CN117831297A

CN117831297A - Vehicle early warning method, device, equipment and storage medium

Info

Publication number: CN117831297A
Application number: CN202410044086.1A
Authority: CN
Inventors: 宋君子; 张广岐; 陈聪; 杨明; 王易之
Original assignee: Anhui Xingyun Internet Technology Co ltd
Current assignee: Anhui Xingyun Internet Technology Co ltd
Priority date: 2024-01-11
Filing date: 2024-01-11
Publication date: 2024-04-05

Abstract

The invention discloses a vehicle early warning method, device, equipment and storage medium. The method comprises the following steps: acquiring video information of a current area acquired by sensing equipment at a bus station side; identifying the video information of the current region to obtain the state information of each object in the object set in the current region; dividing a current area according to the state information of each object in the object set to obtain a primary early warning area and a secondary early warning area corresponding to each object; if the object is in the first-level early warning area corresponding to the object, early warning information is generated; if the object is in the secondary early warning area corresponding to the object, the course angle of the object is in the target range, and collision risks exist between the object and other objects, early warning information is generated.

Description

Vehicle early warning method, device, equipment and storage medium

Technical Field

The embodiment of the invention relates to the technical field of vehicles, in particular to a vehicle early warning method, device, equipment and storage medium.

Background

The internet of vehicles technology is widely used in various road safety early warning scenes, and particularly focuses on active early warning of driving safety of vehicles. However, smart buses are an important component of a smart traffic system, and are limited by the construction lag of public traffic infrastructure, the implementation of the current smart bus development strategy is still in a starting stage, and the following problems exist at the current urban bus stops:

pedestrians and vehicles at the bus stop gather, and potential safety hazards exist for rear traffic participants due to vision blind areas. The bus is high in body position, so that the rear vehicles and pedestrians are easy to be shielded, and when the pedestrians and non-motor vehicles in front suddenly run out, potential safety hazards for causing traffic accidents exist. In addition, if traffic accidents occur at the bus stop, the traffic accidents are easy to cause the congestion of nearby roads to be aggravated, and the rear vehicles, especially the non-intelligent network-connected vehicles, are easy to cause secondary accidents due to the fact that information acquisition is delayed.

Disclosure of Invention

The embodiment of the invention provides a vehicle early warning method, device, equipment and storage medium, which can ensure the traffic safety of traffic participants near a platform by carrying out early warning reminding on the traffic participants, and greatly reduce the potential traffic safety hazards caused by sight blind areas.

According to an aspect of the present invention, there is provided a vehicle early warning method including:

acquiring video information of a current area acquired by sensing equipment at a bus station side;

identifying the video information of the current region to obtain the state information of each object in the object set in the current region, wherein the state information of the objects comprises: heading angle of the object;

dividing a current area according to the state information of each object in the object set to obtain a primary early warning area and a secondary early warning area corresponding to each object;

if the object is in the first-level early warning area corresponding to the object, early warning information is generated;

if the object is in the secondary early warning area corresponding to the object, the course angle of the object is in the target range, and collision risk exists between the object and other objects, early warning information is generated.

According to another aspect of the present invention, there is provided a vehicle early-warning device including:

the video information acquisition module is used for acquiring video information of the current area acquired by the bus station side sensing equipment;

the video information identification module is used for identifying the video information of the current area to obtain the state information of each object in the object set in the current area, wherein the state information of the objects comprises: heading angle of the object;

The area dividing module is used for dividing the current area according to the state information of each object in the object set to obtain a primary early warning area and a secondary early warning area corresponding to each object;

the first early warning information generation module is used for generating early warning information if the object is in the primary early warning area corresponding to the object;

the second early warning information generation module is used for generating early warning information if the object is in a secondary early warning area corresponding to the object, the course angle of the object is in a target range, and collision risks exist between the object and other objects.

According to another aspect of the present invention, there is provided an electronic apparatus including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle warning method according to any one of the embodiments of the present invention.

According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute a vehicle warning method according to any one of the embodiments of the present invention.

The embodiment of the invention acquires the video information of the current area acquired by the sensing equipment at the bus station side; identifying the video information of the current region to obtain the state information of each object in the object set in the current region; dividing a current area according to the state information of each object in the object set to obtain a primary early warning area and a secondary early warning area corresponding to each object; if the object is in the first-level early warning area corresponding to the object, early warning information is generated; if the object is in the secondary early warning area corresponding to the object, the course angle of the object is in the target range, and collision risks exist between the object and other objects, early warning information is generated, early warning and reminding can be carried out on traffic participants, traffic safety of the traffic participants near the platform is guaranteed, and potential traffic safety hazards caused by sight blind areas are greatly reduced.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a vehicle warning method in an embodiment of the invention;

FIG. 2 is a schematic diagram of a vehicle warning device according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of an electronic device in an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It will be appreciated that prior to using the technical solutions disclosed in the embodiments of the present disclosure, the user should be informed and authorized of the type, usage range, usage scenario, etc. of the personal information related to the present disclosure in an appropriate manner according to the relevant legal regulations.

Example 1

Fig. 1 is a flowchart of a vehicle early warning method provided by an embodiment of the present invention, where the embodiment is applicable to a vehicle early warning situation, the method may be performed by a vehicle early warning device in the embodiment of the present invention, and the device may be implemented in a software and/or hardware manner, as shown in fig. 1, and the method specifically includes the following steps:

s110, acquiring video information of a current area acquired by the bus station side sensing equipment.

It should be noted that, the vehicle early warning method provided by the embodiment of the invention is applied to an intelligent bus system, and the intelligent bus system comprises: and the bus station is provided with display equipment, sensing equipment and traffic participants. The traffic participant may include: the system comprises a disadvantaged traffic participant, a non-internet-connected vehicle and an internet-connected vehicle, wherein the internet-connected vehicle can be an internet-connected bus (an On Board Unit (intelligent vehicle-mounted Unit) installed On the bus), and the internet-connected vehicle can display early warning information through a vehicle tail screen. The core module is built in the OBU, and the V2X signal can be transmitted without extra communication cost.

The sensing device may be a camera, or may be other devices for collecting video information, which is not limited in the embodiment of the present invention.

The current area is an acquisition area corresponding to the bus station side sensing equipment. The video information of the current region includes: at least one frame of image corresponding to the current area.

Specifically, the manner of acquiring the video information of the current area acquired by the bus station side sensing device may be: the bus station side sensing equipment collects video information of a current area, the bus station side sensing equipment sends the video information of the current area to the server, and the server receives the video information of the current area sent by the bus station side sensing equipment.

S120, identifying the video information of the current area to obtain the state information of each object in the object set in the current area.

Wherein the state information of the object includes: heading angle of an object, and state information of the object further comprises: at least one of position information of the object, size information of the object, lateral safety distance of the object, traveling speed of the object, and heading angle of the object.

Specifically, the method for identifying the video information of the current area to obtain the state information of each object in the object set in the current area may be: and identifying each frame of image to obtain the state information of each object in the object set in the current area corresponding to each frame of image as the video information of the current area comprises at least one frame of image.

And S130, dividing the current area according to the state information of each object in the object set to obtain a primary early warning area and a secondary early warning area corresponding to each object.

The dangerous grade corresponding to the primary early warning area is higher than the dangerous grade corresponding to the secondary early warning area. The current area consists of a primary early warning area and a secondary early warning area.

Specifically, the method for dividing the current area according to the state information of each object in the object set to obtain the first-level early-warning area and the second-level early-warning area corresponding to each object may be as follows: dividing the current area according to the position information of the object, the size information of the object, the transverse safety distance of the object and the running speed of the object to obtain a primary early warning area and a secondary early warning area corresponding to each object.

Optionally, the state information of the object includes: position information of the object, size information of the object, lateral safety distance of the object, and travel speed of the object;

dividing the current area according to the state information of each object in the object set to obtain a primary early warning area and a secondary early warning area corresponding to each object, wherein the method comprises the following steps:

Determining the width of a primary early warning area corresponding to each object according to the size information of each object in the object set and the transverse safety distance of the object;

determining the length of a primary early warning area corresponding to each object according to the running speed of each object;

determining a primary early warning area corresponding to each object according to the position information of each object, the width of the primary early warning area corresponding to each object and the length of the primary early warning area corresponding to each object;

and determining a secondary early warning area corresponding to each object according to the primary early warning area corresponding to each object and the current area.

Wherein the size information of the object includes: the object width may be, for example, a vehicle width, and if the object is a vehicle, the size information of the object may be the vehicle width.

Specifically, the method for determining the width of the primary early warning area corresponding to each object according to the size information of each object in the object set and the lateral safety distance of the object may be: and determining the sum of the size information of the object and the transverse safety distance of the object with a preset multiple as the width of the primary early warning area corresponding to the object.

Specifically, the manner of determining the length of the primary early warning area corresponding to each object according to the running speed of each object may be: and determining the length of the primary early warning area corresponding to each object according to the running speed of each object and a preset value.

Specifically, the determining the secondary early warning area corresponding to each object according to the primary early warning area corresponding to each object and the current area may be: and determining other areas except the primary early warning area corresponding to the object in the current area as secondary early warning areas.

It should be noted that the primary pre-warning area and the secondary pre-warning area corresponding to different objects may be the same or different, and the primary pre-warning area and the secondary pre-warning area corresponding to the objects are related to the state information of the objects.

And S140, if the object is in the primary early warning area corresponding to the object, generating early warning information.

The early warning information may include at least one of text information, voice information and picture information, which is not limited in the embodiment of the present invention. The pre-warning information may include a current bus stop traffic situation.

Specifically, if the object is in the first-level early warning area corresponding to the object, the early warning information may be generated by: judging whether the object is in the primary early warning area corresponding to the object according to the position information of the object and the primary early warning area, and generating early warning information if the object is in the primary early warning area corresponding to the object.

Optionally, after the early warning information is generated, the early warning information is sent to the traffic participants, so that early warning of the traffic participants is achieved.

It should be noted that, the way of sending the early warning information to the traffic participant may be: and sending the early warning information to the internet-connected vehicle in the current area, and displaying the early warning information through a tail screen of the internet-connected vehicle. The early warning information can also be sent to the platform display device, and then the early warning information is sent to the platform early warning device, so that the platform early warning device can perform early warning.

Optionally, if the object is in the first-level early warning area corresponding to the object, early warning information is generated, including:

if the object is in the primary early warning area corresponding to the object, acquiring the type of the object;

if the object type is a first type traffic participant, generating early warning information and sending the early warning information to the platform early warning equipment so as to enable the platform early warning equipment to perform early warning, wherein the first type traffic participant comprises: disadvantaged traffic participants and/or off-network vehicles;

if the object type is a second type traffic participant, generating early warning information and sending the early warning information to the object, wherein the second type traffic participant comprises: and (5) a network-connected vehicle.

Wherein, the handicapped traffic participants comprise pedestrians, two-wheelers, tricycles, scooters and the like.

The platform early warning equipment comprises platform display equipment and/or platform playing equipment.

Specifically, if the object type is a first type traffic participant, early warning information is generated and sent to the platform early warning device, so that the platform early warning device can perform early warning in the following manner: if the object type is a weak traffic participant or a non-networked vehicle, forming early warning information, and sending the early warning information to the platform early warning equipment so as to enable the platform early warning equipment to perform early warning.

Specifically, if the object type is a second type traffic participant, the method for generating the early warning information and sending the early warning information to the object may be: if the object type is a network-connected vehicle, generating early warning information, sending the early warning information to the object, and displaying the early warning information through a tail screen of the object.

It should be noted that, because the platform early warning device provided by the embodiment of the invention includes: the platform playing device can play the early warning information, so that the early warning of special groups is realized.

if the object type is a weak traffic participant, generating early warning information and sending the early warning information to the platform early warning equipment so as to enable the platform early warning equipment to perform early warning;

if the object type is a network-connected vehicle, generating early warning information and sending the early warning information to the object;

if the object type is not the internet-connected vehicle, generating early warning information, and displaying the early warning information through a tail screen of the internet-connected vehicle adjacent to the object.

Specifically, if the object type is not an internet-connected vehicle, the early warning information is generated, and the early warning information is displayed on the tail screen of the internet-connected vehicle adjacent to the object in the following manner: if the object type is not the internet-connected vehicle, generating early warning information, sending the early warning information to the internet-connected vehicle adjacent to the object, and displaying the early warning information through a tail screen of the internet-connected vehicle adjacent to the object.

Specifically, if the object type is a network-connected vehicle, early warning information can be directly sent to the network-connected vehicle, so that early warning of the network-connected vehicle is realized.

In one specific example, various road warning information is broadcast at the platform through an LED screen or voice prompt device to remind pedestrians and other vehicles of paying attention to bus stops and various potential road dangerous situations.

And S150, if the object is in the secondary early warning area corresponding to the object, the course angle of the object is in the target range, and collision risk exists between the object and other objects, early warning information is generated.

It should be noted that, if only one secondary early warning area is included, the target range is a preset heading angle range, for example, if the secondary early warning area is located at the left side of the primary early warning area, the target range is 45-135 degrees. If the secondary early warning area is positioned on the right side of the primary early warning area, the target range is 225-315 degrees. If the two secondary early warning areas are included, the target range of the secondary early warning area positioned at the left side of the primary early warning area is 45-135 degrees, and the target range of the secondary early warning area positioned at the right side of the primary early warning area is 225-315 degrees.

Wherein, the early warning information may include: the location information of the object at risk of collision may further include: the distance between the current object and the collision position may be, for example, how many meters in front of the pre-warning information is at risk of collision, or a collision at a front intersection.

According to the embodiment of the invention, the road side information (vehicles, pedestrians and road ends) and the self-vehicle road collaborative decision early warning information are displayed in high efficiency, accuracy and real time through the Internet-connected tail screen and the platform display equipment, so that other vehicles and platform pedestrians at the rear can timely perceive traffic early warning information.

The embodiment of the invention provides collision early warning for pedestrians and/or vehicles at the platform, eliminates the visual blind area behind the bus, and reduces the potential safety hazards. And by utilizing the communication between V2I (Vehicle to Infrastructure) and the vehicle-to-infrastructure, the information communication between the buses and the bus stops is effectively realized. When pedestrians intrude into or vehicles drive into the platform, the platform sensing equipment can identify and classify target information, the target information is timely sent to the internet-connected bus by utilizing the V2X technology, early warning of a driver is completed, and the early warning information is displayed on an internet-connected LED display screen additionally arranged at the tail of the bus, so that other surrounding vehicles share V2X early warning data, timely avoidance early warning prompt of the vehicles at the rear is realized, and therefore road safety near the bus platform is effectively improved.

In a specific example, the vehicle pre-warning method includes: the real-time image data near the platform is collected through a camera, and the detection and the identification of pedestrians and vehicles are carried out through computer vision algorithms such as image processing, target identification and the like. Radar and sensors are used to measure distance and speed information of surrounding objects. The sensing devices send the acquired data to a server, which further processes the data. The server receives the nearby RSU and various vehicle-mounted OBU messages simultaneously, generates early warning information after various networking messages are fused, for example, comprehensively analyzes the position, speed, track prediction and other information of pedestrians and vehicles in combination with traffic conditions, and when the analysis detects that pedestrians at the platform mistakenly break a road or the vehicles violate rules, the module generates corresponding early warning information (such as weak early warning and illegal occupation) and sends the corresponding early warning information to the bus station early warning terminal, nearby networking buses and other buses. The network bus can timely display the early warning information on the LED tail screen after receiving the early warning information, and is used for providing front early warning information for dead zone vehicles, especially rear non-network vehicles; meanwhile, the early warning information is early warned through the LED screen and the voice prompt equipment of the bus stop, so that pedestrians and other parked vehicles at the bus stop are reminded of paying attention to the arrival of the bus and other possible dangerous situations.

Optionally, if the object is in the secondary early warning area corresponding to the object, the course angle of the object is in the target range, and there is a collision risk between the object and other objects, early warning information is generated, including:

if the object is in the secondary early warning area corresponding to the object, acquiring a target range corresponding to the secondary early warning area where the object is located;

if the course angle of the object is in the target range and collision risk exists between the object and other objects, generating early warning information.

Specifically, if the object is in the secondary early warning area corresponding to the object, the manner of acquiring the target range corresponding to the secondary early warning area where the object is located may be: if the object is in the secondary early warning area corresponding to the object and the secondary early warning area where the object is positioned is at the left side of the primary early warning area, the target range is 45-135 degrees; if the object is in the secondary early warning area corresponding to the object and the secondary early warning area where the object is located is on the right side of the primary early warning area, the target range is 225-315 degrees.

If the object is in the secondary early warning area corresponding to the object, the course angle of the object is in the target range, and collision risks exist between the object and other objects, the object type and the object types of other objects with collision risks are obtained;

if the object type is the second type traffic participant and the object type of other objects with collision risk with the object is the first type traffic participant, generating early warning information and sending the early warning information to the object;

if the object type is the second type traffic participant, generating early warning information and sending the early warning information to the object and other objects with collision risks;

if the object type is a first type traffic participant, generating early warning information and sending the early warning information to the platform early warning equipment so as to enable the platform early warning equipment to perform early warning;

if the object type is a first type traffic participant and the object type of other objects with collision risk with the object is a second type traffic participant, generating early warning information and sending the early warning information to the other objects with collision risk with the object.

It should be noted that, the other objects having collision risk with the object may be one object or may be multiple objects, which is not limited in the embodiment of the present invention. If there are multiple objects, pre-warning is required for all the multiple objects, and if the multiple objects include: and sending the early warning information to an object with the object type of the second type traffic participant, which is adjacent to the object with the object type of the first type traffic participant. Or, the early warning information is sent to the object of which the object type is the second type traffic participant, and the early warning information is displayed through a vehicle tail screen of the object of which the object type is the second type traffic participant.

In a specific example, if the object a is in a secondary early warning area corresponding to the object a, the course angle of the object a is in a target range, collision risk exists between the object a and the object B, the object a is a second type traffic participant, the object B is a first type traffic participant, early warning information is generated, and the early warning information is sent to the object a; if the object A is a second type traffic participant and the object B is a second type traffic participant, generating early warning information and sending the early warning information to the object A and the object B; if the object A is a first type traffic participant and the object B is a first type traffic participant, generating early warning information and sending the early warning information to the platform early warning equipment so as to enable the platform early warning equipment to perform early warning; if the object A is a first type traffic participant and the object B is a second type traffic participant, generating early warning information and sending the early warning information to the object B.

Optionally, the tail screen and the platform display device can both receive and display the road traffic early warning message and the personalized advertisement content issued by the cloud platform. Because the bus is in the mobile state, the traffic of people at the platform is larger, the spread is stronger, the coverage is wider, and the advertising effect is better.

Optionally, the method further comprises:

determining a target range area according to the position information of at least two objects with collision risks;

and sending early warning information to the object in the target range area.

The target range area is an area which affects traffic due to collision of at least two objects.

Specifically, the method for sending the early warning information to the object in the target range area may be: and sending early warning information to the network-connected vehicles in the target range area. The method for sending the early warning information to the object in the target range area may further be: and sending early warning information to the network-connected vehicles in the target range area, and displaying the early warning information through a tail screen of the network-connected vehicles.

In a specific example, the embodiment of the invention displays the near road side information of the bus station and the cooperative decision result of the own road in real time through the LED tail screen of the bus, effectively realizes traffic early warning for the rear blind area vehicle, and particularly can timely display the front road condition information and various traffic participant information for the non-intelligent network-connected vehicle; meanwhile, pedestrians can timely acquire various traffic road condition information through the electronic information display screen at the bus stop

In another specific example, an embodiment of the present invention provides a bus and bus stop linkage early warning system, which mainly includes:

bus stop side sensing system: the system comprises high-definition cameras, laser radars, millimeter wave radars, sensors and the like, and is used for monitoring surrounding environments of bus stops in real time, and mainly comprises pedestrian and vehicle conditions.

The vehicle-road cooperative communication module is as follows: the integrated V2X protocol stack is built in and is responsible for communication between buses and bus stations, data transmission is carried out based on the PC5 technology, the network bus is preloaded with V2X vehicle-mounted units OBU (On Board Unit) equipment, and road-end communication units RSU (Road Side Unit) equipment are arranged at the stations.

And (3) a server: the system is a core part of the whole system and is used for receiving, processing and analyzing various data acquired by the sensing system, judging whether the situation of illegal intrusion of pedestrians and vehicles exists or not, generating early warning information and transmitting the early warning information to related parties. The uploading and the downloading of the remote traffic information can be realized, and the downloading of the personalized customized information is supported according to the requirements of the user.

Bus stop early warning equipment: the system comprises an LED electronic information display large screen and voice prompt equipment, and is used for displaying early warning information to pedestrians and other vehicles in a text mode and a voice mode.

Optionally, if the bus cannot arrive at the station on time due to sudden reasons such as traffic incidents, special weather, traffic control and the like, the platform display equipment can be used for reminding the platform waiting crowd of timely changing the route.

According to the technical scheme, video information of a current area acquired by sensing equipment at the bus station side is acquired; identifying the video information of the current region to obtain the state information of each object in the object set in the current region; dividing a current area according to the state information of each object in the object set to obtain a primary early warning area and a secondary early warning area corresponding to each object; if the object is in the first-level early warning area corresponding to the object, early warning information is generated; if the object is in the secondary early warning area corresponding to the object, the course angle of the object is in the target range, and collision risks exist between the object and other objects, early warning information is generated, and the traffic participants near the bus stop can be warned by early warning, so that the traffic safety of the traffic participants near the bus stop is ensured, and the traffic safety hidden danger caused by the formation of a sight blind area due to the shielding of a bus body of a public traffic is greatly reduced.

Example two

Fig. 2 is a schematic structural diagram of a vehicle early warning device according to an embodiment of the present invention. The embodiment may be suitable for the situation of vehicle early warning, and the device may be implemented in a software and/or hardware manner, and may be integrated in any device that provides a vehicle early warning function, as shown in fig. 2, where the vehicle early warning device specifically includes: the video information acquisition module 210, the video information identification module 220, the region division module 230, the first early warning information generation module 240, and the second early warning information generation module 250.

The system comprises a video information acquisition module, a bus station side sensing device and a bus station side sensing device, wherein the video information acquisition module is used for acquiring video information of a current area acquired by the bus station side sensing device;

The product can execute the method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

Example III

Fig. 3 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 3, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a vehicle warning method.

In some embodiments, the vehicle warning method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle warning method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the vehicle warning method in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. A vehicle warning method, comprising:

2. The method of claim 1, wherein generating the pre-warning information if the object is in the secondary pre-warning area corresponding to the object, the heading angle of the object is in the target range, and there is a collision risk between the object and other objects, comprises:

3. The method of claim 1, wherein the state information of the object comprises: position information of the object, size information of the object, lateral safety distance of the object, and travel speed of the object;

4. The method as recited in claim 1, further comprising:

and sending early warning information to the object in the target range area.

5. The method of claim 1, wherein generating the pre-warning information if the object is within the primary pre-warning region corresponding to the object comprises:

6. The method of claim 1, wherein generating the pre-warning information if the object is in the secondary pre-warning area corresponding to the object, the heading angle of the object is in the target range, and there is a collision risk between the object and other objects, comprises:

7. The method of claim 1, wherein generating the pre-warning information if the object is within the primary pre-warning region corresponding to the object comprises:

8. A vehicle warning device, characterized by comprising:

9. An electronic device, the electronic device comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle warning method of any one of claims 1-7.

10. A computer readable storage medium storing computer instructions for causing a processor to perform the vehicle warning method of any one of claims 1-7.