CN113561895A - Unmanned vehicle early warning method and device, electronic equipment and storage medium - Google Patents
Unmanned vehicle early warning method and device, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN113561895A CN113561895A CN202111111657.1A CN202111111657A CN113561895A CN 113561895 A CN113561895 A CN 113561895A CN 202111111657 A CN202111111657 A CN 202111111657A CN 113561895 A CN113561895 A CN 113561895A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- unmanned vehicle
- early warning
- unmanned
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
Abstract
The disclosure relates to the technical field of traffic safety, and provides an unmanned vehicle early warning method, an unmanned vehicle early warning device, electronic equipment and a storage medium. The method is applied to an unmanned vehicle, i.e. an unmanned or autonomous device, comprising: the method comprises the steps of acquiring position information of an unmanned vehicle in real time, acquiring a speed range required by a preset road section when the unmanned vehicle is determined to be located at the starting point of the preset road section of a road, and setting the running speed of the unmanned vehicle as the upper limit or the lower limit of the speed range; when the unmanned vehicle runs at the upper limit of the speed range, vehicles around the unmanned vehicle are detected through the front-end sensor, and vehicle speed control early warning reminding or photographing records are sent to the side vehicle when the side vehicle is detected to exist at the side of the unmanned vehicle and the side vehicle at least partially exceeds the unmanned vehicle or when the front vehicle is detected to exist in front of the unmanned vehicle and the distance between the front vehicle and the unmanned vehicle is gradually increased. The present disclosure reduces the incidence of accidents and improves driving safety.
Description
Technical Field
The present disclosure relates to the field of traffic safety technologies, and in particular, to an unmanned vehicle early warning method, an apparatus, an electronic device, and a computer-readable storage medium.
Background
With the development of science and technology, the appearance of vehicles provides convenience for the life of people. However, as the number of vehicles increases, the incidence of vehicle accidents also gradually increases. Taking the highway as an example, because the running speed of vehicles is generally high, vehicle accidents such as vehicle rear-end collision and collision caused by high-speed and overspeed running are rare, and serious damage is caused to lives and properties of travelers on the highway.
At present, vehicle accident avoidance on a highway can only depend on limiting the driving speed of a vehicle, adding a high-speed monitoring camera and a safety warning sign and improving the subjective awareness of a driver, however, as the driver drives on the highway in a fatigue way or the attention is not focused, the driving speed of the vehicle cannot be effectively controlled, the accident occurrence rate is further high, and the driving safety is poor.
Disclosure of Invention
In view of the above, embodiments of the present disclosure provide an unmanned vehicle early warning method, an apparatus, an electronic device, and a computer-readable storage medium, so as to solve the problems in the prior art that a driving speed of a vehicle cannot be effectively controlled due to fatigue driving or inattention of a driver on a road, and further, an accident rate is high, and driving safety is poor.
In a first aspect of the disclosed embodiments, there is provided an unmanned vehicle early warning method, including: the method comprises the steps of obtaining position information of an unmanned vehicle in real time, obtaining a speed range required by a preset road section when the unmanned vehicle is located at the starting point of the preset road section of a road, setting the running speed of the unmanned vehicle as the upper limit or the lower limit of the speed range, detecting vehicles around the unmanned vehicle through a front sensor when the unmanned vehicle runs at the upper limit of the speed range, sending vehicle speed control early warning reminding or photographing records to a side vehicle when the side vehicle is detected to exist at the side of the unmanned vehicle and at least partially exceeds the unmanned vehicle, and sending vehicle speed control early warning reminding or photographing records to a front vehicle when the front vehicle is detected to exist in front of the unmanned vehicle and the distance between the front vehicle and the unmanned vehicle is gradually increased.
In a second aspect of the embodiments of the present disclosure, an unmanned vehicle early warning device is provided, including: the system comprises an acquisition module, a speed limit setting module and a speed limit setting module, wherein the acquisition module is configured to acquire the position information of an unmanned vehicle in real time, acquire a speed range required by a preset road section when the unmanned vehicle is determined to be positioned at the starting point of the preset road section of a road, and set the running speed of the unmanned vehicle as the upper limit or the lower limit of the speed range; the early warning module is configured to detect vehicles around the unmanned vehicle through the front sensor when the unmanned vehicle runs at the upper limit of the speed range, send vehicle speed control early warning reminding or photographing records to the side vehicle when the side vehicle is detected to exist at the side of the unmanned vehicle and the side vehicle at least partially exceeds the unmanned vehicle, and send vehicle speed control early warning reminding or photographing records to the front vehicle when the front vehicle is detected to exist in front of the unmanned vehicle and the distance between the front vehicle and the unmanned vehicle is gradually increased.
In a third aspect of the embodiments of the present disclosure, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the above method when executing the computer program.
In a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, which stores a computer program, which when executed by a processor, implements the steps of the above-mentioned method.
Compared with the prior art, the embodiment of the disclosure has the following beneficial effects: by acquiring the position information of the unmanned vehicle in real time, acquiring the speed range required by the preset road section when the unmanned vehicle is positioned at the starting point of the preset road section of the road, setting the running speed of the unmanned vehicle as the upper limit or the lower limit of the speed range, detecting vehicles around the unmanned vehicle through a front sensor when the unmanned vehicle runs at the upper limit of the speed range, sending vehicle speed control early warning reminding or photographing record to the side vehicle when the side vehicle is detected to exist at the side of the unmanned vehicle and the side vehicle at least partially exceeds the unmanned vehicle, sending vehicle speed control early warning reminding or photographing record to the front vehicle when the front vehicle is detected to exist in front of the unmanned vehicle and the distance between the front vehicle and the unmanned vehicle is gradually increased, determining that the vehicle running on the road is overspeed, and sending early warning reminding or photographing record to the driver of the vehicle, therefore, the accident rate is reduced, and the driving safety is improved.
Drawings
To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without inventive efforts.
FIG. 1 is a scenario diagram of an application scenario of an embodiment of the present disclosure;
fig. 2 is a flowchart of an unmanned vehicle early warning method provided by an embodiment of the present disclosure;
fig. 3 is a flow chart of another method for providing an unmanned vehicle early warning according to an embodiment of the present disclosure;
fig. 4 is a block diagram of an unmanned vehicle early warning device provided in an embodiment of the present disclosure;
fig. 5 is a schematic diagram of an electronic device provided in an embodiment of the present disclosure.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the disclosed embodiments. However, it will be apparent to one skilled in the art that the present disclosure may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present disclosure with unnecessary detail.
An unmanned vehicle early warning method and apparatus according to an embodiment of the present disclosure will be described in detail below with reference to the accompanying drawings.
Fig. 1 is a scene schematic diagram of an application scenario of an embodiment of the present disclosure. The application scenario may include unmanned vehicle 1, vehicle 2, vehicle 3, vehicle 4, and vehicle 5.
The unmanned vehicle 1 may be a vehicle that supports any one of unmanned driving, automatic driving, and remote driving. Here, the vehicle may be an existing vehicle or a vehicle applied to a different field. For example, the unmanned vehicle 1 may be automatically driven by an automatic driving program, or may be connected to a remote driving end through a network, and may be remotely controlled by a remote driver at the remote driving end, which is not limited by the embodiment of the present disclosure.
The network may be a wired network connected by a coaxial cable, a twisted pair and an optical fiber, or may be a wireless network that can interconnect various Communication devices without wiring, for example, Bluetooth (Bluetooth), Near Field Communication (NFC), Infrared (Infrared), and the like, which is not limited in this disclosure.
The vehicles 2, 3, 4, and 5 may be automobiles such as cars, caravans, trucks, off-road vehicles, Sport Utility Vehicles (SUVs), and the like, electric vehicles, or bicycles, and the embodiment of the present disclosure is not limited thereto. Further, the vehicle 2, the vehicle 3, the vehicle 4, and the vehicle 5 may also be vehicles that support any of smart driving, automatic driving, unmanned driving, and remote driving.
Specifically, the position information of the unmanned vehicle 1 is acquired in real time by a positioning device mounted on the unmanned vehicle 1, and when it is determined that the unmanned vehicle 1 is located at the start point of a preset section of the road, the speed range required for the preset section is acquired, and the traveling speed of the unmanned vehicle 1 is set as the upper limit or the lower limit of the speed range. Further, when the unmanned vehicle 1 travels at the upper limit or the lower limit of the speed range, the vehicles 2, 3, 4, and/or 5 around the unmanned vehicle 1 are detected by the front and/or rear sensors mounted on the unmanned vehicle 1. The method comprises the steps of sending a vehicle speed control early warning prompt or a photographing record to a vehicle 2 when detecting that the vehicle 2 exists at the side of an unmanned vehicle 1 and the vehicle 2 at least partially exceeds the unmanned vehicle 1, or sending the vehicle speed control early warning prompt or the photographing record to the vehicle 3 when detecting that the vehicle 3 exists in front of the unmanned vehicle 1 and the distance between the vehicle 3 and the unmanned vehicle 1 gradually becomes larger. Optionally, when the unmanned vehicle 1 runs at the lower limit of the speed range, under the condition that the vehicle 4 is detected to exist at the side of the unmanned vehicle 1 and the vehicle 4 is gradually exceeded by the unmanned vehicle 1, sending a vehicle speed control early warning prompt or a photographing record to the vehicle 4; or, when the vehicle 5 is detected to be present behind the unmanned vehicle 1 and the distance between the vehicle 5 and the unmanned vehicle 1 gradually increases, a vehicle speed control early warning prompt or a photographing record is sent to the vehicle 5.
It should be noted that specific types, numbers and combinations of the unmanned vehicles 1, 2, 3, 4 and 5 may be adjusted according to actual requirements of application scenarios, and the embodiment of the present disclosure does not limit this.
Fig. 2 is a flowchart of an unmanned vehicle early warning method according to an embodiment of the present disclosure. The unmanned vehicle early warning method of fig. 2 may be performed by the unmanned vehicle 1 of fig. 1. As shown in fig. 2, the unmanned vehicle early warning method includes:
s201, acquiring position information of the unmanned vehicle in real time, acquiring a speed range required by a preset road section when the unmanned vehicle is determined to be located at the starting point of the preset road section of the road, and setting the running speed of the unmanned vehicle as the upper limit or the lower limit of the speed range;
and S202, when the unmanned vehicle runs at the upper limit of the speed range, detecting vehicles around the unmanned vehicle through a front sensor, sending a vehicle speed control early warning prompt or a photographing record to the side vehicle when detecting that the side vehicle exists at the side of the unmanned vehicle and the side vehicle at least partially exceeds the unmanned vehicle, and sending the vehicle speed control early warning prompt or the photographing record to the front vehicle when detecting that the front vehicle exists in front of the unmanned vehicle and the distance between the front vehicle and the unmanned vehicle is gradually increased.
Specifically, the position information of the unmanned vehicle is acquired in real time by a positioning device mounted on the unmanned vehicle, and when it is determined that the unmanned vehicle is located at a start point of a preset section of a road, a speed range required by the preset section is acquired, and a traveling speed of the unmanned vehicle is set as an upper limit or a lower limit of the speed range. Further, when the unmanned vehicle travels at the upper limit of the speed range, the front sensor mounted on the unmanned vehicle detects vehicles around the unmanned vehicle, and when the side vehicle is detected to exist at the side of the unmanned vehicle and the side vehicle at least partially exceeds the unmanned vehicle, the front sensor sends a vehicle speed control early warning prompt or a photographing record to the side vehicle, and when the front vehicle is detected to exist in front of the unmanned vehicle and the distance between the front vehicle and the unmanned vehicle gradually increases, the front vehicle sends a vehicle speed control early warning prompt or a photographing record to the front vehicle.
Here, the unmanned Vehicle may be various devices capable of unmanned driving, for example, may be a Vehicle having an automatic cruise control function, for example, a car, a caravan, a truck, an off-road Vehicle, a Sport Utility Vehicle (SUV), an electric Vehicle, a bicycle, and the like, to which the disclosed embodiment is not limited. Preferably, in the disclosed embodiment, the vehicle may be an unmanned vehicle 1 shown in fig. 1.
The Positioning device may be various devices or application software for realizing tracking and Positioning of the vehicle, including but not limited to a Global Positioning System (GPS) locator, navigation software, and the like.
The road refers to an infrastructure for various trackless vehicles and pedestrians to pass through, and can be divided into a road, an urban road, a rural road, a factory road, a mine road, a forestry road, an examination road, a competition road, an automobile test road, a workshop road, a school road and the like according to the use characteristics of the road. Preferably, in the disclosed embodiment, the road is an expressway.
The preset road section may be a preset road section or a road section set according to experience, and the length of the preset road section may be set according to actual needs, which is not limited in the embodiment of the present disclosure. For example, taking a covered (baotou-name) highway as an example, if the congestion-to-Jing segment is an accident-prone segment, the congestion-to-Jing segment may be set as a preset segment, the congestion is set as a starting point, and the Jing is set as an end point; alternatively, the guard edge may be set as a start point and the silence may be set as an end point.
The speed per hour of each lane of the highway is not uniformly regulated, the high-speed limits of each lane are not completely the same, and the same highway may be different in different road sections. From the left, a typical speed limit is specified as: the first lane is at a speed in the range of 100 km/h to 120 km/h (typically dedicated to passenger cars), the second lane is at a speed in the range of 80 km/h to 100 km/h, the third lane is at a speed in the range of 60 km/h to 100 km/h, and the fourth lane is emergency traffic. In the disclosed embodiment, the speed range may be set according to the speed limit regulation of the actual road segment, for example, the speed range of congestion to the road segment may be 60 km/h to 100 km/h.
The front sensor may be a sensor for identifying surrounding vehicles installed on the roof of the vehicle head, including, but not limited to, any one of an infrared sensor, an ultrasonic sensor, and a laser sensor. For example, a laser sensor such as a laser radar may be used to detect the surrounding environment, and the presence or absence of a vehicle in front of or to the side of the unmanned vehicle may be identified by point cloud data acquired by the laser radar.
The side vehicle is a vehicle that travels on a lane adjacent to the lane where the unmanned vehicle is located. In the disclosed embodiment, the side vehicle may be a vehicle that is in front of, right side of, or behind the unmanned vehicle. When the unmanned vehicle runs at the upper limit of the speed range, if the side vehicle at least partially exceeds the unmanned vehicle, the side vehicle is indicated to run at an overspeed, and at the moment, the unmanned vehicle can send a vehicle speed control early warning prompt or a photographing record to the side vehicle; when the unmanned vehicle runs at the lower limit of the speed range, if the side vehicle is gradually exceeded by the unmanned vehicle, the side vehicle is indicated to run at a low speed, and at the moment, the unmanned vehicle can also send a vehicle speed control early warning prompt or a photographing record to the side vehicle.
The warning reminder may be a physical signal such as an alarm light or an alarm sound box, or may be a digital signal such as a short message, which is not limited in the embodiments of the present disclosure. In the embodiment of the present disclosure, the warning alert may include at least one of a buzzer warning alert, a voice warning alert, a light warning alert, and a display screen warning alert.
According to the technical scheme provided by the embodiment of the disclosure, the position information of the unmanned vehicle is obtained in real time, when the unmanned vehicle is located at the starting point of the preset road section of the road, the speed range required by the preset road section is obtained, the running speed of the unmanned vehicle is set as the upper limit or the lower limit of the speed range, when the unmanned vehicle runs at the upper limit of the speed range, the vehicles around the unmanned vehicle are detected through the front-mounted sensor, and under the condition that the lateral vehicle is detected to exist at the side of the unmanned vehicle and at least partially exceeds the unmanned vehicle, the vehicle speed control early warning reminder or the photographing record is sent to the lateral vehicle, under the condition that the front vehicle exists in front of the unmanned vehicle and the distance between the front vehicle and the unmanned vehicle is gradually increased, the vehicle running on the road can be determined to overspeed, and the vehicle warning system sends out warning reminding or photographing record to a driver of the vehicle, so that the accident rate is reduced, and the driving safety is improved.
In some embodiments, the front sensor comprises a camera or radar and is disposed in front of the unmanned vehicle.
Specifically, a camera, also called a computer camera, a computer eye, an electronic eye, etc., is a video input device, and is widely applied to video conferencing, telemedicine, real-time monitoring, etc. The cameras may include, but are not limited to, wide-angle cameras, binocular cameras, Charge Coupled Device (CCD) cameras, wireless cameras, zoom cameras, gun-type cameras, dome cameras, wide-motion cameras, and the like. Preferably, in the disclosed embodiment, the camera is a wide-angle camera, which may be mounted at the front of the unmanned vehicle.
Radars are electronic devices that detect objects using electromagnetic waves. The radar emits electromagnetic waves to irradiate a target and receives the echo of the target, so that information such as the distance from the target to an electromagnetic wave emission point, the distance change rate (radial speed), the azimuth and the altitude is obtained. The radar has various types, and can be divided into a pulse radar, a continuous wave radar, a pulse compression radar, a frequency agility radar and the like according to the signal form; the method can be divided into monopulse radar, cone scanning radar, hidden cone scanning radar and the like according to an angle tracking mode; according to the parameters of target measurement, the method can be divided into a height measuring radar, a two-coordinate radar, a multi-station radar and the like; and can be divided into over-the-horizon radar, microwave radar, millimeter wave radar, laser radar and the like according to the radar frequency band. Preferably, in the disclosed embodiment, the radar is a lidar, which may be mounted on the front of the unmanned vehicle.
In some embodiments, the unmanned vehicle early warning method further comprises: and under the condition that the side vehicle is detected to at least partially exceed the unmanned vehicle and the distance between the front vehicle and the unmanned vehicle is gradually increased, preferentially sending a vehicle speed control early warning prompt or photographing record to the side vehicle.
Specifically, when the unmanned vehicle travels on the road at the upper limit of the speed range, if it is detected by the front sensor that a vehicle exists ahead of the unmanned vehicle, the distance between the unmanned vehicle and the vehicle ahead may be further acquired at preset time intervals, and it may be determined whether the vehicle ahead is speeding based on the distance therebetween. For example, assuming that the front sensor is an infrared sensor, and the infrared sensor measures the distance between the unmanned vehicle and the vehicle ahead four times at a preset time interval of 0.5 second, and the first measurement result is 5 meters, the second measurement result is 8 meters, the third measurement result is 10 meters, and the fourth measurement result is 11 meters, it can be seen from the above data that the distance between the unmanned vehicle and the vehicle ahead gradually becomes larger, indicating that the vehicle ahead is running at an overspeed, and therefore, the unmanned vehicle sends a vehicle speed control warning or a photographing record to the vehicle ahead. Further, after the early warning reminding is carried out for the preset time on the front vehicle running at an overspeed, if the front vehicle is not yet Jiangsu, the situation can be reported to a traffic management department. When the unmanned vehicle runs on the road at the upper limit of the speed range, if the front sensor detects that vehicles exist in front of and on the side of the unmanned vehicle and the front vehicle and the side vehicle run at an overspeed, the vehicle speed control early warning prompt or the photographing record is preferentially sent to the side vehicle in consideration of the distance between the front vehicle and the side vehicle and the unmanned vehicle.
In some embodiments, the unmanned vehicle early warning method further comprises: when the unmanned vehicle runs at the lower limit of the speed range, vehicles around the unmanned vehicle are detected through the rear-mounted sensor, and vehicle speed control early warning reminding or photographing records are sent to the side vehicles when the side vehicles are detected to exist at the sides of the unmanned vehicle and gradually exceed the side vehicles by the unmanned vehicle.
In particular, a vehicle traveling on a road must have a speed higher than the lower limit of the speed range, and therefore, when the traveling speed of the vehicle is lower than the lower limit of the speed range, the unmanned vehicle transmits an early warning alert to the vehicle. For example, when the unmanned vehicle travels on the road at the lower limit of the speed range, if the rear sensor detects that the vehicle exists at the side of the unmanned vehicle and the side vehicle is gradually exceeded by the unmanned vehicle, it indicates that the side vehicle has traveled at a low speed, and at this time, the unmanned vehicle sends a vehicle speed control early warning prompt or a photographing record to the side vehicle.
In some embodiments, in the case that a rear vehicle is detected behind the unmanned vehicle and the distance between the rear vehicle and the unmanned vehicle is gradually increased, a vehicle speed control early warning prompt or a photographing record is sent to the rear vehicle.
Specifically, when the unmanned vehicle travels on the road at the lower limit of the speed range, if it is detected by the rear sensor that a vehicle exists behind the unmanned vehicle, the distance between the unmanned vehicle and the rear vehicle may be further acquired at preset time intervals, and it may be determined whether the rear vehicle travels at a low speed based on the distance therebetween. For example, assuming that the rear sensor is an infrared sensor, and the infrared sensor measures the distance between the unmanned vehicle and the rear vehicle four times at a preset time interval of 0.5 second, the first measurement result is 10 meters, the second measurement result is 12 meters, the third measurement result is 14 meters, and the fourth measurement result is 16 meters, it can be seen from the above data that the distance between the unmanned vehicle and the rear vehicle gradually becomes larger, indicating that the rear vehicle is running at a low speed, and therefore, the unmanned vehicle gives a vehicle speed control warning or a photographing record to the rear vehicle. Further, after the early warning reminding is carried out for the preset time on the rear vehicle running at the low speed, if the rear vehicle does not speed up, the situation can be reported to the traffic management department.
In some embodiments, weather information, road surface information and congestion information of a preset road section are obtained in real time, whether abnormal weather conditions, abnormal road surface conditions and road congestion conditions exist in the preset road section is determined based on the weather information, the road surface information and the congestion information, the running speed of the unmanned vehicle is adjusted under the condition that at least one of the abnormal weather conditions, the abnormal road surface conditions and the road congestion conditions exists, and driving environment abnormity early warning reminding is sent to vehicles around the unmanned vehicle.
Specifically, the unmanned vehicle may acquire weather information through a Telematics BOX (T-BOX module), road surface information through an Electronic Stability Program (ESP module), and congestion information through a vehicle-mounted camera, etc. The processor of the unmanned vehicle can call the T-BOX module and is in communication connection with the server through the T-BOX module so as to acquire the current weather condition; the processor may also invoke an ESP module, which collects data of the vehicle body state from a vehicle body steering sensor, a wheel sensor, a side slip sensor, a lateral acceleration sensor, etc., and performs calculations by the processor or ESP module to identify the current road surface condition based on the vehicle body state.
Further, the processor can evaluate the vehicle speed limit by using a preset algorithm based on weather abnormity, road surface abnormity and road congestion conditions, and adjust the running speed of the unmanned vehicle based on the evaluation result. For example, when the unmanned vehicle is running on a rainy road, the processor may perform running according to a preset rainy day running scheme based on the amount of rainfall, for example, adjust the running speed to an upper limit or a lower limit of a speed range in a rainy day, and simultaneously send out an early warning prompt to surrounding vehicles in a manner of flashing lights.
All the above optional technical solutions may be combined arbitrarily to form optional embodiments of the present application, and are not described herein again.
Fig. 3 is a flowchart of another method for early warning an unmanned vehicle according to an embodiment of the present disclosure. As shown in fig. 3, the unmanned vehicle early warning method includes:
s301, acquiring position information of the unmanned vehicle in real time, acquiring a speed range required by a preset road section when the unmanned vehicle is determined to be located at the starting point of the preset road section of the road, and setting the running speed of the unmanned vehicle as the upper limit or the lower limit of the speed range;
s302, when the unmanned vehicle runs at the upper limit of the speed range, detecting vehicles around the unmanned vehicle through a front sensor;
s303, when detecting that a side vehicle exists at the side of the unmanned vehicle and the side vehicle at least partially exceeds the unmanned vehicle, or when detecting that a front vehicle exists in front of the unmanned vehicle and the distance between the front vehicle and the unmanned vehicle gradually increases, sending a vehicle speed control early warning prompt or a photographing record to the front vehicle;
s304, when the unmanned vehicle runs at the lower limit of the speed range, detecting vehicles around the unmanned vehicle through a rear sensor;
and S305, when detecting that a side vehicle exists at the side of the unmanned vehicle and the side vehicle gradually exceeds the unmanned vehicle, or when detecting that a rear vehicle exists behind the unmanned vehicle and the distance between the rear vehicle and the unmanned vehicle gradually increases, sending a vehicle speed control early warning prompt or a photographing record to the rear vehicle.
Specifically, position information of the unmanned vehicle is acquired in real time, when the unmanned vehicle is determined to be located at the starting point of a preset road section of a road, a speed range required by the preset road section is acquired, the running speed of the unmanned vehicle is set to be the upper limit or the lower limit of the speed range, when the unmanned vehicle runs at the upper limit of the speed range, vehicles around the unmanned vehicle are detected through a front sensor, and vehicle speed control early warning or photographing records are sent to the front vehicle when the side vehicle is detected to exist at the side of the unmanned vehicle and at least partially exceeds the unmanned vehicle or when the front vehicle is detected to exist in front of the unmanned vehicle and the distance between the front vehicle and the unmanned vehicle is gradually increased; when the unmanned vehicle runs at the lower limit of the speed range, vehicles around the unmanned vehicle are detected through the rear sensor, and when the situation that a side vehicle exists beside the unmanned vehicle and the side vehicle is gradually exceeded by the unmanned vehicle is detected, or when the situation that a rear vehicle exists behind the unmanned vehicle and the distance between the rear vehicle and the unmanned vehicle is gradually increased is detected, a vehicle speed control early warning prompt or a photographing record is sent to the rear vehicle.
According to the technical scheme provided by the embodiment of the disclosure, whether the vehicle on the road runs at an overspeed or at a low speed can be determined, and warning reminding or photographing records are sent to the driver of the vehicle under the condition that the vehicle runs at an overspeed or at a low speed, so that the accident rate is reduced, and the driving safety is improved.
The following are embodiments of the disclosed apparatus that may be used to perform embodiments of the disclosed methods. For details not disclosed in the embodiments of the apparatus of the present disclosure, refer to the embodiments of the method of the present disclosure.
Fig. 4 is a schematic diagram of an unmanned vehicle early warning device provided in an embodiment of the present disclosure. As shown in fig. 4, the unmanned vehicle early warning device includes:
an obtaining module 401 configured to obtain position information of an unmanned vehicle in real time, obtain a speed range required by a preset road section when it is determined that the unmanned vehicle is located at a starting point of the preset road section of a road, and set a driving speed of the unmanned vehicle as an upper limit or a lower limit of the speed range;
the early warning module 402 is configured to detect vehicles around the unmanned vehicle through the front sensor when the unmanned vehicle runs at the upper limit of the speed range, send a vehicle speed control early warning prompt or a photographing record to the side vehicle when the side vehicle is detected to exist at the side of the unmanned vehicle and the side vehicle at least partially exceeds the unmanned vehicle, and send a vehicle speed control early warning prompt or a photographing record to the front vehicle when the front vehicle is detected to exist in front of the unmanned vehicle and the distance between the front vehicle and the unmanned vehicle gradually becomes larger.
According to the technical scheme provided by the embodiment of the disclosure, the position information of the unmanned vehicle is obtained in real time, when the unmanned vehicle is located at the starting point of the preset road section of the road, the speed range required by the preset road section is obtained, the running speed of the unmanned vehicle is set as the upper limit or the lower limit of the speed range, when the unmanned vehicle runs at the upper limit of the speed range, the vehicles around the unmanned vehicle are detected through the front-mounted sensor, and under the condition that the lateral vehicle is detected to exist at the side of the unmanned vehicle and at least partially exceeds the unmanned vehicle, the vehicle speed control early warning reminder or the photographing record is sent to the lateral vehicle, under the condition that the front vehicle exists in front of the unmanned vehicle and the distance between the front vehicle and the unmanned vehicle is gradually increased, the vehicle running on the road can be determined to overspeed, and the vehicle warning system sends out warning reminding or photographing record to a driver of the vehicle, so that the accident rate is reduced, and the driving safety is improved.
In some embodiments, the warning module 402 of fig. 4 preferentially issues a vehicle speed control warning alert or a photographing record to the side vehicle in the event that the side vehicle is detected to at least partially pass the unmanned vehicle and the distance between the front vehicle and the unmanned vehicle gradually increases.
In some embodiments, when the unmanned vehicle is traveling at the lower limit of the speed range, vehicles around the unmanned vehicle are detected by the rear-mounted sensor, and in the event that a side vehicle is detected to be present to the side of the unmanned vehicle and the side vehicle is gradually exceeded by the unmanned vehicle, the warning module 402 of fig. 4 issues a vehicle speed control warning alert or a photographic record to the side vehicle.
In some embodiments, in the case that a rear vehicle is detected behind the unmanned vehicle and the distance between the rear vehicle and the unmanned vehicle gradually increases, the warning module 402 of fig. 4 sends a vehicle speed control warning prompt or a photographing record to the host vehicle.
In some embodiments, the unmanned vehicle early warning device further comprises: the determining module 403 is configured to obtain weather information, road surface information and congestion information of the preset road section in real time, and determine whether weather abnormality, road surface abnormality and road congestion conditions exist in the preset road section based on the weather information, the road surface information and the congestion information; and an adjusting module 404 configured to adjust the driving speed of the unmanned vehicle and send a driving environment abnormality early warning prompt to the vehicles around the unmanned vehicle in the presence of at least one of weather abnormality, road surface abnormality and road congestion.
In some embodiments, the vehicle speed control early warning reminder includes at least one of a buzzer early warning reminder, a voice early warning reminder, a light early warning reminder, and a display screen early warning reminder.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.
Fig. 5 is a schematic diagram of an electronic device 5 provided in an embodiment of the present disclosure. As shown in fig. 5, the electronic apparatus 5 of this embodiment includes: a processor 501, a memory 502 and a computer program 503 stored in the memory 502 and operable on the processor 501. The steps in the various method embodiments described above are implemented when the processor 501 executes the computer program 503. Alternatively, the processor 501 implements the functions of the respective modules/units in the above-described respective apparatus embodiments when executing the computer program 503.
Illustratively, the computer program 503 may be partitioned into one or more modules/units, which are stored in the memory 502 and executed by the processor 501 to accomplish the present disclosure. One or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 503 in the electronic device 5.
The electronic device 5 may be a desktop computer, a notebook, a palm computer, a cloud server, or other electronic devices. The electronic device 5 may include, but is not limited to, a processor 501 and a memory 502. Those skilled in the art will appreciate that fig. 5 is merely an example of the electronic device 5, and does not constitute a limitation of the electronic device 5, and may include more or less components than those shown, or combine certain components, or be different components, e.g., the electronic device may also include input-output devices, network access devices, buses, etc.
The Processor 501 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 502 may be an internal storage unit of the electronic device 5, for example, a hard disk or a memory of the electronic device 5. The memory 502 may also be an external storage device of the electronic device 5, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the electronic device 5. Further, the memory 502 may also include both internal storage units and external storage devices of the electronic device 5. The memory 502 is used for storing computer programs and other programs and data required by the electronic device. The memory 502 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
In the embodiments provided in the present disclosure, it should be understood that the disclosed apparatus/electronic device and method may be implemented in other ways. For example, the above-described apparatus/electronic device embodiments are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and may be implemented in other ways, and multiple units or components may be combined or integrated into another system, or some features may be omitted or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, the present disclosure may implement all or part of the flow of the method in the above embodiments, and may also be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of the above methods and embodiments. The computer program may comprise computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain suitable additions or additions that may be required in accordance with legislative and patent practices within the jurisdiction, for example, in some jurisdictions, computer readable media may not include electrical carrier signals or telecommunications signals in accordance with legislative and patent practices.
The above examples are only intended to illustrate the technical solutions of the present disclosure, not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present disclosure, and are intended to be included within the scope of the present disclosure.
Claims (10)
1. An unmanned vehicle early warning method is characterized by comprising the following steps:
acquiring position information of the unmanned vehicle in real time, acquiring a speed range required by a preset road section when the unmanned vehicle is determined to be positioned at the starting point of the preset road section of the road, and setting the running speed of the unmanned vehicle as the upper limit or the lower limit of the speed range;
when the unmanned vehicle with when the upper limit of speed range traveles, detect through leading sensor unmanned vehicle peripheral vehicle to detecting there is side vehicle in the side of unmanned vehicle and side vehicle at least partially surpasss under the condition of unmanned vehicle, to side vehicle sends speed control early warning or the record of shooing, detects there is the place ahead vehicle in the place ahead of unmanned vehicle and the place ahead vehicle with under the condition that the distance between the unmanned vehicle is crescent gradually, to the place ahead vehicle sends speed control early warning or the record of shooing.
2. The method of claim 1, wherein the front-facing sensor comprises a camera or a radar and is disposed at a front portion of the unmanned vehicle.
3. The method of claim 1, further comprising:
and preferentially sending a vehicle speed control early warning prompt or a photographing record to the side vehicle under the condition that the side vehicle is detected to at least partially exceed the unmanned vehicle and the distance between the front vehicle and the unmanned vehicle is gradually increased.
4. The method of claim 1, further comprising:
when the unmanned vehicle runs at the lower limit of the speed range, vehicles around the unmanned vehicle are detected through a rear sensor, and vehicle speed control early warning reminding or photographing records are sent to the side vehicles when the side vehicles are detected to exist at the sides of the unmanned vehicle and gradually surpassed by the unmanned vehicle.
5. The method of claim 4, further comprising:
and under the condition that rear vehicles exist behind the unmanned vehicles and the distance between the rear vehicles and the unmanned vehicles is gradually increased, vehicle speed control early warning reminding or photographing records are sent to the rear vehicles.
6. The method of claim 1, further comprising:
acquiring weather information, road surface information and congestion information of the preset road section in real time, and determining whether the preset road section has weather abnormity, road surface abnormity and road congestion conditions based on the weather information, the road surface information and the congestion information;
and under the condition that at least one of the weather abnormity, the road surface abnormity and the road congestion exists, adjusting the running speed of the unmanned vehicle, and sending out a driving environment abnormity early warning prompt to the vehicles around the unmanned vehicle.
7. The method of any one of claims 1 to 6, wherein the vehicle speed control early warning alert comprises at least one of a buzzer early warning alert, a voice early warning alert, a light early warning alert, and a display screen early warning alert.
8. An unmanned vehicle early warning device, comprising:
the acquiring module is configured to acquire position information of the unmanned vehicle in real time, acquire a speed range required by a preset road section when the unmanned vehicle is determined to be located at a starting point of the preset road section of a road, and set the running speed of the unmanned vehicle as an upper limit or a lower limit of the speed range;
the early warning module is configured to detect vehicles around the unmanned vehicle through a front sensor when the unmanned vehicle runs at the upper limit of the speed range, send vehicle speed control early warning reminding or photographing records to the side vehicle when the side vehicle is detected to exist beside the unmanned vehicle and at least partially exceeds the unmanned vehicle, and send vehicle speed control early warning reminding or photographing records to the front vehicle when the front vehicle is detected to exist in front of the unmanned vehicle and the distance between the front vehicle and the unmanned vehicle is gradually increased.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111111657.1A CN113561895A (en) | 2021-09-23 | 2021-09-23 | Unmanned vehicle early warning method and device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111111657.1A CN113561895A (en) | 2021-09-23 | 2021-09-23 | Unmanned vehicle early warning method and device, electronic equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113561895A true CN113561895A (en) | 2021-10-29 |
Family
ID=78174081
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111111657.1A Pending CN113561895A (en) | 2021-09-23 | 2021-09-23 | Unmanned vehicle early warning method and device, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113561895A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103927886A (en) * | 2014-04-18 | 2014-07-16 | 国通道路交通管理工程技术研究中心有限公司 | System and method for monitoring illegal speeding of key transport vehicle |
| CN104050826A (en) * | 2013-03-14 | 2014-09-17 | 厦门歌乐电子企业有限公司 | Vehicle-mounted warning method, device and vehicle based on vehicle speeds |
| CN106585379A (en) * | 2016-10-25 | 2017-04-26 | 深圳市元征科技股份有限公司 | Vehicle pre-warning method and device |
| CN108171994A (en) * | 2017-12-31 | 2018-06-15 | 珠海见卓思特科技有限公司 | Overspeed detection of overtaking other vehicles system and method |
| CN207799910U (en) * | 2018-02-27 | 2018-08-31 | 易卓建安（北京）科技有限公司 | A kind of warning lamp control device |
| CN109345829A (en) * | 2018-10-29 | 2019-02-15 | 百度在线网络技术（北京）有限公司 | Monitoring method, device, equipment and the storage medium of unmanned vehicle |
| CN209028836U (en) * | 2018-09-26 | 2019-06-25 | 浙江省公安厅高速公路交通警察总队台州支队 | A kind of active warning system of pair of slow moving vehicle |
| CN110083162A (en) * | 2019-05-17 | 2019-08-02 | 交通运输部公路科学研究所 | Based on the automatic driving vehicle control method and system under mixed traffic stream mode |
| US20200349833A1 (en) * | 2019-05-02 | 2020-11-05 | Toyota Motor North America, Inc. | Dynamic speed limit for vehicles and autonomous vehicles |
| CN112319491A (en) * | 2020-10-28 | 2021-02-05 | 惠州市德赛西威汽车电子股份有限公司 | Safe driving early warning method and system |
| CN112837535A (en) * | 2021-03-22 | 2021-05-25 | 北京百度网讯科技有限公司 | Traffic information processing method, device, system, equipment and storage medium |
-
2021
- 2021-09-23 CN CN202111111657.1A patent/CN113561895A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104050826A (en) * | 2013-03-14 | 2014-09-17 | 厦门歌乐电子企业有限公司 | Vehicle-mounted warning method, device and vehicle based on vehicle speeds |
| CN103927886A (en) * | 2014-04-18 | 2014-07-16 | 国通道路交通管理工程技术研究中心有限公司 | System and method for monitoring illegal speeding of key transport vehicle |
| CN106585379A (en) * | 2016-10-25 | 2017-04-26 | 深圳市元征科技股份有限公司 | Vehicle pre-warning method and device |
| CN108171994A (en) * | 2017-12-31 | 2018-06-15 | 珠海见卓思特科技有限公司 | Overspeed detection of overtaking other vehicles system and method |
| CN207799910U (en) * | 2018-02-27 | 2018-08-31 | 易卓建安（北京）科技有限公司 | A kind of warning lamp control device |
| CN209028836U (en) * | 2018-09-26 | 2019-06-25 | 浙江省公安厅高速公路交通警察总队台州支队 | A kind of active warning system of pair of slow moving vehicle |
| CN109345829A (en) * | 2018-10-29 | 2019-02-15 | 百度在线网络技术（北京）有限公司 | Monitoring method, device, equipment and the storage medium of unmanned vehicle |
| US20200349833A1 (en) * | 2019-05-02 | 2020-11-05 | Toyota Motor North America, Inc. | Dynamic speed limit for vehicles and autonomous vehicles |
| CN110083162A (en) * | 2019-05-17 | 2019-08-02 | 交通运输部公路科学研究所 | Based on the automatic driving vehicle control method and system under mixed traffic stream mode |
| CN112319491A (en) * | 2020-10-28 | 2021-02-05 | 惠州市德赛西威汽车电子股份有限公司 | Safe driving early warning method and system |
| CN112837535A (en) * | 2021-03-22 | 2021-05-25 | 北京百度网讯科技有限公司 | Traffic information processing method, device, system, equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110588510B (en) | Early warning method and device for vehicle | |
| US9786171B2 (en) | Systems and methods for detecting and distributing hazard data by a vehicle | |
| CN102439644B (en) | Vehicle surrounding monitor device and method for monitoring surroundings used for vehicle | |
| CN109859513A (en) | Road junction roadway air navigation aid and device | |
| CN106448190B (en) | Real-time monitoring and early warning device and method for traffic flow around self-vehicle on highway | |
| CN103465907A (en) | Automotive collision avoidance and method | |
| CN103318086A (en) | Automobile tailgating prevention and safe driving information exchange caution control system | |
| CN110264742B (en) | Vehicle-mounted information monitoring device suitable for expressway and warning method thereof | |
| CN102582621A (en) | Intelligent vehicle-mounted GPS (global positioning system) navigation anti-collision warning system | |
| CN106448263B (en) | Vehicle driving safety management system and method | |
| CN110827542A (en) | Highway safety vehicle distance early warning system | |
| CN109870675B (en) | System and method for detecting degradation of detection capability of millimeter wave radar for vehicle | |
| CN110588518A (en) | Automobile rear detection system and method and radar control box | |
| US20170046952A1 (en) | Dangerous Vehicle Warning Method and Dangerous Vehicle Warning System | |
| CN111260915B (en) | Early warning reminding method for pedestrian stay in expressway traffic abnormal area | |
| CN203267899U (en) | Driving system in foggy days | |
| CN110166946B (en) | Highway vehicle information monitoring method and system based on wireless communication | |
| US11594038B2 (en) | Information processing device, information processing system, and recording medium recording information processing program | |
| CN203780522U (en) | Rear-end prevention and safe driving information exchange alarm control system for vehicles | |
| CN112927509A (en) | Road driving safety risk assessment system based on traffic conflict technology | |
| CN201872670U (en) | Automobile running safety distance warning device based on CAN (controller area network) transmission | |
| WO2019131121A1 (en) | Signal processing device and method, and program | |
| CN113809557B (en) | Vehicle-mounted antenna device and vehicle | |
| CN113561895A (en) | Unmanned vehicle early warning method and device, electronic equipment and storage medium | |
| CN112785875B (en) | Information processing apparatus, information processing system and method, and recording medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20211029 |
|
| RJ01 | Rejection of invention patent application after publication |