CN117922558A

CN117922558A - Vehicle early warning method, device, computer equipment and storage medium

Info

Publication number: CN117922558A
Application number: CN202311668089.4A
Authority: CN
Inventors: 关鑫; 郑欢; 杜雁南; 房诗源; 连政; 鲍雪; 李华玉; 付萌萌; 丁晨阳; 张昊东
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2023-12-06
Filing date: 2023-12-06
Publication date: 2024-04-26

Abstract

The application relates to a vehicle early warning method, a vehicle early warning device, computer equipment and a storage medium, and relates to the technical field of Internet of vehicles. The method comprises the following steps: under the condition that an obstacle exists in the blind area range of the target vehicle, acquiring the lane attribute of a first lane where the target vehicle is currently located, the lane attribute of a second lane where the obstacle is currently located and the relative position information of the obstacle; wherein the relative position information of the obstacle includes a relative distance between the obstacle and the target vehicle; determining a distance threshold value for vehicle early warning according to the lane attribute of the first lane and the lane attribute of the second lane; and carrying out vehicle early warning on the target vehicle according to the magnitude relation between the relative distance and the distance threshold value. By adopting the method, whether the vehicle early warning is needed or not can be determined objectively and accurately, the vehicle early warning is automatically carried out on the target vehicle under the condition that the vehicle early warning is needed, the damage of the target vehicle to pedestrians or vehicles in the blind area range is avoided, and the driving safety of the vehicle is improved.

Description

Vehicle early warning method, device, computer equipment and storage medium

Technical Field

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

Background

With the progress of science and technology and the improvement of living standard of people, automobiles become the most common transportation means in life and travel, and the driving safety problem of automobiles is also gaining more and more attention.

When a vehicle changes lanes or turns, a driver typically determines the driving state and position of a neighboring vehicle by looking at left and right rear view mirrors to determine whether it is possible to safely change lanes or turn. However, since the driver has a blind spot in view due to curvature restriction of the left and right mirror glasses, that is, a dead angle exists in the road condition around the vehicle that the driver can observe, it is difficult to find a pedestrian or a vehicle present in the blind spot in time when the vehicle changes lanes or turns, which easily causes traffic accidents.

Disclosure of Invention

Based on the above, it is necessary to provide a vehicle early warning method, device, computer equipment and storage medium capable of early warning in time of dangerous situations in the blind area range.

In a first aspect, the present application provides a vehicle early warning method, including:

under the condition that an obstacle exists in the blind area range of the target vehicle, acquiring the lane attribute of a first lane where the target vehicle is currently located, the lane attribute of a second lane where the obstacle is currently located and the relative position information of the obstacle; wherein the relative position information of the obstacle includes a relative distance between the obstacle and the target vehicle;

Determining a distance threshold value for vehicle early warning according to the lane attribute of the first lane and the lane attribute of the second lane;

And carrying out vehicle early warning on the target vehicle according to the magnitude relation between the relative distance and the distance threshold value.

In one embodiment, determining a distance threshold for vehicle warning according to the lane attribute of the first lane and the lane attribute of the second lane includes:

acquiring a vehicle type of a target vehicle;

And determining a distance threshold value for vehicle early warning according to the vehicle type, the lane attribute of the first lane and the lane attribute of the second lane.

determining a blind area sub-range in a blind area range of a target vehicle where an obstacle is currently located;

and determining a distance threshold value for vehicle early warning according to the blind area sub-range, the lane attribute of the first lane and the lane attribute of the second lane.

In one embodiment, the relative position information of the obstacle further includes a relative direction angle between the obstacle and the target vehicle, and determining a blind area sub-range within a blind area range of the target vehicle in which the obstacle is currently located includes:

Determining a blind area sub-range in the blind area range of the target vehicle where the obstacle is currently located according to the relative direction angle or the installation position of the target acquisition equipment on the target vehicle; the target acquisition equipment is acquisition equipment for acquiring an obstacle on a target vehicle.

In one embodiment, the method for pre-warning the target vehicle according to the magnitude relation between the relative distance and the distance threshold comprises the following steps:

comparing the relative distance to a distance threshold;

and if the relative distance is not greater than the distance threshold, carrying out vehicle early warning on the target vehicle.

In one embodiment, the distance threshold comprises a first distance threshold and a second distance threshold, and the first distance threshold is greater than the second distance threshold;

If the relative distance is not greater than the distance threshold, performing vehicle early warning on the target vehicle, including:

If the relative distance is greater than the second distance threshold and the relative distance is not greater than the first distance threshold, displaying early warning information in an instrument display area of the target vehicle and controlling the target vehicle to whistle;

And if the relative distance is not greater than the second distance threshold, controlling the target vehicle to brake.

In one embodiment, controlling a target vehicle brake includes:

and sending a remote interception instruction to the target vehicle to instruct the target vehicle to brake.

In a second aspect, the present application also provides a vehicle early warning device, including:

The system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring lane attributes of a first lane where a target vehicle is currently located, lane attributes of a second lane where the obstacle is currently located and relative position information of the obstacle under the condition that the obstacle exists in a blind area range of the target vehicle; wherein the relative position information of the obstacle includes a relative distance between the obstacle and the target vehicle;

the determining module is used for determining a distance threshold value for vehicle early warning according to the lane attribute of the first lane and the lane attribute of the second lane;

And the early warning module is used for carrying out vehicle early warning on the target vehicle according to the magnitude relation between the relative distance and the distance threshold value.

In a third aspect, the application also provides a computer device comprising a memory storing a computer program and a processor implementing the steps of the method of the first aspect described above when the computer program is executed by the processor.

In a fourth aspect, the present application also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method of the first aspect described above.

In a fifth aspect, the application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the method of the first aspect described above.

The vehicle early warning method, the vehicle early warning device, the computer equipment and the storage medium acquire the lane attribute of the first lane where the target vehicle is currently located, the lane attribute of the second lane where the obstacle is currently located and the relative position information of the obstacle under the condition that the obstacle exists in the blind area range of the target vehicle; wherein the relative position information of the obstacle includes a relative distance between the obstacle and the target vehicle; determining a distance threshold value for vehicle early warning according to the lane attribute of the first lane and the lane attribute of the second lane; and carrying out vehicle early warning on the target vehicle according to the magnitude relation between the relative distance and the distance threshold value. According to the method and the device, the safety distance between the corresponding target vehicle and the obstacle, namely the distance threshold value, is determined according to the lane attribute of the lane where the target vehicle and the obstacle in the blind area range of the target vehicle are respectively located, and then the actual distance is compared with the distance threshold value to determine whether the vehicle early warning is needed or not, and the target vehicle is automatically early warned if needed, so that the damage of the target vehicle to pedestrians or vehicles in the blind area range can be avoided, and the driving safety of the vehicle is improved.

Drawings

FIG. 1 is an application scenario diagram of a vehicle pre-warning method in one embodiment;

FIG. 2 is a flow chart of a vehicle warning method according to an embodiment;

FIG. 3 is a flow diagram of determining a distance threshold in one embodiment;

FIG. 4 is a flowchart illustrating determining a distance threshold according to another embodiment;

FIG. 5 is a flow chart of a vehicle warning according to an embodiment;

FIG. 6 is a flow chart of a vehicle warning method according to another embodiment;

FIG. 7 is a block diagram of a vehicle warning device in one embodiment;

FIG. 8 is a block diagram of a vehicle warning device according to another embodiment;

FIG. 9 is a block diagram of a vehicle warning device according to yet another embodiment;

FIG. 10 is a block diagram of a vehicle warning device according to yet another embodiment;

FIG. 11 is a schematic diagram of a vehicle warning system in one embodiment;

FIG. 12 is a block diagram of a computer device implementing a vehicle warning method in one embodiment;

fig. 13 is a block diagram of a computer device for implementing a vehicle warning method in another embodiment.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

The vehicle early warning method provided by the embodiment of the application can be applied to an application environment shown in fig. 1. Wherein the in-vehicle terminal 102 communicates with the server 104 via a network. The data storage module may store data that needs to be processed by the vehicle-mounted terminal 102, and the data storage module may be integrated on the vehicle-mounted terminal 102. The data storage system may store data that needs to be processed by the server 104, where the data that needs to be processed by the server 104 may be sent to the server 104 by the vehicle terminal 102 through a network, and the data storage system may be integrated on the server 104, or may be placed on a cloud or other network servers.

Specifically, the vehicle-mounted terminal 102 or the server 104 acquires the lane attribute of the first lane where the target vehicle is currently located, the lane attribute of the second lane where the obstacle is currently located, and the relative position information of the obstacle under the condition that the obstacle exists in the blind area range of the target vehicle; wherein the relative position information of the obstacle includes a relative distance between the obstacle and the target vehicle; determining a distance threshold value for vehicle early warning according to the lane attribute of the first lane and the lane attribute of the second lane; and carrying out vehicle early warning on the target vehicle according to the magnitude relation between the relative distance and the distance threshold value.

The server 104 may be implemented as a stand-alone server or a server cluster including a plurality of servers.

In one embodiment, as shown in fig. 2, there is provided a vehicle early warning method, including the steps of:

S201, under the condition that an obstacle exists in the blind area range of the target vehicle, acquiring the lane attribute of the first lane where the target vehicle is currently located, the lane attribute of the second lane where the obstacle is currently located and the relative position information of the obstacle.

The target vehicle is a running vehicle, and its blind area range includes a front-rear blind area range and left-right blind area ranges. And installing a plurality of acquisition devices on the target vehicle in advance so as to acquire data in all blind area ranges of the target vehicle, and determining whether an obstacle exists in the blind area ranges of the target vehicle according to the acquired data. The collected data may include, but is not limited to, image data, and the obstacle may be any static or dynamic object, typically a pedestrian or a vehicle, but is not limited to one.

Optionally, the collecting device is connected with a vehicle-mounted device responsible for data processing on the target vehicle, and the collecting device can transmit the collected image data to the vehicle-mounted device so that the vehicle-mounted device can identify the image data to determine whether an obstacle exists. The acquisition device can also access the server, and transmit the acquired image data to the server so as to enable the server to identify the image data and determine whether an obstacle exists.

And under the condition that an obstacle exists in the blind area range of the target vehicle, determining a first lane where the target vehicle is currently located and a second lane where the obstacle is currently located, and further acquiring the lane attribute of the first lane and the lane attribute of the second lane. The first lane and the second lane can be the same lane or different adjacent lanes, and lane attributes comprise straight lanes and curves, and can be specifically divided into straight lanes, left-turn lanes, right-turn lanes, straight left-turn lanes, straight right-turn lanes, left-turn lanes, right-turn lanes and the like.

Meanwhile, in the case where an obstacle exists in the blind area range of the target vehicle, relative position information of the obstacle including a relative distance between the obstacle and the target vehicle is also acquired.

Optionally, the road environment is analyzed according to the image data collected by the collecting device, so that the lane attribute of the first lane and the lane attribute of the second lane can be determined, or the target vehicle and the obstacle are identified according to a high-precision GPS (Global Positioning System ), so that the lane attribute of the corresponding first lane and the lane attribute of the second lane are obtained; and analyzing the relative position of the obstacle to the target vehicle according to the image data acquired by the acquisition equipment to obtain the relative position information of the obstacle.

It will be appreciated that, since the target vehicle and the obstacle each have a certain volume, the relative distance in the relative position information of the obstacle may refer to the shortest distance between the target vehicle and the obstacle.

S202, determining a distance threshold value for vehicle early warning according to the lane attribute of the first lane and the lane attribute of the second lane.

And analyzing the driving environment formed by the target vehicle and the obstacle according to the lane attribute of the first lane and the lane attribute of the second lane, determining the current driving environment from multiple driving environments, and further determining a distance threshold value corresponding to the current driving environment and needing vehicle early warning.

The distance threshold value refers to a limit value of a safe relative distance between the target vehicle and the obstacle, namely, if the relative distance between the target vehicle and the obstacle exceeds the distance threshold value, the risk of traffic accidents exists. Different driving environments may correspond to different distance thresholds, and the distance threshold corresponding to each driving environment is preset, and in this embodiment, specific values of the distance threshold corresponding to each driving environment are not limited, and may be preset according to practical situations.

Specifically, the driving environment refers to a road environment in which the target vehicle and the obstacle travel. For example, the lane attribute of the first lane is a left turn around lane, and the lane attribute of the second lane is a straight lane, i.e., the target vehicle is located on the left side of the obstacle, and if the target vehicle turns around on the left turn around lane, it is likely to scratch the obstacle located on the right side of the target vehicle at this time.

It will be appreciated that if the lane attribute of the first lane is a left turn lane, the corresponding distance threshold is denoted as a when the lane attribute of the second lane is a straight lane, and the corresponding distance threshold is denoted as B when the lane attributes of both the first and second lanes are straight lanes, the specific value of the distance threshold a should be greater than the specific value of the distance threshold B. The comparison results between the distance thresholds corresponding to other driving environments are similar and are not described in detail.

Optionally, a distance threshold value corresponding table is stored in advance in a data storage module of the vehicle-mounted terminal or a data storage system of the server, and when the lane attribute of the first lane and the lane attribute of the second lane are obtained, the distance threshold value corresponding to the driving condition is directly searched from the distance threshold value corresponding table.

And S203, carrying out vehicle early warning on the target vehicle according to the magnitude relation between the relative distance and the distance threshold value.

And comparing the relative distance between the obstacle and the target vehicle in the relative position information of the obstacle with a corresponding distance threshold value, directly determining whether to perform vehicle early warning on the target vehicle according to the comparison result, and further performing vehicle early warning on the target vehicle under the condition of determining to perform vehicle early warning on the target vehicle.

Optionally, after the magnitude relation between the relative distance and the distance threshold is obtained, the vehicle early warning is performed on the target vehicle in combination with the running state of the target vehicle. For example, the running speed of the target vehicle is high, and the reserved reaction time is short, so that the vehicle early warning is performed on the target vehicle in advance.

The vehicle early warning may include displaying early warning information in an instrument display area and whistling early warning, and the method of vehicle early warning is not limited in this embodiment.

According to the scheme, under the condition that the obstacle exists in the blind area range of the target vehicle, the lane attribute of the first lane where the target vehicle is currently located, the lane attribute of the second lane where the obstacle is currently located and the relative position information of the obstacle are obtained; wherein the relative position information of the obstacle includes a relative distance between the obstacle and the target vehicle; determining a distance threshold value for vehicle early warning according to the lane attribute of the first lane and the lane attribute of the second lane; and carrying out vehicle early warning on the target vehicle according to the magnitude relation between the relative distance and the distance threshold value. According to the method and the device, according to the lane attribute of the lane where the target vehicle and the obstacle in the blind area range of the target vehicle are respectively located, the safety distance between the corresponding target vehicle and the obstacle, namely, the distance threshold value is determined, and then the actual distance is compared with the distance threshold value to determine whether the vehicle early warning is needed or not, and the vehicle early warning is automatically carried out on the target vehicle under the condition that the vehicle early warning is needed, so that the damage of the target vehicle to pedestrians or vehicles in the blind area range can be avoided, and the driving safety of the vehicle is improved.

To determine a more suitable distance threshold, in one embodiment, the distance threshold may be matched in combination with a vehicle type and a lane attribute of the target vehicle, as shown in fig. 3, and S202 may include:

S301, acquiring the vehicle type of the target vehicle.

Vehicle types include, among others, cars, trucks, buses, trailers, motorcycles, and the like. It will be appreciated that the volume of the vehicle itself is often related to the type of vehicle, for example, the volume of a truck is typically greater than the volume of a car. The larger the volume of the vehicle itself, the larger the blind area range of the vehicle, so when determining the distance threshold value for vehicle early warning, the vehicle type can be combined to determine.

Optionally, the above vehicle types are further subdivided. For example, for a passenger car, the passenger car with a car length of not less than 6 meters or a passenger number of not less than 20 is a large passenger car, the passenger car with a car length of less than 6 meters and a passenger number of more than 9 is a medium passenger car, the passenger car with a car length of 3.5 meters to 6 meters and a passenger number of not more than 9 is a small passenger car, and the passenger car with a car length of not more than 3.5 meters is a mini passenger car; for the cargo vehicle, the cargo vehicle with the vehicle length not less than 6 meters and the mass not less than 12000 kg is a heavy cargo vehicle, the cargo vehicle with the vehicle length not less than 6 meters and the mass less than 12000 kg is a medium cargo vehicle, the cargo vehicle with the vehicle length between 3.5 meters and 6 meters is a light cargo vehicle, and the cargo vehicle with the vehicle length not more than 3.5 meters is a micro cargo vehicle.

Optionally, the volume data of the target vehicle is directly acquired, including the length, width, height, etc. data of the target vehicle.

S302, determining a distance threshold value for vehicle early warning according to the type of the vehicle, the lane attribute of the first lane and the lane attribute of the second lane.

And analyzing the driving environment formed by the target vehicle and the obstacle according to the type of the vehicle, the lane attribute of the first lane and the lane attribute of the second lane, determining the current driving environment from multiple driving environments, and further determining a distance threshold value corresponding to the current driving environment and needing vehicle early warning.

For example, the target vehicle is a truck, the lane attribute of the first lane is a left turn around lane, the lane attribute of the second lane is a straight lane, that is, the target vehicle is located on the left side of the obstacle, and if the target vehicle turns around on the left turn around lane, the target vehicle is likely to scratch the obstacle located on the right side of the target vehicle at this time.

It will be appreciated that, in the case where the lane attribute of the first lane is a left turn lane and the lane attribute of the second lane is a straight lane, if the target vehicle is a cargo vehicle, the corresponding distance threshold is denoted as C, and if the target vehicle is a car, the corresponding distance threshold is denoted as D, the specific value of the distance threshold C should be greater than the specific value of the distance threshold D. The comparison results between the distance thresholds corresponding to other driving environments are similar and are not described in detail.

Optionally, a distance threshold value corresponding table is stored in advance in a data storage module of the vehicle-mounted terminal or a data storage system of the server, and under the condition that the vehicle type of the target vehicle, the lane attribute of the first lane and the lane attribute of the second lane are obtained, the distance threshold value corresponding to the driving condition is directly searched from the distance threshold value corresponding table.

In this embodiment, the vehicle type of the target vehicle is obtained, and the distance threshold value required for vehicle early warning is determined according to the vehicle type, the lane attribute of the first lane and the lane attribute of the second lane, so that the distance threshold values corresponding to different driving conditions can be further refined, accurate judgment before vehicle early warning is realized, and unreasonable distance threshold values required for vehicle early warning are prevented from being determined due to different volumes of the vehicles.

To determine a more suitable distance threshold, in one embodiment, the distance threshold may be matched in combination with a vehicle type and a lane attribute of the target vehicle, as shown in fig. 4, and S202 may include:

S401, determining a blind area sub-range in a blind area range of a target vehicle where an obstacle is currently located.

The blind area range of the target vehicle may include a plurality of blind area sub-ranges, such as a front-rear blind area sub-range and left-right blind area sub-ranges. Specifically, the blind area sub-range may be further divided according to the collection devices installed on the target vehicle, the collection areas of all the collection devices cover the blind area range of the target vehicle, and each collection device corresponds to one blind area sub-range. According to which acquisition device the obstacle currently exists in the image data acquired, the blind area sub-range where the obstacle is currently located can be determined.

In an alternative embodiment, the relative position information of the obstacle further includes a relative direction angle between the obstacle and the target vehicle, and the blind area sub-range in the blind area range of the target vehicle in which the obstacle is currently located may be determined according to the relative direction angle, or the installation position of the target acquisition device on the target vehicle.

Since the target vehicle and the obstacle have a certain volume, the relative direction angle in the relative position information of the obstacle may refer to the direction angle between the center point of the target vehicle and the center point of the obstacle, i.e. the direction angle of the target vehicle where the obstacle is located. According to the relative direction angle, the blind area sub-range of the obstacle at the front and back or left and right sides of the target vehicle can be determined, and the blind area sub-range at the current position is determined from a plurality of blind area sub-ranges.

The target acquisition device is an acquisition device for acquiring an obstacle on a target vehicle, and the current blind area sub-range is determined from a plurality of blind area sub-ranges according to the installation position of the target acquisition device on the target vehicle, such as the front and back or the left and right sides. If the target vehicle is a vehicle with larger volume such as a truck, the blind area sub-range on the left side and the right side is further divided, for example, the length of the truck is 6 meters, one acquisition device is installed every 2 meters, and each acquisition device corresponds to one blind area sub-range.

Optionally, if the overlapping portions exist in the collecting areas of the two collecting devices, and the two collecting devices all collect the same obstacle, determining the target collecting device from the two collecting devices according to the integrity and the definition of the obstacle in the collected image data, that is, collecting the more complete and clear collecting device of the obstacle. Further, the blind area sub-range corresponding to the target acquisition equipment is used as the blind area sub-range where the obstacle is currently located.

S402, determining a distance threshold value for vehicle early warning according to the blind area sub-range, the lane attribute of the first lane and the lane attribute of the second lane.

And analyzing the driving environment formed by the target vehicle and the obstacle according to the blind area sub-range, the lane attribute of the first lane and the lane attribute of the second lane, determining the current driving environment from multiple driving environments, and further determining the distance threshold value corresponding to the current driving environment and needing vehicle early warning.

It can be understood that, in the case that the lane attribute of the first lane is a left turn lane and the lane attribute of the second lane is a straight lane, if the current blind area sub-range of the obstacle belongs to the right blind area sub-range of the target vehicle, the corresponding distance threshold is denoted as E, and if the current blind area sub-range of the obstacle belongs to the rear Fang Mangou sub-range of the target vehicle, the corresponding distance threshold is denoted as F, the specific value of the distance threshold E should be greater than the specific value of the distance threshold F. The comparison results between the distance thresholds corresponding to other driving environments are similar and are not described in detail.

Optionally, a distance threshold value corresponding table is stored in advance in a data storage module of the vehicle-mounted terminal or a data storage system of the server, and under the condition that a blind area sub-range where the obstacle is currently located, a lane attribute of the first lane and a lane attribute of the second lane are obtained, a distance threshold value corresponding to the driving condition is directly searched from the distance threshold value corresponding table.

In this embodiment, the blind area sub-range where the obstacle is currently located is obtained, and the distance threshold value for vehicle early warning is determined according to the blind area sub-range, the lane attribute of the first lane and the lane attribute of the second lane, so that the distance threshold values corresponding to different driving conditions can be further refined, accurate judgment before vehicle early warning is realized, and unreasonable distance threshold values for vehicle early warning is prevented from being determined due to different specific positions of the obstacle.

In order to determine whether the vehicle early warning is required for the target vehicle, in one embodiment, as shown in fig. 5, the step S203 may include:

s501, comparing the relative distance with a distance threshold.

The relative distance is the relative distance between the obstacle and the target vehicle in the relative position information of the obstacle, and the relative distance may refer to the shortest distance between the target vehicle and the obstacle because the target vehicle and the obstacle both have a certain volume.

Alternatively, the relative distance may also refer to a distance between a center point of the target vehicle and a center point of the obstacle, where the specific meaning of the relative distance is different, and the corresponding distance threshold value for comparison is different, and where the relative distance is a distance between the center point of the target vehicle and the center point of the obstacle, the corresponding distance threshold value for comparison needs to be determined in combination with the vehicle type of the target vehicle.

S502, carrying out vehicle early warning on the target vehicle under the condition that the relative distance is not greater than the distance threshold value.

If the relative distance is not greater than the distance threshold, carrying out vehicle early warning on the target vehicle; and if the relative distance is greater than the distance threshold, not carrying out vehicle early warning on the target vehicle. The vehicle early warning can include displaying early warning information in an instrument display area and whistling early warning.

Optionally, in combination with the running state of the target vehicle, the target vehicle is subjected to vehicle early warning. For example, the running speed of the target vehicle is high, and the reserved reaction time is short, so that the vehicle early warning is performed on the target vehicle in advance.

In an alternative embodiment, the distance threshold includes a first distance threshold and a second distance threshold, and the first distance threshold is greater than the second distance threshold.

In other words, the distance thresholds for vehicle early warning corresponding to different driving conditions can be further subdivided, and the subdivided first distance threshold and second distance threshold correspond to different levels of safety relative distance limit values. For example, if the relative distance is greater than the second distance threshold and the relative distance is not greater than the first distance threshold, then the risk of a scratch exists between the target vehicle and the obstacle; if the relative distance is not greater than the second distance threshold, it indicates that there is a risk of collision or rolling between the target vehicle and the obstacle.

Therefore, if the relative distance is greater than the second distance threshold and the relative distance is not greater than the first distance threshold, displaying early warning information in an instrument display area of the target vehicle and controlling the target vehicle to blast; and if the relative distance is not greater than the second distance threshold, controlling the target vehicle to brake.

Specifically, under the conventional condition, early warning information is displayed in an instrument display area, so that the driver of the target vehicle can be timely reminded of the existence of obstacles in the blind area range of the driver, the driver needs to carefully drive the vehicle, the target vehicle is controlled to blast, and the current obstacles in the blind area range can be timely reminded of avoiding the obstacles; under critical conditions, the target vehicle is directly controlled to brake, so that traffic accidents caused by insufficient response of a driver of the target vehicle can be avoided.

Optionally, controlling the target vehicle brake may include sending a remote intercept command to the target vehicle to indicate the target vehicle brake.

When the vehicle-mounted equipment on the target vehicle is responsible for data processing, the brake of the target vehicle is directly controlled. When the server is in charge of data processing, the server sends a remote interception instruction to a central control module of the target vehicle so as to instruct the target vehicle to brake. Optionally, if the relative distance is not greater than the second distance threshold, the vehicle-mounted device and the server both control the target vehicle to brake so as to avoid a response failure of one end.

In this embodiment, the relative distance is compared with the distance threshold, if the relative distance is not greater than the distance threshold, the target vehicle is subjected to vehicle early warning, and the vehicle early warning can be more objectively and accurately performed, so that the vehicle early warning method and device can be applied to various vehicle types and various driving environments, and the driving safety is effectively improved.

In one embodiment, an alternative example of a vehicle pre-warning method is provided, as shown in fig. 6, the vehicle pre-warning method includes the steps of:

S601, under the condition that an obstacle exists in the blind area range of the target vehicle, acquiring the lane attribute of the first lane where the target vehicle is currently located, the lane attribute of the second lane where the obstacle is currently located and the relative position information of the obstacle.

Wherein the relative position information of the obstacle includes a relative distance between the obstacle and the target vehicle.

S602, acquiring the vehicle type of the target vehicle and the blind area sub-range in the blind area range of the target vehicle where the obstacle is currently located.

S603, determining a distance threshold value for vehicle early warning according to the lane attribute of the first lane, the lane attribute of the second lane and the vehicle type and/or blind area sub-range.

The relative position information of the obstacle also comprises a relative direction angle between the obstacle and the target vehicle, and the blind area sub-range in the blind area range of the target vehicle where the obstacle is currently positioned can be determined according to the relative direction angle or the installation position of the target acquisition equipment on the target vehicle; the target acquisition equipment is acquisition equipment for acquiring an obstacle on a target vehicle.

S604, comparing the relative distance, the first distance threshold and the second distance threshold.

And S605, displaying early warning information in an instrument display area of the target vehicle and controlling the target vehicle to whistle when the relative distance is larger than the second distance threshold and the relative distance is not larger than the first distance threshold.

S606, controlling the target vehicle to brake when the relative distance is not greater than the second distance threshold.

Wherein controlling the target vehicle brake includes sending a remote intercept command to the target vehicle to indicate the target vehicle brake.

The specific process of the above steps may refer to the description of the above method embodiments, and its implementation principle and technical effects are similar, and are not repeated herein.

It should be understood that, although the steps in the flowcharts related to the above embodiments are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, the embodiment of the application also provides a vehicle early warning device for realizing the vehicle early warning method. The implementation scheme of the solution to the problem provided by the device is similar to that described in the above method, so the specific limitation in one or more embodiments of the vehicle early warning device provided below may refer to the limitation of the vehicle early warning method hereinabove, and will not be repeated here.

In one embodiment, as shown in fig. 7, there is provided a vehicle early warning apparatus 1, including an acquisition module 10, a determination module 20, and an early warning module 30, wherein:

The acquiring module 10 is configured to acquire, in a case where an obstacle exists in a blind area range of the target vehicle, a lane attribute of a first lane in which the target vehicle is currently located, a lane attribute of a second lane in which the obstacle is currently located, and relative position information of the obstacle.

The determining module 20 is configured to determine a distance threshold for vehicle warning according to the lane attribute of the first lane and the lane attribute of the second lane.

The early warning module 30 is configured to perform vehicle early warning on the target vehicle according to the magnitude relation between the relative distance and the distance threshold.

In one embodiment, on the basis of fig. 7, as shown in fig. 8, the determining module 20 may include:

A type determining unit 21 for acquiring a vehicle type of the target vehicle.

The first threshold determining unit 22 is configured to determine a distance threshold for vehicle early warning according to the vehicle type, the lane attribute of the first lane, and the lane attribute of the second lane.

In one embodiment, on the basis of fig. 7, as shown in fig. 9, the determining module 20 may further include:

a range determination unit 23 for determining a blind area sub-range within a blind area range of the target vehicle in which the obstacle is currently located.

The second threshold determining unit 24 is configured to determine a distance threshold for vehicle early warning according to the blind area sub-range, the lane attribute of the first lane, and the lane attribute of the second lane.

In one embodiment, the relative position information of the obstacle further includes a relative direction angle between the obstacle and the target vehicle, and the above-mentioned range determining unit 23 may be specifically configured to determine the blind area sub-range within the blind area range of the target vehicle in which the obstacle is currently located, based on the relative direction angle, or the installation position of the target acquisition device on the target vehicle.

The target acquisition equipment is acquisition equipment for acquiring an obstacle on a target vehicle.

In one embodiment, on the basis of fig. 7, as shown in fig. 10, the early warning module 30 may include:

a comparison unit 31 for comparing the relative distance with a distance threshold.

And an early warning unit 32 for performing vehicle early warning on the target vehicle in the case that the relative distance is not greater than the distance threshold.

In one embodiment, the distance threshold includes a first distance threshold and a second distance threshold, where the first distance threshold is greater than the second distance threshold, and the early warning unit 32 may specifically be configured to display early warning information in an instrument display area of the target vehicle and control the target vehicle to whistle when the relative distance is greater than the second distance threshold and the relative distance is not greater than the first distance threshold, and control the target vehicle to brake when the relative distance is not greater than the second distance threshold.

In one embodiment, the early warning unit 32 may specifically be configured to send a remote interception instruction to the target vehicle to instruct the target vehicle to brake when the relative distance is not greater than the second distance threshold.

The modules in the vehicle early warning device can be realized in whole or in part by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

Based on the same inventive concept, the embodiment of the application also provides a vehicle early warning system for realizing the vehicle early warning method. The implementation of the solution provided by the system is similar to the implementation described in the above method, so the specific limitation in one or more embodiments of the vehicle early warning system provided below may refer to the limitation of the vehicle early warning method hereinabove, and will not be repeated here.

In one embodiment, as shown in fig. 11, a vehicle early warning system is provided, including a vehicle-mounted processing module and a dedicated server; the vehicle-mounted processing module is mounted on the target vehicle and is connected with the distance detection module, the radar monitoring module, the sensing camera, the positioning module, the brake control module, the first communication module, the scratch-resistant early warning module and the instrument display module, and the dedicated server is connected with the second communication module and the remote interception module.

Specifically, the distance detection module, the radar monitoring module and the sensing camera are all used for monitoring the target vehicle and obstacles around the target vehicle, and acquiring lane attributes of a first lane where the target vehicle is currently located, lane attributes of a second lane where the obstacle is currently located, relative position information of the obstacle and the like.

The radar monitoring modules can be arranged at the left side and the right side of the rear of the target vehicle, such as the left side and the right side of a rear bumper, so that the obstacle is easier to monitor, the lane attribute of the second lane where the obstacle is currently located, the relative position information of the obstacle and the like are obtained.

The positioning module may also be used to monitor the target vehicle, obtain a lane attribute of a first lane where the target vehicle is currently located, and so on.

The brake control module is used for helping the target vehicle to actively brake and is started when the brake condition is met.

The first communication module is in wireless connection with the second communication module, the first communication module is used for sending all data acquired by the target vehicle to the second communication module, and the second communication module is used for sending a remote interception instruction to the first communication module.

The anti-scratch early warning module is used for controlling the target vehicle to blast, reminding the obstacle to avoid in time and starting when the early warning condition is met.

The instrument display module is used for displaying early warning information in an instrument display area of the target vehicle, reminding a driver of the target vehicle of existence of an obstacle in a blind area range, and starting when the early warning condition is met due to careful driving.

And the remote interception module is used for indicating the second communication module to send a remote interception instruction to the first communication module when the braking condition is met.

In one embodiment, a computer device is provided, which may be an in-vehicle terminal, and an internal structure diagram thereof may be as shown in fig. 12. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal. The computer program is executed by a processor to implement a vehicle warning method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be a key, a track ball or a touch pad arranged on the shell of the computer equipment, can also be an external touch pad and the like.

In one embodiment, a computer device is provided, which may be a server, and the internal structure of which may be as shown in fig. 13. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used for storing data such as a distance threshold value corresponding table. The network interface of the computer device is used for communicating with an external terminal through a network connection.

It will be appreciated by persons skilled in the art that the structures shown in fig. 12 and 13 are merely block diagrams of portions of structures associated with aspects of the present application and are not intended to limit the computer apparatus to which aspects of the present application may be applied, and that a particular computer apparatus may include more or less components than those shown, or may combine some of the components, or have a different arrangement of components.

In one embodiment, a computer device is provided that includes a memory having a computer program stored therein and a processor that when executing the computer program performs the steps of the vehicle warning method described above.

In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, implements the steps of the vehicle warning method described above.

In one embodiment, a computer program product is provided comprising a computer program which, when executed by a processor, implements the steps of the vehicle warning method described above.

Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magneto-resistive random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (PHASE CHANGE Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.

Claims

1. A vehicle warning method, the method comprising:

Acquiring lane attributes of a first lane where a target vehicle is currently located, lane attributes of a second lane where the target vehicle is currently located and relative position information of the obstacle under the condition that the obstacle exists in a blind area range of the target vehicle; wherein the relative position information of the obstacle includes a relative distance between the obstacle and the target vehicle;

2. The method of claim 1, wherein determining a distance threshold for which vehicle warning is required based on the lane attribute of the first lane and the lane attribute of the second lane comprises:

Acquiring a vehicle type of the target vehicle;

3. The method of claim 1, wherein determining a distance threshold for which vehicle warning is required based on the lane attribute of the first lane and the lane attribute of the second lane comprises:

Determining a blind area sub-range in the blind area range of the target vehicle where the obstacle is currently located;

4. The method of claim 3, wherein the relative position information of the obstacle further includes a relative direction angle between the obstacle and the target vehicle, and wherein the determining a blind zone sub-range within the blind zone range of the target vehicle in which the obstacle is currently located includes:

determining a blind area sub-range in the blind area range of the target vehicle where the obstacle is currently located according to the relative direction angle or the installation position of the target acquisition equipment on the target vehicle; the target acquisition device is acquisition device for acquiring the obstacle on the target vehicle.

5. The method of claim 1, wherein the pre-warning the target vehicle based on the magnitude relationship between the relative distance and the distance threshold comprises:

Comparing the relative distance to the distance threshold;

6. The method of claim 5, wherein the distance threshold comprises a first distance threshold and a second distance threshold, and wherein the first distance threshold is greater than the second distance threshold;

and if the relative distance is not greater than the distance threshold, performing vehicle early warning on the target vehicle, including:

If the relative distance is greater than the second distance threshold and the relative distance is not greater than the first distance threshold, displaying early warning information in an instrument display area of the target vehicle and controlling the target vehicle to blast;

7. The method of claim 6, wherein said controlling the target vehicle brake comprises:

8. A vehicle warning device, the device comprising:

The system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring lane attributes of a first lane where a target vehicle is currently located, lane attributes of a second lane where the target vehicle is currently located and relative position information of the obstacle under the condition that the obstacle exists in a blind area range of the target vehicle; wherein the relative position information of the obstacle includes a relative distance between the obstacle and the target vehicle;

9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1-7 when the computer program is executed.

10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1-7.