CN114202962A - Vehicle early warning method and device - Google Patents
Vehicle early warning method and device Download PDFInfo
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Abstract
The invention discloses a vehicle early warning method and a vehicle early warning device, wherein the method comprises the following steps: acquiring lane line information in a tunnel region; after the signal intensity of the beacon node information is obtained, vehicle information in the tunnel region is calculated according to the signal intensity and the beacon node information; the beacon node information comprises position information of road side units in a tunnel region; and when judging that the vehicles in the tunnel area are in the abnormal driving state according to the lane line information and the vehicle information, sending early warning information to the vehicles in the abnormal driving state. By adopting the embodiment of the invention, the safety of the vehicle running in the tunnel can be improved, and the possibility of accidents is reduced.
Description
Technical Field
The invention relates to the technical field of data, in particular to a vehicle early warning method and device.
Background
In a mountain area, there are some typical tunnel areas with complicated traffic conditions, such as a medium-long tunnel area, which has the problems of dark light, serious black-white hole effect, narrow space, and the like.
The vehicle drives in the tunnel region, and because the light in tunnel is not good and the tunnel space is narrow and small, visibility is low, leads to the vehicle to take place lane departure and vehicle collision in the tunnel easily. And after entering the tunnel, a driver is easy to be tense, difficult to drive efficiently and easy to have accidents.
In summary, the safety of the vehicle running in the tunnel area is not high, and dangerous accidents are easily caused.
Disclosure of Invention
The embodiment of the invention provides a vehicle early warning method and device, which improve the driving safety of a vehicle in a tunnel and reduce the possibility of accidents.
A first aspect of an embodiment of the present application provides a vehicle early warning method, including:
acquiring lane line information in a tunnel region;
after the signal intensity of the beacon node information is obtained, vehicle information in the tunnel region is calculated according to the signal intensity and the beacon node information; the beacon node information comprises position information of road side units in a tunnel region;
and when judging that the vehicles in the tunnel area are in the abnormal driving state according to the lane line information and the vehicle information, sending early warning information to the vehicles in the abnormal driving state.
In a possible implementation manner of the first aspect, the obtaining lane line information in the tunnel region specifically includes:
acquiring lane line image information in a tunnel region, and detecting the lane line image information by adopting an edge detection technology to obtain a detection result;
and after obtaining the lane line position information according to the detection result, forming and acquiring the lane line information.
In a possible implementation manner of the first aspect, the calculating vehicle information in the tunnel region according to the signal strength and the beacon node information specifically includes:
sorting the signal intensity from large to small according to the numerical value to obtain a sorting result;
determining the optimal beacon node information according to the sequencing result and the beacon node information;
and calculating to obtain the vehicle information in the tunnel region by combining a four-point positioning algorithm according to the optimal node information.
In a possible implementation manner of the first aspect, the determining that the vehicle in the tunnel region is in the abnormal driving state according to the lane line information and the vehicle information specifically includes:
the abnormal driving state includes: an offset state;
calculating a first distance between a vehicle in the tunnel area and a lane line in the tunnel area according to the lane line information and the vehicle information;
when the first distance is smaller than a first preset threshold value, determining that the vehicle in the tunnel region is in an offset state; otherwise, judging that the vehicle in the tunnel region is in a normal driving state.
In one possible implementation manner of the first aspect, the abnormal driving state further includes: a pre-crash state;
calculating a second distance between vehicles in the tunnel region according to the vehicle information;
when the second distance is smaller than a second preset threshold value, determining that the vehicle in the tunnel region is in a pre-collision state; otherwise, judging that the vehicle in the tunnel region is in a normal driving state.
In a possible implementation manner of the first aspect, the sending of the warning information to the vehicle in the abnormal driving state specifically includes:
sending the early warning information to the vehicle-mounted terminal so that the vehicle-mounted terminal plays the early warning information through the voice player;
or sending the early warning information to a display device so that the display device displays the early warning information; the display device is arranged in the tunnel region.
A second aspect of the embodiments of the present application provides a vehicle warning device, including: the system comprises an acquisition module, a calculation module and an early warning module;
the acquisition module is used for acquiring lane line information in a tunnel region;
the computing module is used for computing vehicle information in the tunnel region according to the signal strength and the beacon node information after the signal strength of the beacon node information is obtained; the beacon node information comprises position information of road side units in a tunnel region;
the early warning module is used for sending early warning information to the vehicles in the abnormal driving state when judging that the vehicles in the tunnel area are in the abnormal driving state according to the lane line information and the vehicle information.
In a possible implementation manner of the second aspect, the obtaining lane line information in the tunnel region specifically includes:
acquiring lane line image information in a tunnel region, and detecting the lane line image information by adopting an edge detection technology to obtain a detection result;
and after obtaining the lane line position information according to the detection result, forming and acquiring the lane line information.
In a possible implementation manner of the second aspect, the vehicle information in the tunnel region is calculated according to the signal strength and the beacon node information, specifically:
sorting the signal intensity from large to small according to the numerical value to obtain a sorting result;
determining the optimal beacon node information according to the sequencing result and the beacon node information;
and calculating to obtain the vehicle information in the tunnel region by combining a four-point positioning algorithm according to the optimal node information.
In a possible implementation manner of the second aspect, the determining that the vehicle in the tunnel region is in the abnormal driving state according to the lane line information and the vehicle information specifically includes:
the abnormal driving state includes: an offset state;
calculating a first distance between a vehicle in the tunnel area and a lane line in the tunnel area according to the lane line information and the vehicle information;
when the first distance is smaller than a first preset threshold value, determining that the vehicle in the tunnel region is in an offset state; otherwise, judging that the vehicle in the tunnel region is in a normal driving state.
Compared with the prior art, the vehicle early warning method and device provided by the embodiment of the invention comprise the following steps: acquiring lane line information in a tunnel region; after the signal intensity of the beacon node information is obtained, vehicle information in the tunnel region is calculated according to the signal intensity and the beacon node information; the beacon node information comprises position information of road side units in a tunnel region; and when judging that the vehicles in the tunnel area are in the abnormal driving state according to the lane line information and the vehicle information, sending early warning information to the vehicles in the abnormal driving state.
The beneficial effects are that: according to the embodiment of the invention, after the signal intensity of the beacon node information is acquired, the vehicle information in the tunnel area is calculated, and when the vehicle in the tunnel area is judged to be in the abnormal driving state according to the lane line information and the vehicle information, the early warning information is sent to the vehicle in the abnormal driving state, so that the early warning can be timely sent to the vehicle which does not normally drive due to the environment of the tunnel area under the conditions of poor light and narrow space in the tunnel area, and the more serious accident caused by negligence of the vehicle which does not normally drive is avoided, so that the driving safety of the vehicle in the tunnel is improved, and the possibility of accident occurrence is reduced.
In addition, in the process of acquiring the lane line information in the tunnel region, the improved Sobel operator is adopted to detect the lane line image information, the problem that the lane line image is not clear due to insufficient light and other reasons in the tunnel region is solved, and the accuracy of detecting the lane line information is improved, so that the accuracy of early warning for the vehicle deviation state is improved, and the misinterpretation is reduced.
Moreover, most tunnels are in mountainous areas, and the number of satellites is small, so that communication conditions in the tunnel areas are poor, and satellite signals cannot be received or are unstable. The method takes the WSN as a means, introduces the road side unit as a beacon node, constructs the wireless sensor network for positioning, and can effectively solve the problem of inaccurate positioning caused by unstable signals in the tunnel.
Finally, the early warning information is played or displayed through the vehicle-mounted voice player and the display equipment in the tunnel region, the utilization rate of the vehicle-mounted voice player and the display equipment in the tunnel region can be improved, and the good economic value and the good practical value are achieved.
Drawings
Fig. 1 is a schematic flow chart of a vehicle warning method according to an embodiment of the present invention;
FIG. 2 is a plan view of a tunnel region provided in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of a positioning algorithm provided in an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle warning device according to an embodiment of the present 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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1, a schematic flow chart of a vehicle warning method according to an embodiment of the present invention includes: S101-S103:
s101: and acquiring lane line information in the tunnel area.
In this embodiment, the acquiring lane line information in the tunnel region specifically includes:
acquiring lane line image information in a tunnel area, and detecting the lane line image information by adopting an edge detection technology to obtain a detection result;
and after obtaining the lane line position information according to the detection result, forming and acquiring the lane line information.
In a specific embodiment, the acquiring of the image information of the lane line in the tunnel area specifically includes:
a plurality of road side units are arranged in the tunnel area, and the image information of the lane lines in the tunnel area is collected in real time through the road side units.
In a specific embodiment, the edge detection technology is adopted to detect the image information of the lane line, and a detection result is obtained, specifically: and detecting the lane lines in the tunnel according to the lane line image information through a modified Sobel operator (namely a Sobel operator).
The method for detecting the lane line in the tunnel according to the traditional Sobel operator specifically comprises the following steps: taking a pixel in the image information of the lane line as a center, intercepting a window of 3 × 3 pixels to obtain convolution kernels of two gradient templates in the horizontal direction and the vertical direction of a Sobel operator, wherein the convolution kernels are respectively a convolution kernel Gx of a gradient in the horizontal direction and a convolution kernel Gy of a gradient in the vertical direction, and can be represented by the following formula:
and then according to Gx and Gy, a horizontal edge and a vertical edge can be respectively calculated.
However, since the lane line image information is collected in the tunnel area, even if the tunnel area is illuminated by light, the lane line image still has the problem of low pixels due to insufficient light. Therefore, the horizontal edge and the vertical edge obtained by the conventional Sobel operator have insufficient detection accuracy for the lane line. Therefore, improvement is carried out on the basis of the traditional Sobel operator, and operator templates in two directions of 45 degrees and 135 degrees are added to improve the detection accuracy of the lane line.
The improved Sobel operator can be represented by the following formula:
where Gi is the convolution kernel with 45 ° directional gradient and Gj is the convolution kernel with 135 ° directional gradient. Gx, Gy, Gi and Gj are all detection results.
Calculating the gray value of each point on the lane line image according to the detection result, which can be represented by the following formula:
wherein G is the grayscale value of each point on the lane line image.
Obtaining a processed lane line image according to the gray value of each point on the lane line image; and after acquiring lane line position information according to the processed lane line image, forming and acquiring the lane line information.
S102: and after the signal intensity of the beacon node information is acquired, calculating the vehicle information in the tunnel region according to the signal intensity and the beacon node information.
The beacon node information comprises position information of road side units in the tunnel region.
In this embodiment, the calculating the vehicle information in the tunnel region according to the signal strength and the beacon node information specifically includes:
sorting the signal intensity from large to small according to numerical values to obtain a sorting result;
determining optimal beacon node information according to the sequencing result and the beacon node information;
and calculating to obtain the vehicle information in the tunnel region by combining a four-point positioning algorithm according to the optimal node information.
In one embodiment, the signal strength is: the signal strength of the beacon information that the beacon sends to the location node. The position node is an on-board unit in the tunnel area, and the on-board unit is arranged on a vehicle in the tunnel area. In addition, the beacon node information includes position information of roadside units in the tunnel region, and the roadside units are beacon nodes in the WSN (wireless sensor network) positioning technology, such as roadside cameras, environment sensing devices, light devices in the tunnel, and the like.
From the above, in the process of driving in the vehicle tunnel region, the position node on the vehicle can continuously receive the beacon node information sent by the multiple beacon nodes around the tunnel, and acquire the signal strength RSSI value of the beacon node information, where RSSI is transmission power + antenna gain-path loss. Under the V2X (vehicle-to-outside information exchange) technology, a plurality of location nodes and a plurality of beacon nodes are in interactive communication, and as the vehicle moves in the tunnel, the location of the location node changes, so that the communication range also changes.
When the number of the received signal strength RSSI values of the position node is more than or equal to 4, sequencing the signal strength according to the RSSI values from large to small to obtain a sequencing result; and determining the beacon node information corresponding to the first 4 signal strength signals from the beacon node information according to the first 4 signal strengths in the sequencing result, and using the beacon node information as the optimal beacon node information. The optimal beacon nodes form a quadrangle which can include position nodes, and vehicle information in the tunnel area, namely vehicle position information in the tunnel area, can be obtained through calculation by combining a three-dimensional space four-point positioning algorithm, so that accurate positioning of vehicles in the tunnel area is completed.
S103: and when judging that the vehicles in the tunnel area are in the abnormal driving state according to the lane line information and the vehicle information, sending early warning information to the vehicles in the abnormal driving state.
In this embodiment, the determining that the vehicle in the tunnel region is in an abnormal driving state according to the lane line information and the vehicle information specifically includes:
the abnormal driving state includes: an offset state; calculating a first distance between a vehicle in the tunnel region and a lane line in the tunnel region according to the lane line information and the vehicle information; when the first distance is smaller than a first preset threshold value, determining that the vehicle in the tunnel region is in the offset state; otherwise, judging that the vehicle in the tunnel region is in a normal running state.
The abnormal driving state further includes: a pre-crash state; calculating a second distance between vehicles in the tunnel region according to the vehicle information; when the second distance is smaller than a second preset threshold value, determining that the vehicle in the tunnel region is in the pre-collision state; otherwise, judging that the vehicle in the tunnel region is in a normal running state.
In a specific embodiment, a first distance between a vehicle in the tunnel region and a lane line in the tunnel region is calculated according to the lane line information and the vehicle information and by combining a CCP algorithm model formula. Wherein, the first distance includes a distance from the left vehicle body to the left lane line edge and a distance from the right vehicle body to the right lane line edge, and the specific calculation process can be represented by the following formula:
wherein the content of the first and second substances,
indicating the left body to left lane line edge distance,
represents the distance from the right vehicle body to the right lane line edge, L represents the lane width, m represents the deviation distance of the vehicle center from the lane center (positive to the right), and n represents the vehicle width.
From the above, when
Or
When the deviation is smaller than a first preset threshold value, determining that the vehicle in the tunnel region is in the deviation state; when in use
And
and when the vehicle speed is greater than or equal to the first preset threshold value, judging that the vehicle in the tunnel area is in a normal driving state.
In a specific embodiment, the speed information of the vehicle in the tunnel region is acquired by a plurality of road side units arranged in the tunnel region, and the second preset threshold value can be calculated by a vehicle safety distance algorithm by combining the vehicle information. The vehicle information is vehicle position information in the tunnel area.
The second preset threshold can be calculated by the vehicle safe distance algorithm according to the following formula:
Dw＝va*ts+d1+d2；
wherein D iswSetting the minimum safety distance as a second preset threshold; v. ofaIs speed information of the vehicle; t is tsTime for the vehicle to freewheel; d1Is an appropriate parking distance based on the relative position of the host vehicle and the preceding vehicle; d2Is the delay distance of the vehicle.
The minimum safe distance is calculated by the vehicle safe distance algorithm, taking the free-run time of the vehicle and the delay distance of the vehicle into account because:
when the vehicle related by the invention is preferably a commercial vehicle, the free-sliding time t is long due to large cargo capacity and large inertia of the commercial vehiclesGenerally, the sliding distance is longer than that of a private car, and therefore, in order to ensure the safety of a business car, the sliding distance needs to be considered in the calculation of the minimum safety distance; in addition, because the commercial vehicle is heavy and has large inertia, when a driver changes the driving speed, the vehicle has certain braking delay, the delay time is not neglected compared with the delay time of a private car, and the corresponding delay distance of the delay time is not neglected.
Therefore, when the minimum safe distance, namely the second preset threshold value, is calculated, the free sliding time and the delay distance of the business vehicle are considered, the running safety of the business vehicle in the tunnel area can be ensured, and the business vehicle is effectively prevented from colliding with other vehicles.
In this embodiment, the sending of the warning information to the vehicle in the abnormal driving state specifically includes:
sending the early warning information to a vehicle-mounted terminal so that the vehicle-mounted terminal plays the early warning information through a voice player;
or sending the early warning information to a display device so that the display device displays the early warning information; wherein the display device is arranged in the tunnel region.
In one embodiment, when the warning message is played by the voice player, the warning message includes: the method comprises the following steps of 'lane departure early warning, attention to safe driving' or 'vehicle collision early warning, attention to keeping a safe interval' and other voice broadcast information. When the early warning information is displayed through the display device, the early warning information includes: the license plate number and the early warning result of the vehicle in the abnormal driving state; the early warning result comprises the following steps: your vehicle is in an offset/pre-crash state. The display device is a large screen arranged in the tunnel area, warning information is displayed through the large screen by virtue of cartoons, and passengers except the driver can warn the driver in time so as to remind the driver to adjust the driving direction and speed of the vehicle.
For further explanation, please refer to fig. 2 to 3 for the process of acquiring the vehicle information in the tunnel region.
Fig. 2 is a plan view of a tunnel region according to an embodiment of the present invention.
As can be seen from fig. 2, after a plurality of beacon nodes are arranged in the tunnel region and 4 beacon nodes with the strongest signal strength form the optimal beacon node, the optimal beacon node forms a quadrangle, and the quadrangle frames the position node located on the vehicle.
For explaining the process of calculating the vehicle position information in the tunnel region, please refer to fig. 3, and fig. 3 is a schematic diagram of a positioning algorithm according to an embodiment of the present invention.
As can be taken from fig. 3, the best beacon differentiation is labeled A, B, C and D four points. The best beacon node information is the location information and corresponding signal strength of four points, namely node a, node B, node C and node D, and includes:
the location information of the node A is (x)1,y1,z1) RSSI value is R1；
The location information of the node B is (x)2,y2,z2) RSSI value is R2；
The location information of the node C is (x)3,y3,z3) RSSI value is R3；
The position information of the node D is (x)4,y4,z4) RSSI value is R4。
After the information of the optimal beacon node is known, the position information of the vehicle in the tunnel region can be calculated by combining a three-dimensional space four-point positioning algorithm, and is specifically represented by the following formula:
wherein, the calculation result (x, y, z) is the vehicle position information in the tunnel region.
For further explanation of the vehicle warning device, please refer to fig. 4, where fig. 4 is a schematic structural diagram of a vehicle warning device according to an embodiment of the present invention, and the vehicle warning device includes: an acquisition module 401, a calculation module 402 and an early warning module 403;
the obtaining module 401 is configured to obtain lane line information in a tunnel region.
The calculating module 402 is configured to calculate vehicle information in the tunnel region according to the signal strength and the beacon node information after obtaining the signal strength of the beacon node information.
Wherein the beacon node information includes location information of roadside units within the tunnel region.
The early warning module 403 is configured to send early warning information to a vehicle in an abnormal driving state when it is determined that the vehicle in the tunnel region is in the abnormal driving state according to the lane line information and the vehicle information.
In this embodiment, the acquiring lane line information in the tunnel region specifically includes:
acquiring lane line image information in a tunnel area, and detecting the lane line image information by adopting an edge detection technology to obtain a detection result;
and after obtaining the lane line position information according to the detection result, forming and acquiring the lane line information.
In this embodiment, the calculating the vehicle information in the tunnel region according to the signal strength and the beacon node information specifically includes:
sorting the signal intensity from large to small according to numerical values to obtain a sorting result;
determining optimal beacon node information according to the sequencing result and the beacon node information;
and calculating to obtain the vehicle information in the tunnel region by combining a four-point positioning algorithm according to the optimal node information.
In this embodiment, the determining that the vehicle in the tunnel region is in an abnormal driving state according to the lane line information and the vehicle information specifically includes:
the abnormal driving state includes: an offset state;
calculating a first distance between a vehicle in the tunnel region and a lane line in the tunnel region according to the lane line information and the vehicle information;
when the first distance is smaller than a first preset threshold value, determining that the vehicle in the tunnel region is in the offset state; otherwise, judging that the vehicle in the tunnel region is in a normal running state.
In the embodiment of the invention, the information of the lane line in the tunnel area is obtained through an obtaining module 401; then, after the signal intensity of the beacon node information is obtained through the calculation module 402, vehicle information in the tunnel region is calculated according to the signal intensity and the beacon node information; the beacon node information comprises position information of road side units in a tunnel region; and finally, when the early warning module 403 judges that the vehicle in the tunnel region is in the abnormal driving state according to the lane line information and the vehicle information, the early warning module sends early warning information to the vehicle in the abnormal driving state.
According to the embodiment of the invention, after the signal intensity of the beacon node information is acquired, the vehicle information in the tunnel area is calculated, and when the vehicle in the tunnel area is judged to be in the abnormal driving state according to the lane line information and the vehicle information, the early warning information is sent to the vehicle in the abnormal driving state, so that the early warning can be timely sent to the vehicle which does not normally drive due to the environment of the tunnel area under the conditions of poor light and narrow space in the tunnel area, and the more serious accident caused by negligence of the vehicle which does not normally drive is avoided, so that the driving safety of the vehicle in the tunnel is improved, and the possibility of accident occurrence is reduced.
In addition, in the process of acquiring the lane line information in the tunnel region, the improved Sobel operator is adopted to detect the lane line image information, the problem that the lane line image is not clear due to insufficient light and other reasons in the tunnel region is solved, and the accuracy of detecting the lane line information is improved, so that the accuracy of early warning for the vehicle deviation state is improved, and the misinterpretation is reduced.
Moreover, most tunnels are in mountainous areas, and the number of satellites is small, so that communication conditions in the tunnel areas are poor, and satellite signals cannot be received or are unstable. The method takes the WSN as a means, introduces the road side unit as a beacon node, constructs the wireless sensor network for positioning, and can effectively solve the problem of inaccurate positioning caused by unstable signals in the tunnel.
Finally, the early warning information is played or displayed through the vehicle-mounted voice player and the display equipment in the tunnel region, the utilization rate of the vehicle-mounted voice player and the display equipment in the tunnel region can be improved, and the good economic value and the good practical value are achieved.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. A vehicle early warning method, comprising:
acquiring lane line information in a tunnel region;
after the signal intensity of the beacon node information is obtained, vehicle information in the tunnel region is calculated according to the signal intensity and the beacon node information; wherein the beacon node information comprises location information of roadside units within the tunnel region;
and when judging that the vehicles in the tunnel area are in the abnormal driving state according to the lane line information and the vehicle information, sending early warning information to the vehicles in the abnormal driving state.
2. The vehicle early warning method according to claim 1, wherein the acquiring of lane line information in a tunnel region specifically comprises:
acquiring lane line image information in a tunnel area, and detecting the lane line image information by adopting an edge detection technology to obtain a detection result;
and after obtaining the lane line position information according to the detection result, forming and acquiring the lane line information.
3. The vehicle early warning method according to claim 2, wherein the calculating of the vehicle information in the tunnel region according to the signal strength and the beacon node information includes:
sorting the signal intensity from large to small according to numerical values to obtain a sorting result;
determining optimal beacon node information according to the sequencing result and the beacon node information;
and calculating to obtain the vehicle information in the tunnel region by combining a four-point positioning algorithm according to the optimal node information.
4. The vehicle early warning method according to claim 3, wherein the step of determining that the vehicle in the tunnel region is in an abnormal driving state according to the lane line information and the vehicle information comprises:
the abnormal driving state includes: an offset state;
calculating a first distance between a vehicle in the tunnel region and a lane line in the tunnel region according to the lane line information and the vehicle information;
when the first distance is smaller than a first preset threshold value, determining that the vehicle in the tunnel region is in the offset state; otherwise, judging that the vehicle in the tunnel region is in a normal running state.
5. The vehicle early warning method according to claim 4, wherein the abnormal driving state further comprises: a pre-crash state;
calculating a second distance between vehicles in the tunnel region according to the vehicle information;
when the second distance is smaller than a second preset threshold value, determining that the vehicle in the tunnel region is in the pre-collision state; otherwise, judging that the vehicle in the tunnel region is in a normal running state.
6. The vehicle early warning method according to claim 5, wherein the sending of the early warning information to the vehicle in the abnormal driving state specifically comprises:
sending the early warning information to a vehicle-mounted terminal so that the vehicle-mounted terminal plays the early warning information through a voice player;
or sending the early warning information to a display device so that the display device displays the early warning information; wherein the display device is arranged in the tunnel region.
7. A vehicle warning device, comprising: the system comprises an acquisition module, a calculation module and an early warning module;
the acquisition module is used for acquiring lane line information in a tunnel region;
the calculation module is used for calculating the vehicle information in the tunnel region according to the signal strength and the beacon node information after the signal strength of the beacon node information is acquired; wherein the beacon node information comprises location information of roadside units within the tunnel region;
the early warning module is used for sending early warning information to the vehicles in the abnormal driving state when judging that the vehicles in the tunnel area are in the abnormal driving state according to the lane line information and the vehicle information.
8. The vehicle early warning device according to claim 7, wherein the acquiring of the lane line information in the tunnel region specifically comprises:
acquiring lane line image information in a tunnel area, and detecting the lane line image information by adopting an edge detection technology to obtain a detection result;
and after obtaining the lane line position information according to the detection result, forming and acquiring the lane line information.
9. The vehicle early warning device according to claim 8, wherein the vehicle information in the tunnel region is calculated according to the signal strength and the beacon node information, and specifically:
sorting the signal intensity from large to small according to numerical values to obtain a sorting result;
determining optimal beacon node information according to the sequencing result and the beacon node information;
and calculating to obtain the vehicle information in the tunnel region by combining a four-point positioning algorithm according to the optimal node information.
10. The vehicle early warning device according to claim 9, wherein the determining that the vehicle in the tunnel region is in an abnormal driving state according to the lane line information and the vehicle information includes:
the abnormal driving state includes: an offset state;
calculating a first distance between a vehicle in the tunnel region and a lane line in the tunnel region according to the lane line information and the vehicle information;
when the first distance is smaller than a first preset threshold value, determining that the vehicle in the tunnel region is in the offset state; otherwise, judging that the vehicle in the tunnel region is in a normal running state.
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