CN114023104A

CN114023104A - Anti-collision reminding method, device, equipment and storage medium

Info

Publication number: CN114023104A
Application number: CN202010686507.2A
Authority: CN
Inventors: 沈旭; 李源; 李凤; 张翼鹏
Original assignee: China Mobile Communications Group Co Ltd; China Mobile Communications Ltd Research Institute
Current assignee: China Mobile Communications Group Co Ltd; China Mobile Communications Ltd Research Institute
Priority date: 2020-07-16
Filing date: 2020-07-16
Publication date: 2022-02-08

Abstract

The invention discloses an anti-collision reminding method, an anti-collision reminding device, anti-collision reminding equipment and a storage medium. Wherein the method comprises the following steps: acquiring first information; the first information is used for indicating the activation of a first application program; controlling the first application program to be switched to a working state based on the first information; acquiring current positioning related information by using the first application program; sending the positioning related information to a server; the positioning related information is used for the server to determine at least one terminal in a dangerous area, and the positioning related information corresponding to the at least one terminal is sent to the road side equipment, so that the road side equipment can remind a related vehicle to avoid colliding with a user corresponding to the at least one terminal.

Description

Anti-collision reminding method, device, equipment and storage medium

Technical Field

The invention relates to the technical field of wireless, in particular to an anti-collision reminding method, an anti-collision reminding device, anti-collision reminding equipment and a storage medium.

Background

The traffic safety problem is always the most basic problem that needs to be solved in intelligent transportation and car networking, and with the rapid development of car networking technology, how to utilize internet technology to prevent a vehicle from colliding with a Vulnerable traffic participant (VRU, Vulnerable Road User) becomes a key problem, and at present, one mode is: the method comprises the steps that positioning information is continuously reported to a vehicle through a terminal carried by a VRU, the vehicle calculates the probability of collision according to the reported positioning information, and when the calculated probability is higher, reminding is carried out, but the problem of high power consumption exists; the other mode is as follows: the distance between the vehicle and the VRU is detected through a sensor installed on the vehicle, the probability of collision is calculated according to the detected distance, and when the calculated probability is high, reminding is carried out, but the detection precision of the sensor is limited, and if the detection precision is low, the calculation result is influenced.

Therefore, a new anti-collision reminding technical scheme needs to be found.

Disclosure of Invention

In view of this, embodiments of the present invention are intended to provide an anti-collision reminding method, an anti-collision reminding device, an anti-collision reminding apparatus, and a storage medium.

The technical scheme of the embodiment of the invention is realized as follows:

at least one embodiment of the invention provides an anti-collision reminding method, which comprises the following steps:

acquiring first information; the first information is used for indicating the activation of a first application program;

controlling the first application program to be switched to a working state based on the first information; acquiring current positioning related information by using the first application program;

sending the positioning related information to a server; the positioning related information is used for the server to determine at least one terminal in a dangerous area, and the positioning related information corresponding to the at least one terminal is sent to the road side equipment, so that the road side equipment can remind a related vehicle to avoid colliding with a user corresponding to the at least one terminal.

Further, in accordance with at least one embodiment of the present invention, the obtaining the first information includes:

acquiring first information sent by roadside equipment; the first information is sent to the terminal by the road side equipment when the distance between the terminal and the road side equipment meets a preset condition.

Further, in accordance with at least one embodiment of the present invention, the first information includes a security certificate of the roadside device; the method further comprises the following steps:

matching the safety certificate of the road side equipment contained in the first information with a preset safety certificate;

and when the safety certificate of the road side equipment contained in the first information is matched with a preset safety certificate, controlling the first application program to be switched to a working state based on the first information.

Further, according to at least one embodiment of the present invention, the first information includes identification information of the roadside apparatus; the obtaining of the current positioning related information by using the first application program includes:

acquiring current position information, speed information and moving direction information of the terminal by using the first application program;

and generating positioning related information based on the position information, the speed information, the moving direction information and the identification information of the road side equipment.

Furthermore, according to at least one embodiment of the present invention, the sending the positioning related information to a server includes:

judging whether second information sent by the server is received or not; the second information is used for indicating the terminal to send the positioning related information according to a first frequency;

and when determining that the second information sent by the server is received, sending the positioning related information to the server in an effective time window according to the first frequency.

Further, in accordance with at least one embodiment of the present invention, the method further comprises:

when determining that the second information sent by the server is not received, sending the positioning related information to the server within an effective time window according to a second frequency;

wherein the second frequency is different from the first frequency.

judging whether the first information is received within the duration corresponding to the effective time window;

when the first information is received in the time length corresponding to the effective time window, updating the time length corresponding to the effective time window from a first time length to a second time length;

wherein the second duration is greater than the first duration.

At least one embodiment of the present invention provides an anti-collision reminding method, which is applied to a server, and the method includes:

receiving positioning related information respectively sent by at least two terminals; the positioning related information is acquired by each terminal of the at least two terminals by utilizing a first application program after the first application program is activated and is sent to the server;

determining at least one terminal in a danger area from the at least two terminals based on the positioning related information;

and sending the positioning related information corresponding to the at least one terminal in the dangerous area to road side equipment so that the road side equipment can remind related vehicles to avoid colliding users corresponding to the at least one terminal.

Furthermore, according to at least one embodiment of the present invention, the positioning related information includes current position information, speed information, and moving direction information of the terminal; the determining, from the at least two terminals, at least one terminal in a danger area based on the positioning-related information includes:

based on the position information in the positioning related information respectively sent by the two terminals, at least one terminal of the two terminals in a specific position area is gathered into a first type, and a first clustering result is obtained;

calculating an average speed based on speed information in the positioning related information respectively sent by the at least two terminals; at least one terminal with the speed larger than the average speed in the at least two terminals is gathered into one type to obtain a second gathering result;

based on the moving direction information in the positioning related information respectively sent by the at least two terminals, at least one terminal with different moving directions and a first direction in the at least two terminals is gathered into a first category to obtain a third category result;

and taking at least one terminal corresponding to the first clustering result, the second clustering result and the third clustering result as at least one terminal in a dangerous area.

Furthermore, according to at least one embodiment of the present invention, before determining at least one terminal in a danger area from the at least two terminals based on the positioning related information, the method further includes:

judging whether the speed information contained in the positioning related information meets a preset condition or not;

and when the speed information contained in the positioning related information meets the preset condition, determining at least one terminal in a dangerous area from the at least two terminals based on the positioning related information.

sending second information to the at least one terminal in the dangerous area; the second information is used for indicating that the positioning related information is reported according to the first frequency.

At least one embodiment of the present invention provides an anti-collision reminder device, including:

an acquisition unit configured to acquire first information; the first information is used for indicating the activation of a first application program;

the first processing unit is used for controlling the first application program to be switched to a working state based on the first information; acquiring current positioning related information by using the first application program;

a first sending unit, configured to send the positioning related information to a server; the positioning related information is used for the server to determine at least one terminal in a dangerous area, and the positioning related information corresponding to the at least one terminal is sent to the road side equipment, so that the road side equipment can remind a related vehicle to avoid colliding with a user corresponding to the at least one terminal.

Furthermore, according to at least one embodiment of the present invention, the obtaining unit is specifically configured to:

Furthermore, according to at least one embodiment of the present invention, the first processing unit is specifically configured to:

the first information comprises a security certificate of the road side equipment; matching the safety certificate of the road side equipment contained in the first information with a preset safety certificate;

the first information includes identification information of the roadside apparatus; acquiring current position information, speed information and moving direction information of the terminal by using the first application program;

Furthermore, according to at least one embodiment of the present invention, the first sending unit is specifically configured to:

Furthermore, according to at least one embodiment of the present invention, the first sending unit is further configured to:

wherein the second frequency is different from the first frequency.

Further, in accordance with at least one embodiment of the present invention, the apparatus further comprises:

the updating unit is used for judging whether the first information is received in the duration corresponding to the effective time window;

wherein the second duration is greater than the first duration.

a receiving unit, configured to receive positioning related information sent by at least two terminals respectively; the positioning related information is acquired by each terminal of the at least two terminals by utilizing a first application program after the first application program is activated and is sent to the server;

a second processing unit for determining at least one terminal in a danger area from the at least two terminals based on the positioning related information;

and the second sending unit is used for sending the positioning related information corresponding to the at least one terminal in the dangerous area to the road side equipment so that the road side equipment can remind a related vehicle to avoid colliding with a user corresponding to the at least one terminal.

Furthermore, according to at least one embodiment of the present invention, the second processing unit is specifically configured to:

the positioning related information comprises the current position information, the speed information and the moving direction information of the terminal; based on the position information in the positioning related information respectively sent by the two terminals, at least one terminal of the two terminals in a specific position area is gathered into a first type, and a first clustering result is obtained;

Furthermore, according to at least one embodiment of the present invention, the second sending unit is further configured to:

At least one embodiment of the present invention provides a terminal, including:

the first communication interface is used for acquiring first information; the first information is used for indicating the activation of a first application program;

the first processor is used for controlling the first application program to be switched to a working state based on the first information; acquiring current positioning related information by using the first application program;

the first communication interface is further configured to send the positioning related information to a server; the positioning related information is used for the server to determine at least one terminal in a dangerous area, and the positioning related information corresponding to the at least one terminal is sent to the road side equipment, so that the road side equipment can remind a related vehicle to avoid colliding with a user corresponding to the at least one terminal.

At least one embodiment of the invention provides a server comprising:

the second communication interface is used for receiving positioning related information respectively sent by at least two terminals; the positioning related information is acquired by each terminal of the at least two terminals by utilizing a first application program after the first application program is activated and is sent to the server;

a second processor for determining at least one terminal in a danger area from the at least two terminals based on the positioning related information;

the second communication interface is further configured to send the positioning related information corresponding to the at least one terminal in the dangerous area to the road side device, so that the road side device can remind a related vehicle of avoiding collision with a user corresponding to the at least one terminal.

At least one embodiment of the invention provides a terminal comprising a first processor and a first memory for storing a computer program capable of running on the processor,

wherein the first processor is configured to execute the steps of any of the above-mentioned methods at the terminal side when running the computer program.

At least one embodiment of the invention provides a server, comprising a second processor and a second memory for storing a computer program capable of running on the processor,

wherein the second processor is configured to execute the steps of any of the above-mentioned server-side methods when running the computer program.

At least one embodiment of the present invention provides a storage medium on which a computer program is stored, the computer program, when executed by a processor, implementing the steps of any of the methods described above on the terminal side or implementing the steps of any of the methods described above on the server side.

The anti-collision reminding method, the anti-collision reminding device, the anti-collision reminding equipment and the storage medium provided by the embodiment of the invention are used for acquiring first information; the first information is used for indicating the activation of a first application program; controlling the first application program to be switched to a working state based on the first information; acquiring current positioning related information by using the first application program; sending the positioning related information to a server; the positioning related information is used for the server to determine at least one terminal in a dangerous area, and the positioning related information corresponding to the at least one terminal is sent to the road side equipment, so that the road side equipment can remind a related vehicle to avoid colliding with a user corresponding to the at least one terminal. By adopting the technical scheme of the embodiment of the invention, the terminal starts the self positioning mechanism after activating the first application program, so that the power consumption of the terminal can be greatly reduced, and a user can be ensured to use the terminal for a long time; in addition, the server determines at least one terminal in a dangerous area according to the positioning related information reported by the terminal, and sends the positioning related information corresponding to the at least one terminal to the road side equipment, so that the road side equipment can remind related vehicles to avoid colliding with users corresponding to the at least one terminal, the positioning related information is not limited by factors such as sensor precision, weather and the like, the vehicles can be informed in a full range to avoid vulnerable traffic participants in the coverage area of the road side equipment, traffic accidents are avoided, and the safety of the vulnerable traffic participants is guaranteed.

Drawings

Fig. 1 is a first schematic flow chart illustrating an implementation process of an anti-collision reminding method according to an embodiment of the present invention;

fig. 2 is a schematic view of a flow of implementing the terminal to obtain the first information according to the embodiment of the present invention;

FIG. 3 is a schematic diagram of updating an effective time window according to an embodiment of the present invention;

fig. 4 is a schematic view of a flow chart of implementing the terminal reporting positioning related information according to the embodiment of the present invention;

fig. 5 is a schematic flow chart illustrating an implementation process of the anti-collision reminding method according to the embodiment of the present invention;

fig. 6 is a flowchart illustrating an implementation process of determining, by a server, at least one terminal in a dangerous area according to an embodiment of the present invention;

fig. 7 is a schematic diagram illustrating that a Mobile Edge Computing (MEC) platform clusters terminals reporting positioning related information according to an embodiment of the present invention;

fig. 8 is a schematic diagram illustrating an implementation flow of sending a frequency policy notification message to a terminal that reports positioning related information by a server according to an embodiment of the present invention;

fig. 9 is a first schematic structural diagram of an anti-collision warning device according to an embodiment of the present invention;

fig. 10 is a schematic structural diagram of a second exemplary embodiment of an anti-collision warning device;

fig. 11 is a schematic structural diagram of the collision-proof reminding system according to the embodiment of the present invention;

fig. 12 is a first schematic structural diagram of a terminal according to an embodiment of the present invention;

fig. 13 is a schematic diagram of a composition structure of a server according to an embodiment of the present invention.

Detailed Description

Before the technical solution of the embodiment of the present invention is introduced, a description is given of a related art.

In the related technology, the traffic safety problem is always the most basic problem to be solved by intelligent traffic and car networking, a plurality of solutions for car collision avoidance exist at present, but the collision avoidance problem for weak traffic participants such as pedestrians and the like is not solved effectively, such as pedestrians, bicycles and the like. At present, two types of solutions are mainly used for ensuring the traffic safety of VRU. The first mode is: the scheme can be divided into two types according to detection modes, wherein the schemes comprise that a camera deployed on the road side is used for realizing VRU detection and discovery, surrounding vehicles are notified to avoid collision, and a sensor of the vehicle is used for realizing pedestrian detection, judging whether collision risks exist and reminding a user of the vehicle. The second mode is as follows: the method adopts a communication method, wherein the VRU and the vehicle are required to carry communication equipment, the VRU is required to continuously report self-positioning information, the vehicle calculates collision risk according to the position information after acquiring the information, and then reminds the vehicle. The first mode has the defects that: the sensor-based method has the problem of limited detection range, for the scheme of the camera, the arrangement of the camera is only partial road sections, so that the large-area coverage cannot be realized, the problems of missing detection and the like can be caused, and only the vehicle can be subjected to fuzzy reminding, so that the position information of the pedestrian cannot be accurately obtained; for the scheme based on the vehicle sensor, the accuracy is limited by the accuracy of the vehicle sensor, the higher the accuracy is, the higher the cost is, and the higher the accuracy is, and the scheme is easily influenced by shielding, and under the condition that the roadside has shielding, the existence of the VRU cannot be detected, so that the collision risk exists. The second mode has the defects that: the VRU needs to carry the communication equipment with the user and continuously report the position information, but the equipment needs to be portable and has a large amount of electricity. However, communication devices carried by the VRU are small in size, limited in power, incapable of working for a long time and poor in usability.

Based on this, in various embodiments of the present invention, first information is obtained; the first information is used for indicating the activation of a first application program; controlling the first application program to be switched to a working state based on the first information; acquiring current positioning related information by using the first application program; sending the positioning related information to a server; the positioning related information is used for the server to determine at least one terminal in a dangerous area, and the positioning related information corresponding to the at least one terminal is sent to the road side equipment, so that the road side equipment can remind a related vehicle to avoid colliding with a user corresponding to the at least one terminal.

The present invention will be described in further detail with reference to the accompanying drawings and examples.

The embodiment of the invention provides an anti-collision reminding method, which is applied to a terminal, and as shown in figure 1, the method comprises the following steps:

step 101: acquiring first information; the first information is used for indicating the activation of a first application program;

step 102: controlling the first application program to be switched to a working state based on the first information; acquiring current positioning related information by using the first application program;

step 103: sending the positioning related information to a server; the positioning related information is used for the server to determine at least one terminal in a dangerous area, and the positioning related information corresponding to the at least one terminal is sent to the road side equipment, so that the road side equipment can remind a related vehicle to avoid colliding with a user corresponding to the at least one terminal.

Here, in step 101, when the distance between the terminal and the road side device is within a preset range, the terminal may acquire first information sent by the road side device; the roadside device may send the first information to the terminal in a wake-up signal manner. The activation may refer to controlling the first application to switch from a sleep state to an active state.

Here, in step 102, the first information may carry identification information of the first application program, so that after the terminal receives the first information, the terminal may control the application program corresponding to the identification information to switch to the working state by using the identification information of the first application program.

Here, in step 103, after the terminal sends the positioning related information to the server, the server may determine whether the terminal is in a dangerous area according to the positioning related information; and when the terminal is determined to be in a dangerous area, sending the positioning related information of the terminal to corresponding road side equipment, and reminding related vehicles to avoid colliding with users carrying the terminal by the road side equipment. Since at least two terminals can report the positioning related information to the server at the same time, the server can determine at least one terminal in the dangerous area according to the positioning related information reported by the at least two terminals.

In practical application, the roadside facility construction main body may deploy roadside Unit (RSU) devices in a key area, and the RSU devices have a certain communication coverage. When User Equipment (UE) enters a coverage area of the RSU device, the UE receives a wake-up signal, i.e., an Activate signal, continuously sent by the RSU device, activates a first application program according to the Activate signal, starts a positioning function of the UE, and acquires current positioning related information by using the first application program; in order to save the power consumption of the UE, the first application program is in a dormant state on a non-dangerous road section where the RSU equipment is not deployed.

Based on this, in an embodiment, the acquiring the first information includes:

In practical application, after the terminal receives a wake-up signal, namely an Activate signal, continuously sent by the RSU device, the validity of the RSU device may be verified first, and after the RSU device is verified to be a valid device, the first application program is activated according to the Activate signal, the positioning function of the terminal is started, and the first application program is used to acquire current positioning related information.

Based on this, in one embodiment, the first information includes a security certificate of the roadside device; the method further comprises the following steps:

In an example, as shown in fig. 2, a process of acquiring first information by a terminal is described, including:

step 201: the method comprises the steps that a terminal obtains first information sent by road side equipment;

the first information is sent to the terminal by the road side equipment when the distance between the terminal and the road side equipment meets a preset condition.

Step 202: the terminal verifies whether the road side equipment is legal equipment or not; when the road side device is verified to be a legal device, executing step 203;

wherein the first information comprises a security certificate of the road side device.

Here, the terminal matches a security certificate of the roadside device included in the first information with a preset security certificate; and when the safety certificate of the road side equipment contained in the first information is matched with a preset safety certificate, controlling the first application program to be switched to a working state based on the first information.

Step 203: the terminal controls the first application program to be switched to a working state, and the first application program is utilized to acquire the current positioning related information.

Here, the terminal reports the positioning related information after activating the first application program, and the method has the following advantages:

(1) the RSU equipment arranged on the key road section is used for activating the first application program of the terminal, so that the starting place of the first application program can be controlled, namely, the first application program is started on the complex road section in a targeted mode, and the first application program is in a dormant state when the RSU equipment is far away from the complex road section.

(2) The first application program of the terminal is activated through the RSU equipment, and the activation time of the first application program and the time of the first application program recovering to the dormant state can be controlled, namely, the first application program of the terminal is activated only after receiving the activation information sent by the RSU equipment, and the positioning function of the terminal is started, so that the electric quantity of the terminal is effectively saved.

(3) The terminal starts a self positioning mechanism after entering the area of the road side equipment, so that the power consumption of the terminal is greatly reduced, and a user can use the terminal for a long time.

In practical application, the positioning related information reported to the server by the terminal may include information of multiple dimensions, such as current position information, current speed information, and current moving direction of the terminal. Therefore, after the server receives the positioning related information reported by the terminal, the terminal in the danger area can be accurately judged based on the information of multiple dimensions.

Based on this, in one embodiment, the first information includes identification information of the roadside device; the obtaining of the current positioning related information by using the first application program includes:

Here, the terminal may encapsulate the positioning related information into a specific message format, and transmit the encapsulated message to the server. Table 1 shows a message format corresponding to the positioning related information.

TABLE 1

In practical application, in order to ensure the accuracy of the reported information, the terminal may report the positioning related information in an effective time window according to a certain frequency.

Based on this, in an embodiment, the sending the positioning related information to a server includes:

The duration of the valid time window may be a preset duration.

Here, the terminal may report the positioning related information to the base station within the valid time window according to the first frequency, and the base station uploads the positioning related information to the server, i.e., the MEC platform, via the UPF.

Here, when it is determined that the second information transmitted by the server is not received, the positioning related information is transmitted to the server within an effective time window according to a second frequency; wherein the second frequency is different from the first frequency.

In practical application, when the terminal moves out of the coverage area of the roadside device, the terminal may stop reporting the positioning related information to the server; when the terminal always moves in the coverage area of the drive test equipment, the terminal needs to continuously report positioning related information to the server; the reporting frequency of the positioning related information can be determined according to the indication of the server.

wherein the second duration is greater than the first duration.

For example, as shown in fig. 3, the terminal reports the positioning related information to the server according to a certain frequency in an effective time window corresponding to the T duration; if the terminal can still receive an Activate signal sent by the roadside equipment within the time length of T, widening the time length corresponding to the effective time window from T to 2T, and reporting positioning related information to the server according to a certain frequency within the effective time window corresponding to 2T; by analogy, if the terminal can still receive the Activate signal sent by the road side equipment within the time length of nT, the time length corresponding to the effective time window is widened from nT to (n +1) T.

It should be noted that, after the terminal is far from the coverage of the RSU device, if the active signal sent by the RSU device cannot be received, the valid time window becomes invalid, and the first application program switches to the sleep state.

In an example, as shown in fig. 4, a process of reporting positioning related information by a terminal is described, which includes:

step 401: the terminal acquires first information;

wherein the first information is used for indicating to activate a first application program;

step 402: the terminal controls the first application program to be switched to a working state based on the first information; acquiring current positioning related information by using the first application program;

step 403: judging whether second information sent by the server is received or not; when determining that the second information sent by the server is received, executing step 404; otherwise, go to step 405;

wherein the second information is used for instructing the terminal to send the positioning related information according to a first frequency;

step 404: and sending the positioning related information to the server within an effective time window according to the first frequency.

The length of the valid time window may be updated according to the moving speed of the terminal and other factors.

Step 405: sending the positioning related information to the server within an effective time window according to a second frequency;

wherein the second frequency is different from the first frequency. The second frequency may be a preset frequency.

Here, the terminal reports the positioning related information according to a certain frequency in the valid time window, and has the following advantages:

(1) if the time window is valid, the terminal reports the current positioning related information to the server according to a certain frequency. And in the effective time window, if a new frequency strategy notice sent by the server is not received, keeping the original sending frequency to report the current positioning related information, and if the new frequency strategy notice is received, reporting the current positioning related information according to the new frequency indicated by the server.

(2) The length of the time window for reporting the positioning related information can be dynamically set by combining the current position of the terminal, the traveling speed of the terminal and other factors, so that the time for reporting the positioning related information by the terminal and the time for stopping reporting the positioning information by the terminal are adaptively controlled, the power consumption of the terminal is saved, and the low power consumption is achieved.

By adopting the technical scheme of the embodiment of the invention, the terminal starts the self positioning mechanism after activating the first application program, so that the power consumption of the terminal can be greatly reduced, and a user can be ensured to use the terminal for a long time; in addition, the server determines at least one terminal in a dangerous area according to the positioning related information reported by the terminal, and sends the positioning related information corresponding to the at least one terminal to the road side equipment, so that the road side equipment can remind related vehicles to avoid colliding with users corresponding to the at least one terminal, the positioning related information is not limited by factors such as sensor precision, weather and the like, the vehicles can be informed in a full range to avoid vulnerable traffic participants in the coverage area of the road side equipment, traffic accidents are avoided, and the safety of the vulnerable traffic participants is guaranteed.

Correspondingly, an embodiment of the present invention provides an anti-collision reminding method, which is applied to a server, and as shown in fig. 5, the method includes:

step 501: receiving positioning related information respectively sent by at least two terminals; the positioning related information is acquired by each terminal of the at least two terminals by utilizing a first application program after the first application program is activated and is sent to the server;

step 502: determining at least one terminal in a danger area from the at least two terminals based on the positioning related information;

step 503: and sending the positioning related information corresponding to the at least one terminal in the dangerous area to road side equipment so that the road side equipment can remind related vehicles to avoid colliding users corresponding to the at least one terminal.

Here, in step 501, the terminal may report the positioning related information to the server after activating the first application.

Here, in step 502, after the terminal sends the positioning related information to a server, the server may determine whether the terminal is in a dangerous area according to the positioning related information; and when the terminal is determined to be in a dangerous area, sending the positioning related information of the terminal to corresponding road side equipment, and reminding related vehicles to avoid colliding with users carrying the terminal by the road side equipment.

Based on this, in an embodiment, the positioning related information includes current position information, speed information, and moving direction information of the terminal; the determining, from the at least two terminals, at least one terminal in a danger area based on the positioning-related information includes:

Here, the clustering at least one terminal of which the at least two terminals are located in the specific location area into a category to obtain a first clustering result may include: determining a convex deformation boundary by using an equal clustering method with a minimum distance function; and at least one terminal corresponding to the point close to the convex deformation boundary and at least one terminal corresponding to the convex edge vertex are gathered into one type to obtain a first clustering result.

Here, the moving direction information based on the positioning related information respectively transmitted by the at least two terminals may include: dividing terminals with the same moving direction into a group of terminals to obtain at least two groups of terminals; determining the number of terminals contained in at least two groups of terminals, and taking the moving direction corresponding to the group of terminals with the largest number as the first direction; and at least one terminal with different moving directions and the first direction in the at least two terminals is gathered into one type to obtain a third clustering result.

In practical application, after receiving the positioning related information reported by at least two terminals, the server can first determine whether the corresponding terminal is a terminal carried by the VRU according to the speed information contained in the positioning related information; the VRU may specifically refer to a pedestrian, a user riding a bicycle, or the like.

Based on this, in an embodiment, before determining at least one terminal in a dangerous area from the at least two terminals based on the positioning related information, the method further includes:

Here, that the speed information included in the positioning related information satisfies the preset condition may mean that the speed of the terminal reporting the positioning related information is lower than a speed threshold.

For example, if the speed of the terminal reporting the positioning related information is greater than a speed threshold, such as 30km/h, the server determines that the terminal is not a terminal carried by the VRU, and does not need to determine whether the terminal is in a dangerous area; in addition, in order to save the power consumption of the terminal, the server may instruct the terminal to report the positioning related information at an extremely low frequency subsequently. If the speed of the terminal reporting the positioning related information is less than or equal to a speed threshold value, for example, 30km/h, the server judges that the terminal is a terminal carried by a VRU, and needs to judge whether the terminal is in a dangerous area.

In practical application, the server may send the positioning related information corresponding to the at least one terminal in the dangerous area to the road side device; after receiving the positioning related information corresponding to the at least one terminal in the dangerous area, the roadside device may send the positioning related information corresponding to the at least one terminal in the dangerous area to a relevant vehicle, and the relevant vehicle determines whether to avoid the at least one terminal.

Based on this, in an embodiment, the positioning related information includes identification information of the roadside device; the sending the positioning related information corresponding to the at least one terminal to the road side device includes:

and sending the positioning related information of the at least one terminal in the dangerous area to the road side equipment corresponding to the identification information of the road side equipment.

Here, after receiving the positioning related information of the at least one terminal in the dangerous area sent by the server, the roadside device may send the positioning related information corresponding to the at least one terminal in the dangerous area to a related vehicle, and the related vehicle determines whether to avoid the at least one terminal; or judging whether the at least one terminal is in the coverage area of the roadside device according to the positioning related information of the at least one terminal in the dangerous area, generating reminding information when the at least one terminal is determined to be in the coverage area of the roadside device, and broadcasting the reminding information; the reminding information is used for reminding a vehicle passing through the road side equipment to avoid colliding with the VRU corresponding to the at least one terminal.

In an example, as shown in fig. 6, taking a server as an MEC platform as an example, a process for determining at least one terminal in a dangerous area by the server is described, which includes:

step 601: the MEC platform receives positioning related information respectively sent by at least two terminals;

step 602: the MEC platform clusters the at least two terminals based on the positioning related information respectively sent by the at least two terminals to obtain a clustering result;

step 603: for each terminal in the at least two terminals, the MEC platform judges whether the corresponding terminal is in a dangerous area or not according to the clustering result; when it is determined that the corresponding terminal is in the danger area, performing step 604; otherwise, go to step 605;

fig. 7 is a schematic diagram of clustering, performed by the MEC platform, terminals that report positioning related information, where as shown in fig. 7, black dots in a dashed box may represent terminals in a dangerous area.

Step 604: and sending the positioning related information corresponding to the corresponding terminal to the road side equipment corresponding to the identification information according to the identification information of the road side equipment carried by the positioning related information reported by the corresponding terminal.

Here, after receiving the positioning related information of the terminal in the danger area sent by the MEC platform, the roadside device may send the positioning related information corresponding to the terminal in the danger area to a related vehicle, and the related vehicle determines whether to avoid the at least one terminal; or judging whether the terminal is in the coverage area of the road side equipment according to the positioning related information of the terminal in the dangerous area, generating reminding information when the terminal is determined to be in the coverage area of the road side equipment, and broadcasting the reminding information; the reminding information is used for reminding a vehicle passing through the road side equipment to avoid colliding with the VRU corresponding to the terminal so as to avoid traffic accidents.

Step 605: and the MEC platform stores the positioning related information of the corresponding terminal in a preset list.

Here, the server determines at least one terminal in the danger area, which has the following advantages:

(1) the server clusters at least two terminals reporting the positioning related information based on the multi-dimensional positioning related information, determines at least one terminal in a dangerous area from the at least two terminals according to a clustering result, and sends the positioning related information of the at least one terminal in the dangerous area to the roadside device, and the roadside device can send the positioning related information of the at least one terminal in the dangerous area to related vehicles at one time.

(2) By means of information collection and issuing of the server and the roadside equipment, large-range message broadcasting can be achieved within extremely short time, on one hand, the vehicle can have enough time to acquire early warning information, relevant driving strategies can be adjusted in advance, and the vehicle cannot be influenced by shielding; on the other hand can remind all vehicles, reduces because of the not high or no sensor vehicle's of sensor precision safety risk, promotes whole traffic safety level. Compared with a mode of sensing the position of the VRU through a sensor in the related technology, the method is not limited by factors such as position shielding and weather, and can inform the VRU of the position of the vehicle in a full range in the coverage area of roadside equipment to comprehensively remind the vehicle of avoiding pedestrians.

(3) The roadside device broadcasts the reminding message to the related vehicles, and the time delay of broadcasting the RSU position through the roadside device is smaller than that of broadcasting the pedestrian position through the cellular network. The position information of the VRU is broadcasted by the road side equipment, so that the timeliness of the position of the VRU can be ensured, surrounding vehicles can quickly obtain the position information of surrounding pedestrians, and collision can be avoided in advance.

In an example, as shown in fig. 8, taking a server as an MEC platform as an example, a process of sending a frequency policy notification message to a terminal reporting positioning related information by the server is described, where the process includes:

step 801: the MEC platform receives positioning related information respectively sent by at least two terminals;

step 802: the MEC platform clusters the at least two terminals based on the positioning related information respectively sent by the at least two terminals to obtain a clustering result;

step 803: for each terminal in the at least two terminals, the MEC platform judges whether the corresponding terminal is in a dangerous area or not according to the clustering result; when the corresponding terminal is determined to be in the dangerous area, executing step 804; otherwise, go to step 805;

step 804: the MEC platform sends second information to the corresponding terminal; the second information is used for indicating that the positioning related information is reported according to the first frequency.

Wherein the first frequency may be represented by a frequency f 1. And after receiving the second information, the corresponding terminal reports the current positioning related information according to the frequency f1 in the effective time window.

Step 805: the MEC platform sends third information to the corresponding terminal; the third information is used for indicating that the positioning related information is reported according to the second frequency.

The second frequency can be represented by a frequency f2, and the value of the frequency f1 is smaller than that of the frequency f 2; and after receiving the third information, the corresponding terminal reports the current positioning related information according to the frequency f2 in an effective time window, so that the power of the corresponding terminal is saved, and the purpose of reducing the power consumption is achieved.

Here, the server transmits different frequency policy notifications to the terminal in the area and the terminal in the non-dangerous area, and the following advantages are provided:

the frequency of reporting the positioning related information by the terminal in the non-dangerous area is reduced, so that the power of the corresponding terminal is effectively saved, and the aim of saving power consumption is fulfilled.

In order to implement the anti-collision reminding method according to the embodiment of the present invention, an anti-collision reminding device is further provided in the embodiment of the present invention, and fig. 9 is a schematic structural diagram of the anti-collision reminding device according to the embodiment of the present invention; as shown in fig. 9, the apparatus includes:

an acquisition unit 91 for acquiring first information; the first information is used for indicating the activation of a first application program;

a first processing unit 92, configured to control the first application to switch to an operating state based on the first information; acquiring current positioning related information by using the first application program;

a first sending unit 93, configured to send the positioning related information to a server; the positioning related information is used for the server to determine at least one terminal in a dangerous area, and the positioning related information corresponding to the at least one terminal is sent to the road side equipment, so that the road side equipment can remind a related vehicle to avoid colliding with a user corresponding to the at least one terminal.

In an embodiment, the obtaining unit 91 is specifically configured to:

In an embodiment, the first processing unit 92 is specifically configured to:

In an embodiment, the first sending unit 93 is specifically configured to:

In an embodiment, the first sending unit 93 is further configured to:

wherein the second frequency is different from the first frequency.

In one embodiment, the apparatus further comprises:

the updating unit is used for judging whether the first information is received in the duration corresponding to the effective time window; when the first information is received in the time length corresponding to the effective time window, updating the time length corresponding to the effective time window from a first time length to a second time length;

wherein the second duration is greater than the first duration.

In practical application, the obtaining unit 91 and the first sending unit 93 may be implemented by a communication interface in the anti-collision reminding device; the first processing unit 92 is implemented by a processor in the anti-collision reminding device in combination with a communication interface. .

It should be noted that: the anti-collision reminding device provided in the above embodiment is only illustrated by dividing the program modules when performing anti-collision reminding, and in practical applications, the processing allocation may be completed by different program modules as needed, that is, the internal structure of the device is divided into different program modules to complete all or part of the processing described above. In addition, the anti-collision reminding device and the anti-collision reminding method provided by the embodiment belong to the same concept, and specific implementation processes thereof are described in the method embodiment in detail and are not described herein again.

In order to implement the anti-collision reminding method according to the embodiment of the present invention, an anti-collision reminding device is further provided in the embodiment of the present invention, and fig. 10 is a schematic structural diagram of the anti-collision reminding device according to the embodiment of the present invention; as shown in fig. 10, the apparatus includes:

a receiving unit 101, configured to receive positioning related information sent by at least two terminals respectively; the positioning related information is acquired by each terminal of the at least two terminals by utilizing a first application program after the first application program is activated and is sent to the server;

a second processing unit 102, configured to determine, based on the positioning-related information, at least one terminal in a danger area from the at least two terminals;

a second sending unit 103, configured to send the positioning related information corresponding to the at least one terminal in the dangerous area to a roadside device, so that the roadside device reminds a related vehicle of avoiding colliding with a user corresponding to the at least one terminal.

In an embodiment, the second processing unit 102 is specifically configured to:

Furthermore, according to at least one embodiment of the present invention, the second sending unit 103 is further configured to:

In practical application, the receiving unit 101 and the second sending unit 103 may be implemented by communication interfaces in the anti-collision reminding device; the second processing unit 102 is implemented by a processor in the anti-collision reminding device in combination with a communication interface.

In order to implement the method according to the embodiment of the present invention, an embodiment of the present invention provides a service migration system, as shown in fig. 11, including:

a terminal 111, configured to obtain first information; the first information is used for indicating the activation of a first application program; controlling the first application program to be switched to a working state based on the first information; acquiring current positioning related information by using the first application program; sending the positioning related information to a server;

a server 112, configured to receive positioning related information sent by at least two terminals respectively; the positioning related information is acquired by each terminal of the at least two terminals by utilizing a first application program after the first application program is activated and is sent to the server; determining at least one terminal in a danger area from the at least two terminals based on the positioning related information; and sending the positioning related information corresponding to the at least one terminal in the dangerous area to road side equipment so that the road side equipment can remind related vehicles to avoid colliding users corresponding to the at least one terminal.

It should be noted that: the specific processing procedures of the terminal 111 and the server 112 have been described in detail above, and are not described in detail here.

An embodiment of the present invention further provides a terminal, as shown in fig. 12, including:

a first communication interface 121 capable of performing information interaction with other devices;

the first processor 122 is connected to the first communication interface 121, and is configured to execute a method provided by one or more technical solutions of the foregoing smart device side when running a computer program. And the computer program is stored on the first memory 123.

It should be noted that: the specific processing procedures of the first processor 122 and the first communication interface 121 are detailed in the method embodiment, and are not described herein again.

Of course, in practice, the various components in the terminal 120 are coupled together by a bus system 124. It will be appreciated that the bus system 124 is used to enable communications among the components. The bus system 124 includes a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, however, the various buses are labeled as bus system 124 in fig. 12.

The first memory 123 in the embodiment of the present application is used to store various types of data to support the operation of the terminal 120. Examples of such data include: any computer program for operating on the terminal 120.

The method disclosed in the embodiment of the present application may be applied to the first processor 122, or implemented by the first processor 122. The first processor 122 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be implemented by integrated logic circuits of hardware or instructions in the form of software in the first processor 122. The first Processor 122 may be a general purpose Processor, a Digital data Processor (DSP), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, etc. The first processor 122 may implement or perform the methods, steps and logic blocks disclosed in the embodiments of the present application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed in the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium located in the first memory 123, and the first processor 122 reads the information in the first memory 123, and completes the steps of the foregoing method in combination with its hardware.

An embodiment of the present invention further provides a server, as shown in fig. 13, including:

a second communication interface 131 capable of performing information interaction with other devices;

and a second processor 132, connected to the second communication interface 131, configured to execute the method provided by one or more technical solutions of the foregoing smart device side when running a computer program. And the computer program is stored on the second memory 133.

It should be noted that: the specific processing procedures of the second processor 132 and the second communication interface 131 are detailed in the method embodiment, and are not described herein again.

Of course, in practice, the various components in the server 130 are coupled together by a bus system 134. It will be appreciated that the bus system 134 is used to enable communications among the components. The bus system 134 includes a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, however, the various buses are labeled as bus system 134 in FIG. 13.

The second memory 133 in the embodiment of the present application is used to store various types of data to support the operation of the server 130. Examples of such data include: any computer program for operating on server 130.

The method disclosed in the embodiment of the present application may be applied to the second processor 132, or implemented by the second processor 132. The second processor 132 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be implemented by integrated logic circuits of hardware or instructions in the form of software in the second processor 132. The second Processor 132 may be a general purpose Processor, a Digital data Processor (DSP), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, etc. The second processor 132 may implement or perform the methods, steps and logic blocks disclosed in the embodiments of the present application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed in the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium located in the second memory 133, and the second processor 132 reads the information in the second memory 133 and, in combination with its hardware, performs the steps of the foregoing method.

In an exemplary embodiment, the terminal 120 and the server 130 may be implemented by one or more Application Specific Integrated Circuits (ASICs), DSPs, Programmable Logic Devices (PLDs), Complex Programmable Logic Devices (CPLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, Micro Controllers (MCUs), microprocessors (microprocessors), or other electronic components for performing the foregoing methods.

It is understood that the memories (the first memory 123 and the second memory 133) of the embodiments of the present application may be volatile memories or nonvolatile memories, and may include both volatile and nonvolatile memories. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic random access Memory (FRAM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Enhanced Synchronous Dynamic Random Access Memory (Enhanced DRAM), Synchronous Dynamic Random Access Memory (SLDRAM), Direct Memory (DRmb Access), and Random Access Memory (DRAM). The memories described in the embodiments of the present application are intended to comprise, without being limited to, these and any other suitable types of memory.

In an exemplary embodiment, the present invention further provides a storage medium, specifically a computer-readable storage medium, for example, a first memory 133 storing a computer program, which can be executed by the first processor 132 of the server 130 to complete the steps of the aforementioned control server side method. The computer readable storage medium may be Memory such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface Memory, optical disk, or CD-ROM.

It should be noted that: "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.

In addition, the technical solutions described in the embodiments of the present invention may be arbitrarily combined without conflict.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention.

Claims

1. An anti-collision reminding method is applied to a terminal, and comprises the following steps:

2. The method of claim 1, wherein obtaining the first information comprises:

3. The method of claim 2, wherein the first information comprises a security certificate of the roadside device; the method further comprises the following steps:

4. The method according to claim 1, wherein the first information includes identification information of the roadside apparatus; the obtaining of the current positioning related information by using the first application program includes:

5. The method according to any of claims 1 to 4, wherein said sending said positioning related information to a server comprises:

6. The method of claim 5, further comprising:

wherein the second frequency is different from the first frequency.

7. The method of claim 5, further comprising:

wherein the second duration is greater than the first duration.

8. An anti-collision reminding method is applied to a server, and comprises the following steps:

9. The method according to claim 8, wherein the positioning related information comprises current position information, speed information, and moving direction information of the terminal; the determining, from the at least two terminals, at least one terminal in a danger area based on the positioning-related information includes:

10. The method according to claim 9, wherein before determining at least one terminal in a danger area from the at least two terminals based on the positioning-related information, the method further comprises:

11. The method according to any one of claims 8 to 10, further comprising:

12. An anti-collision reminder device, comprising:

13. An anti-collision reminder device, comprising:

14. A terminal, comprising:

15. A server, comprising:

16. A terminal comprising a first processor and a first memory for storing a computer program capable of running on the processor,

wherein the first processor is adapted to perform the steps of the method of any one of claims 1 to 7 when running the computer program.

17. A server comprising a second processor and a second memory for storing a computer program capable of running on the processor,

wherein the second processor is adapted to perform the steps of the method of any of claims 8 to 11 when running the computer program.

18. A storage medium having stored thereon a computer program for performing the steps of the method of any one of claims 1 to 7 or the steps of the method of any one of claims 8 to 11 when executed by a processor.