CN113763749A - Vehicle road cooperation-based real-time early warning method and device during low-speed running of vehicle - Google Patents
Vehicle road cooperation-based real-time early warning method and device during low-speed running of vehicle Download PDFInfo
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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
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
Abstract
The embodiment of the invention provides a vehicle low-speed running real-time early warning method and device based on vehicle-road cooperation. Wherein, the method comprises the following steps: receiving environment information broadcasted by at least one road side unit, wherein the environment information refers to surrounding road condition information of a current vehicle, and the current vehicle is a vehicle in a monitoring range of the at least one road side unit; judging whether an alarm unit of the current vehicle meets the condition of sending prompt information or not according to the surrounding road condition information of the current vehicle; and if the alarm unit of the current vehicle meets the condition of sending prompt information, controlling the alarm unit of the current vehicle to send an alarm instruction. By adopting the method disclosed by the embodiment of the invention, the environmental information acquired by the roadside communication terminal can be transmitted to the vehicle-mounted unit in real time for analysis, the low-speed alarm is controlled according to the analysis result, and the alarm prompt corresponding to one side of the barrier is realized, so that the driving safety of the vehicle is improved.
Description
Technical Field
The invention relates to the technical field of vehicle-road coordination, in particular to a vehicle low-speed running real-time early warning method and device based on vehicle-road coordination. In addition, an electronic device and a non-transitory computer readable storage medium are also related.
Background
In recent years, with the rapid development of new energy automobiles, the use of pure electric automobiles and hybrid electric automobiles is more and more popular, and the pure electric automobiles and the hybrid electric automobiles are widely applied to daily life of people. However, in the using process, because the pure electric vehicle and the hybrid vehicle are quite quiet when running at a low speed in the electric state, other road users such as pedestrians and bicycles, especially blind people and people with visual impairment are not easy to perceive the approach of the pure electric vehicle and the hybrid vehicle, so that the probability of causing traffic accidents is higher than that of the traditional internal combustion engine vehicle
In order to solve the above-described problems, conventionally, it is common to perform an early warning determination based on a vehicle speed, and not to determine whether a pedestrian or a vehicle is present around the vehicle, but to activate an alarm mode and continuously issue an early warning prompt of a ticker, and a ticker … when the vehicle speed is lower than a certain threshold value. When there is no pedestrian or vehicle around the vehicle, a sound is also emitted, resulting in noise pollution. Therefore, how to design a low-speed driving warning scheme capable of dynamically controlling and warning is a problem to be solved in the industry.
Disclosure of Invention
Therefore, the invention provides a vehicle low-speed running real-time early warning method and device based on vehicle-road cooperation, and aims to solve the problems that a new energy vehicle low-speed running early warning mode in the prior art is low in intellectualization, noise pollution is easily generated, and user experience is poor.
The invention provides a vehicle low-speed running real-time early warning method based on vehicle-road cooperation, which comprises the following steps: receiving environment information broadcasted by at least one road side unit, wherein the environment information refers to surrounding road condition information of a current vehicle, and the current vehicle is a vehicle in a monitoring range of the at least one road side unit;
judging whether an alarm unit of the current vehicle meets the condition of sending prompt information or not according to the surrounding road condition information of the current vehicle;
and if the alarm unit of the current vehicle meets the condition of sending prompt information, controlling the alarm unit of the current vehicle to send an alarm instruction.
Further, the receiving the environmental information broadcast by at least one rsu specifically includes: receiving road condition information around a current vehicle collected by at least one road side unit; the current vehicle is a vehicle with running speed and running noise lower than a preset threshold value.
Further, according to the surrounding road condition information of the current vehicle, it is determined whether the alarm unit of the current vehicle meets the condition of sending out the prompt message, which specifically includes:
analyzing the environmental information, and determining a distance parameter between an obstacle and the current vehicle in the environmental information and the type of the obstacle;
and if the type of the obstacle accords with a preset type condition and the distance parameter is less than or equal to a preset warning distance threshold value, judging that the alarm unit of the current vehicle meets the condition of sending out prompt information.
Further, analyzing the environmental information, and determining a distance parameter between an obstacle in the environmental information and the current vehicle, and a type of the obstacle specifically includes:
analyzing the environment information to extract the activity track information and the characteristic information of the barrier;
and respectively determining the distance parameter between the obstacle and the current vehicle and the type of the obstacle according to the activity track information and the characteristic information.
Further, if it is determined that the alarm unit of the current vehicle meets the condition of sending the prompt message, controlling the alarm unit of the current vehicle to send an alarm command specifically includes: if the alarm unit of the current vehicle meets the condition of sending out prompt information, sending the generated alarm instruction to a warning device arranged on one side of the current vehicle corresponding to the obstacle, so that the warning device sends out the prompt information;
the warning device comprises at least one of a sound warning device and a light warning device which are arranged on the outer side of the current vehicle.
Correspondingly, the invention also provides a vehicle low-speed running real-time early warning method based on vehicle-road cooperation, which comprises the following steps:
issuing environment information of the current vehicle to at least one current vehicle, wherein the environment information refers to surrounding road condition information of the current vehicle, and the current vehicle is a vehicle in a monitoring range of at least one road side unit;
receiving alarm unit information of the current vehicle synchronized by the current vehicle;
judging whether an alarm unit of the current vehicle meets the condition of sending prompt information or not according to the surrounding road condition information of the current vehicle;
and if the alarm unit of the current vehicle meets the condition of sending prompt information, sending a command for controlling the alarm unit to send an alarm to the current vehicle.
Correspondingly, the invention also provides a vehicle low-speed running real-time early warning device based on vehicle-road cooperation, which comprises:
the system comprises an environment information receiving module, a monitoring module and a processing module, wherein the environment information receiving module is used for receiving environment information broadcasted by at least one road side unit, the environment information refers to surrounding road condition information of a current vehicle, and the current vehicle is a vehicle in a monitoring range of the at least one road side unit;
the condition judging module is used for judging whether the alarm unit of the current vehicle meets the condition of sending out prompt information or not according to the surrounding road condition information of the current vehicle;
and the alarm control module is used for controlling the alarm unit of the current vehicle to send an alarm instruction if the alarm unit of the current vehicle meets the condition of sending prompt information.
Further, the environment information receiving module is specifically configured to: receiving road condition information around a current vehicle collected by at least one road side unit; the current vehicle is a vehicle with running speed and running noise lower than a preset threshold value.
Further, the condition determining module is specifically configured to:
analyzing the environmental information, and determining a distance parameter between an obstacle and the current vehicle in the environmental information and the type of the obstacle;
and if the type of the obstacle accords with a preset type condition and the distance parameter is less than or equal to a preset warning distance threshold value, judging that the alarm unit of the current vehicle meets the condition of sending out prompt information.
Further, analyzing the environmental information, and determining a distance parameter between an obstacle in the environmental information and the current vehicle, and a type of the obstacle specifically includes:
analyzing the environment information to extract the activity track information and the characteristic information of the barrier;
and respectively determining the distance parameter between the obstacle and the current vehicle and the type of the obstacle according to the activity track information and the characteristic information.
Further, the alarm control module is specifically configured to: if the alarm unit of the current vehicle meets the condition of sending out prompt information, sending the generated alarm instruction to a warning device arranged on one side of the current vehicle corresponding to the obstacle, so that the warning device sends out the prompt information;
the warning device comprises at least one of a sound warning device and a light warning device which are arranged on the outer side of the current vehicle.
Correspondingly, the invention also provides a vehicle low-speed running real-time early warning device based on vehicle-road cooperation, which comprises:
the system comprises an environment information issuing module, a road side unit and a road side unit, wherein the environment information issuing module is used for issuing the environment information of a current vehicle to at least one current vehicle, the environment information refers to the surrounding road condition information of the current vehicle, and the current vehicle is a vehicle in the monitoring range of at least one road side unit;
the alarm unit information receiving module is used for receiving the alarm unit information of the current vehicle synchronized with the current vehicle;
the prompt information sending and judging module is used for judging whether the alarm unit of the current vehicle meets the condition of sending the prompt information or not according to the surrounding road condition information of the current vehicle;
and the alarm instruction sending module is used for sending an alarm instruction to the current vehicle to control the alarm unit to send out the alarm instruction if the alarm unit of the current vehicle meets the condition of sending out the prompt information.
Correspondingly, the invention also provides an electronic device, comprising: the system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the vehicle low-speed running real-time early warning method based on the vehicle-road cooperation based on any one of the above.
Accordingly, the present invention also provides a non-transitory computer readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the method for real-time early warning when a vehicle runs at a low speed based on vehicle-road coordination according to any one of the above items.
By adopting the real-time early warning method for low-speed running of the vehicle based on the vehicle-road cooperation, the environmental information acquired by the road-side communication terminal is utilized, the environmental information is transmitted to the vehicle-mounted unit for analysis, the low-speed alarm is controlled according to the analysis result, and the warning device corresponding to one side of the obstacle sends warning information, so that the warning of personnel around the low-speed running vehicle is reminded, the occurrence of safety accidents such as personnel injury, vehicle collision and the like is prevented, and the running safety of the new energy vehicle or the hybrid vehicle in a low-noise state is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for real-time early warning when a vehicle runs at a low speed based on vehicle-road cooperation according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an entity corresponding to a vehicle low-speed running real-time early warning method based on vehicle-road cooperation according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a real-time early warning device for low-speed driving of a vehicle based on vehicle-road coordination according to an embodiment of the present invention;
fig. 4 is a second schematic flowchart of a method for real-time warning during low-speed driving of a vehicle based on vehicle-road coordination according to an embodiment of the present invention;
fig. 5 is a second schematic structural diagram of a real-time warning device for low-speed driving of a vehicle based on vehicle-road coordination according to an embodiment of the present invention;
fig. 6 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The following describes an embodiment of the method for real-time early warning during low-speed running of a vehicle based on vehicle-road coordination according to the present invention in detail. As shown in fig. 1, which is one of the flow diagrams of the real-time early warning method for low-speed running of a vehicle based on vehicle-road coordination according to the embodiment of the present invention, the specific implementation process includes the following steps:
step 101: receiving environment information broadcasted by at least one road side unit, wherein the environment information refers to surrounding road condition information of a current vehicle, and the current vehicle is a vehicle in a monitoring range of the at least one road side unit.
In the embodiment of the invention, firstly, the image acquisition device installed on the roadside communication terminal is required to acquire the environmental information of the current vehicle in the preset range around the vehicle in the low-speed running state in real time, including but not limited to the activity information corresponding to surrounding pedestrians, vehicles, animals and the like. It is used as the road condition information around the current vehicle. Then, the vehicle-mounted communication terminal acquires the road condition information around the current vehicle, which is acquired by the roadside communication terminal. Specifically, in this step, the road condition information around the current vehicle collected by at least one road side unit is received.
The current vehicle is a new energy vehicle with running speed and running noise lower than a preset threshold value, and the current vehicle comprises but is not limited to a pure electric vehicle, a hybrid electric vehicle and the like. The roadside communication terminal is a Road Side Unit (RSU). The vehicle-mounted communication terminal is an On-Board Unit (OBU). The image acquisition device may be a camera or the like connected to the roadside communication terminal, and is not particularly limited herein.
Step 102: and judging whether the alarm unit of the current vehicle meets the condition of sending prompt information or not according to the surrounding road condition information of the current vehicle.
Specifically, in this step, the environment information is analyzed first, and a distance parameter between an obstacle and the current vehicle in the environment information and a type of the obstacle are determined. And if the type of the obstacle accords with a preset type condition and the distance parameter is less than or equal to a preset warning distance threshold value, judging that the alarm unit of the current vehicle meets the condition of sending out prompt information. Analyzing the environmental information, and determining a distance parameter between an obstacle and the current vehicle in the environmental information and a type of the obstacle, wherein the specific implementation process comprises the following steps: analyzing the environment information to extract the activity track information and the characteristic information of the barrier; and respectively determining the distance parameter between the obstacle and the current vehicle and the type of the obstacle according to the activity track information and the characteristic information. And if the type of the barrier accords with a preset type condition and the distance parameter is less than or equal to a preset warning distance threshold value, controlling an alarm unit to generate a corresponding alarm instruction.
The alarm unit (i.e., the low-speed alarm module) is connected to a warning device outside the current vehicle, and may be disposed inside the vehicle-mounted communication terminal or outside the vehicle-mounted communication terminal, which is not specifically limited herein.
Step 103: and if the alarm unit of the current vehicle meets the condition of sending prompt information, controlling the alarm unit of the current vehicle to send an alarm instruction.
Specifically, in this step, if it is determined that the alarm unit of the current vehicle meets the condition of sending out the prompt information, the generated alarm instruction is sent to the warning device arranged on the side of the current vehicle corresponding to the obstacle, so that the warning device sends out the prompt information; the warning device comprises at least one of a sound warning device and a light warning device which are arranged on the outer side of the current vehicle.
In the specific implementation process, the warning devices can be distributed on the outer side of the periphery of the vehicle body of the current vehicle, and at least one warning device is arranged on each side. And the vehicle-mounted communication terminal sends the alarm instruction to a warning device arranged on one side of the current vehicle corresponding to the obstacle through the low-speed alarm module so that the warning device sends out corresponding prompt information.
As shown in fig. 2, in a specific implementation process, the road condition information around the current vehicle is collected by a camera on the roadside communication terminal, where the road condition information includes information of pedestrians or motor vehicles around the vehicle. The vehicle-mounted communication terminal installed in the current vehicle acquires road condition information uploaded by the road side communication terminal in real time, analyzes and processes the road condition information, makes a decision according to a data analysis and processing result, and controls a loudspeaker on one side of the corresponding obstacle to sound through the low-speed alarm module when a pedestrian or a vehicle is attached to the vehicle body or the vehicle body is approaching to the vehicle body, so that an early warning function is achieved. The loudspeakers can be distributed around the vehicle, the corresponding loudspeakers are controlled to sound according to the positions of the obstacles, and the loudspeakers are closed if no obstacle exists, so that noise pollution is effectively avoided. It should be noted that, in the embodiment of the present invention, when there is no pedestrian or vehicle around the current vehicle, the low-speed alarm module is not activated, i.e., the horn is turned off, so that no noise is generated.
By adopting the real-time early warning method for low-speed running of the vehicle based on the vehicle-road cooperation, disclosed by the embodiment of the invention, the environmental information acquired by the road-side communication terminal is utilized, the environmental information is transmitted to the vehicle-mounted unit for analysis, the low-speed alarm is controlled according to the analysis result, and the warning device corresponding to one side of the obstacle sends out warning information, so that the warning of personnel around the low-speed running vehicle is reminded, the occurrence of safety accidents such as personnel injury and vehicle collision is prevented, and the running safety of the new energy vehicle or the hybrid vehicle in a low-noise state is improved.
Corresponding to the vehicle low-speed running real-time early warning method based on the vehicle-road cooperation, the invention also provides a vehicle low-speed running real-time early warning device based on the vehicle-road cooperation. Because the embodiment of the device is similar to the embodiment of the method, the description is relatively simple, and please refer to the description of the embodiment of the method, and the embodiment of the real-time early warning device for low-speed running of the vehicle based on vehicle-road coordination described below is only illustrative. Fig. 3 is a schematic structural diagram of a real-time warning device for low-speed driving of a vehicle based on vehicle-road coordination according to an embodiment of the present invention. The invention relates to a vehicle low-speed running real-time early warning device based on vehicle-road cooperation, which specifically comprises the following parts:
the environment information receiving module 301 is configured to receive environment information broadcasted by at least one roadside unit, where the environment information refers to surrounding road condition information of a current vehicle, and the current vehicle is a vehicle within a monitoring range of the at least one roadside unit;
a condition determining module 302, configured to determine whether an alarm unit of the current vehicle meets a condition for sending a prompt message according to the surrounding road condition information of the current vehicle;
and the alarm control module 303 is configured to control the alarm unit of the current vehicle to send an alarm instruction if it is determined that the alarm unit of the current vehicle meets the condition of sending the prompt message.
By adopting the real-time early warning device based on vehicle-road cooperation for low-speed running of the vehicle, which is disclosed by the embodiment of the invention, the environmental information acquired by the road-side communication terminal is utilized, the environmental information is transmitted to the vehicle-mounted unit for analysis, the low-speed alarm is controlled according to the analysis result, and the warning device corresponding to one side of the obstacle sends out warning information, so that the warning of personnel around the low-speed running vehicle is reminded, the occurrence of safety accidents such as personnel injury and vehicle collision is prevented, and the running safety of a new energy vehicle or a hybrid vehicle in a low-noise state is improved.
Corresponding to the method and the device for real-time early warning during low-speed running of the vehicle based on the vehicle-road cooperation, the invention also provides another method and a device for real-time early warning during low-speed running of the vehicle based on the vehicle-road cooperation. Because the embodiment of the method and the device is similar to the embodiment of the method and the device, the description is simple, and please refer to the description of the embodiment of the method, and the embodiment of the real-time early warning device for low-speed running of the vehicle based on the vehicle-road coordination described below is only schematic. Fig. 4 is a schematic flow chart of a real-time warning method for low-speed driving of a vehicle based on vehicle-road coordination according to a second embodiment of the present invention.
Step 401: and issuing the environmental information of the current vehicle to at least one current vehicle, wherein the environmental information refers to the surrounding road condition information of the current vehicle, and the current vehicle is the vehicle in the monitoring range of at least one road side unit.
Step 402: and receiving the alarm unit information of the current vehicle synchronized by the current vehicle.
The alarm unit information refers to identification information and the like corresponding to the alarm unit.
Step 403: and judging whether the alarm unit of the current vehicle meets the condition of sending prompt information or not according to the surrounding road condition information of the current vehicle.
Step 404: and if the alarm unit of the current vehicle meets the condition of sending prompt information, sending a command for controlling the alarm unit to send an alarm to the current vehicle.
Specifically, if the alarm unit of the current vehicle is judged to meet the condition of sending prompt information, an alarm instruction is sent to the current vehicle based on the information of the alarm unit to control the alarm unit to send out an alarm instruction.
Fig. 5 is a schematic structural diagram of a second real-time warning device for low-speed driving of a vehicle based on vehicle-road coordination according to an embodiment of the present invention.
An environment information receiving module 501, configured to receive environment information broadcasted by at least one roadside unit, where the environment information refers to surrounding road condition information of a current vehicle, and the current vehicle is a vehicle within a monitoring range of the at least one roadside unit;
a condition judging module 502, configured to judge whether an alarm unit of the current vehicle meets a condition for sending a prompt message according to the surrounding road condition information of the current vehicle;
and an alarm control module 503, configured to control the alarm unit of the current vehicle to send an alarm instruction if it is determined that the alarm unit of the current vehicle meets the condition of sending the prompt information.
By adopting the real-time early warning method and device based on vehicle-road cooperation for low-speed running of the vehicle, the environmental information acquired by the road-side communication terminal is utilized, the environmental information is transmitted to the vehicle-mounted unit for analysis, the low-speed alarm is controlled according to the analysis result, and the warning device corresponding to one side of the obstacle sends out warning information, so that the warning of personnel around the low-speed running vehicle is reminded, the occurrence of safety accidents such as personnel injury, vehicle collision and the like is prevented, and the running safety of the new energy vehicle or the hybrid vehicle in a low-noise state is improved.
Corresponding to the vehicle low-speed running real-time early warning method based on the vehicle-road cooperation, the invention also provides electronic equipment. Since the embodiment of the electronic device is similar to the above method embodiment, the description is simple, and please refer to the description of the above method embodiment, and the electronic device described below is only schematic. Fig. 6 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention. The electronic device may include: a processor (processor)601, a memory (memory)602, and a communication bus 603, wherein the processor 601 and the memory 602 communicate with each other through the communication bus 603. And communicates with the outside through the communication interface 604. The processor 601 may call the logic instructions in the memory 602 to execute a real-time early warning method for low-speed running of the vehicle based on the vehicle-road coordination, the method comprising: receiving environment information broadcasted by at least one road side unit, wherein the environment information refers to surrounding road condition information of a current vehicle, and the current vehicle is a vehicle in a monitoring range of the at least one road side unit; judging whether an alarm unit of the current vehicle meets the condition of sending prompt information or not according to the surrounding road condition information of the current vehicle; and if the alarm unit of the current vehicle meets the condition of sending prompt information, controlling the alarm unit of the current vehicle to send an alarm instruction. Alternatively, the method comprises: issuing environment information of the current vehicle to at least one current vehicle, wherein the environment information refers to surrounding road condition information of the current vehicle, and the current vehicle is a vehicle in a monitoring range of at least one road side unit; receiving alarm unit information of the current vehicle synchronized by the current vehicle; judging whether an alarm unit of the current vehicle meets the condition of sending prompt information or not according to the surrounding road condition information of the current vehicle; and if the alarm unit of the current vehicle meets the condition of sending prompt information, sending a command for controlling the alarm unit to send an alarm to the current vehicle.
Furthermore, the logic instructions in the memory 602 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, an embodiment of the present invention further provides a computer program product, where the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, and when the program instructions are executed by a computer, the computer is capable of executing the method for real-time early warning when a vehicle runs at a low speed based on vehicle-road coordination provided by the above-mentioned embodiments of the method, where the method includes: receiving environment information broadcasted by at least one road side unit, wherein the environment information refers to surrounding road condition information of a current vehicle, and the current vehicle is a vehicle in a monitoring range of the at least one road side unit; judging whether an alarm unit of the current vehicle meets the condition of sending prompt information or not according to the surrounding road condition information of the current vehicle; and if the alarm unit of the current vehicle meets the condition of sending prompt information, controlling the alarm unit of the current vehicle to send an alarm instruction. Alternatively, the method comprises: issuing environment information of the current vehicle to at least one current vehicle, wherein the environment information refers to surrounding road condition information of the current vehicle, and the current vehicle is a vehicle in a monitoring range of at least one road side unit; receiving alarm unit information of the current vehicle synchronized by the current vehicle; judging whether an alarm unit of the current vehicle meets the condition of sending prompt information or not according to the surrounding road condition information of the current vehicle; and if the alarm unit of the current vehicle meets the condition of sending prompt information, sending a command for controlling the alarm unit to send an alarm to the current vehicle.
In still another aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented by a processor to execute the method for real-time early warning when a vehicle travels at a low speed based on vehicle-road coordination provided in the foregoing embodiments, where the method includes: receiving environment information broadcasted by at least one road side unit, wherein the environment information refers to surrounding road condition information of a current vehicle, and the current vehicle is a vehicle in a monitoring range of the at least one road side unit; judging whether an alarm unit of the current vehicle meets the condition of sending prompt information or not according to the surrounding road condition information of the current vehicle; and if the alarm unit of the current vehicle meets the condition of sending prompt information, controlling the alarm unit of the current vehicle to send an alarm instruction. Alternatively, the method comprises: issuing environment information of the current vehicle to at least one current vehicle, wherein the environment information refers to surrounding road condition information of the current vehicle, and the current vehicle is a vehicle in a monitoring range of at least one road side unit; receiving alarm unit information of the current vehicle synchronized by the current vehicle; judging whether an alarm unit of the current vehicle meets the condition of sending prompt information or not according to the surrounding road condition information of the current vehicle; and if the alarm unit of the current vehicle meets the condition of sending prompt information, sending a command for controlling the alarm unit to send an alarm to the current vehicle.
The above-described embodiments of the apparatus are merely illustrative, and the 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 modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will 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; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A real-time early warning method for low-speed running of a vehicle based on vehicle-road cooperation is characterized by comprising the following steps:
receiving environment information broadcasted by at least one road side unit, wherein the environment information refers to surrounding road condition information of a current vehicle, and the current vehicle is a vehicle in a monitoring range of the at least one road side unit;
judging whether an alarm unit of the current vehicle meets the condition of sending prompt information or not according to the surrounding road condition information of the current vehicle;
and if the alarm unit of the current vehicle meets the condition of sending prompt information, controlling the alarm unit of the current vehicle to send an alarm instruction.
2. The method for real-time early warning when a vehicle runs at a low speed based on vehicle-road coordination according to claim 1, wherein judging whether the warning unit of the current vehicle meets the condition of sending out the prompt message according to the information of the surrounding road conditions of the current vehicle specifically comprises:
analyzing the environmental information, and determining a distance parameter between an obstacle and the current vehicle in the environmental information and the type of the obstacle;
and if the type of the obstacle accords with a preset type condition and the distance parameter is less than or equal to a preset warning distance threshold value, judging that the alarm unit of the current vehicle meets the condition of sending out prompt information.
3. The method for real-time early warning when a vehicle runs at a low speed based on vehicle-road cooperation according to claim 2, wherein the analyzing the environmental information to determine the distance parameter between the obstacle and the current vehicle in the environmental information and the type of the obstacle specifically comprises:
analyzing the environment information to extract the activity track information and the characteristic information of the barrier;
and respectively determining the distance parameter between the obstacle and the current vehicle and the type of the obstacle according to the activity track information and the characteristic information.
4. The method for real-time early warning during low-speed running of a vehicle based on vehicle-road coordination according to claim 1, wherein the receiving of the environmental information broadcast by at least one road side unit specifically comprises: receiving road condition information around a current vehicle collected by at least one road side unit; the current vehicle is a vehicle with running speed and running noise lower than a preset threshold value.
5. The method for real-time early warning when a vehicle runs at a low speed based on vehicle-road cooperation according to claim 1, wherein if it is determined that the alarm unit of the current vehicle meets the condition of sending a prompt message, controlling the alarm unit of the current vehicle to send an alarm instruction specifically comprises:
if the alarm unit of the current vehicle meets the condition of sending out prompt information, sending the generated alarm instruction to a warning device arranged on one side of the current vehicle corresponding to the obstacle, so that the warning device sends out the prompt information;
the warning device comprises at least one of a sound warning device and a light warning device which are arranged on the outer side of the current vehicle.
6. A real-time early warning method for low-speed running of a vehicle based on vehicle-road cooperation is characterized by comprising the following steps:
issuing environment information of the current vehicle to at least one current vehicle, wherein the environment information refers to surrounding road condition information of the current vehicle, and the current vehicle is a vehicle in a monitoring range of at least one road side unit;
receiving alarm unit information of the current vehicle synchronized by the current vehicle;
judging whether an alarm unit of the current vehicle meets the condition of sending prompt information or not according to the surrounding road condition information of the current vehicle;
and if the alarm unit of the current vehicle meets the condition of sending prompt information, sending a command for controlling the alarm unit to send an alarm to the current vehicle.
7. The utility model provides a real-time early warning device when vehicle low speed is driven based on vehicle road is in coordination which characterized in that includes:
the system comprises an environment information receiving module, a monitoring module and a processing module, wherein the environment information receiving module is used for receiving environment information broadcasted by at least one road side unit, the environment information refers to surrounding road condition information of a current vehicle, and the current vehicle is a vehicle in a monitoring range of the at least one road side unit;
the condition judging module is used for judging whether the alarm unit of the current vehicle meets the condition of sending out prompt information or not according to the surrounding road condition information of the current vehicle;
and the alarm control module is used for controlling the alarm unit of the current vehicle to send an alarm instruction if the alarm unit of the current vehicle meets the condition of sending prompt information.
8. The utility model provides a real-time early warning device when vehicle low speed is driven based on vehicle road is in coordination which characterized in that includes:
the system comprises an environment information issuing module, a road side unit and a road side unit, wherein the environment information issuing module is used for issuing the environment information of a current vehicle to at least one current vehicle, the environment information refers to the surrounding road condition information of the current vehicle, and the current vehicle is a vehicle in the monitoring range of at least one road side unit;
the alarm unit information receiving module is used for receiving the alarm unit information of the current vehicle synchronized with the current vehicle;
the prompt information sending and judging module is used for judging whether the alarm unit of the current vehicle meets the condition of sending the prompt information or not according to the surrounding road condition information of the current vehicle;
and the alarm instruction sending module is used for sending an alarm instruction to the current vehicle to control the alarm unit to send out the alarm instruction if the alarm unit of the current vehicle meets the condition of sending out the prompt information.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor implements the steps of the method for real-time early warning during low-speed running of a vehicle based on vehicle-road coordination according to any one of claims 1 to 6 when executing the program.
10. A non-transitory computer readable storage medium, having a computer program stored thereon, wherein the computer program, when being executed by a processor, implements the steps of the method for real-time early warning when a vehicle runs at a low speed based on the cooperation of a vehicle and a road according to any one of claims 1 to 6.
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