CN113947907A - Vehicle traffic accident early warning method, device, medium and equipment based on V2X - Google Patents
Vehicle traffic accident early warning method, device, medium and equipment based on V2X Download PDFInfo
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/015—Detecting movement of traffic to be counted or controlled with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
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Abstract
The invention discloses a vehicle traffic accident early warning method based on V2X, which comprises the following steps: the system is applied to a V2X system and comprises: acquiring road traffic perception data, wherein the road traffic perception data comprises road traffic participant information acquired by road side perception equipment in real time; detecting vehicle traffic accidents according to the road traffic perception data to generate vehicle traffic accident information; and broadcasting the vehicle traffic accident information to passing vehicles. The invention realizes the second-level early warning of traffic accidents, reserves the reaction time for the passing vehicles to pass, improves the early warning efficiency and the passing safety, can save the human resource overhead of manually placing warning boards or traffic police field scheduling, and reduces the risk caused by not finding the warning boards.
Description
Technical Field
The invention relates to the technical field of traffic accident detection, in particular to a vehicle traffic accident early warning method, device, medium and equipment based on V2X.
Background
At present, traffic accident information is mainly acquired by a manual acquisition mode and uploaded to a traffic management system or a cloud platform mode, accident information is not timely acquired and published, a lane where a traffic accident is located cannot be accurately positioned, traffic passage cannot be guided or lane change cannot be timely carried out, and the like, usually, an actual notification effect can be achieved only for passing vehicles which are more than 1km away from the traffic accident occurrence place, and congestion and even secondary accidents are often caused because the passing vehicles which are closer to the accident occurrence place are not timely adjusted. Secondly, rely on the manual work to place warning tablet or traffic police on-the-spot scheduling, highly rely on the manpower, must rely on vehicle driver's past to discover the warning tablet and dodge from the vision, especially on highway, if the car owner of passing the road does not know accident information in time or observes the accident suggestion, often can cause the secondary accident, and when night, even know accident information nevertheless because the scope that can't clearly judge the accident influence, still be full of the challenge to driving safety. Traffic accidents can be caused again when the accident vehicle owner gets off and places the warning board, so that the utilization efficiency of human resources is low, and the safety is insufficient.
Therefore, the problems of early warning delay, low efficiency and high risk exist in the conventional traffic accident early warning mode.
Disclosure of Invention
The embodiment of the invention provides a vehicle traffic accident early warning method, a vehicle traffic accident early warning device, a vehicle traffic accident early warning medium and vehicle traffic accident early warning equipment based on V2X, and aims to solve the problems of early warning delay, low efficiency and high risk in the conventional traffic accident early warning mode.
A vehicle traffic accident early warning method based on V2X is applied to a V2X system and comprises the following steps:
acquiring road traffic perception data, wherein the road traffic perception data comprises road traffic participant information acquired by road side perception equipment in real time;
detecting vehicle traffic accidents according to the road traffic perception data to generate vehicle traffic accident information;
and broadcasting the vehicle traffic accident information to passing vehicles.
Optionally, the road traffic participant information comprises a category, a driving speed, a driving direction angle, a position coordinate and a time stamp of the traffic participant;
the traffic participant category includes, but is not limited to, motor vehicle, non-motor vehicle, pedestrian.
Optionally, the detecting a vehicle traffic accident according to the road traffic perception data, and generating vehicle traffic accident information includes:
filtering the running speed to obtain a target motor vehicle with the running speed of 0;
acquiring a lane where a target motor vehicle with the driving speed of 0 is located based on the high-precision map;
calculating distance information between the target motor vehicle and other traffic participants on the same lane and adjacent lanes according to the lane where the target motor vehicle is located and the position coordinates;
and carrying out statistical analysis on the distance information, and generating vehicle traffic accident information according to a statistical analysis result.
Optionally, the performing statistical analysis on the distance information, and generating vehicle traffic accident information according to a result of the statistical analysis includes:
acquiring first type traffic participants of which the distance information is less than or equal to a first distance threshold and the driving speed is a first speed threshold to obtain the number of the first type traffic participants;
when the number of the first type of traffic participants is smaller than or equal to a first number threshold value, judging that a traffic accident occurs to the target motor vehicle;
when the number of the target traffic participants is larger than the first number threshold, acquiring a second type of traffic participants of which the distance information is smaller than or equal to a second distance threshold to obtain the number of the second type of traffic participants, wherein the second distance threshold is smaller than the first distance threshold;
and when the number of the second type of traffic participants is less than or equal to a second number threshold value, judging that the target motor vehicle has a traffic accident.
Optionally, the first distance threshold is 10 meters, the second distance threshold is 1.5 meters, the number of the first type of traffic participants is 5, and the number of the second type of traffic participants is 1.
Optionally, the broadcasting the vehicle accident information to passing vehicles comprises:
calculating an accident influence area according to a preset mode according to the position coordinates of the target motor vehicle;
and broadcasting the vehicle accident information to passing vehicles passing through the accident influence area through a PC5 direct connection communication interface.
Optionally, the accident-affected zone extends 10 meters forward and 50 meters backward from the target vehicle, with the position information of the target vehicle as a starting point, and the zone width is 6 meters.
A vehicle traffic accident early warning device based on V2X, the device comprising:
the acquisition module is used for acquiring road traffic perception data, and the road traffic perception data comprises road traffic participant information acquired by road side perception equipment in real time;
the detection module is used for detecting vehicle traffic accidents according to the road traffic perception data and generating vehicle traffic accident information;
and the broadcasting module is used for broadcasting the vehicle traffic accident information to the passing vehicles.
A computer-readable storage medium, which stores a computer program that, when executed by a processor, implements the V2X-based vehicle traffic accident warning method as described above.
A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor when executing the computer program implementing the vehicle traffic accident warning method based on V2X as described above.
The embodiment of the invention obtains road traffic perception data through a V2X system, wherein the road traffic perception data comprises road traffic participant information collected by road side perception equipment in real time; detecting vehicle traffic accidents according to the road traffic perception data to generate vehicle traffic accident information; broadcasting the vehicle traffic accident information to passing vehicles; therefore, second-level early warning of traffic accidents is realized, reaction time is reserved for passing vehicles, early warning efficiency and passing safety are improved, human resource overhead caused by manual placement of warning boards or traffic police field scheduling can be saved, and risks caused by the fact that no warning boards are found are reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a flowchart of a vehicle traffic accident warning method based on V2X according to an embodiment of the present invention;
fig. 2 is a flowchart of step S102 in a vehicle traffic accident warning method based on V2X according to an embodiment of the present invention;
fig. 3 is a flowchart of step S204 in the vehicle traffic accident warning method based on V2X according to an embodiment of the present invention;
fig. 4 is a flowchart of step S103 in the vehicle traffic accident warning method based on V2X according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a vehicle traffic accident warning device based on V2X according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a computer device according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, 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 embodiment provides a vehicle traffic accident early warning method based on V2X, which is applied to a V2X system, and road traffic perception data is acquired through a V2X system, wherein the road traffic perception data comprises road traffic participant information acquired by road side perception equipment in real time; detecting vehicle traffic accidents according to the road traffic perception data to generate vehicle traffic accident information; broadcasting the vehicle traffic accident information to passing vehicles; therefore, second-level early warning of traffic accidents is realized, reaction time is reserved for passing vehicles, early warning efficiency and passing safety are improved, human resource overhead caused by manual placement of warning boards or traffic police field scheduling can be saved, and risks caused by the fact that no warning boards are found are reduced.
The following describes in detail the vehicle traffic accident warning method based on V2X provided in this embodiment. As shown in fig. 1, the vehicle traffic accident early warning method based on V2X includes:
in step S101, road traffic perception data is obtained, where the road traffic perception data includes road traffic participant information collected by a roadside perception device in real time.
The roadside sensing equipment is installed at the roadside and used for identifying and classifying the traffic participants, collecting road information and generating road traffic participant information. Optionally, the roadside sensing device includes, but is not limited to, a device with sensing capability, such as a laser radar, a camera, a millimeter wave radar, and the like. The road traffic participant information includes, but is not limited to, a traffic participant category, a travel speed, a travel direction angle, a position coordinate, a time stamp. Wherein the traffic participant category includes but is not limited to motor vehicles, non-motor vehicles, pedestrians.
Optionally, in some embodiments, the road traffic perception data may also collect signal light information in real time through a signal machine.
In step S102, vehicle traffic accident detection is performed according to the road traffic perception data, and vehicle traffic accident information is generated.
The embodiment of the invention performs fusion processing on the acquired road traffic perception data and detects whether a vehicle traffic accident occurs. Optionally, as shown in fig. 2, the step S102 includes:
in step S201, the travel speed is filtered to obtain a target vehicle with a travel speed of 0.
Here, the embodiment of the invention filters out the motor vehicles with a speed of 0 from the driving speed in the road traffic participant information. The running speed is 0, indicating that the vehicle is in a stopped state.
In step S202, the lane in which the target vehicle whose travel speed is 0 is located is acquired based on the high-precision map.
After the motor vehicle with the running speed of 0 is filtered out, the motor vehicle is used as a target motor vehicle, the position of the target motor vehicle on a high-precision map is obtained according to the position coordinates of the target motor vehicle and the high-precision map, and then the lane where the target motor vehicle is located is determined according to the position.
In step S203, distance information between the target vehicle and other traffic participants in the same lane and adjacent lanes is calculated according to the lane where the target vehicle is located and the position coordinates.
After the lane where the target motor vehicle is located is obtained, other traffic participants including motor vehicles, non-motor vehicles and pedestrians on the same lane and adjacent lanes with the target motor vehicle are obtained. And then calculating distance information between the other traffic participants according to the position coordinates of the other traffic participants and the position coordinates of the target motor vehicle.
In step S204, the distance information is statistically analyzed, and vehicle traffic accident information is generated according to the statistical analysis result.
And carrying out statistical analysis on the distance information between the target motor vehicle and other traffic participants, wherein the distance information comprises the size of the distance information and the number of the other traffic participants meeting preset conditions, and generating vehicle traffic accident information. Optionally, as a preferred example of the present invention, as shown in fig. 3, the step S204 further includes:
in step S301, a first type of traffic participant whose distance information is less than or equal to a first distance threshold and whose driving speed is a first speed threshold is obtained, so as to obtain the number of the first type of traffic participants.
The embodiment of the invention determines whether a traffic accident occurs or not based on the number of affected traffic participants, and specifically screens out the affected traffic participants stopping running by setting a first distance threshold and a first speed threshold, and records the affected traffic participants as first-class traffic participants. The first category of traffic participants includes, but is not limited to, motor vehicles, non-motor vehicles, and pedestrians. And counting the number of the first type of traffic participants. It is to be understood that the first distance threshold is used to define the range of influence of the target motor vehicle and the first speed threshold is used to define the affected other traffic participants.
In step S302, when the number of the first type of traffic participants is less than or equal to a first number threshold, it is determined that a traffic accident occurs in the target vehicle.
In practical applications, traffic congestion may also cause traffic participants to stop operating, but the number of traffic participants stopping operating due to traffic accidents occurring in traffic congestion is different from that of target vehicles. The number of traffic participants who stop running due to traffic congestion is generally greater. The embodiment of the invention presets a first quantity threshold value, wherein the first quantity threshold value is used as the quantity of other influenced traffic participants when the target motor vehicle has a traffic accident, can be obtained according to experience and is used for judging whether the target motor vehicle has the traffic accident.
And comparing the number of the first type of traffic participants with the first number threshold, and judging that the target motor vehicle has a traffic accident when the number of the first type of traffic participants is less than or equal to the first number threshold. Otherwise, step S303 is executed.
In step S303, when the number of the target traffic participants is greater than the first number threshold, a second type of traffic participants whose distance information is less than or equal to a second distance threshold are obtained, so as to obtain the number of the second type of traffic participants.
Here, when the number of the target traffic participants is greater than the first number threshold, the embodiment of the present invention further determines whether a traffic accident occurs based on the collision situation of the target traffic participants. When a collision occurs, the distance between the target traffic participant and other traffic participants involved in the accident should be very small, and within a certain threshold range, the distance is recorded as a second distance threshold in the embodiment of the present invention, and the second distance threshold should be smaller than the first distance threshold. The second distance threshold is used for judging the collision condition of other traffic participants and the target traffic participant. And comparing the distance information with the second distance threshold, and when the distance information is smaller than or equal to the second distance threshold, considering that other traffic participants collide with the target traffic participant. And acquiring a second type of traffic participants of which the distance information is less than or equal to a second distance threshold value, and counting the number of the second type of traffic participants. Optionally, the second type of traffic participant comprises a non-motor vehicle and/or a pedestrian.
In step S304, when the number of the second type of traffic participants is greater than or equal to a second number threshold, it is determined that a traffic accident occurs in the target vehicle.
Comparing the second type of traffic participant quantity to the second quantity threshold. Here, the embodiment of the present invention may be empirically obtained by specifying in advance a second number threshold as the number of other traffic participants with whom the target vehicle collides at the time of occurrence of the traffic accident, for determining whether the target vehicle has the traffic accident. And when the number of the second type of traffic participants is greater than or equal to a second number threshold value, judging that the target motor vehicle has a traffic accident.
As a preferred example of the present invention, the first distance threshold is preferably 10 meters, the second distance threshold is preferably 1.5 meters, the number of traffic participants in the first category is preferably 5, and the number of traffic participants in the second category is preferably 1. Counting the number N of first-class traffic participants with the distance information of less than or equal to 10m and the speed of 0 on the same lane and adjacent lanes, and if N is less than or equal to 5, judging that the target motor vehicle has a traffic accident; if N is more than 5, carrying out next judgment; counting the number P of non-motor vehicles or pedestrian targets with the distance information less than or equal to 1.5m, and if the number P is more than or equal to 1, judging that the target motor vehicles have traffic accidents.
According to the embodiment of the invention, the road traffic perception data is acquired through the V2X system, and the vehicle traffic accident detection is carried out according to the road traffic perception data to generate the vehicle traffic accident information, so that the second-level early warning of the traffic accident is realized, the intellectualization and the real-time performance of the road traffic accident early warning are improved, the response time is reserved for the passing vehicle, the early warning efficiency and the passing safety are improved, the traffic police do not need to spend human resources on the field vehicle scheduling, and the traffic jam is effectively relieved.
In step S103, the vehicle traffic accident information is broadcast to passing vehicles.
Here, the embodiment of the present invention broadcasts the vehicle traffic accident information to other vehicles passing by through the RSU in the V2X system based on the PC5 direct connection communication interface. As shown in fig. 4, the step S103 further includes:
in step S401, an accident-affected area is calculated according to the position coordinates of the target vehicle and in a preset manner.
The accident influence area extends 10 meters to the front of the vehicle and 50 meters to the rear of the vehicle by taking the position information of the target motor vehicle as a starting point, and the area width is 6 meters.
In step S402, the vehicle traffic accident information is broadcast to passing vehicles passing through the accident influence area through the PC5 direct communication interface.
According to the embodiment of the invention, the vehicle accident information is broadcasted to the passing vehicles, and the vehicles do not need to be actively acquired, so that secondary traffic accidents possibly caused by the fact that drivers of accident vehicles get off and place warning boards can be effectively avoided; by actively pushing the traffic accident information, the risk that the driver of the passing vehicle cannot avoid timely due to the fact that the driver does not find the vehicle warning board, and further secondary traffic accidents are caused is reduced.
Further, the OBU of the V2X system on the vehicle-mounted terminal is usually installed in a vehicle and has the communication capacity of a PC5, after vehicle traffic accident information is received, the vehicle accident influence information can be further converted into early warning information, and the early warning information is transmitted to the APP of the intelligent terminal to give an alarm for traffic accident graphic presentation and prompt traffic accidents through voice broadcasting.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
In an embodiment, the invention further provides a vehicle traffic accident early warning device based on V2X, and the vehicle traffic accident early warning device based on V2X corresponds to the vehicle traffic accident early warning method based on V2X in the above embodiment one to one. As shown in fig. 5, the vehicle traffic accident early warning device based on V2X includes an acquisition module 51, a detection module 52, and a broadcast module 53. The functional modules are explained in detail as follows:
the acquisition module 51 is configured to acquire road traffic sensing data, where the road traffic sensing data includes road traffic participant information acquired by a roadside sensing device in real time;
the detection module 52 is configured to perform vehicle traffic accident detection according to the road traffic sensing data, and generate vehicle traffic accident information;
and the broadcasting module 53 is used for broadcasting the vehicle traffic accident information to the passing vehicles.
Optionally, the road traffic participant information comprises a category, a driving speed, a driving direction angle, a position coordinate and a time stamp of the traffic participant;
the traffic participant category includes, but is not limited to, motor vehicle, non-motor vehicle, pedestrian.
Optionally, the detection module 52 includes:
the filtering unit is used for filtering the running speed to obtain a target motor vehicle with the running speed of 0;
an acquisition unit configured to acquire a lane where a target vehicle having a travel speed of 0 is located based on a high-precision map;
the calculation unit is used for calculating the distance information between the target motor vehicle and other traffic participants on the same lane and adjacent lanes according to the lane where the target motor vehicle is located and the position coordinates;
and the analysis unit is used for carrying out statistical analysis on the distance information and generating vehicle traffic accident information according to the statistical analysis result.
Optionally, the analysis unit comprises:
the first obtaining subunit is used for obtaining first type traffic participants of which the distance information is less than or equal to a first distance threshold and the driving speed is a first speed threshold, and obtaining the number of the first type traffic participants;
the first judging subunit is used for judging that the target motor vehicle has a traffic accident when the number of the first type of traffic participants is less than or equal to a first number threshold value;
the second obtaining subunit is configured to, when the number of the target traffic participants is greater than the first number threshold, obtain a second type of traffic participants of which the distance information is less than or equal to a second distance threshold, to obtain the number of the second type of traffic participants, where the second distance threshold is less than the first distance threshold;
and the second judging subunit is used for judging that the target motor vehicle has a traffic accident when the number of the second type of traffic participants is less than or equal to a second number threshold.
Optionally, the first distance threshold is 10 meters, the second distance threshold is 1.5 meters, the number of the first type of traffic participants is 5, and the number of the second type of traffic participants is 1.
Optionally, the broadcasting module 53 includes:
the area calculation unit is used for calculating an accident influence area according to the position coordinates of the target motor vehicle and a preset mode;
and the broadcasting unit is used for broadcasting the vehicle accident information to passing vehicles passing through the accident influence area through a PC5 direct connection communication interface.
Optionally, the accident-affected zone extends 10 meters forward and 50 meters backward from the target vehicle, with the position information of the target vehicle as a starting point, and the zone width is 6 meters.
Illustratively, the obtaining module 51 may be a roadside sensing device, the detecting module 52 may be a roadside computing unit in a V2X system, and the broadcasting module 53 may be a roadside communication unit RSU in a V2X system. The roadside sensing equipment is connected with the roadside computing unit in a wired (Ethernet, optical fiber and the like) mode, acquires road traffic participant information in real time, and sends the information to the roadside computing unit, wherein the road traffic participant information comprises information such as the category (motor vehicles, non-motor vehicles, pedestrians and the like), the driving speed, the driving direction angle, the position coordinates of the road traffic participants, the time stamp and the like.
And the road side calculation unit performs fusion processing on the acquired traffic participant information in combination with locally stored high-precision map information and outputs lane-level vehicle traffic accident information. When the roadside computing unit and the RSU are independent devices, they are connected by wire, such as ethernet, optical fiber, etc.
The RSU carries out format conversion and coding on the received lane-level vehicle traffic accident information to form an ASN.1 format message which is broadcasted to the passing vehicles through the PC 5.
After receiving the vehicle traffic accident information, the OBU analyzes the vehicle traffic accident information and acquires data content, calculates whether the OBU is in an accident influence range according to position coordinates of the OBU, and sends the vehicle traffic accident information to the APP on the intelligent terminal if the OBU is in the accident influence range. After the APP on the intelligent terminal receives the vehicle traffic accident information of the OBU, vehicle traffic accident graphic display warning is displayed on an APP interface, and vehicle traffic accident voice prompt is broadcasted.
For specific limitations applied to the vehicle traffic accident early warning device based on V2X, reference may be made to the above limitations applied to the vehicle traffic accident early warning method based on V2X, and details are not repeated here. The various modules in the above-described apparatus may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 6. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a vehicle traffic accident warning method based on V2X.
In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
acquiring road traffic perception data, wherein the road traffic perception data comprises road traffic participant information acquired by road side perception equipment in real time;
detecting vehicle traffic accidents according to the road traffic perception data to generate vehicle traffic accident information;
and broadcasting the vehicle traffic accident information to passing vehicles.
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, databases, or other media used in embodiments provided herein may include non-volatile and/or volatile memory. 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 memory bus dynamic RAM (RDRAM).
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; 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; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A vehicle traffic accident early warning method based on V2X is characterized in that the method is applied to a V2X system and comprises the following steps:
acquiring road traffic perception data, wherein the road traffic perception data comprises road traffic participant information acquired by road side perception equipment in real time;
detecting vehicle traffic accidents according to the road traffic perception data to generate vehicle traffic accident information;
and broadcasting the vehicle traffic accident information to passing vehicles.
2. The V2X-based vehicular traffic accident warning method according to claim 1, wherein the road traffic participant information includes a traffic participant's category, driving speed, driving direction angle, position coordinates, time stamp;
the traffic participant category includes, but is not limited to, motor vehicle, non-motor vehicle, pedestrian.
3. The V2X-based vehicle traffic accident warning method according to claim 2, wherein the vehicle traffic accident detection according to the road traffic perception data, and the generating vehicle traffic accident information includes:
filtering the running speed to obtain a target motor vehicle with the running speed of 0;
acquiring a lane where a target motor vehicle with the driving speed of 0 is located based on the high-precision map;
calculating distance information between the target motor vehicle and other traffic participants on the same lane and adjacent lanes according to the lane where the target motor vehicle is located and the position coordinates;
and carrying out statistical analysis on the distance information, and generating vehicle traffic accident information according to a statistical analysis result.
4. The V2X-based vehicle traffic accident warning method according to claim 3, wherein the performing a statistical analysis on the distance information and the generating vehicle traffic accident information according to the result of the statistical analysis comprises:
acquiring first type traffic participants of which the distance information is less than or equal to a first distance threshold and the driving speed is a first speed threshold to obtain the number of the first type traffic participants;
when the number of the first type of traffic participants is smaller than or equal to a first number threshold value, judging that a traffic accident occurs to the target motor vehicle;
when the number of the target traffic participants is larger than the first number threshold, acquiring a second type of traffic participants of which the distance information is smaller than or equal to a second distance threshold to obtain the number of the second type of traffic participants, wherein the second distance threshold is smaller than the first distance threshold;
and when the number of the second type of traffic participants is less than or equal to a second number threshold value, judging that the target motor vehicle has a traffic accident.
5. The V2X-based vehicle traffic accident warning method according to claim 4, wherein the first distance threshold is 10 meters, the second distance threshold is 1.5 meters, the number of the first type of traffic participants is 5, and the number of the second type of traffic participants is 1.
6. The V2X-based vehicular traffic accident warning method according to claim 4 or 5, wherein the broadcasting of the vehicular accident information to passing vehicles comprises:
calculating an accident influence area according to a preset mode according to the position coordinates of the target motor vehicle;
and broadcasting the vehicle accident information to passing vehicles passing through the accident influence area through a PC5 direct connection communication interface.
7. The V2X-based vehicular traffic accident warning method according to claim 6, wherein the accident-affected zone extends 10 meters forward and 50 meters backward from the target vehicle's location information, and has a zone width of 6 meters.
8. A vehicle traffic accident early warning device based on V2X, characterized in that the device comprises:
the acquisition module is used for acquiring road traffic perception data, and the road traffic perception data comprises road traffic participant information acquired by road side perception equipment in real time;
the detection module is used for detecting vehicle traffic accidents according to the road traffic perception data and generating vehicle traffic accident information;
and the broadcasting module is used for broadcasting the vehicle traffic accident information to the passing vehicles.
9. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, implements the V2X-based vehicle traffic accident warning method according to any one of claims 1 to 7.
10. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the vehicle traffic accident warning method based on V2X according to any one of claims 1 to 7 when executing the computer program.
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