CN113744567A - Emergency vehicle avoidance early warning processing method and computer readable storage medium - Google Patents
Emergency vehicle avoidance early warning processing method and computer readable storage medium Download PDFInfo
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- CN113744567A CN113744567A CN202111285746.8A CN202111285746A CN113744567A CN 113744567 A CN113744567 A CN 113744567A CN 202111285746 A CN202111285746 A CN 202111285746A CN 113744567 A CN113744567 A CN 113744567A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B31/00—Predictive alarm systems characterised by extrapolation or other computation using updated historic data
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
Abstract
The invention provides an emergency vehicle avoidance early warning processing method and a computer readable storage medium, wherein the method comprises the steps of obtaining current running state information of a main vehicle and an emergency vehicle; determining the current running vehicle types of the host vehicle and the emergency vehicle, the relative running modes of the host vehicle and the emergency vehicle and the lane relation of the host vehicle and the emergency vehicle according to the current running state information; calculating a safe distance between the host vehicle and the emergency vehicle based on the lane type and the relative travel pattern, calculating an actual distance between the host vehicle and the emergency vehicle based on the lane type, the relative travel pattern, and the lane relationship, and generating a travel warning strategy according to the actual distance and the safe distance. The method improves the real-time performance and accuracy of the early warning of the emergency vehicles, thereby realizing the effective avoidance of the emergency vehicles at various positions.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to an emergency vehicle avoidance early warning processing method and a computer readable storage medium.
Background
In a vehicle-road cooperative environment, how to guarantee the operation safety of vehicles in a road is a great challenge at present. When emergency vehicles (RV) such as a rescue Vehicle, a police Vehicle or a fire truck exist on a road, the emergency vehicles need to be warned based on a Vehicle-road cooperative networking system to avoid the emergency vehicles. Emergency Vehicle warning requires keeping a reasonable driving safety distance between the Host Vehicle (HV) and the emergency Vehicle in various long Vehicle driving scenes. At present, a set of complete emergency vehicle avoidance method does not exist, and the design of a set of complete emergency vehicle avoidance method becomes a problem to be solved urgently.
Disclosure of Invention
The invention solves the problem that a complete emergency vehicle avoidance method is not provided in the prior art.
In order to solve the above problems, the present invention provides an emergency vehicle avoidance early warning processing method, which includes the following steps:
acquiring current running state information of the main vehicle and the emergency vehicle;
determining the current driving lane types of the host vehicle and the emergency vehicle, the relative driving modes of the host vehicle and the emergency vehicle and the lane relation of the host vehicle and the emergency vehicle according to the current driving state information;
calculating a safe distance between the host vehicle and the emergency vehicle based on the lane type and the relative travel pattern, calculating an actual distance between the host vehicle and the emergency vehicle based on the lane type, the relative travel pattern, and the lane relationship, and generating a travel warning strategy according to the actual distance and the safe distance.
In a specific embodiment, the calculating a safe distance between the host vehicle and the emergency vehicle based on the lane type and the relative travel pattern and calculating an actual distance between the host vehicle and the emergency vehicle based on the lane type, the relative travel pattern and the lane relationship, the generating a travel warning strategy according to the actual distance and the safe distance specifically includes:
if the host vehicle and the emergency vehicle are in a straight lane same-direction running mode and the emergency vehicle is in front of the host vehicle, calculating a first safety distance between the emergency vehicle and the host vehicle;
if the emergency vehicle and the host vehicle are in the same lane, calculating a first longitudinal distance between the host vehicle and the emergency vehicle, and if the first longitudinal distance is smaller than the first safety distance, the driving early warning strategy comprises sending early warning information that the overtaking is not allowed to the host vehicle,
if the emergency vehicle and the main vehicle are located in adjacent lanes, calculating a second longitudinal distance between the main vehicle and the emergency vehicle, if the second longitudinal distance is determined to be smaller than the first safety distance, judging whether the emergency vehicle is located in an adjacent left lane of the main vehicle, if so, sending early warning information that the overtaking is not allowed to be carried out to the main vehicle, otherwise, sending early warning information that the overtaking is not allowed to be carried out to the main vehicle and the vehicle can be carried out to the right lane;
and if the emergency vehicle and the host vehicle are in adjacent lanes, calculating a first lateral distance and a first lateral safety distance between the host vehicle and the emergency vehicle, and if the first lateral distance is determined to be smaller than the first lateral safety distance, the driving early warning strategy comprises sending early warning prompt information for noticing a side vehicle collision to the host vehicle.
In a specific embodiment, the calculating a safe distance between the host vehicle and the emergency vehicle based on the lane type and the relative travel pattern and calculating an actual distance between the host vehicle and the emergency vehicle based on the lane type, the relative travel pattern and the lane relationship, the generating a travel warning strategy according to the actual distance and the safe distance specifically includes:
if the emergency vehicle and the host vehicle are in a straight lane same-direction running mode and the emergency vehicle is behind the host vehicle, calculating a second safety distance between the emergency vehicle and the host vehicle;
if the emergency vehicle and the host vehicle are in the same lane, calculating a third longitudinal distance between the host vehicle and the emergency vehicle, and if the third longitudinal distance is determined to be smaller than the second safety distance, the driving early warning strategy comprises sending early warning prompt information which does not allow the vehicle to change into the left lane, can go straight or change into the right lane within the safety distance to the host vehicle,
if the emergency vehicle and the host vehicle are located in adjacent lanes, calculating a second lateral distance and a second lateral safety distance between the host vehicle and the emergency vehicle, and if the second lateral distance is determined to be smaller than the second lateral safety distance, the driving early warning strategy comprises sending early warning prompt information for paying attention to side vehicle collision to the host vehicle.
In a specific embodiment, the calculating a safe distance between the host vehicle and the emergency vehicle based on the lane type and the relative travel pattern and calculating an actual distance between the host vehicle and the emergency vehicle based on the lane type, the relative travel pattern and the lane relationship, the generating a travel warning strategy according to the actual distance and the safe distance specifically includes:
if the main vehicle and the emergency vehicle are in a straight-ahead lane meeting running mode, calculating a third safety distance between the main vehicle and the emergency vehicle;
if the emergency vehicle and the host vehicle are in the same lane, calculating a fourth longitudinal distance between the host vehicle and the emergency vehicle, and determining that the fourth longitudinal distance is less than or equal to the third safety distance, wherein the driving early warning strategy comprises sending an emergency braking early warning prompt message to the host vehicle,
if the emergency vehicle and the host vehicle are in adjacent lanes, calculating a fifth longitudinal distance between the host vehicle and the emergency vehicle, and if the fifth longitudinal distance is determined to be smaller than a third safety distance, the driving early warning strategy comprises sending early warning prompt information which does not allow lane changing driving and can keep straight driving to the host vehicle;
and if the emergency vehicle and the host vehicle are in adjacent lanes, calculating a third lateral distance and a third lateral safety distance between the host vehicle and the emergency vehicle, and if the third lateral distance is smaller than the third lateral safety distance, the driving early warning strategy comprises sending early warning prompt information for paying attention to side vehicle collision to the host vehicle.
In a specific embodiment, the calculating a safe distance between the host vehicle and the emergency vehicle based on the lane type and the relative travel pattern and calculating an actual distance between the host vehicle and the emergency vehicle based on the lane type, the relative travel pattern and the lane relationship, the generating a travel warning strategy according to the actual distance and the safe distance specifically includes:
calculating a fourth safety distance between the emergency vehicle and the host vehicle if the host vehicle and the emergency vehicle are in a curve co-directional driving mode,
if the emergency vehicle and the host vehicle are in the same lane, calculating a sixth longitudinal distance between the host vehicle and the emergency vehicle, if the sixth longitudinal distance is smaller than the fourth safety distance, the driving early warning strategy comprises sending early warning information that the overtaking is not allowed to the host vehicle,
if the emergency vehicle and the main vehicle are located in adjacent lanes, calculating a seventh longitudinal distance between the main vehicle and the emergency vehicle, if the seventh longitudinal distance is smaller than the fourth safety distance, judging whether the emergency vehicle is located in an adjacent left lane of the main vehicle, if so, sending early warning information that the overtaking is not allowed to be carried out to the main vehicle, otherwise, sending the early warning information that the overtaking is not allowed to be carried out to the main vehicle, and keeping the safety distance to carry out following running on the right lane;
and if the emergency vehicle and the host vehicle are in adjacent lanes, calculating a fourth lateral distance and a fourth lateral safety distance between the host vehicle and the emergency vehicle, and if the fourth lateral distance is smaller than the fourth lateral safety distance, the driving early warning strategy comprises sending early warning prompt information for noticing side vehicle collision to the host vehicle.
In a specific embodiment, the calculating a safe distance between the host vehicle and the emergency vehicle based on the lane type and the relative travel pattern and calculating an actual distance between the host vehicle and the emergency vehicle based on the lane type, the relative travel pattern and the lane relationship, the generating a travel warning strategy according to the actual distance and the safe distance specifically includes:
if the emergency vehicle and the host vehicle are in a curve same-direction running mode and the emergency vehicle is behind the host vehicle, calculating a fourth safety distance between the emergency vehicle and the host vehicle;
if the emergency vehicle and the host vehicle are in the same lane, calculating an eighth longitudinal distance between the host vehicle and the emergency vehicle, and if the eighth longitudinal distance is determined to be smaller than the fourth safety distance, the driving early warning strategy comprises sending early warning prompt information which does not allow the driver to change lane to the left to overtake to the host vehicle,
if the emergency vehicle and the host vehicle are in adjacent lanes, calculating a fifth lateral distance and a fifth lateral safety distance between the host vehicle and the emergency vehicle, and if the fifth lateral distance is determined to be smaller than the fifth lateral safety distance, the driving early warning strategy comprises sending early warning prompt information for paying attention to side vehicle collision to the host vehicle.
In a specific embodiment, the calculating a safe distance between the host vehicle and the emergency vehicle based on the lane type and the relative travel pattern and calculating an actual distance between the host vehicle and the emergency vehicle based on the lane type, the relative travel pattern and the lane relationship, the generating a travel warning strategy according to the actual distance and the safe distance specifically includes:
if the main vehicle and the emergency vehicle are in a curve meeting driving mode, calculating a fifth safety distance between the main vehicle and the emergency vehicle;
if the emergency vehicle and the main vehicle are in the same lane, calculating a ninth longitudinal distance between the main vehicle and the emergency vehicle, and determining that the ninth longitudinal distance is smaller than the fifth safety distance, wherein the driving early warning strategy comprises sending an emergency braking early warning prompt message to the main vehicle,
if the emergency vehicle and the host vehicle are in adjacent lanes, calculating a tenth longitudinal distance between the host vehicle and the emergency vehicle, and if the tenth longitudinal distance is determined to be smaller than a fifth safety distance, sending an early warning prompt message that the lane change is not allowed to be carried out to the host vehicle by the driving early warning strategy;
and if the emergency vehicle and the main vehicle are in adjacent lanes, calculating a sixth lateral distance and a sixth lateral safety distance between the main vehicle and the emergency vehicle, and if the sixth lateral distance is smaller than the sixth lateral safety distance, the driving early warning strategy comprises sending early warning prompt information for paying attention to side vehicle collision to the main vehicle.
In one embodiment, the acquiring the current driving state information of the host vehicle and the emergency vehicle specifically includes:
acquiring position information and course angle information of the main vehicle and the emergency vehicle;
determining the lane types currently driven by the host vehicle and the emergency vehicle according to the current driving state information specifically comprises:
calculating the difference value between the course angle of the main vehicle and the course angle of the emergency vehicle, if the difference value meets a first preset condition or a second preset condition, determining that the types of lanes in which the host vehicle and the emergency vehicle travel are straight lanes, if the difference value between the course angle of the host vehicle and the course angle of the emergency vehicle meets a third preset condition, determining that the types of the lanes in which the host vehicle and the emergency vehicle travel are intersections, wherein the first predetermined condition is that the difference value belongs to [0 degrees-a first predetermined error value, 0 degrees + a first predetermined error value ], the second predetermined condition is that the difference value belongs to [180 degrees-a second predetermined error value, 180 degrees + a second predetermined error value ], the third preset condition is that the difference value belongs to [90 degrees-a third preset error value, 90 degrees + a third preset error value ];
and if the first curvature and the second curvature are both larger than zero, confirming that the types of lanes where the host vehicle and the emergency vehicle currently run are curves.
In a particular embodiment, said determining a relative driving mode of the host vehicle and the emergency vehicle in dependence on the current driving status information comprises in particular:
when the host vehicle and the emergency vehicle run on the straight-ahead lane, if the difference between the host vehicle course angle and the emergency vehicle course angle meets a first preset condition, determining that the host vehicle and the emergency vehicle are in a same-direction running mode, and if the difference between the host vehicle course angle and the emergency vehicle course angle meets a second preset condition, determining that the host vehicle and the emergency vehicle are in a meeting running mode; and
when the main vehicle and the emergency vehicle run on the curve, if the difference value between the main vehicle course angle and the emergency vehicle course angle meets a fourth preset condition, determining that the host vehicle and the emergency vehicle are in a co-directional running mode, if a difference value between the heading angle of the host vehicle and the heading angle of the emergency vehicle meets a fifth preset condition, determining that the host vehicle and the emergency vehicle are in a meeting running mode, wherein the fourth preset condition is that the difference value of the course angles of the main vehicle and the emergency vehicle belongs to [0 degree-a fourth preset error value, 0 degree + a fourth preset error value ], the fifth preset condition is that a difference value between the heading angles of the main vehicle and the emergency vehicle during the curve driving belongs to [180 degrees-a fifth preset error value, 180 degrees + a fifth preset error value ].
A third aspect of the invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method as described above.
The invention has the beneficial effects that: the method comprises the steps of determining the types of the driving lanes of the emergency vehicle and the host vehicle and the relative driving modes of the emergency vehicle and the host vehicle, calculating the safe distance and the actual distance between the host vehicle and the emergency vehicle based on the types of the driving lanes and the relative driving modes, generating a driving early warning strategy according to the safe distance and the actual distance, and sending early warning prompt information to the host vehicle. The invention provides an emergency vehicle early warning method under multiple scenes, which improves the real-time performance and accuracy of the early warning of emergency vehicles, thereby realizing the effective avoidance of the main vehicle at any position to the emergency vehicles.
Drawings
Fig. 1 is a schematic flowchart of an emergency vehicle avoidance early warning processing method according to a first embodiment of the present invention;
fig. 2 is a schematic view of the driving states of the main vehicle and the emergency vehicle in the same-direction driving mode of the straight-ahead lane according to the first embodiment of the invention;
FIG. 3 is a schematic diagram of a host vehicle and an emergency vehicle in a straight-ahead lane co-directional driving mode, wherein the emergency vehicle is in front of the host vehicle and on the same lane;
FIG. 4 is a schematic diagram of a host vehicle and an emergency vehicle in a first embodiment of the invention in a straight-ahead lane co-directional driving mode, with the emergency vehicle in front of the host vehicle and in an adjacent lane;
FIG. 5 is a logic flow diagram illustrating a determination logic of the emergency vehicle in front of the host vehicle in the same-direction driving mode of the host vehicle and the emergency vehicle in the first embodiment of the invention;
FIG. 6 is a schematic side-view of an emergency vehicle and a host vehicle according to a first embodiment of the invention;
FIG. 7 is a schematic diagram illustrating a rear driving state of the host vehicle when the host vehicle and the emergency vehicle are in a straight-ahead lane co-directional driving mode according to the first embodiment of the invention;
FIG. 8 is a schematic diagram of a host vehicle and an emergency vehicle in a first embodiment of the invention in a straight-ahead lane co-directional driving mode, wherein the emergency vehicle is behind the host vehicle and in the same lane;
FIG. 9 is a schematic diagram of a host vehicle and an emergency vehicle in a straight-ahead lane co-directional mode of operation, the emergency vehicle being behind the host vehicle and in an adjacent lane, according to a first embodiment of the invention;
FIG. 10 is a flowchart illustrating a logic flow for determining that an emergency vehicle is behind a host vehicle in a straight-ahead lane co-directional driving mode of the host vehicle and the emergency vehicle in accordance with a first embodiment of the present invention;
fig. 11 is a schematic view of a driving state of a main vehicle and an emergency vehicle in a straight-ahead lane crossing driving mode according to a first embodiment of the present invention;
FIG. 12 is a schematic diagram of a host vehicle and an emergency vehicle in adjacent lanes in a straight-ahead lane-crossing driving mode according to a first embodiment of the present invention;
FIG. 13 is a schematic diagram of a main vehicle and an emergency vehicle in a straight-ahead lane crossing mode according to a first embodiment of the present invention, where the main vehicle and the emergency vehicle are in the same lane;
FIG. 14 is a logic flow diagram illustrating a determination logic of the primary vehicle and the emergency vehicle in a straight-ahead lane crossing mode according to a first embodiment of the present invention;
FIG. 15 is a schematic diagram of a vehicle driving state of a host vehicle and an emergency vehicle in a curve co-directional driving mode according to a first embodiment of the present invention;
FIG. 16 is a schematic diagram of a host vehicle and an emergency vehicle in a co-directional driving mode in a curve, wherein the emergency vehicle is in front of the host vehicle and in the same lane, according to a first embodiment of the present invention;
FIG. 17 is a schematic view of a host vehicle and an emergency vehicle in a co-directional driving mode in a curve, the emergency vehicle being in front of the host vehicle and in an adjacent lane, according to a first embodiment of the invention;
FIG. 18 is a schematic diagram of a host vehicle and an emergency vehicle in a co-directional driving mode in a curve, wherein the emergency vehicle is behind the host vehicle and in the same lane, according to a first embodiment of the invention;
FIG. 19 is a schematic illustration of a host vehicle and an emergency vehicle in a co-directional driving mode in a curve with the emergency vehicle behind the host vehicle and in an adjacent lane according to a first embodiment of the invention;
FIG. 20 is a schematic diagram of a host vehicle and an emergency vehicle in a curved crossing mode, wherein the emergency vehicle is behind the host vehicle and in the same lane;
FIG. 21 is a schematic view of a host vehicle and an emergency vehicle in a curved crossing mode, the emergency vehicle being behind the host vehicle and in an adjacent lane, according to a first embodiment of the invention;
FIG. 22 is a schematic view of a vehicle traveling state of a host vehicle and an emergency vehicle at an intersection in accordance with a first embodiment of the invention;
fig. 23 is a schematic diagram of a vehicle driving warning system in a collision mode between a host vehicle and an emergency vehicle at an intersection according to a first embodiment of the invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
An embodiment of the present invention provides an emergency vehicle avoidance early warning processing method, as shown in fig. 1, including the following steps:
and S1, acquiring the current running state information of the host vehicle and the emergency vehicle.
The current driving state information of the host vehicle at least comprises GPS position information and course angle information of the host vehicle, and the position information of the emergency vehicle at least comprises GPS position information and course angle information of the emergency vehicle. And acquiring the GPS position information and course angle information of the main vehicle, the GPS position information and course angle information of the emergency vehicle at a set sampling rate, thereby acquiring multiple groups of GPS position information and course angle information of the main vehicle and multiple groups of GPS position information and course angle information of the emergency vehicle. Preferably, the set sampling rate may be 1 second per time.
S2, determining the current driving lane types of the host vehicle and the emergency vehicle, the relative driving modes of the host vehicle and the emergency vehicle and the lane relation of the host vehicle and the emergency vehicle according to the current driving state information of the host vehicle and the emergency vehicle.
Calculating the average value of a plurality of groups of course angle data of the host vehicle, obtaining the average course angle of the host vehicle, calculating the average value of a plurality of groups of course angle data of the emergency vehicle, obtaining the average course angle of the emergency vehicle, calculating the difference value between the average course angle of the host vehicle and the average course angle of the emergency vehicle, if the difference value meets a first preset condition or a second preset condition, indicating that the current driving lane types of the host vehicle and the emergency vehicle are straight lanes, and if the difference value meets a third preset condition, indicating that the current driving lane types of the host vehicle and the emergency vehicle are intersections.
The first preset condition is [0 degrees-a first preset error value, 0 degrees + a first preset error value ], the second preset condition is [180 degrees-a second preset error value, 180 degrees + a second preset error value ], the third preset condition is [90 degrees-a third preset error value, 90 degrees + a third preset error value ], wherein the first preset error value, the second preset error value and the third preset error value can be specifically set according to the actual situation, and are preferably 5 degrees.
Specifically, when the vehicle is in a straight-ahead lane, if a difference between an average course angle of the host vehicle and an average course angle of the emergency vehicle satisfies a first preset condition, it is determined that the host vehicle and the emergency vehicle are in a co-directional running mode in the straight-ahead lane, and if a difference between the average course angle of the host vehicle and the average course angle of the emergency vehicle satisfies a second preset condition, it is determined that the host vehicle and the emergency vehicle are in a meeting running mode in the straight-ahead lane.
Specifically, when the host vehicle and the emergency vehicle are at the intersection, the traveling locus of the host vehicle and the traveling locus of the emergency vehicle are obtained, and if an extension line of the traveling locus of the host vehicle intersects an extension line of the traveling locus of the emergency vehicle and a distance between a centroid of the host vehicle and a centroid of the emergency vehicle gradually decreases, it is determined that the host vehicle and the emergency vehicle are in a collision travel mode at the intersection.
The method comprises the steps of carrying out linear fitting on GPS position information of a main vehicle to obtain a first curve corresponding to a running track of the main vehicle, calculating a first curvature of the first curve, carrying out linear fitting on GPS position information of an emergency vehicle to obtain a second curve corresponding to the running track of the emergency vehicle, calculating a second curvature of the second curve, judging whether the first curvature is larger than zero or not, judging whether the second curvature is larger than zero or not, and if the first curvature and the second curvature are both larger than zero, determining that the current running lane type of the main vehicle and the emergency vehicle is a curve.
Specifically, when the host vehicle and the emergency vehicle are in curve running, the difference between the average course angle of the host vehicle and the average course angle of the emergency vehicle is calculated, if the difference between the average course angle of the host vehicle and the average course angle of the emergency vehicle meets a fourth preset condition, the host vehicle and the emergency vehicle are determined to be in a same-direction running mode of the curve, and if the difference between the average course angle of the host vehicle and the average course angle of the emergency vehicle meets a fifth preset condition, the host vehicle and the emergency vehicle are determined to be in a meeting running mode of the curve.
The fourth preset condition is [0 degree-fourth preset error value, 0 degree + fourth preset error value ], the fifth preset condition is [180 degrees-fifth preset error value, 180 degrees + fifth preset error value ], wherein the fourth preset error value and the fifth preset error value may be specifically set according to an actual situation, and are preferably 10 degrees.
In one embodiment, the determination of whether the emergency vehicle is in front of or behind the host vehicle and in the same lane or an adjacent lane is made as follows.
And establishing an x-y relative position coordinate system by taking the real-time position of the main vehicle as an origin, wherein the forward direction of the y axis is the running direction of the main vehicle, and the forward direction of the x axis is the direction of clockwise 90 degrees of the y axis. Calculating a coordinate point (x 1, y 1) of the centroid of the emergency vehicle by taking the centroid coordinates of the host vehicle as a coordinate origin, wherein if y1 is larger than 0 and x1 is a negative value, the emergency vehicle is in front of an adjacent left lane of the host vehicle, and if the x1 coordinate value of the emergency vehicle is 0, the emergency vehicle is in front of the same lane of the host vehicle; if the x1 coordinate value of the emergency vehicle is positive, the emergency vehicle is forward of the adjacent right lane of the host vehicle. If y1 is less than 0 and x1 is negative, then the emergency vehicle is behind the host vehicle's adjacent left lane, if the emergency vehicle's x1 coordinate value is 0, then the emergency vehicle is behind the host vehicle's same lane, if the emergency vehicle's x1 coordinate value is positive, then the emergency vehicle is behind the host vehicle's adjacent right lane.
S3, calculating a safe distance between the main vehicle and the emergency vehicle based on the lane type and the relative driving mode, calculating an actual distance between the main vehicle and the emergency vehicle based on the lane type, the relative driving mode and the lane relation, and generating a driving early warning strategy according to the actual distance and the safe distance.
As can be seen from the description of step S2, in the solution of the first embodiment of the present invention, the combination manner of the lane type and the relative mode of the vehicle includes a direct driving mode in a direct driving lane, a vehicle-meeting mode in a direct driving lane, a direct driving mode in a curve, a vehicle-meeting mode in a curve, and a collision driving mode at an intersection, and the early warning processing in each combination manner is respectively described below with reference to the drawings.
If the host vehicle and the emergency vehicle are traveling in a straight-ahead lane and in a co-directional travel mode, as further described in conjunction with fig. 2-10, the emergency vehicle is determined to be in front of or behind the host vehicle based on the position information of the host vehicle and the position information of the emergency vehicle.
When the emergency vehicle is located in front of the main vehicle, as shown in fig. 2-6, a first safety distance between the emergency vehicle and the main vehicle is calculated, and whether the emergency vehicle and the main vehicle are located in the same lane or an adjacent lane is judged, if the emergency vehicle and the main vehicle are located in the same lane, namely the emergency vehicle is located at the position right in front of the main vehicle, a first longitudinal distance between the main vehicle and the emergency vehicle is calculated, if the first longitudinal distance is smaller than the first safety distance, an early warning prompt message that the overtaking driving is not allowed is sent to the main vehicle, and if the first longitudinal distance is larger than the first safety distance, the program is exited. If the emergency vehicle and the main vehicle are located in adjacent lanes, calculating a second longitudinal distance between the main vehicle and the emergency vehicle, judging whether the second longitudinal distance is smaller than the first safety distance, if so, further judging whether the emergency vehicle is located in an adjacent left lane of the main vehicle, if so, sending early warning information for disallowing overtaking to the main vehicle, otherwise, sending early warning prompt information for disallowing overtaking to the main vehicle, and keeping the safety distance to drive to the right lane.
When the emergency vehicle and the main vehicle are in adjacent lanes, the first lateral distance and the first lateral safety distance of the main vehicle and the emergency vehicle are calculated in parallel, whether the first lateral distance is smaller than the first lateral safety distance or not is judged, if yes, warning prompt information for noticing the collision of the side vehicle is sent to the main vehicle, and if not, the program is quitted.
Wherein the first longitudinal distance is calculated as follows: and calculating the vertical distance between the parallel line of the centroid of the main vehicle and the parallel line of the centroid of the emergency vehicle, and subtracting the difference value obtained by subtracting half of the vehicle length of the main vehicle and subtracting half of the vehicle length of the emergency vehicle, wherein the difference value is the first longitudinal distance, and the parallel line is perpendicular to the vehicle running direction. The second longitudinal distance is calculated in the same manner as the first longitudinal distance.
When the emergency vehicle and the main vehicle are located in adjacent lanes, calculating the vertical distance between a parallel line where the center of mass of the main vehicle is located and a parallel line where the center of mass of the emergency vehicle is located, and subtracting a difference value obtained by subtracting half of the width of the main vehicle and subtracting half of the width of the emergency vehicle, wherein the difference value is the first lateral distance, and the parallel line is parallel to the driving direction of the vehicle.
Wherein the first lateral safety distanceeThe calculation formula of (2) is as follows:
wherein the content of the first and second substances,v h the initial velocity of the main vehicle.
Wherein, the calculation formula of the first safety distance is as follows:
M1is a first safety distance, LaThe braking distance of the main vehicle, LrThe travel distance of the host vehicle in the reaction time, LbFor the braking distance of the emergency vehicle, M0 is a set value, and the value range is 2-5M, preferably 3M.
(1) When the emergency vehicle is in a deceleration running state
When the main vehicle detects that the front emergency vehicle is in a deceleration running state, the emergency state overcomes the brake clearance, and is in a uniform deceleration state, and the deceleration acceleration of the emergency vehicle isα r At an initial velocity ofv r The deceleration acceleration of the main vehicle isα h At an initial velocity ofv h 。When encountering an emergency vehicle in front, the driver of the main vehicle needs a period of reaction time t1A braking action is initiated. First safety distance M in deceleration running state11Comprises the following steps:
(2) when the emergency vehicle is in the constant speed running state
When the emergency vehicle is in a constant-speed running state, the running speed of the emergency vehicle isv r The running speed of the main vehicle isv h . If the speed of the main vehiclev h Less than or equal to the emergency vehicle running speedv r And at the moment, the two vehicles do not have collision danger, and the main vehicle does not need to be braked to reduce the speed. If the speed of the main vehiclev h When the speed of the emergency vehicle is higher than the driving speed of the emergency vehicle, the distance between the two vehicles is larger than the safe distance, the vehicles are possibly collided, and the driving safety can be ensured only by braking and decelerating until the speeds of the two vehicles are equal. First safe distance M in uniform speed running state12Comprises the following steps:
(3) when the emergency vehicle is in an accelerating running state
When the emergency vehicle is in an accelerating driving state, this situation is similar to the situation that may be possible when the emergency vehicle is driving at a constant speed. If the speed of the main vehiclev h Less than or equal to emergency vehicle speedv r In time, there is no danger of collision between the two vehicles. If the speed of the main vehiclev h Greater than emergency vehicle speedv r In this case, if the following distance is too short, there is a risk of collision. Following the speed of the host vehiclev h Greater than emergency vehicle speedv r . The first safe distance is M under the accelerated driving state13：
When the host vehicle and the emergency vehicle run on a straight lane and are in a same-direction running mode, and the emergency vehicle is behind the host vehicle, as shown in fig. 7-10, calculating a second safety distance between the emergency vehicle and the host vehicle, and judging whether the emergency vehicle and the host vehicle are in the same lane, if so, calculating a third longitudinal distance between the host vehicle and the emergency vehicle, judging that the third longitudinal distance is smaller than the second safety distance, if so, sending an early warning prompt message that the lane change to the left is not allowed to be overtaken to the host vehicle, and keeping straight or turning backwards in a safety distance range, otherwise, exiting the program.
If the emergency vehicle and the main vehicle are in adjacent lanes, calculating a second lateral distance between the main vehicle and the emergency vehicle, judging whether the second lateral distance is smaller than a second safety distance, if so, sending early warning prompt information for paying attention to the collision of the side vehicle to the main vehicle, otherwise, exiting the program.
The calculation mode of the third longitudinal distance is the same as that of the first longitudinal distance, the calculation mode of the second lateral distance is the same as that of the first lateral distance, and the calculation formula of the second lateral safety distance is the same as that of the first lateral safety distance.
Wherein the second safety distance M2The calculation formula of (2) is as follows:
Lhrdistance traveled in the reaction phase of the main vehicle, LhDistance traveled in braking phase of the main vehicle, LrrDistance traveled for emergency vehicle response phase, LrIs the travel distance during the braking phase of the emergency vehicle. t is th1And tr1Respectively the reaction times of the driver of the main vehicle and the driver of the emergency vehicle.
If the host vehicle and the emergency vehicle run on a straight-through lane and are in a meeting running mode, with reference to fig. 11 to 14, calculating a third safe distance between the host vehicle and the emergency vehicle, and determining whether the emergency vehicle and the host vehicle are in the same lane, if the emergency vehicle and the host vehicle are in the same lane, calculating a fourth longitudinal distance between the host vehicle and the emergency vehicle, determining that the fourth longitudinal distance is less than or equal to the third safe distance, if so, sending an emergency braking warning message to the host vehicle, otherwise, exiting the program, if the emergency vehicle and the host vehicle are in an adjacent lane, calculating a fifth longitudinal distance between the host vehicle and the emergency vehicle, determining whether the fifth longitudinal distance is less than the third safe distance, if it is determined that the fifth longitudinal distance is less than the third safe distance, and sending early warning prompt information which does not allow lane change driving to the main vehicle, otherwise, exiting the program.
And if the emergency vehicle and the host vehicle are in adjacent lanes, calculating a third lateral distance and a third lateral safety distance between the host vehicle and the emergency vehicle, and if the third lateral distance is smaller than the third lateral safety distance, sending early warning prompt information for paying attention to side vehicle collision to the host vehicle.
The second to fifth longitudinal distances are calculated in the same manner as the first longitudinal distance, and the second to third lateral distances are calculated in the same manner as the first lateral distance.
Wherein the third safety distance M3The calculation formula of (2) is as follows:
wherein M is3For a safe distance of the vehicle, LhrDistance traveled in the HV reaction phase, LhDistance traveled for HV braking phases, LrrDistance traveled in the preceding vehicle reaction phase, LrThe driving distance in the braking stage of the front vehicle. t is th1And tr1Respectively the reaction times of the driver of the main vehicle and the driver of the emergency vehicle.
The safe distance obtained by the calculation and simplification model under the HV and RV meeting mode is as follows:
if the host vehicle and the emergency vehicle are in a curve and in a co-directional driving mode, this will be further explained in connection with fig. 15-21. As shown in fig. 16-17, if it is determined that the emergency vehicle is located in front of the host vehicle, it is determined whether the emergency vehicle and the host vehicle are located in the same lane, if the emergency vehicle and the host vehicle are located in the same lane, a sixth longitudinal distance between the host vehicle and the emergency vehicle is calculated, if the sixth longitudinal distance is smaller than the fourth safety distance, it is determined whether the seventh longitudinal distance is smaller than the fourth safety distance, if the emergency vehicle and the host vehicle are located in the adjacent lane, it is further determined whether the emergency vehicle is located in the adjacent left lane of the host vehicle, if so, it is determined that the emergency vehicle is not allowed to overtake, if so, it is determined that the emergency vehicle is located in the adjacent left lane of the host vehicle, and if so, it is determined that the emergency vehicle is located in the same lane, it is determined that the emergency vehicle is not allowed to overtake, otherwise, the early warning information that the overtaking vehicle is not allowed and the overtaking vehicle can be driven to the right lane is sent to the driver of the main vehicle.
And if the emergency vehicle and the host vehicle are in adjacent lanes, calculating a fourth lateral distance and a fourth lateral safety distance between the host vehicle and the emergency vehicle, judging whether the fourth lateral distance is smaller than the fourth lateral safety distance, if so, sending early warning prompt information for paying attention to side vehicle collision to the driver of the host vehicle, and otherwise, exiting the program.
As shown in fig. 18 to 19, if it is determined that an emergency vehicle and a host vehicle are traveling in the same direction in a curve and the emergency vehicle is behind the host vehicle, it is determined whether the emergency vehicle and the host vehicle are in the same lane, if so, an eighth longitudinal distance between the host vehicle and the emergency vehicle is calculated, if it is determined that the eighth longitudinal distance is smaller than the fourth safety distance, an early warning notice information that the lane change to the left is not allowed to be overtaken is sent to the host vehicle, if the emergency vehicle and the host vehicle are in an adjacent lane, a fifth lateral distance and a fifth lateral safety distance between the host vehicle and the emergency vehicle are calculated, and if it is determined that the fifth lateral distance is smaller than the fifth lateral safety distance, an early warning notice information that a side vehicle collision is noticed is sent to the host vehicle.
Wherein the fourth safe distance is calculated using the following formula:
HR is the safe distance when the emergency vehicle and the main vehicle run in the same direction of the curve, namely the fourth safe distance, R is the radius of the curve,
the reaction time for the driver of the driving vehicle is,
the emergency vehicle driver reaction time is t, and the vehicle braking time is t. The straight-line distance between the two vehicles is HR, namely the sixth longitudinal distance; the running distance between two vehicles is arc length
。
And calculating a linear distance between the mass center of the emergency vehicle and the mass center of the main vehicle, and subtracting half of the length of the main vehicle from the linear distance and the distance to obtain a difference value which is a sixth longitudinal distance. The seventh-eighth longitudinal distances are calculated in the same manner as the sixth longitudinal distance.
And calculating the distance between the parallel line of the centroid of the emergency vehicle and the parallel line of the centroid of the main vehicle, and subtracting half of the width of the main vehicle and half of the width of the emergency vehicle by using the distance to obtain a difference value, wherein the difference value is the fourth lateral distance or the fifth lateral distance.
As shown in fig. 20 to 21, if the host vehicle and the emergency vehicle are in a curve crossing driving mode, calculating a fifth safe distance between the host vehicle and the emergency vehicle, and determining whether the emergency vehicle and the host vehicle are in the same lane, calculating a ninth longitudinal distance between the host vehicle and the emergency vehicle if the emergency vehicle and the host vehicle are in the same lane, transmitting an emergency braking warning notice message to the host vehicle if the ninth longitudinal distance is equal to or less than the fifth safe distance, calculating a tenth longitudinal distance between the host vehicle and the emergency vehicle if the emergency vehicle and the host vehicle are in adjacent lanes, and transmitting a warning notice message that lane change driving is not allowed to the host vehicle if the tenth longitudinal distance is determined to be less than the fifth safe distance; and if the emergency vehicle and the main vehicle are in adjacent lanes, calculating a sixth lateral distance and a sixth lateral safety distance between the main vehicle and the emergency vehicle, and if the sixth lateral distance is smaller than the sixth lateral safety distance, sending early warning prompt information for paying attention to side vehicle collision to the main vehicle.
Wherein the fifth safe distance HR1 is calculated using the following formula:
the ninth longitudinal distance and the tenth longitudinal distance are calculated in the same manner as the sixth longitudinal distance, and the sixth lateral distance is calculated in the same manner as the fourth lateral distance.
As shown in fig. 22 to 23, if a host vehicle and an emergency vehicle are at an intersection and in a collision travel mode, a distance between the host vehicle and the collision point and a sixth safe distance between the host vehicle and the emergency vehicle are determined, if it is determined that the distance between the host vehicle and the collision point is less than the sixth safe distance, an emergency braking warning instruction is sent to the host vehicle, otherwise, the routine is exited.
Determining a travel track curve of the host vehicle and a travel track curve of the emergency vehicle, and determining that the host vehicle and the emergency vehicle are in a collision travel mode at an intersection if an extension line of the travel track curve of the host vehicle intersects with an extension line of the travel track curve of the emergency vehicle and a distance between a centroid of the emergency vehicle and a centroid of the host vehicle gradually decreases, wherein an intersection point a is regarded as a collision point.
And calculating the distance between the center of mass of the host vehicle and the collision point, and using the difference value of the distance minus half of the length of the body of the host vehicle as the distance between the host vehicle and the collision point.
Wherein the sixth safety distance M is calculated using the following formula4：
t1Reaction time of dominant species, t2For brake clearance elimination time, t3For increasing braking forceFor a long time, v ishIs the initial velocity of the main vehicle, ahThe braking deceleration acceleration of the main vehicle.
According to the emergency vehicle avoidance early warning processing method provided by the embodiment of the invention, the types of the running lanes of the emergency vehicle and the main vehicle and the relative running modes of the emergency vehicle and the main vehicle are determined, the safe distance and the actual distance between the main vehicle and the emergency vehicle are calculated based on the types of the running lanes and the relative running modes, a running early warning strategy is generated according to the safe distance and the actual distance, and early warning prompt information is sent to the main vehicle. The invention provides an emergency vehicle early warning method under multiple scenes, which improves the real-time performance and accuracy of the early warning of emergency vehicles, thereby realizing the effective avoidance of the main vehicle at any position to the emergency vehicles.
Based on the first embodiment of the present invention, a second embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the steps of the first embodiment.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and bus dynamic RAM (RDRAM).
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. An emergency vehicle avoidance early warning processing method is characterized by comprising the following steps:
acquiring current running state information of the main vehicle and the emergency vehicle;
determining the current driving lane types of the host vehicle and the emergency vehicle, the relative driving modes of the host vehicle and the emergency vehicle and the lane relation of the host vehicle and the emergency vehicle according to the current driving state information;
calculating a safe distance between the host vehicle and the emergency vehicle based on the lane type and the relative travel pattern, calculating an actual distance between the host vehicle and the emergency vehicle based on the lane type, the relative travel pattern, and the lane relationship, and generating a travel warning strategy according to the actual distance and the safe distance.
2. The method according to claim 1, wherein the calculating a safe distance between the host vehicle and the emergency vehicle based on the lane type and the relative driving mode and the calculating an actual distance between the host vehicle and the emergency vehicle based on the lane type, the relative driving mode and the lane relation, the generating a driving pre-warning strategy according to the actual distance and the safe distance in particular comprises:
if the host vehicle and the emergency vehicle are in a straight lane same-direction running mode and the emergency vehicle is in front of the host vehicle, calculating a first safety distance between the emergency vehicle and the host vehicle;
if the emergency vehicle and the host vehicle are in the same lane, calculating a first longitudinal distance between the host vehicle and the emergency vehicle, and if the first longitudinal distance is smaller than the first safety distance, the driving early warning strategy comprises sending early warning information that the overtaking is not allowed to the host vehicle,
if the emergency vehicle and the main vehicle are located in adjacent lanes, calculating a second longitudinal distance between the main vehicle and the emergency vehicle, if the second longitudinal distance is determined to be smaller than the first safety distance, judging whether the emergency vehicle is located in an adjacent left lane of the main vehicle, if so, sending early warning information that the overtaking is not allowed to be carried out to the main vehicle, otherwise, sending early warning information that the overtaking is not allowed to be carried out to the main vehicle and the vehicle can be carried out to the right lane;
and if the emergency vehicle and the host vehicle are in adjacent lanes, calculating a first lateral distance and a first lateral safety distance between the host vehicle and the emergency vehicle, and if the first lateral distance is determined to be smaller than the first lateral safety distance, the driving early warning strategy comprises sending early warning prompt information for noticing a side vehicle collision to the host vehicle.
3. The method according to claim 1, wherein the calculating a safe distance between the host vehicle and the emergency vehicle based on the lane type and the relative driving mode and the calculating an actual distance between the host vehicle and the emergency vehicle based on the lane type, the relative driving mode and the lane relation, the generating a driving pre-warning strategy according to the actual distance and the safe distance in particular comprises:
if the emergency vehicle and the host vehicle are in a straight lane same-direction running mode and the emergency vehicle is behind the host vehicle, calculating a second safety distance between the emergency vehicle and the host vehicle;
if the emergency vehicle and the host vehicle are in the same lane, calculating a third longitudinal distance between the host vehicle and the emergency vehicle, and if the third longitudinal distance is determined to be smaller than the second safety distance, the driving early warning strategy comprises sending early warning prompt information which does not allow the vehicle to change into the left lane, can go straight or change into the right lane within the safety distance to the host vehicle,
if the emergency vehicle and the host vehicle are located in adjacent lanes, calculating a second lateral distance and a second lateral safety distance between the host vehicle and the emergency vehicle, and if the second lateral distance is determined to be smaller than the second lateral safety distance, the driving early warning strategy comprises sending early warning prompt information for paying attention to side vehicle collision to the host vehicle.
4. The method according to claim 1, wherein the calculating a safe distance between the host vehicle and the emergency vehicle based on the lane type and the relative driving mode and the calculating an actual distance between the host vehicle and the emergency vehicle based on the lane type, the relative driving mode and the lane relation, the generating a driving pre-warning strategy according to the actual distance and the safe distance in particular comprises:
if the main vehicle and the emergency vehicle are in a straight-ahead lane meeting running mode, calculating a third safety distance between the main vehicle and the emergency vehicle;
if the emergency vehicle and the host vehicle are in the same lane, calculating a fourth longitudinal distance between the host vehicle and the emergency vehicle, and determining that the fourth longitudinal distance is less than or equal to the third safety distance, wherein the driving early warning strategy comprises sending an emergency braking early warning prompt message to the host vehicle,
if the emergency vehicle and the host vehicle are in adjacent lanes, calculating a fifth longitudinal distance between the host vehicle and the emergency vehicle, and if the fifth longitudinal distance is determined to be smaller than a third safety distance, the driving early warning strategy comprises sending early warning prompt information which does not allow lane changing driving and can keep straight driving to the host vehicle;
and if the emergency vehicle and the host vehicle are in adjacent lanes, calculating a third lateral distance and a third lateral safety distance between the host vehicle and the emergency vehicle, and if the third lateral distance is smaller than the third lateral safety distance, the driving early warning strategy comprises sending early warning prompt information for paying attention to side vehicle collision to the host vehicle.
5. The method according to claim 1, wherein the calculating a safe distance between the host vehicle and the emergency vehicle based on the lane type and the relative driving mode and the calculating an actual distance between the host vehicle and the emergency vehicle based on the lane type, the relative driving mode and the lane relation, the generating a driving pre-warning strategy according to the actual distance and the safe distance in particular comprises:
calculating a fourth safety distance between the emergency vehicle and the host vehicle if the host vehicle and the emergency vehicle are in a curve co-directional driving mode,
if the emergency vehicle and the host vehicle are in the same lane, calculating a sixth longitudinal distance between the host vehicle and the emergency vehicle, if the sixth longitudinal distance is smaller than the fourth safety distance, the driving early warning strategy comprises sending early warning information that the overtaking is not allowed to the host vehicle,
if the emergency vehicle and the main vehicle are located in adjacent lanes, calculating a seventh longitudinal distance between the main vehicle and the emergency vehicle, if the seventh longitudinal distance is smaller than the fourth safety distance, judging whether the emergency vehicle is located in an adjacent left lane of the main vehicle, if so, sending early warning information that the overtaking is not allowed to be carried out to the main vehicle, otherwise, sending the early warning information that the overtaking is not allowed to be carried out to the main vehicle, and keeping the safety distance to carry out following running on the right lane;
and if the emergency vehicle and the host vehicle are in adjacent lanes, calculating a fourth lateral distance and a fourth lateral safety distance between the host vehicle and the emergency vehicle, and if the fourth lateral distance is smaller than the fourth lateral safety distance, the driving early warning strategy comprises sending early warning prompt information for noticing side vehicle collision to the host vehicle.
6. The method according to claim 1, wherein the calculating a safe distance between the host vehicle and the emergency vehicle based on the lane type and the relative driving mode and the calculating an actual distance between the host vehicle and the emergency vehicle based on the lane type, the relative driving mode and the lane relation, the generating a driving pre-warning strategy according to the actual distance and the safe distance in particular comprises:
if the emergency vehicle and the host vehicle are in a curve same-direction running mode and the emergency vehicle is behind the host vehicle, calculating a fourth safety distance between the emergency vehicle and the host vehicle;
if the emergency vehicle and the host vehicle are in the same lane, calculating an eighth longitudinal distance between the host vehicle and the emergency vehicle, and if the eighth longitudinal distance is determined to be smaller than the fourth safety distance, the driving early warning strategy comprises sending early warning prompt information which does not allow the driver to change lane to the left to overtake to the host vehicle,
if the emergency vehicle and the host vehicle are in adjacent lanes, calculating a fifth lateral distance and a fifth lateral safety distance between the host vehicle and the emergency vehicle, and if the fifth lateral distance is determined to be smaller than the fifth lateral safety distance, the driving early warning strategy comprises sending early warning prompt information for paying attention to side vehicle collision to the host vehicle.
7. The method according to claim 1, wherein the calculating a safe distance between the host vehicle and the emergency vehicle based on the lane type and the relative driving mode and the calculating an actual distance between the host vehicle and the emergency vehicle based on the lane type, the relative driving mode and the lane relation, the generating a driving pre-warning strategy according to the actual distance and the safe distance in particular comprises:
if the main vehicle and the emergency vehicle are in a curve meeting driving mode, calculating a fifth safety distance between the main vehicle and the emergency vehicle;
if the emergency vehicle and the main vehicle are in the same lane, calculating a ninth longitudinal distance between the main vehicle and the emergency vehicle, and determining that the ninth longitudinal distance is smaller than the fifth safety distance, wherein the driving early warning strategy comprises sending an emergency braking early warning prompt message to the main vehicle,
if the emergency vehicle and the host vehicle are in adjacent lanes, calculating a tenth longitudinal distance between the host vehicle and the emergency vehicle, and if the tenth longitudinal distance is determined to be smaller than a fifth safety distance, sending an early warning prompt message that the lane change is not allowed to be carried out to the host vehicle by the driving early warning strategy;
and if the emergency vehicle and the main vehicle are in adjacent lanes, calculating a sixth lateral distance and a sixth lateral safety distance between the main vehicle and the emergency vehicle, and if the sixth lateral distance is smaller than the sixth lateral safety distance, the driving early warning strategy comprises sending early warning prompt information for paying attention to side vehicle collision to the main vehicle.
8. The method according to any one of claims 1-7, wherein the obtaining current driving status information of the host vehicle and the emergency vehicle specifically comprises:
acquiring position information and course angle information of the main vehicle and the emergency vehicle;
determining the lane types currently driven by the host vehicle and the emergency vehicle according to the current driving state information specifically comprises:
calculating the difference value between the course angle of the main vehicle and the course angle of the emergency vehicle, if the difference value meets a first preset condition or a second preset condition, determining that the types of lanes in which the host vehicle and the emergency vehicle travel are straight lanes, if the difference value between the course angle of the host vehicle and the course angle of the emergency vehicle meets a third preset condition, determining that the types of the lanes in which the host vehicle and the emergency vehicle travel are intersections, wherein the first predetermined condition is that the difference value belongs to [0 degrees-a first predetermined error value, 0 degrees + a first predetermined error value ], the second predetermined condition is that the difference value belongs to [180 degrees-a second predetermined error value, 180 degrees + a second predetermined error value ], the third preset condition is that the difference value belongs to [90 degrees-a third preset error value, 90 degrees + a third preset error value ];
and if the first curvature and the second curvature are both larger than zero, confirming that the types of lanes where the host vehicle and the emergency vehicle currently run are curves.
9. The method according to claim 8, wherein the determining the relative driving mode of the host vehicle and the emergency vehicle in dependence on the current driving status information comprises in particular:
when the host vehicle and the emergency vehicle run on a straight-ahead lane, if the difference between the host vehicle course angle and the emergency vehicle course angle meets a first preset condition, determining that the host vehicle and the emergency vehicle are in a same-direction running mode, and if the difference between the host vehicle course angle and the emergency vehicle course angle meets a second preset condition, determining that the host vehicle and the emergency vehicle are in a meeting running mode; and
when the main vehicle and the emergency vehicle run on a curve, if the difference value between the main vehicle course angle and the emergency vehicle course angle meets a fourth preset condition, the main vehicle and the emergency vehicle are determined to be in a same-direction running mode, if the difference value between the main vehicle course angle and the emergency vehicle course angle meets a fifth preset condition, the main vehicle and the emergency vehicle are determined to be in a meeting running mode, wherein the fourth preset condition is that the difference value between the main vehicle course angle and the emergency vehicle course angle during the curve running belongs to [ 0-fourth preset error value, 0-fourth preset error value ], and the fifth preset condition is that the difference value between the main vehicle course angle and the emergency vehicle course angle during the curve running belongs to [ 180-fifth preset error value, 180-fifth preset error value + fifth preset error value ].
10. A computer-readable storage medium, on 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 9.
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