vehicle through a second V2X communication module;

preferably, the determining, by the first vehicle, the real-time early warning range corresponding to the first vehicle according to the real-time vehicle speed of the first vehicle includes: 6311. the first vehicle determines the corresponding brake time of the first vehicle according to the real-time speed of the first vehicle; 6312. the first vehicle determines a real-time braking distance corresponding to the first vehicle according to the real-time vehicle speed and the braking time; 6313. and the first vehicle determines a real-time early warning range corresponding to the first vehicle according to the real-time braking distance.

6320. The first vehicle determines a collision risk area corresponding to the second vehicle according to the corresponding target running state;

preferably, the target operating state includes a curve, and the first signal further includes a vehicle width of the second vehicle and a real-time position of the second vehicle; determining, by the first vehicle, a collision risk area corresponding to the second vehicle according to the corresponding target operating state, including: 6321. when the target running state corresponding to the second vehicle is turning, the first vehicle determines a first collision edge corresponding to the second vehicle according to the vehicle width of the second vehicle and a first early warning threshold corresponding to the target running state of the second vehicle; 6322. the first vehicle determines a second collision edge corresponding to the second vehicle according to the real-time position of the second vehicle and the real-time position of the first vehicle; 6323. and the first vehicle determines a collision risk area corresponding to the second vehicle according to the first collision edge and the second collision edge corresponding to the second vehicle.

Preferably, the target operation state includes opening a door, and the first signal further includes a vehicle width of the second vehicle, a door width of the door to be opened, and a real-time position of the second vehicle; determining, by the first vehicle, a collision risk area corresponding to the second vehicle according to the corresponding target operating state, including: 6324. when the target running state corresponding to the second vehicle is that the door is opened, determining a third collision edge corresponding to the second vehicle according to the width of the door to be opened, the width of the second vehicle and a second early warning threshold corresponding to the target running state of the second vehicle; 6325. determining a second collision edge corresponding to the second vehicle according to the real-time position of the second vehicle and the real-time position of the first vehicle; 6326. and determining a collision risk area corresponding to the second vehicle according to the second collision edge and the third collision edge.

Preferably, the target operation state includes acceleration and deceleration, and the first signal further includes a real-time speed and a real-time position of the second vehicle; the first vehicle determining the collision risk area corresponding to the second vehicle according to the corresponding target running state comprises: 6327. when the target running state corresponding to the second vehicle is acceleration or deceleration, the first vehicle determines the running direction corresponding to the second vehicle according to the historical position included by the historical first signal of the second vehicle and the real-time position included by the first signal; 6328. the first vehicle generates a running track corresponding to the second vehicle according to the running direction corresponding to the second vehicle and the real-time speed of the second vehicle included in the first signal; 6329. and the first vehicle determines a collision risk area corresponding to the second vehicle according to the running track corresponding to the second vehicle.

6330. The first vehicle judges whether the first vehicle has a collision risk with the second vehicle according to the real-time position and/or the running track of the first vehicle and a collision risk area corresponding to the second vehicle;

6340. when the first vehicle is judged to have the collision risk with the second vehicle and the real-time position of the first vehicle is not in the collision risk area, controlling the first vehicle to brake through a brake device of the first vehicle and sending a first early warning signal to the second vehicle having the collision risk through the first V2X communication module.

Preferably, the first vehicle is further equipped with an auxiliary device, and the method further comprises: 6341. when the first vehicle is judged to have the collision risk with the second vehicle, first early warning information is provided for a user of the first vehicle through the auxiliary device.

Preferably, the method further comprises:

6400. determining a collision risk area corresponding to the second vehicle according to the target running state;

6410. acquiring a second signal sent by a first vehicle within the real-time early warning range through the second V2X communication module;

6420. determining a running track and/or a real-time position of the first vehicle according to the second signal sent by the first vehicle;

preferably, the second signal includes at least one of a real-time position of the first vehicle, a preset maximum vehicle speed, and a vehicle head direction, and the determining the running track and/or the real-time position of the first vehicle according to the second signal sent by the first vehicle includes at least one of the following situations: 6421. determining a corresponding running direction of the first vehicle according to a historical position included by the historical second signal of the first vehicle and the real-time position included by the second signal; determining a running track corresponding to the first vehicle according to the running direction corresponding to the first vehicle and the preset highest vehicle speed; 6422. determining a running direction corresponding to the first vehicle according to the direction of the vehicle head; determining a running track corresponding to the first vehicle according to the running direction corresponding to the first vehicle and the preset highest vehicle speed; 6423. and determining the real-time position corresponding to the second vehicle according to the real-time position included by the second signal.

6430. Judging whether the second vehicle has a collision risk with the first vehicle or not according to the running track and/or the real-time position of the first vehicle and a collision risk area corresponding to the second vehicle;

6440. and when the collision risk with the first vehicle is judged to exist, providing corresponding third early warning information for the user in the second vehicle so that the user in the second vehicle stops switching the second vehicle to the target running state according to the third early warning information.

Preferably, the target operation state includes turning and opening a vehicle door, and determining the corresponding collision risk area according to the target operation state includes:

6450. when the target running state is turning or opening the door, determining a fifth collision edge corresponding to the second vehicle according to the vehicle width of the second vehicle and the door width of the door to be opened of the second vehicle;

6460. and determining a real-time early warning range corresponding to the second vehicle according to a preset sixth collision edge and a fifth collision edge corresponding to the second vehicle.

EXAMPLE five

Corresponding to all the above embodiments, the embodiments of the present application provide a vehicle control system, which is applied to a first vehicle, where the first vehicle is a non-motor vehicle and is equipped with a first V2X communication module, and the first vehicle communicates with a second vehicle equipped with a second V2X communication module through the first V2X communication module, where the same or similar contents as those in the first embodiment may be referred to the above description, and are not repeated in the following description, and the vehicle control system includes:

one or more processors; and memory associated with the one or more processors for storing program instructions that, when read and executed by the one or more processors, perform operations comprising:

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the system or system embodiments are substantially similar to the method embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for related points.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A vehicle collision early warning method is applied to a first vehicle, the first vehicle is a non-motor vehicle and is provided with a first V2X communication module, the first vehicle is communicated with a second vehicle provided with a second V2X communication module through the first V2X communication module, and the method comprises the following steps:

2. The method of claim 1, wherein the target operating condition comprises a curve, and the first signal further comprises a vehicle width of the second vehicle and a real-time location of the second vehicle; determining a collision risk area corresponding to the second vehicle according to the corresponding target running state, including:

when the target running state corresponding to the second vehicle is turning, determining a first collision edge corresponding to the second vehicle according to the vehicle width of the second vehicle and a first early warning threshold corresponding to the target running state of the second vehicle;

and determining a collision risk area corresponding to the second vehicle according to the first collision edge and the second collision edge corresponding to the second vehicle.

3. The method for warning of vehicle collision according to claim 1, wherein the target operation state includes opening a door, and the first signal further includes a vehicle width of the second vehicle, a door width of the door to be opened, and a real-time position of the second vehicle; determining a collision risk area corresponding to the second vehicle according to the corresponding target running state, including:

when the target running state corresponding to the second vehicle is that the door is opened, determining a third collision edge corresponding to the second vehicle according to the width of the door to be opened, the width of the second vehicle and a second early warning threshold corresponding to the target running state of the second vehicle;

and determining a collision risk area corresponding to the second vehicle according to the second collision edge and the third collision edge.

4. The method of claim 1, wherein the target operating state comprises acceleration and deceleration, and the first signal further comprises a real-time speed and a real-time location of the second vehicle;

the determining, according to the corresponding target operating state, a collision risk area corresponding to the second vehicle includes:

when the target running state corresponding to the second vehicle is acceleration or deceleration, determining a running direction corresponding to the second vehicle according to a historical position included in a historical first signal of the second vehicle and the real-time position included in the first signal;

generating a running track corresponding to the second vehicle according to the running direction corresponding to the second vehicle and the real-time speed of the second vehicle included in the first signal;

and determining a collision risk area corresponding to the second vehicle according to the running track corresponding to the second vehicle.

5. The vehicle collision early warning method according to any one of claims 1 to 4, wherein the determining the real-time early warning range corresponding to the first vehicle according to the real-time vehicle speed of the first vehicle comprises:

determining the brake time corresponding to the first vehicle according to the real-time speed of the first vehicle;

determining a real-time braking distance corresponding to the first vehicle according to the real-time vehicle speed and the braking time;

and determining a real-time early warning range corresponding to the first vehicle according to the real-time braking distance.

6. The warning method for a vehicle collision according to any one of claims 1 to 4, wherein the first vehicle is further equipped with an auxiliary device, the method further comprising:

providing first early warning information to a user of the first vehicle through the auxiliary device when the first vehicle is judged to have the collision risk with the second vehicle.

7. A vehicle collision early warning method is applied to a second vehicle, and is characterized in that the second vehicle is provided with a second V2X communication module and communicates with a first vehicle provided with a first V2X communication module through the second V2X communication module, wherein the first vehicle is a non-motor vehicle, and the method comprises the following steps:

in response to the fact that the change intention of the running state of a second vehicle is identified, determining a real-time early warning range corresponding to the second vehicle according to the changed target running state of the second vehicle;

sending a first signal to a first vehicle within a corresponding real-time early warning range of the second vehicle through the second V2X communication module, wherein the first signal comprises a target running state of the second vehicle;

in response to receiving a first early warning signal returned by the first vehicle through the first V2X communication module according to the first signal, providing corresponding second early warning information to a user in the second vehicle so that the user in the second vehicle stops switching the second vehicle to the target operation state according to the second early warning information.

8. The warning method for a vehicle collision according to claim 7, further comprising:

determining a collision risk area corresponding to the second vehicle according to the target running state;

acquiring a second signal sent by a first vehicle within the real-time early warning range through the second V2X communication module;

determining a running track and/or a real-time position of the first vehicle according to the second signal sent by the first vehicle;

judging whether the second vehicle has a collision risk with the first vehicle or not according to the running track and/or the real-time position of the first vehicle and a collision risk area corresponding to the second vehicle;

and when the collision risk with the first vehicle is judged to exist, providing corresponding third early warning information for the user in the second vehicle so that the user in the second vehicle stops switching the second vehicle to the target running state according to the third early warning information.

9. The method as claimed in claim 8, wherein the second signal comprises at least one of a real-time position of the first vehicle, a preset maximum vehicle speed and a direction of a vehicle head, and the determining the moving track and/or the real-time position of the first vehicle according to the second signal transmitted by the first vehicle comprises at least one of the following situations:

10. A vehicle control system applied to a first vehicle, wherein the first vehicle is a non-motor vehicle and is equipped with a first V2X communication module, the first vehicle communicates with a second vehicle equipped with a second V2X communication module through the first V2X communication module, the vehicle control system comprising:

one or more processors;