CN115472005A - Vehicle collision early warning method, device, equipment and storage medium - Google Patents
Vehicle collision early warning method, device, equipment and storage medium Download PDFInfo
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Abstract
The application discloses a vehicle collision early warning method, a device, equipment and a storage medium, comprising the following steps: acquiring an initial position and an initial motion state of each target vehicle; determining a target characteristic point of each target vehicle according to the initial position and the initial motion state of each target vehicle; the target feature points comprise first sub-target feature points, second sub-target feature points and third sub-target feature points; respectively obtaining coordinates of a first sub-target feature point, a second sub-target feature point and a third sub-target feature point of each target vehicle; predicting the collision risk of each target vehicle and the own vehicle according to the coordinates of the first sub-target feature point, the second sub-target feature point and the third sub-target feature point of each target vehicle and the initial motion state of the target vehicle, and obtaining a prediction result; and early warning the self-vehicle according to the prediction result. According to the technical scheme, the collision prediction precision is improved by combining the size and the running direction of the target vehicle.
Description
Technical Field
The application belongs to the technical field of intelligent driving, and particularly relates to a vehicle collision early warning method, device, equipment and storage medium.
Background
At present, when early warning of collision of a target vehicle is carried out, the target vehicle is usually abstracted into points, and the target vehicle and a self vehicle collide with each other by judging point intersection; or abstracting the target vehicle into a circle, and judging the tangency of the circle that the target vehicle collides with the self vehicle.
However, when the target vehicle is long or wide, the point model may cause collision misjudgment or delay, and the circular model may cause collision misjudgment, causing driver dissatisfaction; in addition, the target vehicle is abstracted into a rectangle consistent with the self-vehicle heading, or an expansion coefficient is added on the basis of the rectangle to calculate the transverse distance or the overlapping degree, but the heading of the target vehicle is not considered, so that the method is not suitable for the vehicle close to the side, and further the collision missing judgment or delay can be caused.
Disclosure of Invention
The present application is directed to solving, at least to some extent, one of the technical problems in the related art. To this end, an object of the present application is to provide a vehicle collision warning method, apparatus, device, and storage medium.
In order to solve the above technical problem, an embodiment of the present application provides the following technical solutions:
a vehicle collision warning method, comprising:
acquiring an initial position and an initial motion state of each target vehicle;
determining a target feature point of each target vehicle according to the initial position and the initial motion state of each target vehicle; the target feature points comprise first sub-target feature points, second sub-target feature points and third sub-target feature points;
respectively obtaining coordinates of the first sub-goal feature point, the second sub-goal feature point and the third sub-goal feature point of each target vehicle;
predicting the collision risk of each target vehicle and the own vehicle according to the coordinates of the first sub-target feature point, the second sub-target feature point and the third sub-target feature point of each target vehicle and the initial motion state of the target vehicle, and obtaining a prediction result;
and early warning the self-vehicle according to the prediction result.
Optionally, the acquiring the initial position and the initial motion state of each target vehicle includes:
dividing the surrounding area of the self-vehicle based on the position of the self-vehicle and a preset dividing rule to obtain a central area, a front side area and a rear side area;
determining a target area of each target vehicle, and determining the initial position of each target vehicle according to the target area;
acquiring the initial motion state of each target vehicle; wherein the initial motion state includes a running speed and a running direction of each of the target vehicles.
Optionally, the determining the target feature point of each target vehicle according to the initial position and the initial motion state of each target vehicle includes:
if the initial position of the target vehicle is located in the central area, determining the target feature point based on a first preset rule; the first preset rule is that a rectangular frame is determined based on the target vehicle, a middle feature point is determined according to the center of a rectangular edge where the head or the tail of the target vehicle is located, and a first side feature point and a second side feature point are determined according to two corner points of the rectangular edge where the head or the tail of the target vehicle is located;
or if the initial position of the target vehicle is located in the front side area or the rear side area, determining the target feature point based on a second preset rule; the second preset rule is to determine the middle feature point, the first side feature point and the second side feature point based on the four corner points of the rectangular frame.
Optionally, the obtaining the coordinates of the first sub-target feature point, the second sub-target feature point, and the third sub-target feature point of each target vehicle respectively includes:
if the initial position of the target vehicle is located in the center area, determining a first coordinate point of coordinates of the first side feature point and a second side feature point based on a first coordinate point of coordinates of the middle feature point of the target vehicle; determining a second coordinate point of the coordinates of the first side feature point and the second side feature point based on a second coordinate point of the coordinates of the middle feature point of the target vehicle and the vehicle width of the target vehicle.
Optionally, the obtaining coordinates of the first sub-goal feature point, the second sub-goal feature point, and the third sub-goal feature point of each target vehicle respectively further includes:
if the initial position of the target vehicle is located in the front side area, acquiring coordinates of the intermediate characteristic point of the target vehicle and the initial running state of the target vehicle, and judging the type of the running state of the target vehicle according to the coordinates of the intermediate characteristic point of the target vehicle and the initial running state of the target vehicle;
if the target vehicle belongs to a first running state, determining the coordinate of the first side characteristic point based on the coordinate of the middle characteristic point of the target vehicle and the vehicle length of the target vehicle; determining coordinates of the second side feature point based on the coordinates of the intermediate feature point of the target vehicle and the vehicle width of the target vehicle;
if the target vehicle belongs to a second driving state, determining the coordinate of the first side characteristic point based on the coordinate of the middle characteristic point of the target vehicle and the vehicle width of the target vehicle; determining coordinates of the second side feature point based on the coordinates of the middle feature point of the target vehicle and the vehicle length of the target vehicle.
Optionally, the obtaining the coordinates of the first sub-target feature point, the second sub-target feature point, and the third sub-target feature point of each target vehicle respectively further includes:
if the initial position of the target vehicle is located in the rear-side area, acquiring coordinates of the intermediate characteristic point of the target vehicle and the initial running state of the target vehicle, and judging the type of the running state of the target vehicle according to the coordinates of the intermediate characteristic point of the target vehicle and the initial running state of the target vehicle;
if the target vehicle belongs to a third traveling state, determining the coordinate of the first side characteristic point based on the coordinate of the middle characteristic point of the target vehicle and the vehicle width of the target vehicle; determining coordinates of the second side feature point based on the coordinates of the middle feature point of the target vehicle and the vehicle length of the target vehicle;
if the target vehicle belongs to a fourth driving state, determining the coordinate of the first side characteristic point based on the coordinate of the middle characteristic point of the target vehicle and the vehicle length of the target vehicle; and determining the coordinates of the second side characteristic point based on the coordinate point of the middle characteristic point of the target vehicle and the vehicle width of the target vehicle.
Optionally, the predicting the collision risk between each target vehicle and the own vehicle according to the coordinates of the first sub-target feature point, the second sub-target feature point, and the third sub-target feature point of each target vehicle and the initial motion state of the target vehicle, and obtaining a prediction result includes:
if the target vehicles exist in the central area, calculating and obtaining collision time of each target vehicle reaching a collision point, comparing each collision time to obtain a lower limit of the collision time, and determining the target vehicle corresponding to the lower limit of the collision time as a collision early warning target;
or if the target vehicle exists in the front side area or the rear side area, determining a collision risk area of the own vehicle and each target vehicle based on the initial position, the initial running state and the running state of the own vehicle;
calculating and obtaining the time of the middle characteristic point, the first side characteristic point and the second side characteristic point of each target vehicle reaching the boundary of the collision risk area according to the coordinates of the middle characteristic point, the first side characteristic point and the second side characteristic point of each target vehicle and the initial motion state of the target vehicle; calculating and obtaining the time of the self vehicle reaching the boundary of the collision risk area according to the running state of the self vehicle;
and predicting the collision risk of each target vehicle and the own vehicle according to the middle characteristic point, the first side characteristic point and the second side characteristic point of each target vehicle and the time of the own vehicle reaching the boundary of the collision risk area, and obtaining the collision early warning target.
The embodiment of this application still provides a vehicle collision early warning device, includes:
the acquisition module is used for acquiring the initial position and the initial motion state of each target vehicle;
the determining module is used for determining a target feature point of each target vehicle according to the initial position and the initial motion state of each target vehicle; the target feature points comprise first sub-target feature points, second sub-target feature points and third sub-target feature points;
an obtaining module, configured to obtain coordinates of the first sub-target feature point, the second sub-target feature point, and the third sub-target feature point of each target vehicle, respectively;
the prediction module is used for predicting the collision risk between each target vehicle and the own vehicle according to the coordinates of the first sub-target feature point, the second sub-target feature point and the third sub-target feature point of each target vehicle and the initial motion state of the target vehicle, and obtaining a prediction result;
and the early warning module is used for early warning the self vehicle according to the prediction result.
Embodiments of the present application also provide an electronic device, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the method as described above when executing the computer program.
Embodiments of the present application further provide a computer-readable storage medium comprising a stored computer program, wherein the computer program when executed controls an apparatus in which the computer-readable storage medium is located to perform the method as described above.
The embodiment of the application has the following technical effects:
according to the technical scheme, the influence of the size and the running direction of the target vehicle is fully considered, the missing report and the false report of collision early warning are reduced, compared with the mode that the target vehicle is abstracted into a single point, the calculated amount of two points is increased, the target vehicle with the larger size can be better adapted to on the basis of reusing the original collision algorithm, and the collision early warning target is early warned.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
Fig. 1 is a schematic flow chart of a vehicle collision warning method according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a peripheral area division of a host vehicle according to an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a collision risk area provided in an embodiment of the present application;
FIG. 4 is a schematic diagram illustrating a principle of predicting a collision risk according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a vehicle collision warning device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present application and should not be construed as limiting the present application.
As shown in fig. 1, an embodiment of the present application provides a vehicle collision warning method, including:
step S1: acquiring an initial position and an initial motion state of each target vehicle;
specifically, the acquiring an initial position and an initial motion state of each target vehicle includes:
dividing the surrounding area of the self-vehicle based on the position of the self-vehicle and a preset dividing rule to obtain a central area, a front side area and a rear side area;
determining a target area of each target vehicle, and determining the initial position of each target vehicle according to the target area;
acquiring the initial motion state of each target vehicle; wherein the initial motion state comprises the running speed and the running direction of each target vehicle.
The embodiment of the application fully considers the initial motion state of the target vehicle when the collision early warning of the target vehicle and the self vehicle is carried out, wherein the initial motion state comprises the running speed and the running direction of the target vehicle, the accuracy of the collision early warning is favorably improved, and the collision misjudgment or delay is avoided.
In an alternative embodiment of the present application, as shown in fig. 2, the preset partition rule includes: establishing a coordinate system by taking the center of a rear axle of the self-vehicle as an original point, taking the running direction of the self-vehicle as an X-axis, and taking the other direction vertical to the X-axis as a Y-axis;
the X axis corresponds to the central line of the track of the self-vehicle, a rectangular frame is established based on the self-vehicle, and the rectangular side where the tail of the self-vehicle is located is collinear with the Y axis.
Specifically, a first boundary (e.g., a left boundary) of the center region may be a 1/2 vehicle width positive shift from the origin to the Y-axis, and a second boundary (e.g., a right boundary) of the center region may be a 1/2 vehicle width negative shift from the origin to the Y-axis.
Starting from the origin, the area along the positive direction of the X axis and positioned at two sides of the central area is a side front area, namely the area in front of the self-vehicle;
from the origin, the regions along the negative direction of the X axis and on both sides of the center region are the lateral rear regions, that is, the regions behind the own vehicle.
Further, the initial operating state of the target vehicle is the current operating direction and operating speed of the target vehicle when predicting the risk of collision of the target vehicle with the own vehicle.
Wherein, for the convenience of calculation, the speed component V of the target vehicle in the X-axis direction is obtained based on the current running direction and running speed V of the target vehicle X And a velocity component V of the target vehicle in the Y-axis direction Y 。
Further, as shown in fig. 2, a coordinate system is established with the center of the rear axle of the vehicle as an origin, 3 points of four corner points of each of the other rectangular frames are used for representing a target vehicle, and the arrow points to the running direction of the corresponding target vehicle, that is, the running direction of the target feature point and the running speed V direction.
Step S2: determining a target feature point of each target vehicle according to the initial position and the initial motion state of each target vehicle; the target feature points comprise first sub-target feature points, second sub-target feature points and third sub-target feature points;
specifically, the determining the target feature point of each target vehicle according to the initial position and the initial motion state of each target vehicle includes:
if the initial position of the target vehicle is located in the central area, determining the target feature point based on a first preset rule; the first preset rule is that a rectangular frame is determined based on the target vehicle, a middle feature point is determined according to the center of a rectangular edge where the head or the tail of the target vehicle is located, and a first side feature point and a second side feature point are determined according to two corner points of the rectangular edge where the head or the tail of the target vehicle is located;
or if the initial position of the target vehicle is located in the front side area or the rear side area, determining the target feature point based on a second preset rule; the second preset rule is to determine the middle feature point, the first side feature point and the second side feature point based on the four corner points of the rectangular frame.
According to the embodiment of the application, the target vehicle is abstracted into three target characteristic points, namely the middle characteristic point, the first side characteristic point and the second side characteristic point, so that the size of the target vehicle is fully considered, and the collision early warning accuracy is favorably improved.
The embodiment of the application is shown in figure 2:
1) The initial position of the target vehicle A is located in the central area and in front of the own vehicle, and then a target feature point of the target vehicle A is determined based on a first preset rule;
determining the center of a rectangular side where the tail of the target vehicle A is located as a middle characteristic point of the target vehicle A; determining two corner points of a rectangular side where the tail of the target vehicle A is located as a first side feature point and a second side feature point respectively; for example, the right corner point is determined as a first side feature point, and the left corner point is determined as a second side feature point.
2) The initial position of the target vehicle B is located in the central area and behind the vehicle, and then the target characteristic point of the target vehicle B is determined based on a first preset rule;
determining the center of a rectangular side where the head of the target vehicle B is located as a middle characteristic point of the target vehicle B; respectively determining two corner points of a rectangular side where the head of the target vehicle B is located as a first side feature point and a second side feature point; for example, the right corner point is determined as a first side feature point, and the left corner point is determined as a second side feature point.
3) Determining target characteristic points based on four corner points of a rectangular frame obtained by the target vehicle C if the initial position of the target vehicle C is located in a lateral front area;
specifically, the distance from each corner point to the center of the rear axle of the self-vehicle (the origin of a coordinate system) is calculated, the corner point with the largest distance is removed, and the remaining 3 corner points are determined as target feature points;
further, the distance from the remaining 3 corner points to the center of the rear axle of the vehicle is obtained, the corner point with the smallest distance is determined as a middle feature point, and the remaining two corner points are determined as a first side feature point (for example, a corner point positioned on the right side of the middle feature point) and a second side feature point (for example, a corner point positioned on the left side of the middle feature point).
And step S3: respectively obtaining coordinates of the first sub-target feature point, the second sub-target feature point and the third sub-target feature point of each target vehicle;
according to the embodiment of the application, the initial motion state of the target vehicle obtained by fusing the sensing sensors of the vehicle is the initial running state of the point, closest to the sensing sensor of the vehicle, of the target vehicle;
generally, the intermediate characteristic point of the target vehicle is the closest point to the sensing sensor of the own vehicle, so the moving direction, the moving speed, the coordinates (including the first coordinate point and the second coordinate point), the vehicle length of the target vehicle and the vehicle width of the target vehicle can be directly obtained based on the sensing sensor of the own vehicle.
Wherein the coordinates (d) of the intermediate feature points X ，d Y ) First coordinate point d in (1) X Is the vertical distance of the target vehicle to the Y-axis; coordinates (d) of intermediate feature points X ，d Y ) Second coordinate point d in (1) Y Is the vertical distance of the target vehicle to the X-axis;
when the temperature is higher than the set temperature
Wherein,
a vehicle width of 1/2 indicates that the initial position of the target vehicle is located in the center area;
when in use
At the same time, | d X If | ≧ 0, this indicates that the initial position of the target vehicle is located in the front-lateral area;
when in use
At the same time, | d X If | is less than 0, it indicates that the initial position of the target vehicle is in the lateral rear region.
In an optional embodiment of the present application, the obtaining coordinates of the first sub-goal feature point, the second sub-goal feature point, and the third sub-goal feature point of each target vehicle respectively includes:
if the initial position of the target vehicle is located in the center area, determining a first coordinate point of coordinates of the first side feature point and a second side feature point based on a first coordinate point of coordinates of the middle feature point of the target vehicle; determining a second coordinate point of the coordinates of the first side feature point and the second side feature point based on a second coordinate point of the coordinates of the middle feature point of the target vehicle and the vehicle width of the target vehicle.
Specifically, when the target vehicle is located in the center area, the first coordinate point d of the coordinates of the intermediate feature point of the target vehicle is set to the first coordinate point d X And a second coordinate point d Y Are known, i.e. the coordinates of the intermediate characteristic points of the target vehicle are (d) X ，d Y )；
The target vehicle located in the central area comprises three initial motion states, namely, the target vehicle runs in the same direction with the vehicle from the front side of the vehicle, runs in the opposite direction with the vehicle from the front side of the vehicle and runs in the same direction with the vehicle from the rear side of the vehicle, and the target vehicle runs in the same direction with the vehicle from the rear side of the vehicle;
further, the coordinates (d) of the first side feature point (right side) XR ，d YR ) The calculation can be obtained based on the following formula:
d XR ＝d X ；
coordinates (d) of second-side feature point (left side) XL ，d YL ) The calculation can be obtained based on the following formula:
d XL ＝d X ；
for example: the target vehicle A is located in the center area, the first coordinate point d of the target vehicle A AX And a second coordinate point d AY Are all known;
the coordinates (d) of the first-side feature point (right side) of the target vehicle a AXR ，d AYR ) Can be calculated based on the following formula:
d AXR ＝d AX ；
the coordinates (d) of the second-side feature point (left side) of the target vehicle a AXL ，d AYL ) The calculation can be obtained based on the following formula:
d AXL ＝d AX ；
in an optional embodiment of the present application, the obtaining coordinates of the first sub-goal feature point, the second sub-goal feature point, and the third sub-goal feature point of each target vehicle respectively further includes:
if the initial position of the target vehicle is located in the front side area, acquiring coordinates of the middle characteristic point of the target vehicle and the initial running state of the target vehicle, and judging the type of the running state of the target vehicle according to the coordinates of the middle characteristic point of the target vehicle and the initial running state of the target vehicle;
if the target vehicle belongs to a first running state, determining the coordinate of the first side characteristic point based on the coordinate of the middle characteristic point of the target vehicle and the vehicle length of the target vehicle; determining coordinates of the second side feature point based on the coordinates of the middle feature point of the target vehicle and the vehicle width of the target vehicle;
if the target vehicle belongs to a second driving state, determining the coordinate of the first side characteristic point based on the coordinate of the middle characteristic point of the target vehicle and the vehicle width of the target vehicle; determining coordinates of the second side feature point based on the coordinates of the middle feature point of the target vehicle and the vehicle length of the target vehicle.
In the embodiment of the present application, after determining that the initial position of the target vehicle is located in the front-side area, the category of the target vehicle is determined, specifically:
if d is Y > 0, while V Y =0; or
V Y > 0, at the same time, V X =0; or
V Y *V X ＜0；
Determining that the target vehicle belongs to a first driving state, namely that the target vehicle is positioned on the left side and runs in the same direction with the own vehicle, the target vehicle is positioned on the right side and runs opposite to the own vehicle, and the target vehicle is positioned on the right side and traverses to the left side;
coordinates (d) of first side feature point XR ，d YR ) Can be calculated based on the following calculation formulaObtaining:
d XR ＝d X +d length of target vehicle *sinα；
d YR ＝d Y -d Length of target vehicle *cosα；
Coordinates (d) of second-side feature points XL ，d YL ) The calculation can be obtained based on the following calculation formula:
d XL ＝d X +d vehicle width of target vehicle *cosα；
d YR ＝d Y +d Vehicle width of target vehicle *sinα；
Wherein,
α∈[0，90°]and V is the running speed of the target vehicle.
In addition, if d Y < 0, while V Y =0; or
V Y < 0, meanwhile, V X =0; or
V Y *V X ＞0；
Determining that the target vehicle belongs to a second driving state, namely that the target vehicle is positioned on the right side of the self vehicle and drives in the same direction with the self vehicle, the target vehicle is positioned on the left side of the self vehicle and drives opposite to the self vehicle, and the target vehicle is positioned on the left side and traverses towards the right side;
coordinates (d) of first side feature point XR ，d YR ) The calculation can be obtained based on the following calculation formula:
d XR ＝d X +d vehicle width of target vehicle *cosα；
d YR ＝d Y -d Vehicle width of target vehicle *sinα；
Coordinates (d) of second-side feature points XL ，d YL ) The calculation can be obtained based on the following calculation formula:
d XL ＝d X +d length of target vehicle *sinα
d YL ＝d Y +d Length of target vehicle *cosα。
In an optional embodiment of the application, the obtaining the coordinates of the first sub-target feature point, the second sub-target feature point, and the third sub-target feature point of each target vehicle respectively further includes:
if the initial position of the target vehicle is located in the rear-side area, acquiring coordinates of the intermediate feature point of the target vehicle and the initial running state of the target vehicle, and judging the type of the running state of the target vehicle according to the coordinates of the intermediate feature point of the target vehicle and the initial running state of the target vehicle;
if the target vehicle belongs to a third traveling state, determining the coordinate of the first side characteristic point based on the coordinate of the middle characteristic point of the target vehicle and the vehicle width of the target vehicle; determining coordinates of the second side feature point based on the coordinates of the middle feature point of the target vehicle and the vehicle length of the target vehicle;
if the target vehicle belongs to a fourth driving state, determining the coordinate of the first side characteristic point based on the coordinate of the middle characteristic point of the target vehicle and the vehicle length of the target vehicle; and determining the coordinates of the second side characteristic point based on the coordinate point of the middle characteristic point of the target vehicle and the vehicle width of the target vehicle.
In the embodiment of the present application, after determining that the initial position of the target vehicle is located in the rear-side area, the category of the target vehicle is determined, where the rear-side area only focuses on the target vehicle approaching the host vehicle in the X-axis direction, specifically:
if d is Y < 0, while V Y =0; or
V Y ＜0；
Determining that the target vehicle belongs to a third driving state, namely that the target vehicle is positioned on the left side and drives to the right front, and the target vehicle is positioned on the right side and drives to the right front;
coordinates (d) of first side feature point XR ，d YR ) The calculation can be obtained based on the following calculation formula:
d XR ＝d X -d vehicle width of target vehicle *cosα；
d YR ＝d Y -d Vehicle width of target vehicle *sinα；
Coordinates (d) of second-side feature points XL ，d YL ) The calculation can be obtained based on the following calculation formula:
d XL ＝d X -d length of target vehicle *sinα；
d YR ＝d Y +d Length of target vehicle *cosα；
Wherein,
α∈[0，90°]and V is the running speed of the target vehicle.
In addition, if d Y > 0, while V Y =0; or
V Y ＞0；
Determining that the target vehicle belongs to a fourth driving state, namely that the target vehicle is positioned on the right side of the own vehicle and drives to the left front, and the target vehicle is positioned on the left side of the own vehicle and drives to the right front;
coordinates (d) of first side feature point XR ，d YR ) The calculation can be obtained based on the following calculation formula:
d XR ＝d X -d length of target vehicle *sinα；
d YR ＝d Y -d Length of target vehicle *cosα；
Coordinates (d) of second-side feature points XL ，d YL ) The calculation can be obtained based on the following calculation formula:
d XL ＝d X -d vehicle width of target vehicle *cosα；
d YR ＝d Y +d Vehicle width of target vehicle *sinα。
And step S4: predicting the collision risk of each target vehicle and the own vehicle according to the coordinates of the first sub-target feature point, the second sub-target feature point and the third sub-target feature point of each target vehicle and the initial motion state of the target vehicle, and obtaining a prediction result;
as shown in fig. 3, specifically, the predicting the collision risk between each target vehicle and the own vehicle according to the coordinates of the first sub-target feature point, the second sub-target feature point, and the third sub-target feature point of each target vehicle and the initial motion state of the target vehicle, and obtaining a prediction result includes:
if the target vehicles exist in the central area, calculating and obtaining collision time of each target vehicle reaching a collision point, comparing each collision time to obtain a lower limit of the collision time, and determining the target vehicle corresponding to the lower limit of the collision time as a collision early warning target;
or if the target vehicle exists in the front side area or the rear side area, determining a collision risk area of the host vehicle with each target vehicle based on the initial position, the initial running state and the running state of the host vehicle;
calculating and obtaining the time of the middle characteristic point, the first side characteristic point and the second side characteristic point of each target vehicle reaching the boundary of the collision risk area according to the coordinates of the middle characteristic point, the first side characteristic point and the second side characteristic point of each target vehicle and the initial motion state of the target vehicle; calculating and obtaining the time of the self vehicle reaching the boundary of the collision risk area according to the running state of the self vehicle;
and predicting the collision risk of each target vehicle and the own vehicle according to the middle characteristic point, the first side characteristic point and the second side characteristic point of each target vehicle and the time of the own vehicle reaching the boundary of the collision risk area, and obtaining the collision early warning target.
In an alternative embodiment of the present application, one of the other vehicles in the area around the host vehicle is selected as the target vehicle, and the target vehicle is used as a reference to calculateTime to collision in the X-axis direction; when a plurality of optional target vehicles exist in the central area, the coordinates of the intermediate characteristic points of the target vehicles, the initial running state and the running state (V) of the own vehicle are combined Bicycle with wheel ，V Bicycle The running speed of the vehicle) is calculated, the collision time of each target vehicle reaching the collision point in the X-axis direction is obtained, each collision time is compared, the minimum collision time in the X-axis direction is determined as the lower limit of the collision time, and the target vehicle corresponding to the lower limit of the collision time is determined as the collision early warning target.
In an alternative embodiment of the present application, as shown in fig. 3, one of the other vehicles in the area around the host vehicle is selected as a target vehicle, a rectangular frame corresponding to the target vehicle is obtained with the target vehicle as a reference, and since the target vehicle is not in the center area, 3 points of the rectangular frame are respectively used as the middle feature point, the first side feature point, and the second side feature point of the target vehicle.
Based on the fact that two sides of the rectangular frame parallel to the running direction (pointed by the arrow) extend and form a cross area with the central area, the embodiment of the present application obtains a collision risk area based on the cross area, namely, a quadrangle surrounded by LMPNs in fig. 3.
Two sides LM and NP of the quadrangle are two boundaries of the collision risk area, specifically, a left boundary and a right boundary.
Respectively calculating target characteristic points, namely the time of the middle characteristic point, the first side characteristic point and the second side characteristic point of the target vehicle reaching and driving away from the left boundary and the right boundary of the collision risk area, and the time of the own vehicle reaching and driving away from the same longitudinal distance; if the time period of the self-vehicle in the collision risk area is overlapped with the time periods of the target vehicle reaching and leaving the collision risk area, determining that the collision risk exists, and determining the target vehicle as a collision early warning target;
for example: coordinates of the middle feature point, the first side feature point and the second feature point of the target vehicle are obtained,the method specifically comprises a first coordinate point and a second coordinate point in coordinates; at the same time, V of the running speed V of the target vehicle in the Y-axis direction is obtained Y ；
Based on the coordinates of the middle feature point, the first side feature point, and the second feature point of the target vehicle, and the running speed V of the target vehicle in the Y-axis direction Y Calculating and obtaining the distance from the target vehicle to the left boundary and the right boundary of the collision risk area;
wherein the time t to reach the left boundary of the collision risk region of the target vehicle may be calculated based on the following formula L ；
The time t for obtaining the arrival of the target vehicle at the right boundary of the collision risk region may be calculated based on the following formula R ；
Specifically, based on the above formula, it can be obtained that the time t at which the middle feature point of the target vehicle reaches the left boundary of the collision risk region Middle L (ii) a Time t when the middle feature point of the target vehicle reaches the right boundary of the collision risk area Intermediate R ；
Time t at which first side feature point (right side) of target vehicle reaches left boundary of collision risk region Right L (ii) a Time t at which the first side feature point (right side) of the target vehicle reaches the right boundary of the collision risk region Right R ；
Time t at which the second side feature point (left side) of the target vehicle reaches the left boundary of the collision risk region Left L (ii) a Time t at which the second-side feature point (left side) of the target vehicle reaches the right boundary of the collision risk area Left R ；
The time for the target vehicle to travel into the collision risk zone is:
t target vehicle entering ＝min(t Middle L 、t Intermediate R 、t Right L 、t Right R 、t Left L 、t Left R )；
The time for the target vehicle to leave the collision risk zone is:
t target vehicle out ＝max(t Middle L 、t Middle R 、t Right L 、t Right R 、t Left L 、t Left R )；
Further, the distance between the left side of the tail of the vehicle and the left side of the head of the vehicle and the collision point in the X-axis direction is calculated and obtained by combining the length of the vehicle, wherein the distance X between the left side of the tail of the vehicle and the collision point in the X-axis direction Tail L Distance X between the right side of the tail and the collision point in the X-axis direction Tail R Distance X between the left side of the head and the collision point in the X-axis direction Head L Distance X between right side of head and collision point in X-axis direction Head R ；
Then, the distance X between the left side of the tail of the vehicle and the collision point in the X-axis direction Tail L The calculation can be obtained based on the following formula:
X tail L ＝d X +t L *V X ；
The distance X between the right side of the tail of the vehicle and the collision point in the X-axis direction Tail R The calculation can be obtained based on the following formula:
X tail R ＝d X +t R *V X ；
Distance X between the left side of the vehicle head and the collision point in the X-axis direction Head L The calculation can be obtained based on the following formula:
X head L ＝d X +t L *V X -d Width of bicycle ；
Distance X between right side of vehicle head and collision point in X-axis direction Head R The calculation can be obtained based on the following formula:
X head R ＝d X +t R *V X -d Width of bicycle ；
Correspondingly, the time when the self vehicle passes through the collision point is respectively as follows: t is t X tail L 、t X tail R 、t X head L And t X head R ；
And t is X tailL ＝X Tail L /V Bicycle ；
In the formula, V Bicycle with wheel The running speed of the self vehicle is obtained;
similarly, t can be obtained by calculation based on the above formula X tail R 、t X head L And t X head R 。
The time for the own vehicle to travel into the collision risk area is:
t from the vehicle into ＝min(t X tail L 、t X tail R 、t X head L 、t X head R )；
The time for the vehicle to leave the collision risk area is as follows:
t go out of the vehicle ＝max(t X tail L 、t X tail R 、t X head L 、t X head R )；
Specifically, when the target vehicle and the own vehicle do not appear in the collision risk area at the same time, it is considered that there is no collision risk:
1) When t is From the vehicle into ＞t Target vehicle exit If the vehicle is in the collision risk area, the target vehicle is already driven away from the collision risk area, so that the target vehicle and the vehicle cannot collide with each other, and therefore, the collision risk is avoided.
2) When t is Target vehicle exit ＜t From the vehicle into If the collision risk area is not a collision risk area, the target vehicle enters the collision risk area after the host vehicle leaves the collision risk area.
In addition to the above two states, in any other state, a target may be present in a collision risk area simultaneously with the own vehicle, and therefore there is a collision risk, and it is necessary to determine the target vehicle as a collision warning target.
In an alternative embodiment of the present application, as shown in fig. 4, the target vehicle travels from the left side of the vehicle to the opposite side of the vehicle, that is, the target vehicle is located in the front side area;
based on the prior art, if the target vehicle is abstracted to be the closest point (or the head center point of the target vehicle), the possible collision points are the M point and the P point, or (the possible collision points are the Q point and the S point); when the rear side of the target vehicle passes through the point M (point Q), and the closest point of the target vehicle does not reach the point M (point Q), it is erroneously determined that there is no collision risk, and actually the head of the target vehicle may collide with the left side of the host vehicle;
based on the above calculation method of the present application, the time for the target vehicle and the vehicle to enter and leave the collision risk area is:
t from the vehicle into ＝t X head R ；t Go out of the vehicle ＝t X tail L ；
t Target vehicle entering ＝t Right L ；t Target vehicle exit ＝t Left R ；
Then 1) when t From the vehicle into ＞t Target vehicle exit I.e. t X head R ＞t Left R When the vehicle right front side reaches the collision risk zone boundary point P, the left characteristic point of the target vehicle has moved away from the right boundary of the collision risk zone, and therefore, it is considered that there is no collision risk.
2) When t is Coming out of the vehicle ＜t Target vehicle entering I.e. t X tail L ＜t Right L When the vehicle runs off the collision risk area boundary L on the left and right sides, the right characteristic point of the target vehicle reaches the left boundary of the collision risk area, and therefore, no collision risk is considered;
3) When the rear side of the own vehicle is not completely driven out of the collision risk area (the left and right sides of the own vehicle do not pass the L point), the right side feature point of the target vehicle has entered the collision risk area (the right side feature point of the target vehicle has passed the L point), i.e., t X tail L ＞t Right L If so, determining that the left rear side of the self vehicle has collision risk with the target vehicle, and therefore, judging the target vehicle as a collision early warning target;
according to an optional embodiment of the application, a certain size expansion coefficient can be increased for constructing a rectangular frame of a target vehicle, and more appropriate driver reaction time can be provided for collision risk early warning.
Step S5: and early warning the self-vehicle according to the prediction result.
According to the embodiment of the application, the influence of the size and the running direction of the target vehicle is fully considered, the missing report and the false report of collision early warning are reduced, compared with the mode that the target vehicle is abstracted into a single point, the calculated amount of two points is increased, the target vehicle with the larger size can be better adapted to the target vehicle with the larger size on the basis of reusing the original collision algorithm, and the collision early warning target is early warned.
As shown in fig. 5, an embodiment of the present application also provides a vehicle collision warning apparatus 50, including:
an obtaining module 51, configured to obtain an initial position and an initial motion state of each target vehicle;
a determining module 52, configured to determine a target feature point of each target vehicle according to the initial position and the initial motion state of each target vehicle; the target feature points comprise first sub-target feature points, second sub-target feature points and third sub-target feature points;
an obtaining module 53, configured to obtain coordinates of the first sub-goal feature point, the second sub-goal feature point, and the third sub-goal feature point of each target vehicle;
the prediction module 54 is configured to predict the collision risk between each target vehicle and the own vehicle according to the coordinates of the first sub-target feature point, the second sub-target feature point, and the third sub-target feature point of each target vehicle and the initial motion state of the target vehicle, and obtain a prediction result;
and the early warning module 55 is used for early warning the self-vehicle according to the prediction result.
Optionally, the obtaining the initial position and the initial motion state of each target vehicle includes:
dividing the peripheral area of the self-vehicle based on the position of the self-vehicle to obtain a central area, a lateral front area and a lateral rear area;
determining a target area of each target vehicle, and determining the initial position of each target vehicle according to the target area;
acquiring the initial motion state of each target vehicle; wherein the initial motion state includes a running speed and a running direction of each of the target vehicles.
Optionally, the determining a target feature point of each target vehicle according to the initial position and the initial motion state of each target vehicle includes:
if the initial position of the target vehicle is located in the central area, determining the target feature point based on a first preset rule; the first preset rule is that a rectangular frame is determined based on the target vehicle, a middle feature point is determined according to the center of a rectangular edge where the head or the tail of the target vehicle is located, and a first side feature point and a second side feature point are determined according to two corner points of the rectangular edge where the head or the tail of the target vehicle is located;
or if the initial position of the target vehicle is located in the front side area or the rear side area, determining the target feature point based on a second preset rule; the second preset rule is to determine the middle feature point, the first side feature point and the second side feature point based on the four corner points of the rectangular frame.
Optionally, the respectively obtaining coordinates of the first sub-goal feature point, the second sub-goal feature point, and the third sub-goal feature point of each target vehicle includes:
if the initial position of the target vehicle is located in the center area, determining a first coordinate point of coordinates of the first side feature point and a second side feature point based on a first coordinate point of coordinates of the middle feature point of the target vehicle; determining a second coordinate point of coordinates of the first side feature point and the second side feature point based on a second coordinate point of coordinates of the intermediate feature point of the target vehicle and the vehicle width of the target vehicle.
Optionally, the obtaining the coordinates of the first sub-target feature point, the second sub-target feature point, and the third sub-target feature point of each target vehicle respectively further includes:
if the initial position of the target vehicle is located in the front side area, acquiring coordinates of the intermediate characteristic point of the target vehicle and the initial running state of the target vehicle, and judging the type of the running state of the target vehicle according to the coordinates of the intermediate characteristic point of the target vehicle and the initial running state of the target vehicle;
if the target vehicle belongs to a first running state, determining the coordinate of the first side characteristic point based on the coordinate of the middle characteristic point of the target vehicle and the vehicle length of the target vehicle; determining coordinates of the second side feature point based on the coordinates of the middle feature point of the target vehicle and the vehicle width of the target vehicle;
if the target vehicle belongs to a second driving state, determining the coordinate of the first side characteristic point based on the coordinate of the middle characteristic point of the target vehicle and the vehicle width of the target vehicle; determining coordinates of the second side feature point based on the coordinates of the middle feature point of the target vehicle and the vehicle length of the target vehicle.
Optionally, the obtaining coordinates of the first sub-goal feature point, the second sub-goal feature point, and the third sub-goal feature point of each target vehicle respectively further includes:
if the initial position of the target vehicle is located in the rear-side area, acquiring coordinates of the intermediate feature point of the target vehicle and the initial running state of the target vehicle, and judging the type of the running state of the target vehicle according to the coordinates of the intermediate feature point of the target vehicle and the initial running state of the target vehicle;
if the target vehicle belongs to a third traveling state, determining the coordinate of the first side characteristic point based on the coordinate of the middle characteristic point of the target vehicle and the vehicle width of the target vehicle; determining coordinates of the second side feature point based on the coordinates of the middle feature point of the target vehicle and the vehicle length of the target vehicle;
if the target vehicle belongs to a fourth driving state, determining the coordinate of the first side characteristic point based on the coordinate of the middle characteristic point of the target vehicle and the vehicle length of the target vehicle; and determining the coordinates of the second side characteristic point based on the coordinate point of the middle characteristic point of the target vehicle and the vehicle width of the target vehicle.
Optionally, the predicting the collision risk between each target vehicle and the own vehicle according to the coordinates of the first sub-target feature point, the second sub-target feature point, and the third sub-target feature point of each target vehicle and the initial motion state of the target vehicle, and obtaining a prediction result includes:
if the target vehicles exist in the central area, calculating and obtaining collision time of each target vehicle reaching a collision point, comparing each collision time to obtain a lower limit of the collision time, and determining the target vehicle corresponding to the lower limit of the collision time as a collision early warning target;
or if the target vehicle exists in the front side area or the rear side area, determining a collision risk area of the host vehicle with each target vehicle based on the initial position, the initial running state and the running state of the host vehicle;
calculating and obtaining the time of the middle characteristic point, the first side characteristic point and the second side characteristic point of each target vehicle reaching the boundary of the collision risk area according to the coordinates of the middle characteristic point, the first side characteristic point and the second side characteristic point of each target vehicle and the initial motion state of the target vehicle; calculating and obtaining the time of the self vehicle reaching the boundary of the collision risk area according to the running state of the self vehicle;
and predicting the collision risk of each target vehicle and the own vehicle according to the middle characteristic point, the first side characteristic point and the second side characteristic point of each target vehicle and the time of the own vehicle reaching the boundary of the collision risk area, and obtaining the collision early warning target.
Embodiments of the present application also provide an electronic device comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the method as described above when executing the computer program.
Embodiments of the present application also provide a computer-readable storage medium comprising a stored computer program, wherein the computer program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the method as described above.
In addition, other configurations and functions of the apparatus according to the embodiments of the present application are known to those skilled in the art, and are not described herein for reducing redundancy.
It should be noted that the logic and/or steps shown in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following technologies, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description of the present specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present application, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as the case may be.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. A vehicle collision warning method is characterized by comprising the following steps:
acquiring an initial position and an initial motion state of each target vehicle;
determining a target feature point of each target vehicle according to the initial position and the initial motion state of each target vehicle; the target feature points comprise first sub-target feature points, second sub-target feature points and third sub-target feature points;
respectively obtaining coordinates of the first sub-goal feature point, the second sub-goal feature point and the third sub-goal feature point of each target vehicle;
predicting the collision risk of each target vehicle and the own vehicle according to the coordinates of the first sub-target feature point, the second sub-target feature point and the third sub-target feature point of each target vehicle and the initial motion state of the target vehicle, and obtaining a prediction result;
and early warning the self-vehicle according to the prediction result.
2. The method of claim 1, wherein the obtaining of the initial position and the initial motion state of each target vehicle comprises:
dividing the surrounding area of the self-vehicle based on the position of the self-vehicle and a preset dividing rule to obtain a central area, a front side area and a rear side area;
determining a target area of each target vehicle, and determining the initial position of each target vehicle according to the target area;
acquiring the initial motion state of each target vehicle; wherein the initial motion state comprises the running speed and the running direction of each target vehicle.
3. The method of claim 2, wherein said determining target feature points for each of said target vehicles based on said initial position and said initial state of motion of each of said target vehicles comprises:
if the initial position of the target vehicle is located in the central area, determining the target feature point based on a first preset rule; the first preset rule is that a rectangular frame is determined based on the target vehicle, a middle feature point is determined according to the center of a rectangular edge where the head or the tail of the target vehicle is located, and a first side feature point and a second side feature point are determined according to two corner points of the rectangular edge where the head or the tail of the target vehicle is located;
or if the initial position of the target vehicle is located in the front side area or the rear side area, determining the target feature point based on a second preset rule; the second preset rule is to determine the middle feature point, the first side feature point and the second side feature point based on the four corner points of the rectangular frame.
4. The method of claim 3, wherein the obtaining coordinates of the first, second, and third sub-goal feature points of each of the target vehicles respectively comprises:
if the initial position of the target vehicle is located in the center area, determining a first coordinate point of coordinates of the first side feature point and a second side feature point based on a first coordinate point of coordinates of the middle feature point of the target vehicle; determining a second coordinate point of the coordinates of the first side feature point and the second side feature point based on a second coordinate point of the coordinates of the middle feature point of the target vehicle and the vehicle width of the target vehicle.
5. The method of claim 3, wherein the obtaining coordinates of the first, second, and third sub-target feature points of each of the target vehicles, respectively, further comprises:
if the initial position of the target vehicle is located in the front side area, acquiring coordinates of the intermediate characteristic point of the target vehicle and the initial running state of the target vehicle, and judging the type of the running state of the target vehicle according to the coordinates of the intermediate characteristic point of the target vehicle and the initial running state of the target vehicle;
if the target vehicle belongs to a first running state, determining the coordinate of the first side characteristic point based on the coordinate of the middle characteristic point of the target vehicle and the vehicle length of the target vehicle; determining coordinates of the second side feature point based on the coordinates of the intermediate feature point of the target vehicle and the vehicle width of the target vehicle;
if the target vehicle belongs to a second driving state, determining the coordinate of the first side characteristic point based on the coordinate of the middle characteristic point of the target vehicle and the vehicle width of the target vehicle; determining coordinates of the second side feature point based on the coordinates of the middle feature point of the target vehicle and the vehicle length of the target vehicle.
6. The method of claim 3, wherein the obtaining coordinates of the first, second, and third sub-target feature points of each of the target vehicles, respectively, further comprises:
if the initial position of the target vehicle is located in the rear-side area, acquiring coordinates of the intermediate characteristic point of the target vehicle and the initial running state of the target vehicle, and judging the running state type of the target vehicle according to the coordinates of the intermediate characteristic point of the target vehicle and the initial running state of the target vehicle;
if the target vehicle belongs to a third traveling state, determining the coordinate of the first side characteristic point based on the coordinate of the middle characteristic point of the target vehicle and the vehicle width of the target vehicle; determining coordinates of the second side feature point based on the coordinates of the middle feature point of the target vehicle and the vehicle length of the target vehicle;
if the target vehicle belongs to a fourth driving state, determining the coordinate of the first side characteristic point based on the coordinate of the middle characteristic point of the target vehicle and the vehicle length of the target vehicle; determining coordinates of the second side feature point based on a coordinate point of the middle feature point of the target vehicle and a vehicle width of the target vehicle.
7. The method according to claim 3, wherein the predicting the collision risk of each target vehicle with the own vehicle according to the coordinates of the first, second and third sub-target feature points of each target vehicle and the initial motion state of the target vehicle and obtaining the prediction result comprises:
if the target vehicles exist in the central area, calculating and obtaining collision time of each target vehicle reaching a collision point, comparing each collision time to obtain a lower limit of the collision time, and determining the target vehicle corresponding to the lower limit of the collision time as a collision early warning target;
or if the target vehicle exists in the front side area or the rear side area, determining a collision risk area of the host vehicle with each target vehicle based on the initial position, the initial running state and the running state of the host vehicle;
calculating and obtaining the time of the middle characteristic point, the first side characteristic point and the second side characteristic point of each target vehicle reaching the boundary of the collision risk area according to the coordinates of the middle characteristic point, the first side characteristic point and the second side characteristic point of each target vehicle and the initial motion state of the target vehicle; calculating and obtaining the time of the self vehicle reaching the boundary of the collision risk area according to the running state of the self vehicle;
and predicting the collision risk of each target vehicle and the own vehicle according to the middle characteristic point, the first side characteristic point and the second side characteristic point of each target vehicle and the time of the own vehicle reaching the boundary of the collision risk area, and obtaining the collision early warning target.
8. A vehicle collision warning apparatus, comprising:
the acquisition module is used for acquiring the initial position and the initial motion state of each target vehicle;
the determining module is used for determining a target feature point of each target vehicle according to the initial position and the initial motion state of each target vehicle; the target feature points comprise first sub-target feature points, second sub-target feature points and third sub-target feature points;
an obtaining module, configured to obtain coordinates of the first sub-target feature point, the second sub-target feature point, and the third sub-target feature point of each target vehicle, respectively;
the prediction module is used for predicting the collision risk between each target vehicle and the own vehicle according to the coordinates of the first sub-target feature point, the second sub-target feature point and the third sub-target feature point of each target vehicle and the initial motion state of the target vehicle, and obtaining a prediction result;
and the early warning module is used for early warning the self-vehicle according to the prediction result.
9. An electronic device comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, comprising a stored computer program, wherein the computer program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the method of any one of claims 1-7.
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