CN114944071A - Vehicle driving early warning processing method and device and storage medium - Google Patents
Vehicle driving early warning processing method and device and storage medium Download PDFInfo
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- CN114944071A CN114944071A CN202110174786.9A CN202110174786A CN114944071A CN 114944071 A CN114944071 A CN 114944071A CN 202110174786 A CN202110174786 A CN 202110174786A CN 114944071 A CN114944071 A CN 114944071A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/091—Traffic information broadcasting
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
Abstract
The invention discloses a vehicle driving early warning processing method, a vehicle driving early warning processing device and a storage medium, which are used for improving an early warning effect. The method comprises the following steps: acquiring vehicle position information and acquiring broadcast information broadcasted by the road side equipment, wherein the broadcast information comprises traffic event information; determining a target traffic incident point according to the traffic incident information and the vehicle position information, wherein the target traffic incident point is a traffic incident point which is closest to a vehicle road point and a road point in front of the vehicle road point in transverse distance, and the vehicle road point is a road point closest to the vehicle; judging whether the current lane where the vehicle runs is a traffic incident lane or not according to the target traffic incident point; and performing corresponding early warning processing control on the vehicle according to the judgment result.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle driving early warning processing method and device and a storage medium.
Background
In the case of traffic accident areas such as emergency avoidance construction areas and accident areas on a highway, rear-end collisions, collisions and the like often occur. In the traditional scheme, generally through set up a plurality of perception hardware at vehicle itself, utilize the perception hardware to acquire surrounding environment information to the analysis is analyzed out traffic incident conditions such as construction, accident and is carried out early warning processing on every side, however, from the hardware equipment aspect, every kind of perception equipment all has the uncertain factor influence such as receiving light easily, visual angle, target shelter from, and the radar receives bad weather influences such as smoke and dust, sleet easily, leads to early warning effect relatively poor.
Disclosure of Invention
The invention provides a vehicle driving early warning processing method, a vehicle driving early warning processing device and a storage medium, and aims to solve the technical problem of poor early warning effect in the traditional scheme.
In a first aspect, a vehicle driving warning processing method is provided, including:
acquiring vehicle position information and acquiring broadcast information broadcasted by the road side equipment, wherein the broadcast information comprises traffic event information;
determining a target traffic incident point according to the traffic incident information and the vehicle position information, wherein the target traffic incident point is a traffic incident point which is closest to a vehicle road point and a road point in front of the vehicle road point in transverse distance, and the vehicle road point is a road point closest to the vehicle;
judging whether the current lane where the vehicle runs is a traffic incident lane or not according to the target traffic incident point;
and performing corresponding early warning processing control on the vehicle according to the judgment result.
Further, the traffic event information includes a traffic event point group, and the determining a target traffic event point according to the traffic event information and the vehicle position information includes:
a. selecting unselected traffic event points from the traffic event point group as current traffic event points;
b. calculating the transverse distances between all the waypoints and the current traffic incident point, wherein all the waypoints are all waypoints in a preset range right in front of the current position of the vehicle;
c. determining a road point with the shortest transverse distance to the current traffic incident point as a target road point from the transverse distances between all the road points and the current traffic incident point, and storing the transverse distance between the target road point and the current traffic incident point;
d. repeating the steps a-c until the shortest transverse distances corresponding to all the target road points are obtained;
e. and selecting the shortest target transverse distance from the shortest transverse distances corresponding to all the target road points, and taking the traffic event point corresponding to the target transverse distance as the target traffic event point.
Further, the determining whether the current lane where the vehicle is traveling is a traffic event lane according to the target traffic event point includes:
determining a longitudinal distance between the target traffic event point and the vehicle waypoint;
if the longitudinal distance is smaller than or equal to a preset longitudinal distance, judging whether the minimum transverse distance between the target traffic incident point and all the road points of the vehicle is smaller than a preset transverse distance or not;
if the minimum transverse distance between the target traffic incident point and all the road points of the vehicle is smaller than the preset transverse distance, judging that the current lane where the vehicle runs is a traffic incident lane;
and if the minimum transverse distance between the target traffic incident point and all the road points of the vehicle is judged to be greater than or equal to the preset transverse distance, judging that the current lane where the vehicle runs is a non-traffic incident lane.
Further, the method further comprises:
and if the longitudinal distance is greater than the preset longitudinal distance, judging that the current lane where the vehicle runs is a non-traffic incident lane.
Further, the preset lateral distance is one-half of the current lane width on which the vehicle is traveling.
Further, the performing corresponding early warning processing control on the vehicle according to the judgment result includes:
if the current lane where the vehicle runs is a traffic event lane and the vehicle is a non-automatic driving vehicle, providing early warning prompt information;
if the current lane where the vehicle runs is the traffic event lane and the vehicle is an automatic driving vehicle, sending early warning indication information to an automatic driving decision-making module so that the automatic driving decision-making module sends a corresponding control command to a control module according to the early warning indication information, and accordingly controlling the vehicle correspondingly.
Furthermore, the traffic event information is acquired by the central platform according to perception information perceived by the roadside intelligent facility in real time and is provided for the roadside equipment to be broadcasted; or the traffic event information is obtained by analyzing the construction plan by the central platform and is provided for the road side equipment to be broadcasted.
In a first aspect, a vehicle driving warning processing device is provided, including:
the acquisition module is used for acquiring vehicle position information and acquiring broadcast information broadcasted by the road side equipment, wherein the broadcast information comprises traffic event information;
the determining module is used for determining a target traffic incident point according to the traffic incident information and the vehicle position information, wherein the target traffic incident point is a traffic incident point which is closest to a vehicle road point and a road point in front of the vehicle road point in the transverse distance, and the vehicle road point is a road point closest to the vehicle;
the judging module is used for judging whether the current lane where the vehicle runs is a traffic incident lane or not according to the target traffic incident point;
and the control module is used for carrying out corresponding early warning processing control on the vehicle according to the judgment result.
In a third aspect, a computer-readable storage medium is provided, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the vehicle driving warning processing method described above.
In a fourth aspect, a vehicle driving warning processing device is provided, which includes a memory, a processor and a computer program stored in the memory and operable on the processor, and the processor implements the steps of the vehicle driving warning processing method when executing the computer program.
In the scheme implemented by the vehicle driving early warning processing method, the vehicle driving early warning processing device and the storage medium, the traffic event information can be sent to surrounding vehicles through roadside equipment, so that the vehicles driving on nearby lanes can timely receive the broadcasted traffic event information, sensing is not needed through various sensor devices built in the vehicles, the problems of cost and inaccuracy caused by using vehicle sensors are solved, the traffic event information acquisition accuracy and efficiency are improved, the vehicles can adopt corresponding early warning processing control in advance or timely according to the traffic event information, and the early warning effect is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
FIG. 1 is a schematic diagram of an overall architecture to which the vehicle driving warning processing method of the present invention is applied;
FIG. 2 is a schematic flow chart of a vehicle driving warning processing method according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating one embodiment of step S20 of FIG. 2;
FIG. 4 is a flowchart illustrating an embodiment of step S30 in FIG. 2;
FIG. 5 is a schematic structural diagram of a vehicle driving warning processing apparatus according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a vehicle driving warning processing 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 some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a vehicle driving early warning processing method, which can be applied to the overall structure shown in fig. 1, wherein the overall structure can roughly comprise three layers, namely a central platform layer, an edge calculation layer and an edge access layer. The central platform layer comprises a central platform, which may be specifically referred to as a central V2X platform by way of example; the Edge computing layer includes an Edge computing Unit, that is, an mec (mobile Edge computing) Unit, and also includes a switch and a Road Side device (RSU); the edge access layer comprises roadside intelligent facilities, for example, the roadside intelligent facilities can comprise intelligent cones, cameras, radars, roadside signal lamps and the like, and the roadside intelligent facilities can be set according to scheme implementation requirements and are not limited specifically. The vehicle driving early warning processing device is disposed in a vehicle, and it should be noted that the vehicle driving early warning processing device may specifically refer to an OBU Unit (On board Unit) or a V2X device disposed On the vehicle, or may also be another independent device or a control module integrated in a vehicle controller, and is used for interacting with a roadside device, thereby implementing the vehicle driving early warning processing method provided by the present invention.
It should be noted that the general structure shown in fig. 1 is only an exemplary structure. The general architecture shown in fig. 1 may be in a 5G network environment, and the devices on each side of the general architecture may implement communication interaction through a 5G network, for example, the central V2X platform may send some traffic event information required for implementing the present invention to the devices on the sides of the road through the 5G network. It should be noted that, besides the 5G network, other types of networks, such as a 4G network or a future network system, may also be adopted in the present invention, and the present invention is not limited thereto.
The interaction of the devices shown in fig. 1 will be described in detail below with reference to specific embodiments.
In an embodiment, as shown in fig. 2, a method for processing a vehicle driving warning is provided, which is described by taking the method as an example of being applied to a vehicle driving warning processing apparatus, and mainly includes the following steps:
s10: the method comprises the steps of obtaining vehicle position information and obtaining broadcast information broadcasted by road side equipment, wherein the broadcast information comprises traffic event information.
In the driving process of the vehicle, the vehicle driving early warning processing device deployed in the vehicle can acquire the position information of the vehicle in real time and acquire the broadcast information broadcasted by the road side equipment in real time, wherein the information broadcasted by the road side equipment comprises traffic event information. The vehicle positioning device can acquire the vehicle position information through a self-positioning technology, so that the vehicle running early warning processing device can acquire the vehicle position information positioned by the positioning device. For the roadside device, the traffic event information needs to be acquired first, and then the traffic event information is broadcasted, so that the vehicle driving early warning processing device analyzes the broadcast information broadcasted by the roadside device to obtain the corresponding traffic event information.
It should be noted that the traffic event information according to the embodiment of the present invention includes construction information corresponding to a construction event and traffic accident information corresponding to a traffic accident event, where the traffic event information includes a scene where a lane is obstructed, such as the construction event and the traffic accident event, and in the scene, if a vehicle continues to travel, unsmooth travel or collision may be caused, so that early warning processing needs to be performed in advance. That is, the traffic events according to the embodiment of the present invention include construction events, traffic accident events, and other events that affect lanes. In the embodiment of the invention, the traffic incident also comprises various scenes in which whether the static barriers or the static incident can influence the current driving is required to be judged, which is beneficial to widening the application scene of the automatic driving vehicle and accelerating the automatic driving landing. For convenience of description, traffic events will be taken as construction events to illustrate the embodiments of the present invention, and the present invention is not limited to the embodiments.
In a construction early warning scene, the traffic event information includes construction information, and the construction event information can be obtained by analyzing a construction plan by the central platform and is provided for the road side equipment to be broadcasted. In this manner, the central V2X platform may acquire a construction plan in advance, where the construction plan may be a construction plan that the user has previously entered into the central V2X platform. Therefore, if a construction plan is input into the center V2X platform before construction, the center V2X platform can inform the roadside intelligent facility to detect the construction road section planned in the construction plan in advance, confirm whether the construction point is provided with an intelligent cone or other roadblocks, and confirm whether the corresponding lane is a traffic incident lane or not if the roadblock marker is arranged on the lane. The central V2X platform may inform the roadside device of the required construction information so that the roadside device may broadcast the broadcast information including the construction information to nearby vehicles. Therefore, in the embodiment, because the construction plan is known in advance, the corresponding roadside intelligent facilities can be deployed in a targeted manner to sense and acquire the required construction information, unnecessary sensing is reduced, and the traffic incident information acquisition efficiency is effectively improved.
The traffic event information can also be acquired by the central platform according to perception information perceived by the roadside intelligent facility in real time and provided for the roadside equipment to be broadcast. In this mode, if the central V2X platform does not record a construction plan, the roadside intelligent facility also periodically senses the surrounding environment in real time, and if a traffic event such as road construction is sensed, the roadside intelligent facility notifies the central V2X platform of real-time traffic event information through analysis and calculation of an edge calculation layer, and the V2X platform provides the roadside equipment with the traffic event information for broadcasting. Of course, the roadside device itself may also acquire the traffic event information and broadcast the traffic event information, which is not limited specifically. Thus, when the vehicle enters the broadcasting range of the road side equipment, the vehicle running early warning processing device in the vehicle can receive the broadcasting information which is broadcasted by the road side equipment and contains the traffic event information. Therefore, in the embodiment, even if a construction plan is not recorded in the center V2X platform in advance, the intelligent facility can be used for sensing, so that a required construction event is obtained, the feasibility and diversity of the scheme are improved, and the method has strong pertinence particularly in the aspect of construction road early warning.
It should be noted that, for the roadside device, in practical application, the traffic event information may be acquired in various ways according to situations, and then broadcast the broadcast information including the traffic event information, and the present invention is not limited in particular. Therefore, after the vehicle enters the broadcasting range of the road side equipment, the vehicle can receive the broadcasting information broadcasted by the road side equipment, and the traffic event information can be obtained after the broadcasting information is analyzed.
It should be noted that in a specific application scenario, the broadcast information of the roadside device usually includes 5 types of warning information, and for example, the event Type may be identified by "Msg _ Type", for example: when the Msg _ Type is equal to 0, the warning Type is real-time V2V warning information sent by other V2X vehicles; when the Msg _ Type is 1, representing that the early warning Type is RSI early warning information describing a traffic accident or road danger state; when the Msg _ Type is 2, indicating that the early warning Type is signal lamp Type early warning information; when the Msg _ Type is 3, the early warning Type is early warning information of a traffic participant (such as a pedestrian and a non-motor vehicle); when Msg _ Type is 4, the map-related information is represented.
The traffic event information belongs to RSI warning information, that is, in the embodiment of the present invention, all warning information whose Msg _ Type is 1 needs to be parsed from the broadcast information. Illustratively, the RSI information structure includes, but is not limited to, the following information: the traffic event early Warning method comprises the following steps of time stamp, RSI early Warning type, message priority, distance from an alarm position, longitude and latitude of a traffic event occurrence position, detailed description of early Warning information and a traffic event Point array (represented by Warning _ Point _ List, possibly comprising a plurality of traffic event points and used for describing regular or irregular road range related to an event). As can be seen, the RSI warning information includes a plurality of event information, and the RSI warning type may correspond to an RSI event information table, for example: the traffic event information such as construction event information can be screened by referring to the RSI warning Type event table, for example, where RSI _ Type is 1 indicating a front road hazard, RSI _ Type is 2 indicating a front sharp turn, RSI _ Type is 3 indicating front road construction, and the like.
It can be understood that an event range formed by a traffic event may be irregular or regular, and therefore, the traffic event information that needs to be obtained includes a Warning _ Point _ List, where the Warning _ Point _ List includes one or more traffic event points, and the structure of the traffic event Point Warning _ Point includes: the vehicle driving early warning processing device analyzes and obtains necessary traffic event information from broadcast information of road side equipment. Taking a construction event as an example, in a road construction scene, a construction area surrounded by one road construction event may be irregular or regular, and therefore, necessary construction information such as latitude and longitude of a necessary construction point needs to be acquired.
S20: and determining a target traffic event point according to the traffic event information and the vehicle position information, wherein the target traffic event point is a traffic event point which is closest to the vehicle waypoint and the waypoint in front of the vehicle waypoint in the transverse distance, and the vehicle waypoint is the waypoint closest to the vehicle.
The waypoint referred to in the embodiment of the present invention refers to points collected at intervals of a preset collection distance (e.g., 50CM) when the vehicle travels along the middle of the current travel lane, and these points are waypoints, so that, during the travel of the vehicle on the current lane, there is a waypoint closest to the vehicle in front of the vehicle, and for convenience of description, this waypoint closest to the vehicle is referred to as a vehicle waypoint in the embodiment of the present invention. It should be noted that the setting of the waypoints may be in other manners, for example, the preset collection distance may be 52CM, 53CM or other distances, and the present invention is not limited thereto. The preset collection distance can be determined through tests.
In the embodiment of the invention, after the vehicle driving early warning processing device acquires the traffic event information and the vehicle position information, a target traffic event point is determined according to the traffic event information and the vehicle position information, wherein the target traffic event point is a traffic event point which has the shortest transverse distance with a vehicle waypoint and a waypoint in front of the vehicle waypoint. When determining the transverse distance between each traffic incident point and all the road points of the vehicle (namely the vehicle road points and the road points in front of the vehicle road points), a rectangular coordinate system is established by taking the road points as the origin, wherein the transverse distance between a traffic incident point and the road points refers to the distance from the traffic incident point to the ordinate axis of the rectangular coordinate system of the road points, the longitudinal distance from the traffic incident point to the vehicle road points, and the distance from the traffic incident point to the abscissa axis of the rectangular coordinate system of the vehicle road points. Therefore, the transverse distances from the plurality of traffic event points to the plurality of road points can be obtained, and the traffic event point closest to the transverse distances of all the road points of the vehicle, namely the target traffic event point, can be determined from the transverse distances. Correspondingly, taking a construction scene as an example, in the construction early warning scene, a corresponding target construction point can be determined.
As an example, as shown in fig. 3, in step S20, that is, determining the target traffic event point according to the traffic event information and the vehicle position information, the method specifically includes the following steps:
a. and selecting unselected traffic event points from the traffic event point group as current traffic event points.
In an embodiment of the present invention, one of the unselected traffic event points, namely the traffic event Point List, is selected from the traffic event Point group, namely the aforementioned traffic event Point List, as the current traffic event Point.
b. And calculating the transverse distances between all the waypoints and the current traffic incident point, wherein all the waypoints are all waypoints in a preset range right in front of the current position of the vehicle.
As mentioned above, the self-positioning technology of the vehicle will provide the vehicle with the current lane number of the vehicle and the id number of the waypoint on the current lane, where the waypoint refers to the longitude and latitude and the heading of the points collected at preset collection distances (e.g. 50CM) where the vehicle travels along the middle of the lane, and these points are the waypoints. In the embodiment of the invention, a set of waypoints is determined within a preset range right in front of the current position of the loading vehicle, exemplarily, waypoint coordinates within a range of 100m right in front of the loading vehicle are stored in the vehicle front waypoint array, and the transverse distances between all waypoints in the vehicle front waypoint array and the current traffic incident point are calculated. It should be noted that waypoints in other ranges directly in front of the vehicle may be loaded as stored in the vehicle front waypoint group, and the present invention is not limited to this.
c. And determining the road point with the shortest transverse distance to the current traffic event point as a target road point from the transverse distances between all the road points and the current traffic event point, and storing the transverse distance between the target road point and the current traffic event point.
After the transverse distances between all road points in the array of the road points before the vehicle and the current traffic event point are calculated, a plurality of transverse distances are obtained, then the road point with the shortest transverse distance to the current traffic event point is determined as a target road point index from the transverse distances between all the road points and the current traffic event point, and the transverse distance lat _ distance between the target road point index and the current traffic event point is stored.
d. And repeating the steps a-c until the shortest transverse distance corresponding to all the target road points is obtained.
e. And selecting the shortest target transverse distance from the shortest transverse distances corresponding to all the target road points, and taking the traffic event point corresponding to the target transverse distance as the target traffic event point.
In the process of repeating the above steps a-c, every time a new transverse distance lat _ distance is obtained, it is determined whether the transverse distance lat _ distance is the shortest of all the transverse distances obtained at present, and if so, the value min _ lat _ distance of the shortest transverse distance is updated to the new transverse distance (i.e. min _ lat _ distance is lat _ distance); otherwise, the value of the shortest transverse distance remains unchanged (i.e., min _ lat _ distance is min _ lat _ distance), until all traffic event points are traversed, the value of min _ lat _ distance is the shortest transverse distance between all road points of the vehicle and all traffic event points, and the traffic event point corresponding to the shortest transverse distance is the traffic event point closest to the vehicle, that is, the target traffic event point.
Therefore, in the embodiment, a mode of determining the target traffic event point more specifically is provided, and the implementability and diversity of the scheme are improved.
S30: and judging whether the current lane where the vehicle runs is a traffic incident lane or not according to the target traffic incident point.
In the embodiment of the invention, after the target traffic event point is determined, whether the current lane where the vehicle runs is a traffic event lane can be judged. The traffic incident lane is a lane in which a traffic incident occurs, and for example, a lane in which a construction incident is present, a lane in which a road block is provided because of a traffic incident, and the like.
Specifically, as an example, as shown in fig. 4, in step S30, that is, according to the target traffic event point, determining whether the current lane where the vehicle is traveling is a traffic event lane specifically includes the following steps:
s31: determining a longitudinal distance between the target traffic event point and the vehicle waypoint.
As described above, after the target traffic event point and the vehicle waypoint are obtained, the longitudinal distance lng _ distance for determining the target traffic event point and the vehicle waypoint can be obtained according to the coordinate data of the target traffic event point and the vehicle waypoint.
S32: and judging the relation between the longitudinal distance and the preset longitudinal distance.
S33: and if the longitudinal distance is greater than the preset longitudinal distance, judging that the current lane where the vehicle runs is a non-traffic incident lane.
For steps S32-S33, after the longitudinal distance between the target traffic event point and the vehicle waypoint is obtained, the relationship between the longitudinal distance and a preset longitudinal distance is determined, and if the longitudinal distance is greater than the preset longitudinal distance, the current lane where the vehicle is running is determined as a non-traffic event lane. The empirical inventor verifies that, for example, the preset longitudinal distance may take a value of 100m, that is, it may be determined whether the lng _ distance is greater than or equal to 0 and less than or equal to the preset longitudinal distance 100m, that is, it may be determined whether the longitudinal distance lng _ distance belongs to [0,100], and if not, it may be determined that the current lane where the vehicle is traveling is the non-traffic event lane.
S34: and if the longitudinal distance is less than or equal to the preset longitudinal distance, judging the relationship between the transverse distances between the target traffic incident point and all the road points of the vehicle and the preset transverse distance.
S35: and if the minimum transverse distance between the target traffic incident point and all the road points of the vehicle is smaller than the preset transverse distance, judging that the current lane where the vehicle runs is a traffic incident lane.
In the embodiment of the invention, if the longitudinal distance is less than or equal to the preset longitudinal distance, that is, if the longitudinal distance lng _ distance is the same as [0,100], whether the minimum transverse distance between the target traffic event point and all the road points of the vehicle is less than the preset transverse distance is judged. The inventor verifies that the preset transverse distance can be one half of the width of the current driving lane of the vehicle. And if the minimum transverse distance between the target traffic event point and all road points of the vehicle is judged to be less than the preset transverse distance, judging that the current lane in which the vehicle runs is a traffic event lane, namely, if and only if the longitudinal distance lng _ distance belongs to [0,100] and the minimum transverse distance min _ lat _ distance belongs to [0, lane width/2 ], the current lane in which the vehicle runs is the traffic event lane. It should be noted that the preset lateral distance may also be other values, and the present invention is not limited in particular, and may be configured according to an actual application scenario.
S36: and if the minimum transverse distance between the target traffic incident point and all the road points of the vehicle is judged to be greater than or equal to the preset transverse distance, judging that the current lane where the vehicle runs is a non-traffic incident lane.
Therefore, in the steps S31-S35, a specific implementation mode of determining whether the current driving lane of the vehicle is the traffic event lane or not according to the relation between the target traffic event point and all the waypoints of the vehicle is provided, so that the feasibility of the scheme is improved.
S40: and performing corresponding running control on the vehicle according to the judgment result.
Through the foregoing steps S10-S30, the embodiment of the present invention can determine whether the current driving lane of the vehicle is a traffic event lane, so as to perform corresponding driving control, including performing early warning processing.
As an example, in step S40, that is, according to the determination result, performing corresponding driving control on the vehicle specifically includes the following steps:
s41: and if the current lane where the vehicle runs is a traffic event lane and the vehicle is a non-automatic driving vehicle, providing early warning prompt information.
S42: if the current lane where the vehicle runs is the traffic event lane and the vehicle is an automatic driving vehicle, sending early warning indication information to an automatic driving decision-making module so that the automatic driving decision-making module sends a corresponding control command to a control module according to the early warning indication information, and accordingly controlling the vehicle correspondingly.
And S41-S42, if the current lane where the vehicle runs is a traffic event lane, and a non-automatic driving vehicle with a driver sends out early warning prompt information to prompt the driver to pay attention to avoid danger in the traffic event ahead. And for the vehicle with the automatic driving function, early warning indication information is sent to an automatic driving decision planning module in the vehicle, so that the vehicle can send out a related control command for changing lanes or replanning a path to a related control module in advance, and collision accidents are avoided. For example, if the current lane where the vehicle is traveling is a construction lane, and for a non-autonomous vehicle with a driver, an early warning prompt message is sent out to prompt the driver to pay attention to construction ahead to avoid danger. And for the vehicle with the automatic driving function, early warning indication information is sent to an automatic driving decision planning module in the vehicle, so that the vehicle can send out a related control command for changing lanes or replanning a path to a related control module in advance, and collision accidents are avoided.
As an example, if the current lane in which the vehicle is traveling is a non-traffic event lane, it indicates that the road construction of the vehicle in which the vehicle is currently traveling does not affect the traveling of the vehicle on the current lane, and it is not necessary to send out warning information to the driver or the automatic driving decision planning module. For example, if the current lane in which the vehicle is traveling is a non-construction lane, it is indicated that the road construction of the vehicle in which the vehicle is currently traveling does not affect the traveling of the vehicle on the current lane, and it is not necessary to send out warning information to the driver or the automatic driving decision planning module.
It can be seen that, in the embodiment of the invention, a 5G-V2X platform architecture is constructed, that is, a V2X platform architecture based on a 5G network is constructed, road traffic event information can be acquired based on a central V2X platform, and more comprehensive and accurate perception information is provided for a vehicle by adopting a 5G-V2X technology, so that the perception limitation of a traditional driving vehicle and the high cost of a carried perception sensor are overcome, the detection and identification of a road construction scene are fully ensured, and the problems of low perception efficiency and high cost of the traditional automatic driving vehicle on the road construction scene and similar scenes are solved; in addition, a solution for accurately identifying whether the construction position is on a vehicle driving path or not to judge the influence of traffic events such as road construction and the like on the current road driving of the vehicle in advance is provided, the early warning efficiency is improved, the method is based on lane level for early warning, is also suitable for various scenes needing to judge whether traffic events such as static barriers or static events and the like can influence the current driving, and is beneficial to widening the application scenes of the automatic driving vehicle and accelerating the automatic driving landing, in addition, the resources can be effectively coordinated based on a V2X platform, the traffic efficiency is improved, and the application of 5G-V2X can greatly reduce the future automatic driving and vehicle networking deployment cost.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
In one embodiment, a vehicle driving warning processing device is provided, which corresponds to the vehicle driving warning processing method in the above embodiment one to one. As shown in fig. 5, the battery module temperature acquisition device includes an acquisition module 101, a determination module 102, a determination module 103, and a control module 104. The functional modules are explained in detail as follows:
the acquisition module is used for acquiring vehicle position information and acquiring broadcast information broadcasted by the road side equipment, wherein the broadcast information comprises traffic event information;
the determining module is used for determining a target traffic incident point according to the traffic incident information and the vehicle position information, wherein the target traffic incident point is a traffic incident point which is closest to a vehicle road point and a road point in front of the vehicle road point in the transverse distance, and the vehicle road point is a road point closest to the vehicle;
the judging module is used for judging whether the current lane where the vehicle runs is a traffic incident lane or not according to the target traffic incident point;
and the control module is used for carrying out corresponding early warning processing control on the vehicle according to the judgment result.
In an embodiment, the traffic event information includes a group of traffic event points, and the determining module is specifically configured to:
a. selecting unselected traffic event points from the traffic event point group as current traffic event points;
b. calculating the transverse distances between all the waypoints and the current traffic incident point, wherein all the waypoints are all waypoints in a preset range right in front of the current position of the vehicle;
c. determining a road point with the shortest transverse distance to the current traffic incident point as a target road point from the transverse distances between all the road points and the current traffic incident point, and storing the transverse distance between the target road point and the current traffic incident point;
d. repeating the steps a-c until the shortest transverse distances corresponding to all the target road points are obtained;
e. and selecting the shortest target transverse distance from the shortest transverse distances corresponding to all the target road points, and taking the traffic event point corresponding to the target transverse distance as the target traffic event point.
In an embodiment, the determining module is specifically configured to:
determining a longitudinal distance between the target traffic event point and the vehicle waypoint;
if the longitudinal distance is less than or equal to a preset longitudinal distance, judging whether the minimum transverse distance between the target traffic incident point and all the road points of the vehicle is less than a preset transverse distance or not;
if the minimum transverse distance between the target traffic event point and all the road points of the vehicle is smaller than the preset transverse distance, judging that the current lane where the vehicle runs is a traffic event lane where a traffic event occurs;
and if the minimum transverse distance between the target traffic incident point and all the road points of the vehicle is judged to be greater than or equal to the preset transverse distance, judging that the current lane where the vehicle runs is a non-traffic incident lane.
In one embodiment, the determining module is further configured to:
and if the longitudinal distance is greater than the preset longitudinal distance, judging that the current lane where the vehicle runs is a non-traffic incident lane.
In an embodiment, the control module is specifically configured to:
if the current lane where the vehicle runs is a traffic event lane and the vehicle is a non-automatic driving vehicle, providing early warning prompt information;
if the current lane where the vehicle runs is the traffic event lane and the vehicle is an automatic driving vehicle, sending early warning indication information to an automatic driving decision-making module so that the automatic driving decision-making module sends a corresponding control command to a control module according to the early warning indication information, and accordingly controlling the vehicle correspondingly.
For specific limitations of the vehicle driving warning processing device, reference may be made to the above limitations of the vehicle driving warning processing method, which are not described herein again. All or part of each module in the vehicle driving early warning processing device can be realized through software, hardware and combination thereof. The modules can be embedded in a hardware form or independent from a processor in the controller, and can also be stored in a memory in the controller in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a vehicle driving warning processing device is provided, which may refer to an OBU unit, a V2X device or a controller separately disposed with a vehicle, and its internal structure diagram may be as shown in fig. 6. The vehicle driving warning processing device may include a processor and a memory connected by a system bus. Wherein, the processor of the vehicle driving early warning processing device is used for providing calculation and control capability. The memory of the vehicle driving early warning processing device comprises a nonvolatile storage medium and a volatile storage medium, the vehicle driving early warning processing device further comprises a communication module used for interacting with external road side equipment, and the computer program is executed by the processor to realize the vehicle driving early warning processing method.
In one embodiment, a vehicle driving warning processing apparatus is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the following steps:
acquiring vehicle position information and acquiring broadcast information broadcasted by the road side equipment, wherein the broadcast information comprises traffic event information;
determining a target traffic incident point according to the traffic incident information and the vehicle position information, wherein the target traffic incident point is a traffic incident point which is closest to a vehicle road point and a road point in front of the vehicle road point in transverse distance, and the vehicle road point is a road point closest to the vehicle;
judging whether the current lane where the vehicle runs is a traffic event lane where a traffic event occurs or not according to the target traffic event point;
and performing corresponding early warning processing control on the vehicle according to the judgment result.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, performs the steps of:
acquiring vehicle position information and acquiring broadcast information broadcasted by the road side equipment, wherein the broadcast information comprises traffic event information;
determining a target traffic incident point according to the traffic incident information and the vehicle position information, wherein the target traffic incident point is a traffic incident point which is closest to a vehicle road point and a road point in front of the vehicle road point in transverse distance, and the vehicle road point is a road point closest to the vehicle;
judging whether the current lane where the vehicle runs is a traffic event lane where a traffic event occurs or not according to the target traffic event point;
and performing corresponding early warning processing control on the vehicle according to the judgment result.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein.
Claims (10)
1. A vehicle driving early warning processing method is characterized by comprising the following steps:
acquiring vehicle position information and acquiring broadcast information broadcasted by road side equipment, wherein the broadcast information comprises traffic event information;
determining a target traffic incident point according to the traffic incident information and the vehicle position information, wherein the target traffic incident point is a traffic incident point which has the shortest transverse distance with a vehicle waypoint and a waypoint in front of the vehicle waypoint, and the vehicle waypoint is the waypoint closest to the vehicle;
judging whether the current lane where the vehicle runs is a traffic event lane where a traffic event occurs or not according to the target traffic event point;
and performing corresponding early warning processing control on the vehicle according to the judgment result.
2. The vehicle travel warning processing method of claim 1, wherein the traffic event information includes a set of traffic event points, and the determining a target traffic event point based on the traffic event information and vehicle location information comprises:
a. selecting unselected traffic event points from the traffic event point group as current traffic event points;
b. calculating the transverse distance between all the waypoints and the current traffic incident point, wherein all the waypoints are all waypoints in a preset range right in front of the current position of the vehicle;
c. determining a road point with the shortest transverse distance to the current traffic incident point as a target road point from the transverse distances between all the road points and the current traffic incident point, and storing the transverse distance between the target road point and the current traffic incident point;
d. repeating the steps a-c until the shortest transverse distances corresponding to all the target road points are obtained;
e. and selecting the shortest target transverse distance from the shortest transverse distances corresponding to all the target road points, and taking the traffic event point corresponding to the target transverse distance as the target traffic event point.
3. The vehicle driving warning processing method according to claim 1, wherein the determining whether the current lane in which the vehicle is driving is a traffic event lane in which a traffic event occurs according to the target traffic event point comprises:
determining a longitudinal distance between the target traffic event point and the vehicle waypoint;
if the longitudinal distance is smaller than or equal to a preset longitudinal distance, judging whether the minimum transverse distance between the target traffic incident point and all the road points of the vehicle is smaller than a preset transverse distance or not;
if the minimum transverse distance between the target traffic event point and all the road points of the vehicle is smaller than the preset transverse distance, judging that the current lane where the vehicle runs is a traffic event lane where a traffic event occurs;
and if the minimum transverse distance between the target traffic incident point and all the road points of the vehicle is judged to be greater than or equal to the preset transverse distance, judging that the current lane where the vehicle runs is a non-traffic incident lane.
4. The vehicle travel warning processing method according to claim 3, characterized by further comprising:
and if the longitudinal distance is greater than the preset longitudinal distance, judging that the current lane where the vehicle runs is a non-traffic incident lane.
5. The vehicle driving warning processing method according to claim 3, wherein the preset lateral distance is one-half of a current lane width in which the vehicle is driving.
6. The vehicle driving warning processing method according to any one of claims 1 to 5, wherein the performing corresponding warning processing control on the vehicle according to the judgment result comprises:
if the current lane where the vehicle runs is a traffic event lane and the vehicle is a non-automatic driving vehicle, providing early warning prompt information;
if the current lane where the vehicle runs is the traffic event lane and the vehicle is an automatic driving vehicle, sending early warning indication information to an automatic driving decision-making module so that the automatic driving decision-making module sends a corresponding control command to a control module according to the early warning indication information, and accordingly controlling the vehicle correspondingly.
7. The vehicle driving warning processing method according to any one of claims 1 to 5, wherein the traffic event information is acquired by a central platform according to perception information perceived by a roadside intelligent facility in real time and is provided to the roadside device for broadcasting; or the traffic event information is obtained by analyzing the construction plan by the central platform and is provided for the road side equipment to be broadcasted.
8. A vehicle driving warning processing device is characterized by comprising:
the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring vehicle position information and acquiring broadcast information broadcasted by road side equipment, and the broadcast information comprises traffic event information;
the determining module is used for determining a target traffic incident point according to the traffic incident information and the vehicle position information, wherein the target traffic incident point is a traffic incident point which is closest to a vehicle road point and a road point in front of the vehicle road point in the transverse distance, and the vehicle road point is a road point closest to the vehicle;
the judging module is used for judging whether the current lane where the vehicle runs is a traffic incident lane or not according to the target traffic incident point;
and the control module is used for carrying out corresponding early warning processing control on the vehicle according to the judgment result.
9. A vehicle driving warning processing apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the vehicle driving warning processing method according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, implements the steps of the vehicle driving warning processing method according to any one of claims 1 to 7.
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