CN114944071B - Vehicle driving early warning processing method, device and storage medium - Google Patents
Vehicle driving early warning processing method, device and storage medium Download PDFInfo
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- CN114944071B CN114944071B CN202110174786.9A CN202110174786A CN114944071B CN 114944071 B CN114944071 B CN 114944071B CN 202110174786 A CN202110174786 A CN 202110174786A CN 114944071 B CN114944071 B CN 114944071B
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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 event point according to the traffic event information and the vehicle position information, wherein the target traffic event point is a traffic event point with the closest transverse distance to a vehicle road point and a road point in front of the vehicle road point, and the vehicle road point is a road point closest to the vehicle; judging whether the current lane in which the vehicle runs is a traffic incident lane or not according to the target traffic incident point; and according to the judgment result, carrying out corresponding early warning processing control on the vehicle.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a vehicle driving early warning processing method, device and storage medium.
Background
Traffic event areas such as an emergency avoidance construction area and an accident area occur on the expressway, and rear-end collision, collision and the like caused by the traffic event areas occur frequently. In the traditional scheme, a plurality of sensing hardware is generally arranged on a vehicle, surrounding environment information is acquired by using the sensing hardware, so that traffic event conditions such as surrounding construction, accidents and the like are analyzed and analyzed, and early warning processing is carried out, however, from the aspect of hardware equipment, each sensing equipment is easily influenced by uncertainty factors such as illumination, visual angle and target shielding, and the radar is easily influenced by bad weather such as smoke dust, rain and snow, so that the early warning effect is 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, which are used for solving the technical problem of poor early warning effect in the traditional scheme.
In a first aspect, a vehicle driving early 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 event point according to the traffic event information and the vehicle position information, wherein the target traffic event point is a traffic event point with the closest transverse distance to a vehicle road point and a road point in front of the vehicle road point, and the vehicle road point is a road point closest to the vehicle;
judging whether the current lane in which the vehicle runs is a traffic incident lane or not according to the target traffic incident point;
and according to the judgment result, carrying out corresponding early warning processing control on the vehicle.
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 distance between all road points and the current traffic event point, wherein all road points are all road points in a preset range right in front of the current position of the vehicle;
c. determining a road point with the shortest transverse distance with 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;
d. repeating the steps a-c until the shortest transverse distance corresponding to all the target waypoints 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.
Further, the determining, according to the target traffic event point, whether the current lane in which the vehicle is traveling is a traffic event lane 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 the preset longitudinal distance, judging whether the minimum transverse distance between the target traffic event point and all road points of the vehicle is smaller than the preset transverse distance;
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 in which the vehicle runs is a traffic event lane;
and if the minimum transverse distance between the target traffic event point and all the road points of the vehicle is larger than or equal to the preset transverse distance, judging that the current lane where the vehicle runs is a non-traffic event 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 event lane.
Further, the preset lateral distance is one half of the current lane width in 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 in which the vehicle runs is a traffic event lane and the vehicle is a non-automatic driving vehicle, providing early warning prompt information;
and 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 module so that the automatic driving decision module sends a corresponding control command to a control module according to the early warning indication information, and accordingly controlling the vehicle.
Further, the traffic event information is obtained by the central platform according to the perception information perceived by the intelligent road side facilities in real time and is provided for the road side equipment for broadcasting; or the traffic event information is obtained by analyzing the construction plan for the center platform and is provided for the road side equipment for broadcasting.
In a first aspect, there is provided a vehicle running warning processing device including:
the system comprises an acquisition module, a traffic event information acquisition module and a traffic event information acquisition module, wherein the acquisition module is used for acquiring vehicle position information and acquiring broadcast information broadcasted by the road side equipment, and the broadcast information comprises traffic event information;
the determining module is used for 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 with the closest transverse distance to a vehicle road point and a road point in front of the vehicle road point, and the vehicle road point is a road point closest to the vehicle;
the judging module is used for judging whether the current lane in which 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, there is provided a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the vehicle running warning processing method described above.
In a fourth aspect, a vehicle running pre-warning processing device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the vehicle running pre-warning processing method when executing the computer program.
In the scheme realized by the vehicle running early warning processing method, the vehicle running early warning processing device and the storage medium, traffic event information can be sent to surrounding vehicles through the road side equipment, so that the vehicles running on nearby lanes can timely receive the broadcasted traffic event information, the vehicles do not need to be provided with multiple sensor equipment for sensing, the problems of cost and inaccuracy caused by using the vehicle sensors are solved, the accuracy and efficiency of acquiring the traffic event information are improved, and the vehicles can adopt corresponding early warning processing control in advance or timely according to the traffic event information, so that 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 that are needed in the description of the embodiments of the present invention will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the overall architecture to which the vehicle driving early warning processing method of the present invention is applied;
FIG. 2 is a flow chart of a vehicle driving pre-warning method according to an embodiment of the invention;
FIG. 3 is a flowchart of step S20 in FIG. 2;
FIG. 4 is a flowchart of step S30 in FIG. 2;
FIG. 5 is a schematic diagram of a vehicle driving pre-warning device according to an embodiment of the invention;
fig. 6 is a schematic structural diagram of a vehicle driving pre-warning device according to an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the invention provides a vehicle driving early warning processing method, which can be applied to an overall structure as shown in fig. 1, wherein the overall structure approximately comprises a three-layer structure, namely a center platform layer, an edge computing layer and an edge access layer. Wherein the central platform layer comprises a central platform, which may specifically be referred to as a central V2X platform by way of example; the edge computing layer comprises an edge computing Unit, namely a MEC (Mobile Edge Computing) Unit, and also comprises a switch and Road Side Unit (RSU); the edge access layer comprises some intelligent road side facilities, for example, the intelligent road side facilities can comprise intelligent cone barrels, cameras, radars, roadside signal lamps and the like, and the intelligent road side facilities can be set according to the scheme implementation, and are not limited in particular. The vehicle running early warning processing device is deployed in a vehicle, and it should be noted that the vehicle running early warning processing device may specifically refer to an OBU Unit (On board Unit) or a V2X device deployed On the vehicle, or may be other independent devices or be a control module integrated in a vehicle controller, and is used for interacting with a road side device, so as to implement the vehicle running early warning processing method provided by the present invention.
It should be noted that the general structure shown in fig. 1 is only exemplary. The overall architecture shown in fig. 1 may be in a 5G network environment, where devices on each side of the overall 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 devices on the road side through the 5G network. It should be noted that, other types of networks, such as a 4G network or a future network system, may be used in the present invention besides the 5G network, and the present invention is not limited thereto.
The interaction of the devices shown in fig. 1 will be described in detail below in connection with specific embodiments.
In an embodiment, as shown in fig. 2, a vehicle running early warning processing method is provided, and the method is applied to a vehicle running early warning processing device for illustration, and mainly includes the following steps:
s10: and acquiring vehicle position information and acquiring broadcasting information broadcasted by the road side equipment, wherein the broadcasting information comprises traffic event information.
In the running process of the vehicle, the vehicle running early warning processing device deployed in the vehicle can acquire the vehicle position information 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 contains 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 acquired by positioning the positioning device. For road side equipment, traffic event information needs to be acquired first, and then the traffic event information is broadcasted, so that the vehicle running early warning processing device analyzes and obtains corresponding traffic event information through the broadcasting information broadcasted by the road side equipment.
It should be noted that, the traffic event information in 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 scenario where the traffic lane is obstructed due to the construction event, the traffic accident event, and the like, and if the vehicle continues to travel in the scenario, it may cause a travel disorder or a collision, so early warning processing is required. That is, traffic incidents, including construction incidents, traffic accident incidents, and the like, that affect a lane are directed to by embodiments of the present invention. According to the embodiment of the invention, the traffic event also comprises various scenes in which whether static obstacles or static events affect the current driving or not is required to be judged, so that the application scene of the automatic driving vehicle is widened, and the automatic driving is accelerated to fall to the ground. For convenience of description, the embodiments of the present invention will be described by taking traffic events as construction events as examples, and are not limited in detail.
In the construction early warning scene, the traffic event information comprises construction information, and the construction event information can be obtained by analyzing a construction plan by the center platform and is provided for the road side equipment for broadcasting. In this manner, the center V2X platform may acquire a construction plan in advance, where the construction plan may be a construction plan previously entered into the center V2X platform by a user. Therefore, if a construction plan is input to the center V2X platform in advance before construction, the center V2X platform can inform the intelligent road side facilities to detect the planned construction road section in the construction plan in advance, confirm whether the construction point is put with an intelligent cone or other roadblocks, and determine whether the corresponding lane is a traffic event lane if the lane is confirmed to have the roadblock markers. The center V2X platform informs the road side equipment of the construction information required, so that the road side equipment can broadcast information including the construction information to nearby vehicles. Therefore, in the embodiment, the construction plan is known in advance, so that the corresponding road side intelligent facilities can be deployed in a targeted manner to perform the construction information required by the perception acquisition, unnecessary perception is reduced, and the traffic event information acquisition efficiency is effectively improved.
The traffic event information can also be obtained by the central platform according to the perception information perceived by the intelligent road side facilities in real time and provided for the road side equipment for broadcasting. In the mode, if a construction plan is not input into the center V2X platform, the intelligent road side facility can also periodically sense the surrounding environment in real time, wherein if traffic events such as road construction are sensed, the traffic event information is notified to the center V2X platform through analysis and calculation of an edge calculation layer, and the traffic event information is provided to road side equipment by the V2X platform for broadcasting. Of course, the road side device itself may also acquire the traffic event information and broadcast the traffic event information, which is not specifically limited. Thus, when the vehicle travels into the broadcasting range of the road side equipment, the vehicle traveling pre-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 the construction plan is not input to the central V2X platform in advance, the intelligent facility can be utilized to implement sensing, so that the required construction event is acquired, the feasibility and the diversity of the scheme are improved, and the method has stronger pertinence in the aspect of construction road early warning.
It should be noted that, for the road side device, in practical application, the traffic event information may be obtained in various manners according to the situation, and then broadcast information including the traffic event information is broadcast, which is not limited in the present invention. Thus, 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 is obtained after analyzing the broadcasting information.
In addition, it should be noted that, in a specific application scenario, the broadcast information of the roadside device generally includes 5 types of early warning information, and for example, the event Type may be identified by "msg_type", for example: when msg_type=0, the real-time V2V early warning information sent by other V2X vehicles is indicated by the early warning category; when msg_type=1, the early warning category is RSI early warning information describing traffic accidents or road dangerous states; when msg_type=2, the early warning category is signal lamp early warning information; when msg_type=3, the early warning category is the early warning information of traffic participants (pedestrians, non-motor vehicles and the like); when msg_type=4, map-related information is indicated.
The traffic event information belongs to RSI warning information, that is, in the embodiment of the present invention, all the warning information of msg_type=1 needs to be parsed from the broadcast information. Exemplary, the RSI information structures include, but are not limited to, the following information: timestamp, RSI Warning type, message priority, distance from Warning location, longitude and latitude of traffic event occurrence location, detailed description of Warning information, traffic event Point array (denoted by warning_point_list, possibly comprising a plurality of traffic event points for describing event related regular or irregular road range). It can be seen that the RSI warning information includes various event information, and the RSI warning type may correspond to one RSI event information table, for example: rsi_type=1 indicates a front road hazard, rsi_type=2 indicates a front sharp turn, rsi_type=3 indicates a front road construction, and so on, and traffic event information such as construction event information can be screened out by referring to the RSI warning Type event table.
It will be appreciated that the range of events around which a traffic event is formed may be irregularly shaped or may be regularly shaped, and thus the traffic event information that must be obtained includes a warning_point_list that contains one or more traffic event points warning_point, the traffic event points warning_point structure comprising: the vehicle running early warning processing device analyzes and obtains necessary traffic event information from broadcast information of road side equipment. Taking the construction event as an example, in the road construction scene, the construction range formed around one road construction event may be in an irregular shape or a regular shape, and thus, the necessary construction information such as the latitude and longitude of the 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 with the closest transverse distance to a vehicle road point and a road point in front of the vehicle road point, and the vehicle road point is a road point closest to the vehicle.
The road points in the embodiment of the invention refer to the points acquired by acquiring the vehicle to travel along the middle of the current driving lane and acquired at intervals of a preset acquisition distance (such as 50 CM), and therefore, in the process of the vehicle traveling on the current lane, a road point closest to the vehicle exists in front of the vehicle, and for convenience of description, the road point closest to the vehicle is called a vehicle road point in the embodiment of the invention. It should be noted that the setting of the waypoints may be other manners, for example, the preset collection distance may be 52CM, 53CM or other distances, which is not limited by the present invention. The preset acquisition distance can be determined by a test.
In the embodiment of the invention, after the vehicle running 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 the traffic event point with the closest transverse distance to the vehicle road point and the road point in front of the vehicle road point. When determining the transverse distance between each traffic event point and all the road points of the vehicle (namely, the road points of the vehicle and the road points in front of the road points of the vehicle), a rectangular coordinate system is established by taking the road points as the original points, wherein the transverse distance between the traffic event point and the road points refers to the distance between the traffic event point and the ordinate axis of the rectangular coordinate system of the road points, the longitudinal distance between the traffic event point and the road points of the vehicle, and the distance between the traffic event point and the abscissa axis of the rectangular coordinate system of the road points of the vehicle. It can be seen that here, the lateral distances from a plurality of traffic event points to a plurality of road points can be obtained, and from this, the traffic event point closest to the lateral distances of all the road points of the vehicle, i.e. the target traffic event point, can be determined. 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 a 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.
The traffic event Point group refers to the above-mentioned warning_point_list and includes one or more traffic event points, and in the embodiment of the present invention, one of the traffic event points that is not selected from the traffic event Point group warning_point_list is selected as the current traffic event Point.
b. And calculating the transverse distance between all road points and the current traffic event point, wherein all the road points are all the road points 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 and the road point id number of the vehicle on the current lane, the road point refers to the longitude, latitude and heading of the point acquired at intervals of a preset acquisition distance (e.g. 50 CM) when the acquired vehicle runs along the middle of the lane, and the points are road points. In the embodiment of the invention, a set of road points are determined within a preset range right in front of the current position of the loaded vehicle, and the coordinates of the road points within a range of 100m right in front of the loaded vehicle are stored in a front road point array, and the transverse distances between all the road points in the front road point array and the current traffic event point are calculated. The road points in other ranges just in front of the loading vehicle may be stored in the front road point group, and the present invention is not limited to this specific one.
c. And determining a road point with the shortest transverse distance with 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 front road point array and the current traffic event point are calculated, a plurality of transverse distances are obtained, then, from the transverse distances between all road points and the current traffic event point, the road point with the shortest transverse distance with the current traffic event point is determined to be the target road point index, and the transverse distance lat_distance between the target road point index and the current traffic event point is saved.
d. And c, repeating the steps a-c until the shortest transverse distance corresponding to all the target waypoints 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 steps a-c, each time a new transverse distance lat_distance is obtained, judging whether the new transverse distance is the shortest among all the currently obtained transverse distances, if so, updating the value min_lat_distance of the shortest transverse distance to the new transverse distance (namely, min_lat_distance=lat_distance); otherwise, the value of the shortest lateral distance is kept unchanged (i.e. min_lat_distance=min_lat_distance) until all traffic event points are traversed, and the value of min_lat_distance is the shortest lateral distance between all road points of the vehicle and all traffic event points, and the traffic event point corresponding to the shortest lateral distance is the traffic event point closest to the vehicle, namely the target traffic event point.
It can be seen that in this embodiment, a way of determining the target traffic event point more specifically is proposed, improving the feasibility and diversity of the solution.
S30: and judging whether the current lane in which 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 incident point is determined, whether the current lane on which the vehicle runs is a traffic incident lane or not can be judged. The traffic incident lane refers to a lane where a traffic incident occurs, for example, a lane where a construction incident exists, a lane where a traffic incident exists, a lane where a road barrier is provided, and the like.
Specifically, as an example, as shown in fig. 4, in step S30, that is, according to the target traffic event point, it is determined whether the current lane in which the vehicle is traveling is a traffic event lane, which specifically includes the following steps:
s31: and determining the longitudinal distance between the target traffic event point and the vehicle road point.
After the target traffic event point and the vehicle road point are obtained, the longitudinal distance lng_distance between the target traffic event point and the vehicle road point can be obtained according to the coordinate data of the target traffic event point and the vehicle road point.
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 event lane.
For the steps S32-S33, after the longitudinal distance between the target traffic event point and the vehicle road point is obtained, the relationship between the longitudinal distance and the preset longitudinal distance is determined, and if the longitudinal distance is greater than the preset longitudinal distance, the current lane on which the vehicle is traveling is determined to be 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 is determined whether lng_distance is greater than or equal to 0 and less than or equal to 100m, that is, it is determined whether the longitudinal distance lng_distance e [0,100], and if not, it is determined that the current lane in which the vehicle is traveling is a non-traffic event lane.
S34: and if the longitudinal distance is smaller than or equal to the preset longitudinal distance, judging the relation between the transverse distances between the target traffic event point and all road points of the vehicle and the preset transverse distances.
S35: and 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 on which the vehicle runs is a traffic event lane.
In the embodiment of the present invention, if the longitudinal distance is smaller than or equal to a preset longitudinal distance, that is, if the longitudinal distance lng_distance e [0,100] is determined, whether the minimum lateral distance between the target traffic event point and all the road points of the vehicle is smaller than the preset lateral distance is determined. Wherein, the preset transverse distance can be one half of the width of the current driving lane of the vehicle through the verification of the inventor. 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 on which the vehicle runs is a traffic event lane, namely, if and only if the longitudinal distance lng_distance epsilon [0,100] and the minimum transverse distance min_lat_distance epsilon [0, the lane width/2), the current lane on 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 and may be configured according to an actual application scenario.
S36: and if the minimum transverse distance between the target traffic event point and all the road points of the vehicle is larger than or equal to the preset transverse distance, judging that the current lane where the vehicle runs is a non-traffic event lane.
In step S31-S35, a specific implementation manner of determining whether the current driving lane of the vehicle is the traffic incident lane according to the relationship between the target traffic incident point and all the road points of the vehicle is provided, so that the feasibility of the scheme is improved.
S40: and according to the judgment result, carrying out corresponding running control on the vehicle.
Through the steps S10-S30, the embodiment of the invention can judge whether the current driving lane of the vehicle is a traffic event lane, so that corresponding driving control can be performed, including early warning processing.
As an example, in step S40, that is, the corresponding driving control is performed on the vehicle according to the determination result, the method specifically includes the following steps:
s41: if the current lane where the vehicle runs is a traffic event lane and the vehicle is a non-automatic driving vehicle, early warning prompt information is provided.
S42: and 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 module so that the automatic driving decision module sends a corresponding control command to a control module according to the early warning indication information, and accordingly controlling the vehicle.
For steps S41-S42, if the current lane in which the vehicle is traveling is a traffic event lane, for a non-automatic driving vehicle with a driver, an early warning prompt message is sent to prompt the driver that there is a traffic event in front of the driver to pay attention to avoid danger. For a vehicle with an automatic driving function, early warning indication information is sent to an automatic driving decision planning module in the vehicle, so that the vehicle sends related control commands for changing lanes or re-planning paths to a related control module in advance, and collision accidents are avoided. For example, if the current lane in which the vehicle is traveling is a construction lane, for a non-automatic driving vehicle with a driver, an early warning prompt message is sent to prompt the driver to pay attention to avoiding danger in front of the construction. For a vehicle with an automatic driving function, early warning indication information is sent to an automatic driving decision planning module in the vehicle, so that the vehicle sends related control commands for changing lanes or re-planning paths 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 is indicated that the construction of the road on which the vehicle is currently traveling will not affect the vehicle traveling on the current road, and no warning information is required to be sent 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 construction of the road on which the vehicle is currently traveling will not affect the vehicle traveling on the current road, and no warning information needs to be sent to the driver or the automatic driving decision planning module.
Therefore, in the embodiment of the invention, a 5G-V2X platform framework is constructed, namely a V2X platform framework based on a 5G network, road traffic event information can be acquired based on a central V2X platform, a 5G-V2X technology is adopted to provide more comprehensive and accurate perception information for vehicles, the defects of perception limitation of the traditional driving vehicle and high cost of carrying a perception sensor are overcome, the detection and identification of road construction scenes are fully ensured, and the problems of low perception efficiency and high cost of the traditional automatic driving vehicle on the road construction scenes and similar scenes are solved; in addition, the method is also suitable for various scenes in which whether traffic events such as static obstacles or static events need to be judged to influence current driving or not, is favorable for widening the application scene of an automatic driving vehicle, accelerating automatic driving and landing, and in addition, resources can be effectively coordinated based on a V2X platform, the traffic efficiency is improved, and the application of 5G-V2X can also greatly reduce the future automatic driving and the deployment cost of the Internet of vehicles.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
In an embodiment, a vehicle running pre-warning processing device is provided, and the vehicle running pre-warning processing device corresponds to the vehicle running pre-warning processing method in the embodiment one by one. As shown in fig. 5, the battery module temperature acquisition device includes an acquisition module 101, a determination module 102, a judgment module 103, and a control module 104. The functional modules are described in detail as follows:
the system comprises an acquisition module, a traffic event information acquisition module and a traffic event information acquisition module, wherein the acquisition module is used for acquiring vehicle position information and acquiring broadcast information broadcasted by the road side equipment, and the broadcast information comprises traffic event information;
the determining module is used for 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 with the closest transverse distance to a vehicle road point and a road point in front of the vehicle road point, and the vehicle road point is a road point closest to the vehicle;
the judging module is used for judging whether the current lane in which 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 traffic event point group, 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 distance between all road points and the current traffic event point, wherein all road points are all road points in a preset range right in front of the current position of the vehicle;
c. determining a road point with the shortest transverse distance with 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;
d. repeating the steps a-c until the shortest transverse distance corresponding to all the target waypoints 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 one embodiment, the judging module is specifically configured to:
Determining a longitudinal distance between the target traffic event point and the vehicle waypoint;
if the longitudinal distance is smaller than or equal to the preset longitudinal distance, judging whether the minimum transverse distance between the target traffic event point and all road points of the vehicle is smaller than the preset transverse distance;
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 in which the vehicle runs is a traffic event lane in which a traffic event occurs;
and if the minimum transverse distance between the target traffic event point and all the road points of the vehicle is larger than or equal to the preset transverse distance, judging that the current lane where the vehicle runs is a non-traffic event lane.
In an embodiment, the judging 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 event lane.
In an embodiment, the control module is specifically configured to:
if the current lane in which the vehicle runs is a traffic event lane and the vehicle is a non-automatic driving vehicle, providing early warning prompt information;
and 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 module so that the automatic driving decision module sends a corresponding control command to a control module according to the early warning indication information, and accordingly controlling the vehicle.
The specific limitation of the vehicle driving early warning processing device may be referred to the limitation of the vehicle driving early warning processing method hereinabove, and will not be described herein. The modules in the vehicle driving early warning processing device can be realized by all or part of software, hardware and combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the controller, or may be stored in software in a memory in the controller, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a vehicle driving early warning processing device is provided, and the vehicle driving early warning processing device may refer to an OBU unit deployed on a vehicle, a V2X device or a controller independently deployed with the vehicle, and the internal structure diagram thereof may be as shown in fig. 6. The vehicle travel warning processing device may include a processor and a memory connected by a system bus. The processor of the vehicle driving early warning processing device is used for providing calculation and control capabilities. 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 a vehicle driving early warning processing method.
In one embodiment, there is provided a vehicle running warning processing device including a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
acquiring 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 event point according to the traffic event information and the vehicle position information, wherein the target traffic event point is a traffic event point with the closest transverse distance to a vehicle road point and a road point in front of the vehicle road point, and the vehicle road point is a road point closest to the vehicle;
judging whether the current lane in which the vehicle runs is a traffic event lane in which a traffic event occurs or not according to the target traffic event point;
and according to the judgment result, carrying out corresponding early warning processing control on the vehicle.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, 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 event point according to the traffic event information and the vehicle position information, wherein the target traffic event point is a traffic event point with the closest transverse distance to a vehicle road point and a road point in front of the vehicle road point, and the vehicle road point is a road point closest to the vehicle;
judging whether the current lane in which the vehicle runs is a traffic event lane in which a traffic event occurs or not according to the target traffic event point;
and according to the judgment result, carrying out corresponding early warning processing control on the vehicle.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile 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), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.
Claims (9)
1. A vehicle travel warning processing method, characterized by comprising:
acquiring vehicle position information and acquiring broadcasting information broadcasted by road side equipment, wherein the broadcasting information comprises traffic event information;
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 a vehicle road point and a road point in front of the vehicle, the vehicle road point is a road point closest to the vehicle, the road point refers to the middle of the vehicle along a current driving lane, the road point closest to the vehicle in front of the vehicle is the vehicle road point at intervals of preset acquisition distances;
judging whether the current lane in which the vehicle runs is a traffic event lane in which a traffic event occurs or not according to the target traffic event point;
according to the judgment result, corresponding early warning processing control is carried out on the vehicle;
the traffic event information comprises a traffic event point group, and the determining the target traffic event point according to the traffic event information and the vehicle position information comprises the following steps:
a. selecting unselected traffic event points from the traffic event point group as current traffic event points;
b. calculating the transverse distance between all road points and the current traffic event point, wherein all road points are all road points in a preset range right in front of the current position of the vehicle;
c. Determining a road point with the shortest transverse distance with 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;
d. repeating the steps a-c until the shortest transverse distance corresponding to all the target waypoints 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.
2. The vehicle driving pre-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 the preset longitudinal distance, judging whether the minimum transverse distance between the target traffic event point and all road points of the vehicle is smaller than the preset transverse distance;
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 in which the vehicle runs is a traffic event lane in which a traffic event occurs;
And if the minimum transverse distance between the target traffic event point and all the road points of the vehicle is larger than or equal to the preset transverse distance, judging that the current lane where the vehicle runs is a non-traffic event lane.
3. The vehicle travel warning processing method according to claim 2, characterized in that 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 event lane.
4. The vehicle travel warning processing method according to claim 2, characterized in that the preset lateral distance is one half of a current lane width of the vehicle travel.
5. The vehicle running warning processing method according to any one of claims 1 to 4, wherein the performing corresponding warning processing control on the vehicle according to the determination result includes:
if the current lane in which the vehicle runs is a traffic event lane and the vehicle is a non-automatic driving vehicle, providing early warning prompt information;
and 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 module so that the automatic driving decision module sends a corresponding control command to a control module according to the early warning indication information, and accordingly controlling the vehicle.
6. The vehicle running pre-warning processing method according to any one of claims 1 to 4, wherein the traffic event information is obtained by a central platform according to sensing information sensed in real time by a road side intelligent facility and provided to the road side equipment for broadcasting; or the traffic event information is obtained by analyzing the construction plan for the center platform and is provided for the road side equipment for broadcasting.
7. A vehicle travel warning processing device, characterized by comprising:
the system comprises an acquisition module, a traffic event information acquisition module and a traffic event information acquisition 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 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 a vehicle road point and a road point in front of the vehicle, the vehicle road point is a road point closest to the vehicle, the road point refers to a point which is acquired at intervals of preset acquisition distances when the vehicle runs along the middle of a current running lane, and the road point closest to the vehicle in front of the vehicle is the vehicle road point;
the judging module is used for judging whether the current lane in which the vehicle runs is a traffic incident lane or not according to the target traffic incident point;
The control module is used for carrying out corresponding early warning processing control on the vehicle according to the judgment result;
the traffic event information comprises a traffic event point group, and the determining module is specifically used for:
a. selecting unselected traffic event points from the traffic event point group as current traffic event points;
b. calculating the transverse distance between all road points and the current traffic event point, wherein all road points are all road points in a preset range right in front of the current position of the vehicle;
c. determining a road point with the shortest transverse distance with 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;
d. repeating the steps a-c until the shortest transverse distance corresponding to all the target waypoints 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.
8. A vehicle running warning processing apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the vehicle running warning processing method according to any one of claims 1 to 6 when the computer program is executed by the processor.
9. A computer-readable storage medium storing a computer program, wherein the computer program when executed by a processor implements the steps of the vehicle running warning processing method according to any one of claims 1 to 6.
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