TW202209905A - Vehicle collision warning method, device and system - Google Patents

Abstract

The embodiments of the application disclose a vehicle collision warning method, device, and system, wherein the method includes a terminal device receiving the movement information of at least one target object through the Internet of Vehicles, obtaining the location information of the target vehicle where the terminal device is located, and responding to at least one target object o determine whether the target object and the target vehicle collide with the mobile information and the location information of the target vehicle. When it is determined that the target object may collide with the target vehicle, an early warning message is issued. By implementing this application, vehicle collisions can be effectively avoided and driving safety can be improved.

Description

Vehicle collision warning method, device and system

The present application relates to the technical field of Internet of Vehicles processing, and in particular, to a vehicle collision warning method, device and system.

With the advancement of technology and changes in people's travel needs, more and more vehicles (such as automobiles, locomotives, etc.) have entered thousands of households. With the increase in the number of vehicles, the road conditions are becoming more and more complex, and vehicle collisions are often encountered during driving. Take locomotives as an example. In 2019, nearly 1,000 people were killed in locomotive traffic accidents across the country. More than 40% of those killed were killed by a neck blow, and the lesson is very painful. Therefore, how to avoid traffic accidents is an important problem to be solved at present.

Embodiments of the present application provide a vehicle collision warning method, device, and system, which can estimate whether a target object collides with a target vehicle, so as to reduce the probability of a traffic accident and protect personal safety.

In a first aspect, a vehicle collision warning method is provided. The method includes: a terminal device receives movement information of at least one target object through the Internet of Vehicles, where the movement information includes a movement speed, a movement direction and a movement position; Location information, which performs collision estimation on the movement information of at least one target object and the location information of the target vehicle, and determines whether the target object collides with the target vehicle; when it is determined that the target object and the target vehicle may collide, send Pre-warning prompt information to prompt that the target object and the target vehicle may collide.

In some embodiments, the terminal device specifically calculates the moving speed and moving direction of the target vehicle according to the change of the position information of the target vehicle, and predicts the trajectory of the target vehicle and the target object according to the respective moving speeds and moving directions of the target vehicle and the target object. , to determine whether the target object collides with the target vehicle.

In some embodiments, if the terminal device includes a communication module, communicate with the target vehicle through the communication module, so as to receive information of at least one target object through the Internet of Vehicles connected to the target vehicle. mobile information; or, if the terminal device includes an Internet of Vehicles module, connecting to the Internet of Vehicles through the Internet of Vehicles module to receive the movement information of at least one target object from the Internet of Vehicles.

In some embodiments, the warning prompt information includes any one or a combination of vibration prompts, voice prompts and light prompts.

In some embodiments, the terminal device may also obtain indicator light information through the Internet of Vehicles, and provide driving prompts according to the indicator light information.

In some embodiments, if the target object and the target vehicle have collided, the terminal device sends the distress information through the Internet of Vehicles.

In a second aspect, a vehicle collision warning device is provided, which is applied to terminal equipment. The device includes a car networking module, a positioning module, a control module and a warning module, wherein the car networking module is used to connect The Internet of Vehicles is used to receive the movement information of at least one target object from the Internet of Vehicles; the positioning module is used to obtain the location information of the target vehicle where the terminal device is located; the control module is used to The movement information of the at least one target object and the position information of the target vehicle are used for collision estimation to determine whether the target object and the target vehicle collide; the warning module is used to determine whether the target object has been detected. When there is a possible collision with the target vehicle, early warning information is issued to remind that the target object and the target vehicle may collide.

In a third aspect, another vehicle collision warning device is provided, which is applied to a terminal device. The device includes a communication module, a control module and a warning module; wherein, the communication module is used to communicate with the target vehicle , to receive the movement information of at least one target object through the Internet of Vehicles connected to the target vehicle, and to obtain the location information of the target vehicle where the terminal device is located; the control module is also used to monitor the at least one target object. The movement information of a target object and the position information of the target vehicle are used for collision estimation to determine whether the target object collides with the target vehicle; the warning module is used to determine whether the target object and the target vehicle collide. When the target vehicle is likely to collide, the warning prompt information is issued to remind that the target object and the target vehicle may collide.

For details not described in the second aspect or the third aspect, reference may be made to the vehicle collision estimation method described in the foregoing first aspect, which will not be repeated here.

On the other hand, a vehicle collision warning system is also provided, which includes several roadside units RSUs of the Internet of Vehicles arranged on the side of the road, passing vehicles and terminal equipment on the road, wherein the RSU and the target object are connected to the same Internet of Vehicles, and the RSU is used for The movement information of each passing vehicle including the target vehicle on the road is obtained, and the terminal device is directly connected to the Internet of Vehicles or indirectly connected to the Internet of Vehicles through the target vehicle where the terminal device is located.

The specific embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

In order to avoid the occurrence of traffic accidents, the present application proposes a vehicle collision early warning method, a schematic diagram of a scene, a device and a system to which the method is applicable. Please refer to FIG. 1 , which is a schematic structural diagram of a vehicle collision early warning system provided by the present application. The scenario shown in FIG. 1 includes a roadside unit RSU100 of the Internet of Vehicles, a vehicle 200 and a terminal device 300 . Among them, RSUs, vehicles and terminal equipment are deployed in the same Internet of Vehicles. The terminal device 300 may be directly connected to the Internet of Vehicles, or indirectly connected to the Internet of Vehicles through the target vehicle where the terminal device 300 is located, which is not limited in this application. The respective numbers of the RSU 100 , the vehicle 200 and the terminal device 300 are not limited. The illustration only takes two RSUs, three vehicles (two cars and one motorcycle in the figure) and one terminal device as examples. But it does not constitute a limitation.

The RSU 100 is used to collect roadside indicator information, such as traffic light information. Preferably, the RSU 100 can also collect moving information of passing vehicles on the road, such as moving speed, vehicle density, moving position, and the like. Preferably, the RSU 100 can also broadcast the collected movement information of the passing vehicles in the Internet of Vehicles, so that the information such as the vehicle position of the passing vehicles can be known to each other in the Internet of Vehicles.

A positioning element, such as a global positioning system GPS, is deployed in the vehicle 200 to obtain the position of the vehicle 200 in real time. The vehicle 200 specifically includes, but is not limited to, automobiles, locomotives, electric vehicles, trains, buses, or other means of transportation.

The terminal device 300 can also be deployed with positioning elements, such as GPS, for acquiring the location information of the terminal device 300 . Preferably, the terminal device 300 can be used to acquire movement information of at least two vehicles, so as to perform vehicle collision analysis on the movement information to determine whether these vehicles collide. In practical applications, the terminal device 300 may refer to a portable device, such as a wearable device helmet, a watch, etc., or a device that is fixedly installed on the target vehicle, such as a vehicle-mounted device, or the terminal device 300 may refer to other devices with communication functions equipment, etc.

Please refer to FIG. 2A and FIG. 2B for schematic structural diagrams of two types of terminal devices. The terminal device 300 shown in FIG. 2A includes a power management module 301 , a positioning module 302 , a control module 303 , a car networking module 304 , a vibration module 305 , a voice output module 306 and a light output module 307 . in:

The power management module 301 is used to manage the power of the terminal device. Since the IoV module 304 consumes a lot of power, a rechargeable battery with a larger capacity is required. For example, the user can use the battery of the electric vehicle to charge the terminal device when using the vehicle (electric vehicle). Preferably, there is also a set of power switches on the terminal device, which can be turned off when not in use to save power.

The control module 303 is used to control the terminal device, for example, to control the vibration through the vibration module 305 and the like. The positioning module 302 is used for positioning and obtaining corresponding position information, for example, obtaining the position information of the terminal device (or the target vehicle where the terminal device is located) through the global positioning system GPS. It should be noted that, in this article, one meaning of "the target vehicle where the terminal equipment is located" is that the terminal equipment is fixedly arranged on the target vehicle, for example, the terminal equipment is fixedly arranged on the surface of the target vehicle by means of nut connection, welding, fixing and pasting For another example, the terminal device is embedded inside the target vehicle in a fixed manner; another meaning of "the target vehicle where the terminal device is located" is that when the terminal device is a portable device and the user of the terminal device uses the target vehicle When the vehicle is in the vehicle, the terminal device it carries is automatically considered to match the target vehicle. At this time, it is regarded as the terminal device on the target vehicle. In this case, the terminal device can be any suitable helmet, smart watch, smart glasses, etc. form of portable devices.

The Internet of Vehicles module 304 is used to obtain the movement information of the target object, and the target object may be a person or a vehicle. Preferably, the vehicle networking module 304 can also be used to obtain movement information of the target vehicle, so as to determine whether the target vehicle and the target object are likely to collide based on the movement information. Preferably, the IoV module 304 can also be used to obtain the driving road condition information from the RSU, and display the driving road condition information, so that the vehicle owner can know the road conditions ahead at any time, and make corresponding driving arrangements to avoid congestion or traffic accidents. Helps to improve driving safety.

The vibration module 305 is used for, under the control of the control module 303, to alert the user that the target vehicle and the target object may collide by means of vibration. The voice output module 306 is used for prompting the user that the target vehicle may collide with the target object by outputting voice under the control of the control module 303 . The light output module 307 is used for prompting the user that the target vehicle may collide with the target object by flashing corresponding lights (eg, flashing orange light, red light, etc.) under the control of the control module 303 . Preferably, the terminal device may further include other prompt modules, such as image prompt modules or text prompts, under the control of the control module 303, together with other prompt modules, to prompt the target vehicle and the target object to possibly collide.

Referring to FIG. 2B, a schematic structural diagram of another terminal device is shown. As shown in FIG. 2B , the vehicle collision system includes a terminal device 300 and a target vehicle 400 , wherein the target vehicle 400 includes a positioning module 401 , a control module 402 , a car networking module 403 , a power management module 404 and a communication module 405 . The terminal device 300 includes a communication module 308 , a control module 303 , a vibration module 305 , a voice output module 306 and a light output module 307 . The IoV module 403 in the target vehicle 400 collects movement information of other surrounding vehicles. The movement information of these vehicles is sent to the terminal device 300 through the communication module 405 under the control of the control module 402 . The positioning module 401 in the target vehicle 400 is used to collect or locate the position information of the target vehicle. Preferably, the location information of the target vehicle can be sent to the terminal device 300 through the communication module 405 under the control of the control module 402 .

Correspondingly, the communication module 308 of the terminal device 300 receives the movement information of at least one target object (in this example, another vehicle) and receives the position information of the target vehicle. Then, it is transmitted to the control module 303, so that the control module 303 performs collision estimation on them to determine whether the target vehicle collides with the target object. If a collision is possible, the vibration module 305 can be used to remind the owner of a possible collision between the target vehicle and the target object in the form of a vibration prompt. Alternatively, the voice output module 306 can be used to prompt the owner of the vehicle that the target vehicle may collide with the target object in a voice manner, such as prompting that there is a pedestrian in front of the left. Alternatively, the light output module 307 can control the lamps of the corresponding lights to flicker at a set frequency, for example, the lights are controlled to flicker to indicate that the target vehicle may collide with the target object. For the introduction of the functional modules included in the terminal device 300 and the target vehicle 400, reference may be made to FIG. 2A, and details are not repeated here.

Please refer to FIG. 3 , which is a schematic flowchart of a vehicle collision warning method provided by the present application. The method shown in Figure 3 includes:

S301. The terminal device receives the movement information of at least one target object through the Internet of Vehicles.

In an example, the terminal device includes a car networking module, and the car networking module is used to connect to the car networking to collect movement information of a target object from the car networking, and the target object may specifically be a pedestrian, a vehicle, or the like. Correspondingly, the terminal device receives the movement information of at least one target object through the vehicle networking module. The movement information here includes, but is not limited to, information such as movement speed, movement position, movement direction, and movement acceleration.

In another example, the terminal device includes a communication module, and the communication module communicates with the communication module of the target vehicle. The target object (taking the target vehicle as an example) also includes a car networking module. The target vehicle collects its own mobile information through its own car networking module, and then transmits its own mobile information to the terminal device through the communication module. Correspondingly, the terminal device receives the movement information of at least one target object through the communication module.

S302, the terminal device acquires the location information of the target vehicle where the terminal device is located.

In one example, a positioning element, such as a GPS, is deployed in an end device (eg, a helmet). The terminal device can obtain its own location information through GPS, that is, the location information of the target vehicle where the terminal device is located. The location information may be real-time location information of the terminal device, such as location 1 at time T1, location 2 at time T2, and so on.

S303. The terminal device performs collision estimation on the movement information of at least one target object and the position information of the target vehicle, and determines whether the target object collides with the target vehicle.

S304. When the terminal device determines that the probability of the collision between the target object and the target vehicle is greater than a preset value, such as 80%, the terminal device sends out warning prompt information to remind that the target object and the target vehicle may collide.

In one example, the terminal device calculates the movement information of the target vehicle, such as movement speed, movement direction, etc., according to the change of the position information of the target vehicle. Specifically, please refer to FIG. 4 , which shows a schematic diagram of a scenario for calculating the movement information of a target vehicle. As shown in Figure 4, according to the distance (distance) L/time (T) = speed V, the angle of inclination = arctan (A/B), the moving speed of the target vehicle can be calculated according to the distance and time between position 1 and position 2 , and then calculate the moving direction of the target vehicle according to the coordinates of position 1 and position 2.

Further, the terminal device can predict the trajectory of the at least one target object and the target vehicle according to the moving speed and moving direction of the target vehicle, and the moving speed and moving direction of the at least one target object, so as to determine whether the target object collides with the target vehicle. Please refer to FIG. 5 , which shows a schematic diagram of a scenario for predicting whether a target object collides with a target vehicle. As shown in Figure 5, the target object is a car, and the target vehicle is an electric car. Assuming that the target object car moves in the CD direction at V1, and the target vehicle electric car moves in the AB direction at the speed V, a collision may occur at point B, that is The car is within a preset range centered on the electric vehicle for a preset period of time (for example, 4s), and there is a possibility of collision within a 5-meter semi-circle around the electric vehicle as shown in the figure. Conversely, if it is no longer within the preset range, there is no possibility of collision. For example, the target object car moves along the CE direction at the speed V2, and the electric vehicle still moves along the AB direction at the speed V, and there is no possibility of collision at this time. The speed of the car is much faster than the speed of the electric car, and there is no possibility of collision between the two.

In another example, the terminal device includes a control module, and the control module is specifically configured to perform collision estimation between at least one target object and the target vehicle, so as to determine whether the target object and the target vehicle collide. If the control module determines that the target object may collide with the target vehicle, the terminal device sends out early warning information through the warning module to remind the target object and the target vehicle that the collision may occur. In practical applications, the warning module may specifically be any one or more of a vibration module, a voice output module or a light output module. That is, any one or more of the vibration module, the voice output module or the light output module is controlled by the control module, and early warning information is issued to indicate that the target object and the target vehicle may collide. Correspondingly, the form of warning prompt information is not limited, such as vibration prompt, voice prompt, and light prompt. For example, when the terminal device determines that the target object may collide with the target vehicle, the control module controls the vibration module to perform a vibration operation for a preset duration to prompt the user that the target vehicle and the target object may collide.

In another example, the terminal device can also obtain indicator light information (traffic light information) from the RSU, and based on the indicator light information, it can remind the owner of driving. For example, the indicator light at the road intersection ahead will turn red after 30s. Accelerate to pass, so as to avoid the owner waiting too long at the intersection. Or remind the owner not to run a red light, etc.

In another example, if the terminal device determines that the target object and the target vehicle have collided, the terminal device can send distress information through the Internet of Vehicles, for example, after a collision, it can send distress information to the hospital to ensure the personal safety of the vehicle owner, etc. . The form of the distress information is not limited, and it may include but not limited to text messages, images, subtitles, emails and other forms.

By implementing this application, the terminal device receives the movement information of at least one target object, obtains the position information of the target vehicle where the terminal device is located, and then performs collision estimation on the movement information of the at least one target object and the position information of the target vehicle to determine Whether the target object collided with the target vehicle. If a collision is possible, it will immediately prompt the owner that a target vehicle is approaching to avoid a collision. The prompting method is not limited, for example, prompting is performed by means of vibration, voice, or alarm sound. In addition, the present application can also achieve blind spot warning, and collisions can also be avoided by collecting and analyzing the movement information of the target object in places where the vehicle owner cannot see. This improves driving safety.

Please refer to FIG. 6A , which is a schematic structural diagram of a vehicle collision warning device 600 provided by an embodiment of the present application. The device shown in FIG. 6A includes a control module 303, a positioning module 302, a car networking module 304 and an alarm module 309, wherein,

The vehicle networking module 304 is used to connect to the vehicle network to receive movement information of at least one target object from the vehicle network, and the movement information includes movement speed, movement direction and movement position;

The positioning module 302 is used to obtain the position information of the target vehicle where the terminal device is located;

The control module 303 is configured to perform collision estimation on the movement information of the at least one target object and the position information of the target vehicle, and determine whether the target object collides with the target vehicle;

The warning module 309 is configured to issue early warning information when it is determined that the target object may collide with the target vehicle, so as to prompt that the target object and the target vehicle may collide.

In some embodiments, the control module 303 is specifically configured to calculate the moving speed and moving direction of the target vehicle according to the position information of the target vehicle; according to the respective moving speeds of the target vehicle and the target object and moving direction, and predict the trajectory of the target vehicle and the target object to determine whether the target object collides with the target vehicle.

In some embodiments, the warning module may specifically be a vibration module 305 , a voice output module 306 or a light output module 307 . The vibration module 305 is used for prompting a possible collision between the target object and the target vehicle by means of vibration prompting. The voice output module 306 is used for prompting that the target object and the target vehicle may collide by means of voice prompts. The light output module 307 is used for prompting that the target object and the target vehicle may collide by means of flashing lights.

In some embodiments, the control module 303 is used to obtain indicator light information through the Internet of Vehicles, and to provide driving prompts according to the indicator light information.

In some embodiments, the control module 303 is further configured to send distress information through the Internet of Vehicles if the target object and the target vehicle have collided.

Please refer to FIG. 6B , which is a schematic structural diagram of another vehicle collision warning device 600 provided by an embodiment of the present application. As shown in FIG. 6B, the device includes a communication module 308, a control module 303 and an alarm module 309, wherein,

The communication module 308 is used to communicate with the target vehicle, so as to receive the movement information of at least one target object through the Internet of Vehicles connected to the target vehicle;

The communication module 308 is further configured to obtain the location information of the target vehicle where the terminal device is located;

The control module 303 is configured to perform collision estimation on the movement information of the at least one target object and the position information of the target vehicle, and determine whether the target object collides with the target vehicle;

The warning module 309 is configured to issue early warning information when it is determined that the target object may collide with the target vehicle, so as to prompt that the target object and the target vehicle may collide.

In some embodiments, the control module 303 is specifically configured to calculate the moving speed and moving direction of the target vehicle according to the position information of the target vehicle; according to the respective moving speeds of the target vehicle and the target object and moving direction, and predict the trajectory of the target vehicle and the target object to determine whether the target object collides with the target vehicle.

In some embodiments, the warning prompt information includes any one or a combination of vibration prompts, voice prompts and light prompts.

In some embodiments, the control module 303 is further configured to obtain indicator light information through the Internet of Vehicles, and provide driving prompts according to the indicator light information.

In some embodiments, the control module 303 is further configured to send distress information through the Internet of Vehicles if the target object and the target vehicle have collided.

It should be noted that, for the functions of each module in the vehicle collision warning device shown in FIGS. 6A and 6B , reference may be made to the relevant introductions in the foregoing FIGS. 2A and 2B , which will not be repeated here.

By implementing the embodiments of the present application, the terminal device receives the movement information of at least one target object, obtains the position information of the target vehicle where the terminal device is located, performs collision estimation on the movement information of the at least one target object and the position information of the target vehicle, and determines the target Whether the object collided with the target vehicle. In this way, collisions can be avoided intelligently and efficiently, which is conducive to improving driving safety.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application. scope.

100: RSU 200: Vehicle 300: Terminal Equipment 301: Power Management Module 302: Positioning module 303: Control Module 304: Vehicle networking module 305: Vibration Module 306: Voice output module 307: Light output module 308: Communication module 309: Warning Module 400: Target Vehicle 401: Positioning module 402: Control Module 403: Vehicle networking module 404: Power Management Module 405: Communication module 600: Vehicle Collision Warning Device S301: The terminal device receives the mobile information of at least one target object through the Internet of Vehicles S302: The terminal device obtains the location information of the target vehicle where the terminal device is located S303: The terminal device performs collision estimation on the movement information of at least one target object and the position information of the target vehicle, and determines whether the target object collides with the target vehicle S304: When it is determined that the target object and the target vehicle may collide, the terminal device sends out warning prompt information to remind the target object that the target vehicle may collide

FIG. 1 is a schematic structural diagram of a vehicle collision warning system provided by an embodiment of the present application. FIG. 2A and FIG. 2B are schematic structural diagrams of two terminal devices provided by an embodiment of the present application. FIG. 3 is a schematic flowchart of a vehicle collision warning method provided by an embodiment of the present application. FIG. 4 is a schematic diagram of a driving according to an embodiment of the present application. FIG. 5 is a schematic diagram of a trajectory prediction provided by an embodiment of the present application. 6A and 6B are schematic structural diagrams of two types of vehicle collision warning devices provided in the present application.

S301: The terminal device receives the mobile information of at least one target object through the Internet of Vehicles

S302: The terminal device obtains the location information of the target vehicle where the terminal device is located

S303: The terminal device performs collision estimation on the movement information of at least one target object and the position information of the target vehicle, and determines whether the target object collides with the target vehicle

S304: When it is determined that the target object and the target vehicle may collide, the terminal device sends out warning prompt information to remind the target object and the target vehicle that the collision may occur

Claims (9)

A vehicle collision warning method, which is applied to a terminal device, the method comprising: Receive movement information of at least one target object through the Internet of Vehicles, where the movement information includes movement speed, movement direction and movement position; Obtain the location information of the target vehicle where the terminal device is located; Perform collision estimation on the movement information of the at least one target object and the position information of the target vehicle, and determine whether the target object collides with the target vehicle; When it is determined that the probability of the collision between the target object and the target vehicle is greater than a preset value, early warning information is issued to remind that the target object and the target vehicle may collide. The method according to claim 1, wherein the step of determining whether the target object collides with the target vehicle further comprises: Calculate the moving speed and moving direction of the target vehicle according to the change of the position information of the target vehicle; According to the respective moving speeds and moving directions of the target vehicle and the target object, trajectory prediction is performed on the target vehicle and the target object to determine whether the target object collides with the target vehicle. The method according to claim 1, wherein the step of receiving the movement information of at least one target object through the Internet of Vehicles further comprises: If the terminal device includes a communication module, communicate with the target vehicle through the communication module, so as to receive the movement information of at least one target object through the Internet of Vehicles connected to the target vehicle; or, If the terminal device includes an Internet of Vehicles module, the Internet of Vehicles module is connected to the Internet of Vehicles to receive movement information of at least one target object from the Internet of Vehicles. The method according to claim 1, wherein the warning prompt information includes any one or a combination of vibration prompts, voice prompts and light prompts. The method according to claim 1, wherein the method further comprises: The indicator information is obtained through the Internet of Vehicles, and driving prompts are provided according to the indicator information. The method according to any one of claims 1-5, wherein the method further comprises: If the target object and the target vehicle have collided, sending distress information through the Internet of Vehicles. A vehicle collision warning device, applied to terminal equipment, comprises: a car networking module, a positioning module, a control module and a warning module, wherein, The vehicle networking module is used to connect to the vehicle network, so as to receive the movement information of at least one target object from the vehicle network; The positioning module is used to obtain the position information of the target vehicle where the terminal device is located; The control module is configured to perform collision estimation on the movement information of the at least one target object and the position information of the target vehicle, and determine whether the target object collides with the target vehicle; and The warning module is configured to issue early warning prompt information when it is determined that the target object may collide with the target vehicle, so as to remind the target object that the target vehicle may collide. A vehicle collision warning device, applied to terminal equipment, includes a communication module, a control module and a warning module, wherein, The communication module is used for communicating with the target vehicle, so as to receive the movement information of at least one target object through the Internet of Vehicles connected to the target vehicle, and obtain the location information of the target vehicle where the terminal device is located ; The control module is configured to perform collision estimation on the movement information of the at least one target object and the position information of the target vehicle, and determine whether the target object collides with the target vehicle; The warning module is configured to issue early warning prompt information when it is determined that the target object may collide with the target vehicle, so as to remind the target object that the target vehicle may collide. A vehicle collision warning system, which includes a number of roadside units of the Internet of Vehicles arranged on the side of the road, passing vehicles on the road, and the vehicle collision early warning device described in claim 7 or 8; wherein, the roadside unit of the Internet of Vehicles and The target object is connected to the same Internet of Vehicles, the roadside unit of the Internet of Vehicles is used to obtain the movement information of each passing vehicle including the target vehicle on the road, and the vehicle collision warning device is directly connected to the Internet of Vehicles or through The target vehicle where the vehicle collision warning device is located is indirectly connected to the Internet of Vehicles.

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