WO2020107990A1 - 车辆预警方法及相关装置 - Google Patents

车辆预警方法及相关装置 Download PDF

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Publication number
WO2020107990A1
WO2020107990A1 PCT/CN2019/104184 CN2019104184W WO2020107990A1 WO 2020107990 A1 WO2020107990 A1 WO 2020107990A1 CN 2019104184 W CN2019104184 W CN 2019104184W WO 2020107990 A1 WO2020107990 A1 WO 2020107990A1
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WIPO (PCT)
Prior art keywords
vehicle
area
warning area
warning
information
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PCT/CN2019/104184
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English (en)
French (fr)
Inventor
陈晓光
Original Assignee
华为技术有限公司
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Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to EP19891317.0A priority Critical patent/EP3869470B1/en
Publication of WO2020107990A1 publication Critical patent/WO2020107990A1/zh
Priority to US17/329,860 priority patent/US11447148B2/en

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0816—Indicating performance data, e.g. occurrence of a malfunction
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/90—Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles

Definitions

  • the embodiments of the present application relate to the field of Internet of Things, and in particular to a vehicle early warning method and related devices.
  • V2X vehicles to vehicles
  • the server collects the latitude, longitude, and direction data of the host vehicle (Host), Remote Vehicle (RV) and the remote vehicle (Remote Vehicle, RV) through V2X technology to obtain the horizontal distance, vertical distance, and driving direction between the two vehicles. Then determine whether the two vehicles are in the same direction of travel. If so, determine the lane where the two vehicles are located according to the map. If the lanes where the two vehicles are located are adjacent, then further calculate the probability of the collision of the two vehicles based on the relative distance between the two vehicles, and according to The calculation result prompts the user.
  • Host host vehicle
  • RV Remote Vehicle
  • RV Remote Vehicle
  • the above scheme relies on the map for recognition. If the map data is not accurate enough, it will affect the accuracy of the recognition. In addition, in the actual application process, the vehicle may have behaviors such as line pressing and riding, which may cause server errors. Sentence.
  • the embodiment of the present application provides a vehicle early warning method, which is used to avoid misjudgment caused by factors such as map accuracy and vehicle pressure line, and improve the accuracy of early warning.
  • the first aspect of the present application provides a vehicle early warning method.
  • the method includes: a V2X device receives a V2X message corresponding to a first vehicle, and when the V2X device determines that the first vehicle is an early warning area for the second vehicle according to the V2X message If the vehicle is dangerous, the V2X device outputs warning information corresponding to the second vehicle.
  • the warning area of the second vehicle is determined based on the vehicle information of the second vehicle.
  • the vehicle information includes at least: the second vehicle’s Position information and the vehicle size corresponding to the second vehicle.
  • the V2X message corresponding to the first vehicle includes at least the location information of the first vehicle.
  • the position information in this implementation refers to information that can determine the position of the vehicle.
  • the V2X device may determine that the first vehicle is a dangerous vehicle in the early warning area according to the V2X message, and output alarm information corresponding to the second vehicle.
  • the vehicle information of the two vehicles corresponds, and the vehicle information includes: the first position information and the vehicle size are determined.
  • the warning area of the vehicle is set according to the position and size of the vehicle. When there is a vehicle located in the warning area and the vehicle meets the warning conditions of the warning area, an alarm is triggered.
  • this embodiment can analyze dangerous vehicles with a risk of collision without relying on a map, which is easy to implement and can avoid misjudgment caused by factors such as map accuracy and vehicle pressure line, and improve the accuracy of recognition .
  • the warning area includes: a left-side blind area warning area and/or a right-side blind area warning area;
  • the vehicle size of the second vehicle includes: the vehicle of the second vehicle Length and vehicle width;
  • the vehicle information of the second vehicle also includes: the driver's seat position of the second vehicle;
  • the left-side blind zone warning area is behind the left-hand B-pillar of the second vehicle.
  • the length of the left-side blind zone warning area is positively correlated with the vehicle length, and the width of the left-side blind zone warning area is The vehicle width is positively correlated;
  • the right blind zone warning area is located behind the right rearview mirror of the second vehicle, the length of the right blind zone warning area is positively correlated with the vehicle length, and the right blind zone warning area width is positively correlated with the vehicle width;
  • the right blind zone warning area is located behind the second vehicle's right B-pillar.
  • the length of the right blind zone warning area is positively related to the vehicle length, and the right blind zone warning area has a width
  • the vehicle width is positively correlated;
  • the left blind zone warning area is located behind the left rearview mirror of the second vehicle, the length of the left blind zone warning area is positively correlated with the vehicle length, and the width of the left blind zone warning area is positively correlated with the vehicle width.
  • the B-pillar of the car is located between the front seat and the rear seat of the cockpit, that is, the longitudinal bar between the two doors on both sides, extending from the roof to the bottom of the car.
  • the driver's seat position is used to indicate whether the driver's seat of the car is located on the left or right side of the vehicle.
  • the positive correlation of the two parameters means that the two variables change in the same direction.
  • the positive correlation between the length of the area and the length of the vehicle means that the greater the length of the vehicle, the greater the length of the area.
  • This implementation provides a specific way to determine the warning area based on the vehicle size, which improves the achievability of the solution.
  • the V2X message corresponding to the first vehicle includes: the position information of the first vehicle and the orientation of the first vehicle; the second vehicle The vehicle information also includes: the orientation of the second vehicle; then the V2X device can determine that the first vehicle is a dangerous vehicle in the left blind zone warning area and/or the right blind zone warning area according to the V2X message:
  • the V2X device determines the current spatial position of the first vehicle based on the position information of the first vehicle. If the current spatial position of the first vehicle is in the left blind zone warning area (or the right blind zone warning area), and the first vehicle’s orientation and If the two vehicles have the same orientation, the V2X device determines that the first vehicle is a dangerous vehicle in the left blind zone warning area (or right blind zone warning area).
  • the warning information output by the V2X device may be used to indicate that there is a dangerous vehicle in the left blind area warning area (or the right blind area warning area).
  • the V2X device can perform early warning recognition on the vehicles in the blind zone early warning area, and can avoid collision between the vehicle and the vehicles in the blind zone.
  • the warning area includes: a forward collision warning area
  • the vehicle size of the second vehicle includes: the vehicle width of the second vehicle
  • the vehicle information of the second vehicle also includes: the vehicle speed of the second vehicle
  • the forward collision warning area is located directly in front of the second vehicle, the width of the forward collision warning area is positively related to the vehicle width of the second vehicle, and the length of the forward collision warning area It is positively related to the vehicle speed of the second vehicle.
  • This implementation method determines the forward collision warning area of the vehicle based on the vehicle size and the vehicle speed, and the size of the area may change with the speed of the vehicle, making it more flexible.
  • the V2X message corresponding to the first vehicle includes: location information of the first vehicle, then the V2X device may pass the following according to the V2X message: To determine that the first vehicle is a dangerous vehicle in the forward collision warning area:
  • the V2X device determines the current spatial position of the first vehicle according to the position information of the first vehicle. If the current spatial position of the first vehicle is in the forward collision warning area, the first vehicle is determined to be a dangerous vehicle in the forward collision warning area.
  • the warning information output by the V2X device can be used to indicate the presence of dangerous vehicles in the forward collision warning area.
  • the V2X device can perform early warning recognition on the vehicle in the forward collision warning area, which can avoid rear-end collision caused by the vehicle being too close to the vehicle.
  • the warning area includes: an emergency electronic brake light area, the emergency electronic brake light area is located directly in front of the second vehicle, and the width of the emergency electronic brake light area The width of the forward collision warning area is equal to the length of the emergency electronic brake light area and the length of the forward collision warning area.
  • the emergency electronic brake light area includes the forward collision warning area.
  • This implementation provides another way to determine the early warning area and improve the flexibility of the solution.
  • the V2X message corresponding to the first vehicle includes: location information of the first vehicle and brake light status of the first vehicle, then According to the V2X message, the V2X device may determine that the first vehicle is a dangerous vehicle in the emergency electronic brake light warning area in the following manner:
  • the V2X device determines the current spatial position of the first vehicle according to the position information of the first vehicle. If the current spatial position of the first vehicle is in the state of the emergency electronic brake light and the brake light state of the first vehicle is on, the first vehicle is determined to be Dangerous vehicles in the emergency electronic brake light area of the second vehicle.
  • the warning information output by the V2X device can be used to indicate that there is a dangerous vehicle in the emergency electronic brake light area.
  • This implementation method can identify the vehicles in the early warning area of the emergency electronic brake light, and can allow the user to brake in advance to avoid rear-end collision caused by emergency braking.
  • the warning area includes: a left-side reverse overtaking warning area and/or a right-side reverse overtaking warning area; vehicle dimensions include: vehicle width and vehicle length;
  • the left overtaking warning area is located on the left front of the left side of the second vehicle.
  • the length of the left overtaking area is positively related to the length of the vehicle, the width of the left overtaking area is positively related to the width of the vehicle, and the length of the left overtaking area Greater than the width of the reverse passing area on the left;
  • the right overtaking warning area is located on the right front of the right side of the second vehicle.
  • the length of the right overtaking area is positively related to the length of the vehicle.
  • the width of the right overtaking area is positively related to the width of the vehicle.
  • the length of the right side overtaking area Greater than the width of the reverse passing area on the right.
  • This implementation provides another way to determine the early warning area and improve the flexibility of the solution.
  • the V2X message corresponding to the first vehicle includes: location information of the first vehicle, orientation of the first vehicle, and the first vehicle The speed, the vehicle information of the second vehicle also includes: the vehicle orientation of the second vehicle.
  • the V2X device can determine that the first vehicle is a dangerous vehicle in the left overtaking warning area on the left or the right overtaking warning area on the right:
  • the V2X device determines the current spatial position of the first vehicle based on the position information of the second vehicle. If the current spatial position of the first vehicle is in the left overtaking warning area on the left (or the right overtaking warning area on the right), and the speed of the first vehicle is not Is zero and the orientation of the first vehicle is opposite to the orientation of the second vehicle, the V2X device determines that the first vehicle is a dangerous vehicle in the left overtaking warning area (or the right overtaking warning area) of the second vehicle.
  • the warning information output by the V2X device may be used to indicate that there is a dangerous vehicle in the left overtaking warning area on the left (or the right overtaking warning area on the right).
  • This implementation manner can identify the vehicles in the reverse overtaking warning area, and can avoid collisions between the vehicles and vehicles traveling in the reverse direction.
  • the warning area includes: a left-side movement assistance area and/or a right-side movement assistance area; vehicle dimensions include: vehicle width and vehicle length;
  • the left mobility assistance area is located on the left front of the left head of the second vehicle, the length of the left mobility assistance area is positively correlated with the vehicle length, and the width of the left mobility assistance area is positively correlated with the vehicle width;
  • the right assist area is located on the right front of the right side of the second vehicle, the length of the right mobility assist area is positively correlated with the vehicle length, and the width of the right mobility assist area is positively correlated with the vehicle width.
  • This implementation provides another specific way to determine the early warning area, which improves the flexibility of the solution.
  • the V2X message corresponding to the first vehicle includes: location information of the first vehicle, orientation of the first vehicle, and the first vehicle speed.
  • the vehicle information of the second vehicle also includes: the orientation of the second vehicle.
  • the V2X device can determine that the first vehicle is a dangerous vehicle in the left mobility assistance area or the right mobility assistance area according to the V2X message corresponding to the first vehicle:
  • the V2X device determines the current spatial position of the first vehicle based on the position information of the first vehicle. If the current spatial position of the first vehicle is in the left mobility assistance area (or right mobility assistance area), the speed of the first vehicle is not zero and When the orientation of the first vehicle and the orientation of the second vehicle intersect, the V2X device determines that the first vehicle is a dangerous vehicle in the left-side movement assistance area (or right-side movement assistance area) of the second vehicle.
  • the warning information output by the V2X device may be used to indicate that there is a dangerous vehicle in the left mobility assistance area (or the right mobility assistance area).
  • This implementation mode can identify the vehicles in the intersection mobility assistance area, and can assist the user to pass through the intersection safely and avoid collision at the intersection.
  • the location information includes GPS measurement results and the following At least one item: GPS antenna position or GPS measurement accuracy.
  • This implementation method can position the vehicle in combination with the GPS antenna position and/or GPS measurement accuracy, thereby improving the positioning accuracy.
  • the V2X device is a vehicle-mounted device, then the V2X device determines that the first vehicle is in the early warning area according to the V2X message Before the dangerous vehicle, the following steps may be performed: the V2X device determines the current spatial position of the second vehicle according to the position information of the second vehicle and the vehicle size, and then determines the warning area of the second vehicle according to the current spatial position and vehicle size of the second vehicle.
  • This implementation provides a method for the vehicle-mounted device to determine the warning area, which improves the feasibility of the solution.
  • the V2X device is a vehicle-mounted device, then the V2X device determines that the first vehicle is in the early warning area according to the V2X message Before a dangerous vehicle, you can perform the following steps:
  • the V2X device sends the vehicle information of the second vehicle to the server.
  • the vehicle information includes the position information and vehicle size of the second vehicle.
  • the position information of the second vehicle determines the current spatial position of the second vehicle, and determines an early warning area according to the current spatial position of the second vehicle and the vehicle size, and then returns the determined early warning area to the V2X device, and the V2X device receives the early warning area sent by the server.
  • This implementation provides another way for the vehicle-mounted device to determine the early warning area, which improves the flexibility of the solution.
  • the V2X device determines that the first vehicle is a danger in the early warning area according to the V2X message Before the vehicle, the following steps may be performed: the V2X device receives the vehicle information of the second vehicle sent by the vehicle-mounted device, determines the current spatial position of the second vehicle according to the position information in the vehicle information, and then according to the current spatial position of the second vehicle and the vehicle The vehicle size in the information determines the warning area of the second vehicle.
  • This implementation provides a way for the server to determine the warning area, which improves the realizability of the solution.
  • the V2X device determines that the first vehicle is a danger in the early warning area according to the V2X message Before the vehicle, the following steps may be performed: the V2X device receives the warning area sent by the vehicle-mounted device, and the warning area is determined by the vehicle-mounted device according to the current spatial position of the second vehicle and the vehicle size.
  • This implementation provides another way for the server to determine the early warning area, which improves the flexibility of the solution.
  • the V2X device may output the warning information corresponding to the second vehicle in the following manner: Early warning information is displayed on the dashboard of the second vehicle, and the early warning information is used to indicate that the user has a dangerous vehicle in the early warning area; or the warning information corresponding to the second vehicle is output in the following manner: the V2X device prompts the user through a voice that the dangerous vehicle is in the early warning area.
  • This implementation provides multiple ways for the vehicle-mounted equipment to output warning information, which improves the flexibility of the solution.
  • the V2X device may output the warning information corresponding to the second vehicle in the following manner: V2X device Send notification information to the vehicle-mounted device, so that the vehicle-mounted device indicates to the user corresponding to the second vehicle that there is a dangerous vehicle in the warning area according to the notification information.
  • This implementation provides a way for the server to output warning information, which improves the realizability of the solution.
  • the present application provides another vehicle early warning method, the method includes: the on-board device determines the current spatial position of the second vehicle according to the position information of the second vehicle, and determines the current spatial position of the second vehicle and the vehicle size The warning area of the second vehicle, and then send the warning area of the second vehicle to the server, so that the server determines that the first vehicle is a dangerous vehicle in the warning area of the second vehicle according to the V2X message of the first vehicle, and then determines the first vehicle
  • a notification message is sent to the vehicle-mounted device, and the vehicle-mounted device receives the notification message and prompts the user to warn that there is a dangerous vehicle in the warning area.
  • the warning area of the vehicle is set according to the position and size of the vehicle.
  • an alarm is triggered.
  • this embodiment can analyze dangerous vehicles with a risk of collision without relying on a map, which is easy to implement and can avoid misjudgment caused by factors such as map accuracy and vehicle pressure line, and improve the accuracy of recognition .
  • the location information includes a GPS measurement result and at least one of the following: GPS measurement accuracy and GPS antenna position.
  • This implementation method can position the vehicle in combination with the GPS antenna position and/or GPS measurement accuracy, thereby improving the positioning accuracy.
  • the warning area includes: a left blind area warning area and/or a right blind area warning area;
  • the vehicle size of the second vehicle includes: the vehicle length of the second vehicle and the vehicle Width;
  • the vehicle information of the second vehicle also includes: the driver's seat position of the second vehicle;
  • the left-side blind zone warning area is behind the left-hand B-pillar of the second vehicle.
  • the length of the left-side blind zone warning area is positively correlated with the vehicle length, and the width of the left-side blind zone warning area is The vehicle width is positively correlated;
  • the right blind zone warning area is located behind the right rearview mirror of the second vehicle, the length of the right blind zone warning area is positively correlated with the vehicle length, and the right blind zone warning area width is positively correlated with the vehicle width;
  • the right blind zone warning area is located behind the second vehicle's right B-pillar.
  • the length of the right blind zone warning area is positively related to the vehicle length, and the right blind zone warning area has a width
  • the vehicle width is positively correlated;
  • the left blind zone warning area is located behind the left rearview mirror of the second vehicle, the length of the left blind zone warning area is positively correlated with the vehicle length, and the width of the left blind zone warning area is positively correlated with the vehicle width.
  • the B-pillar of the car is located between the front seat and the rear seat of the cockpit, that is, the longitudinal bar between the two doors on both sides, extending from the roof to the bottom of the car.
  • the driver's seat position is used to indicate whether the driver's seat of the car is located on the left or right side of the vehicle.
  • the positive correlation of the two parameters means that the two variables change in the same direction.
  • the positive correlation between the length of the area and the length of the vehicle means that the greater the length of the vehicle, the greater the length of the area.
  • This implementation provides a specific way to determine the warning area based on the vehicle size, which improves the achievability of the solution.
  • the warning area includes: a forward collision warning area
  • the vehicle size of the second vehicle includes: the vehicle width of the second vehicle
  • the vehicle information of the second vehicle further includes: The vehicle speed of the second vehicle
  • the forward collision warning area is located directly in front of the second vehicle, the width of the forward collision warning area is positively related to the vehicle width of the second vehicle, and the length of the forward collision warning area is the same as the second The vehicle speed of the vehicle is positively correlated.
  • This implementation method determines the forward collision warning area of the vehicle based on the vehicle size and the vehicle speed, and the size of the area may change with the speed of the vehicle, making it more flexible.
  • the warning area includes: an emergency electronic brake light area, the emergency electronic brake light area is located directly in front of the second vehicle, and the width of the emergency electronic brake light area is in frontal collision The width of the warning area is equal, the length of the emergency electronic brake light area is positively related to the length of the forward collision warning area, and the emergency electronic brake light area includes the forward collision warning area.
  • This implementation provides another specific way to determine the early warning area, which improves the flexibility of the solution.
  • the warning area includes: a left-side reverse overtaking warning area and/or a right-side reverse overtaking warning area; vehicle dimensions include: vehicle width and vehicle length;
  • the left overtaking warning area is located on the left front of the left side of the second vehicle.
  • the length of the left overtaking area is positively related to the length of the vehicle, the width of the left overtaking area is positively related to the width of the vehicle, and the length of the left overtaking area Greater than the width of the reverse passing area on the left;
  • the right overtaking warning area is located on the right front of the right side of the second vehicle.
  • the length of the right overtaking area is positively related to the length of the vehicle
  • the width of the right overtaking area is positively related to the width of the vehicle
  • the length of the right side overtaking area Greater than the width of the reverse passing area on the right.
  • This implementation provides another specific way to determine the early warning area, which improves the flexibility of the solution.
  • the warning area includes: a left-side movement assistance area and/or a right-side movement assistance area; vehicle dimensions include: vehicle width and vehicle length;
  • the left mobility assistance area is located on the left front of the left head of the second vehicle, the length of the left mobility assistance area is positively correlated with the vehicle length, and the width of the left mobility assistance area is positively correlated with the vehicle width;
  • the right assist area is located on the right front of the right side of the second vehicle, the length of the right mobility assist area is positively correlated with the vehicle length, and the width of the right mobility assist area is positively correlated with the vehicle width.
  • This implementation provides another specific way to determine the early warning area, which improves the flexibility of the solution.
  • the vehicle-mounted device may output the warning information corresponding to the second vehicle in the following manner: displaying the warning information on the dashboard of the second vehicle, the warning information is used to indicate the user Dangerous vehicles are present in the early warning area; or the user is alerted by voice to alert the existence of dangerous vehicles in the area.
  • This implementation provides multiple ways for the vehicle-mounted equipment to output warning information, which improves the flexibility of the solution.
  • the present application provides a vehicle early warning method.
  • the method includes: a server receives vehicle information of a second vehicle sent by an in-vehicle device, determines the current spatial position of the second vehicle according to the position information in the vehicle information, and The current spatial position and vehicle size of the two vehicles determine the warning area of the second vehicle, and send the warning area of the second vehicle to the vehicle-mounted device, so that the vehicle-mounted device determines that the first vehicle is the warning of the second vehicle according to the V2X message corresponding to the first vehicle Dangerous vehicles in the area, when it is determined that the first vehicle is a dangerous vehicle in the warning area of the second vehicle, warning information is output.
  • the warning area of the vehicle is set according to the position and size of the vehicle.
  • an alarm is triggered.
  • this embodiment can analyze dangerous vehicles with a risk of collision without relying on a map, which is easy to implement and can avoid misjudgment caused by factors such as map accuracy and vehicle pressure line, and improve the accuracy of recognition .
  • the position information of the second vehicle includes a GPS measurement result and at least one of the following: GPS measurement accuracy and GPS antenna position.
  • This implementation method can position the vehicle in combination with the GPS antenna position and/or GPS measurement accuracy, thereby improving the positioning accuracy.
  • the warning area includes: a left-side blind area warning area and/or a right-side blind area warning area;
  • the vehicle size of the second vehicle includes: the vehicle length of the second vehicle and the vehicle Width;
  • the vehicle information of the second vehicle also includes: the driver's seat position of the second vehicle;
  • the left-side blind zone warning area is behind the left-hand B-pillar of the second vehicle.
  • the length of the left-side blind zone warning area is positively correlated with the vehicle length, and the width of the left-side blind zone warning area is The vehicle width is positively correlated;
  • the right blind zone warning area is located behind the right rearview mirror of the second vehicle, the length of the right blind zone warning area is positively correlated with the vehicle length, and the right blind zone warning area width is positively correlated with the vehicle width;
  • the right blind zone warning area is behind the second vehicle's right B-pillar.
  • the length of the right blind zone warning area is positively related to the vehicle length, and the right blind zone warning area has The vehicle width is positively correlated;
  • the left blind zone warning area is located behind the left rearview mirror of the second vehicle, the length of the left blind zone warning area is positively correlated with the vehicle length, and the left blind zone warning area is positively correlated with the vehicle width.
  • the B-pillar of the car is located between the front seat and the rear seat of the cockpit, that is, the longitudinal bar between the two doors on both sides, extending from the roof to the bottom of the car.
  • the driver's seat position is used to indicate whether the driver's seat of the car is located on the left or right side of the vehicle.
  • the positive correlation of the two parameters means that the two variables change in the same direction.
  • the positive correlation between the length of the area and the length of the vehicle means that the greater the length of the vehicle, the greater the length of the area.
  • This implementation provides a specific way to determine the warning area based on the vehicle size, which improves the achievability of the solution.
  • the warning area includes: a forward collision warning area
  • the vehicle size of the second vehicle includes: the vehicle width of the second vehicle
  • the vehicle information of the second vehicle further includes: The vehicle speed of the second vehicle
  • the forward collision warning area is located directly in front of the second vehicle, the width of the forward collision warning area is positively related to the vehicle width of the second vehicle, and the length of the forward collision warning area is the same as the second The vehicle speed of the vehicle is positively correlated.
  • This implementation method determines the forward collision warning area of the vehicle based on the vehicle size and the vehicle speed, and the size of the area may change with the speed of the vehicle, making it more flexible.
  • the warning area includes: an emergency electronic brake light area, the emergency electronic brake light area is located directly in front of the second vehicle, and the width of the emergency electronic brake light area is in frontal collision The width of the warning area is equal, the length of the emergency electronic brake light area is positively related to the length of the forward collision warning area, and the emergency electronic brake light area includes the forward collision warning area.
  • This implementation provides another specific way to determine the early warning area, which improves the flexibility of the solution.
  • the warning area includes: a left-side reverse overtaking warning area and/or a right-side reverse overtaking warning area; vehicle dimensions include: vehicle width and vehicle length;
  • the left overtaking warning area is located on the left front of the left side of the second vehicle.
  • the length of the left overtaking area is positively related to the length of the vehicle, the width of the left overtaking area is positively related to the width of the vehicle, and the length of the left overtaking area Greater than the width of the reverse passing area on the left;
  • the right overtaking warning area is located on the right front of the right side of the second vehicle.
  • the length of the right overtaking area is positively related to the length of the vehicle
  • the width of the right overtaking area is positively related to the width of the vehicle
  • the length of the right side overtaking area Greater than the width of the reverse passing area on the right.
  • This implementation provides another specific way to determine the early warning area, which improves the flexibility of the solution.
  • the warning area includes: a left-side mobility assistance area and/or a right-side mobility assistance area; vehicle dimensions include: vehicle width and vehicle length;
  • the left mobility assistance area is located on the left front of the left head of the second vehicle, the length of the left mobility assistance area is positively correlated with the vehicle length, and the width of the left mobility assistance area is positively correlated with the vehicle width;
  • the right assist area is located on the right front of the right side of the second vehicle, the length of the right mobility assist area is positively correlated with the vehicle length, and the width of the right mobility assist area is positively correlated with the vehicle width.
  • This implementation provides another specific way to determine the early warning area, which improves the flexibility of the solution.
  • a fourth aspect of the present application provides an in-vehicle device having the functions of a V2X device in the first aspect, the first to thirteenth, and the sixteenth implementation manners of the first aspect.
  • This function can be realized by hardware, and can also be realized by hardware executing corresponding software.
  • the hardware or software includes one or more modules corresponding to the above functions.
  • a fifth aspect of the present application provides a server having the function of implementing the above-mentioned first aspect, the first to eleventh, fourteenth, fifteenth and seventeenth implementation modes of the first aspect.
  • This function can be realized by hardware, and can also be realized by hardware executing corresponding software.
  • the hardware or software includes one or more modules corresponding to the above functions.
  • a sixth aspect of the present application provides an in-vehicle device having a function of implementing the in-vehicle device in each implementation manner of the second aspect described above.
  • This function can be realized by hardware, and can also be realized by hardware executing corresponding software.
  • the hardware or software includes one or more modules corresponding to the above functions.
  • a seventh aspect of the present application provides a server.
  • the vehicle-mounted device has a function of implementing the server in each implementation manner of the third aspect. This function can be realized by hardware, and can also be realized by hardware executing corresponding software.
  • the hardware or software includes one or more modules corresponding to the above functions.
  • An eighth aspect of the present application provides a computer-readable storage medium, including instructions, which when executed on a computer, causes the computer to perform the method as in the first aspect, second aspect, or third aspect.
  • a ninth aspect of the present application provides a computer program product containing instructions, which when run on a computer, causes the computer to perform the method as in the first aspect, second aspect, or third aspect.
  • the V2X device may determine that the first vehicle is a dangerous vehicle in the early warning area according to the V2X message, and output the early warning information corresponding to the second vehicle.
  • the vehicle information includes: the first position information and the vehicle size are determined.
  • the warning area of the vehicle is set according to the position and size of the vehicle. When there is a vehicle located in the warning area and the vehicle meets the warning conditions of the warning area, an alarm is triggered.
  • this embodiment can analyze dangerous vehicles with a risk of collision without relying on a map, which is easy to implement and can avoid misjudgment caused by factors such as map accuracy and vehicle pressure line, and improve the accuracy of recognition .
  • FIG. 1A is a front view of a vehicle in an embodiment of this application.
  • FIG. 1B is a left side view of the vehicle in the embodiment of the present application.
  • FIG. 2 is a schematic diagram of a car networking system in an embodiment of this application.
  • FIG. 3 is a flowchart of an embodiment of a vehicle early warning method in an embodiment of this application.
  • 4A is a schematic diagram of an early warning area in an embodiment of this application.
  • 4B is a schematic diagram of an early warning area in an embodiment of this application.
  • 4C is a schematic diagram of an early warning area in an embodiment of this application.
  • 4D is a schematic diagram of an early warning area in an embodiment of this application.
  • 4E is a schematic diagram of an early warning area in an embodiment of this application.
  • FIG. 5 is a flowchart of an embodiment of a vehicle early warning method in an embodiment of this application.
  • FIG. 6 is a flowchart of an embodiment of a dangerous vehicle in an embodiment of the present application.
  • FIG. 7 is a schematic diagram of a vehicle-mounted device in an embodiment of this application.
  • FIG. 8 is a schematic diagram of a vehicle-mounted device in an embodiment of this application.
  • FIG. 9 is a schematic diagram of a server in an embodiment of this application.
  • FIG. 10 is a schematic diagram of a server in an embodiment of this application.
  • FIG. 11 is a schematic diagram of a vehicle-mounted device in an embodiment of this application.
  • FIG. 12 is a schematic diagram of a server in an embodiment of this application.
  • the vehicle width in the embodiment of the present application is the distance between two extreme points in the width direction of the automobile, that is, the distance between the most protruding positions on the left and right sides of the vehicle body.
  • the width of the body does not include the width of the left and right rearview mirrors, that is, the most protruding position should be selected after the rearview mirror is folded.
  • the rear-view mirror is a tool for the driver to directly obtain external information such as the rear, side, and bottom of the car while sitting on the seat of the cab.
  • the rear-view mirror is located on the door of the car, and there are two rear-view mirrors on the left and right sides of the car, as shown in FIG. 1A.
  • the vehicle length in the embodiment of the present application is the distance between two extreme points in the length direction of the car, that is, measured from the most protruding position of the front bumper to the most convex rear bumper Out of position, the distance between these two points.
  • the B-pillar in the embodiment of the present application refers to the longitudinal bar between the front seat and the rear seat of the cockpit, that is, between the two doors on both sides, extending from the roof to the bottom of the vehicle, from the inside Look, the seat belt is on the B-pillar.
  • FIG. 2 is a schematic diagram of a system structure to which the vehicle early warning method provided by the embodiments of the present application is applicable.
  • the system includes a service system composed of at least one server 201, and several vehicle-mounted devices corresponding to the service system.
  • FIG. 2 takes two vehicle-mounted devices as an example.
  • the two vehicle-mounted devices are a first vehicle-mounted device 202 and a second vehicle-mounted device.
  • Device 203 is a schematic diagram of a system structure to which the vehicle early warning method provided by the embodiments of the present application is applicable.
  • the system includes a service system composed of at least one server 201, and several vehicle-mounted devices corresponding to the service system.
  • FIG. 2 takes two vehicle-mounted devices as an example.
  • the two vehicle-mounted devices are a first vehicle-mounted device 202 and a second vehicle-mounted device.
  • Device 203 is a schematic diagram of a system structure to which the vehicle early warning method provided by the embodiments of the present application is applicable.
  • the first in-vehicle device is placed in the first vehicle
  • the second in-vehicle device is placed in the second vehicle.
  • this embodiment refers to the V2X message sent by the first in-vehicle device as the V2X message corresponding to the first vehicle.
  • the V2X message sent by the second vehicle-mounted device is called a V2X message corresponding to the second vehicle.
  • the various devices in the system can communicate with each other, specifically, they can communicate through broadcast messages or unicast messages.
  • the specific application is not limited.
  • the vehicle-mounted device in the system may periodically broadcast a V2X message according to the settings.
  • the V2X message includes location information, direction data, etc. of the vehicle corresponding to the vehicle-mounted device, and then other vehicle-mounted devices or servers in the system receive After the V2X message, the vehicle warning method in the embodiment of the present application may be used for warning identification.
  • an embodiment of the vehicle early warning method in the embodiment of the present application includes:
  • the second vehicle-mounted device sends the vehicle information of the second vehicle to the server.
  • the second vehicle-mounted device is an intelligent communication device on the second vehicle, and the vehicle information of the second vehicle is pre-stored in the second vehicle-mounted device.
  • the predetermined trigger condition is met, the second vehicle-mounted device sends the first The vehicle information of the second vehicle.
  • the trigger condition may be that the user starts an early warning function, or the user starts the automatic driving mode, or the time meets a preset condition, or other conditions, which is not specifically limited herein.
  • the vehicle information of the second vehicle includes the position information of the second vehicle and the vehicle size of the second vehicle.
  • the position information of the second vehicle may include the GPS measurement result of the second vehicle and at least one of the following: the GPS antenna position of the second vehicle or the GPS measurement accuracy of the second vehicle, where the second The vehicle GPS antenna position refers to the relative position of the antenna in the second vehicle.
  • the measurement result of the Global Positioning System is generally the latitude and longitude information obtained by GPS positioning.
  • the latitude and longitude information is essentially used to indicate the latitude and longitude of the GPS antenna, and there is a certain error in the latitude and longitude
  • the position of the vehicle can be more accurately located in combination with the position of the GPS antenna in the second vehicle and/or the GPS measurement accuracy.
  • the server determines the warning area according to the vehicle information of the second vehicle.
  • the server determines the current spatial position of the second vehicle according to the position information of the second vehicle and the vehicle size, and then determines the current spatial position of the second vehicle The space position and vehicle size determine the warning area.
  • the server side sets the vehicle size corresponding to different types of vehicles, the vehicle size corresponding to different vehicle identification codes, or the vehicle size corresponding to different types of vehicle models.
  • the vehicle information of the second vehicle may include position information of the second vehicle and at least one of the following: the vehicle type, vehicle model, or vehicle identification of the second vehicle.
  • the server may determine the vehicle size of the second vehicle according to the vehicle type, vehicle model or vehicle identification, and then determine the current spatial position of the second vehicle according to the vehicle size and the position information of the second vehicle, Then, the early warning area corresponding to the second vehicle is determined according to the current spatial position of the second vehicle and the size of the vehicle.
  • the early warning area includes at least one of the following areas: a left blind area warning area, a right blind area warning area, a left lane change warning area, a right lane change warning area, a forward collision warning area, a Emergency electronic brake lights, reverse overtaking warning area on the left, reverse overtaking warning area on the right, moving auxiliary area on the left, and moving auxiliary area on the right.
  • the early warning area includes: a left blind area warning (Blind Spot Warning, BSW) area and/or a right blind area warning area;
  • vehicle size includes; vehicle length and vehicle width;
  • vehicle information also includes: driver's seat position; The driver's seat position is used to indicate that the driver's seat is located on the left or right side of the car.
  • the left-side blind zone warning area is located behind the B-pillar on the left side of the second vehicle.
  • the length of the area is positively related to the vehicle length, and the width of the area is positively related to the vehicle width;
  • the blind zone warning area is located behind the rearview mirror on the right side of the second vehicle, the length of the area is positively related to the length of the vehicle, and the width of the area is positively related to the width of the vehicle.
  • the right blind zone warning area is behind the second vehicle's right B-pillar.
  • the length of the area is positively correlated with the vehicle length, and the width of the area is positively correlated with the vehicle width;
  • the left blind zone warning area Located behind the rearview mirror on the left side of the second vehicle, the length of the area is positively related to the length of the vehicle, and the width of the area is positively related to the width of the vehicle.
  • the left blind zone early warning area in the early warning area can be determined as follows: if the driver’s seat of the second vehicle is located on the left side of the vehicle, the left side of the second vehicle
  • the first area on the left behind the B-pillar is determined as the left blind zone warning area
  • the second area on the right of the right rear of the right rearview mirror of the second vehicle is determined as the right blind zone warning area
  • the length of an area is a times the vehicle length of the second vehicle
  • the width of the first area is b times the vehicle width of the second vehicle
  • the height of the first area is not limited
  • the length of the second area is the vehicle of the second vehicle C times the length
  • the width of the second area is d times the vehicle width of the second vehicle, the height of the second area is not limited
  • the driver of the second vehicle is located on the right side of the vehicle, the right side of the second vehicle
  • the third area on the right behind the B-pillar is determined as the right blind area
  • a, b, c, and d are preset values.
  • the right blind area warning area and /Or the right blind early warning area is shown in Figure 4B.
  • the early warning area may include: a left lane change warning (Lane Change Warning, LCW) area and/or a right lane change warning area, wherein the definition of the left lane change warning area and the aforementioned left blind area warning area Similarly, the definition of the right blind zone warning area is similar to the aforementioned right blind zone warning area.
  • the server determines the left lane change warning area and/or the right lane change warning area in the same way as the server determines the left blind area warning area and/right
  • the early warning area of the blind zone is similar, and will not be repeated here.
  • the warning area includes: a forward collision warning (Forward Collision Warning, FCW) area and a pre-emergency electronic brake light (Electronic Emergency Brake Light, EEBL) area.
  • FCW Forward Collision Warning
  • EEBL Electronic Emergency Brake Light
  • the vehicle size includes: vehicle width; vehicle information also includes: vehicle speed.
  • the forward collision warning area and the pre-emergency electronic brake light are located directly in front of the second vehicle, the width of the forward collision warning area is positively related to the vehicle width of the second vehicle, and the length of the forward collision warning area is related to the second vehicle
  • the vehicle speed is positively correlated;
  • the width of the emergency electronic brake light area is equal to the width of the forward collision warning area.
  • the length of the emergency electronic brake light area is greater than the length of the forward collision warning area, that is, the emergency electronic brake light area contains the front To the collision warning area.
  • the forward collision warning area in the warning area can be determined as follows: the fifth area directly in front of the second vehicle is used as the forward collision warning area, and the second The sixth area directly in front of the vehicle is an emergency electronic brake light area, wherein the widths of the fifth area and the sixth area are both e times the vehicle width of the second vehicle, and the length of the fifth area is the vehicle speed of the second vehicle Multiplied by f seconds, the length of the sixth area is g times the length of the fifth area, and the heights of the fifth area and the sixth area are not limited.
  • vehicle speed of the second vehicle is 8 meters/second, the second vehicle The determined forward collision warning area and emergency electronic brake light area are shown in FIG. 4C.
  • the early warning area includes: a left-side reverse overtaking warning (DoNot Not Passing, DNPW) area and/or a right-side reverse overtaking warning area;
  • the vehicle size includes: vehicle width and vehicle length.
  • the left-side reverse overtaking warning area is located at the left front of the left head of the second vehicle, the length of the left-side reverse overtaking warning area is positively related to the vehicle length of the second vehicle, and the width of the left-side reverse overtaking warning area is related to the second vehicle
  • the width of the vehicle is positively correlated, and the length of the left reverse overtaking warning area is greater than the width of the left side overtaking warning area;
  • the right side reverse overtaking warning area is located on the right front of the right side of the second vehicle, and the right side overtaking warning area
  • the length is positively correlated with the vehicle length of the second vehicle, the width of the right side overtaking warning area is positively correlated with the vehicle width of the second vehicle, and the length of the right side overtaking warning area is greater than the width of the right side overtaking warning area.
  • the server can determine the left reverse overtaking warning area and/or the right reverse overtaking warning area in the early warning area by:
  • the seventh area is used as a left-side reverse overtaking warning area
  • the eighth area on the right front of the right side of the second vehicle is used as a right-side reverse overtaking warning area
  • the width of the seventh area is h times the vehicle width of the second vehicle
  • the length of the seventh area is i times the vehicle length of the second vehicle
  • the height of the seventh area is not limited
  • the width of the eighth area is j times the vehicle width of the second vehicle
  • the length of the eighth area is the second vehicle K times the length of the vehicle, the height of the eighth area is not limited.
  • the early warning area may include: a left movement assistance (Intersection Motion Assistant, IMA) area and/or a right movement assistance area
  • the vehicle size includes: vehicle width and vehicle length.
  • the left mobility assistance area is located on the left front of the left head of the second vehicle, the length of the left mobility assistance area is positively related to the vehicle length of the second vehicle, and the width of the left mobility assistance area is related to the vehicle width of the second vehicle Positive correlation;
  • the right mobility assistance area is located in front of the right front of the right side of the second vehicle, the length of the right mobility assistance area is positively related to the vehicle length of the second vehicle, and the width of the right mobility assistance area is related to the vehicle width of the second vehicle Positive correlation.
  • the server can determine the left movement assistance area and/or the right movement assistance area in the warning area by:
  • the area is used as a left-side movement assist area, and the tenth area on the right front of the right side of the second vehicle is used as the right-side movement assist area, where the width of the ninth area is m times the vehicle width of the second vehicle, and the ninth area
  • the length of the second vehicle is n times the length of the second vehicle, the height of the ninth region is not limited, the width of the tenth region is p times the vehicle width of the second vehicle, and the length of the tenth region is the vehicle length of the second vehicle q times, the height of the tenth area is not limited.
  • m, n, p, and q are preset values.
  • the second vehicle-mounted device receives the warning area sent by the server.
  • sending an early warning area refers to sending information that can indicate the corresponding position of the early warning area, such as the latitude and longitude range of the sending area.
  • the second vehicle-mounted device receives the V2X message corresponding to the first vehicle and sent by the first vehicle-mounted device.
  • the first vehicle-mounted device periodically or irregularly sends a V2X message corresponding to the first vehicle
  • the second vehicle-mounted device receives the V2X message corresponding to the first vehicle
  • the V2X message includes at least one of the following: The position information, the orientation of the first vehicle, the brake light status of the first vehicle, the turn signal status of the first vehicle, and the speed of the first vehicle. It should be understood that the V2X message may also include other information, which is not specifically limited in this application.
  • the position information of the first vehicle may include the GPS measurement result of the first vehicle and at least one of the following: the GPS antenna position of the first vehicle or the GPS measurement accuracy of the first vehicle, wherein the GPS antenna position of the first vehicle Refers to the relative position of the antenna in the first vehicle.
  • the brake light status of the first vehicle is used to indicate whether the brake light of the first vehicle is on.
  • the first vehicle's turn signal status is used to indicate whether the first vehicle's turn signal (including left turn light and right turn light) is on, and the first vehicle's speed is the first vehicle's current speed, which may be dynamically changed .
  • the second in-vehicle device determines whether the first vehicle is a dangerous vehicle in the warning area according to the V2X message. If yes, step 306 is performed, and if not, step 307 is performed.
  • the second vehicle-mounted device determines the warning area of the second vehicle and receives the V2X message corresponding to the first vehicle, it determines whether the first vehicle is a dangerous vehicle in the warning area according to the V2X message, and if so, step 306 is executed, if not , Step 307 is executed.
  • the early warning area includes one or more of the following areas: a left blind area warning area, a right blind area warning area, a left lane change warning area, a right lane change warning area, a forward collision warning area, a pre-emergency electronic Brake lights, a warning zone for reverse overtaking on the left side, a warning zone for reverse overtaking on the right side, a moving auxiliary area on the left side, and a moving auxiliary area on the right side.
  • the second vehicle-mounted device will first determine the current spatial position of the first vehicle according to the position information in the V2X message. If the current spatial position of the first vehicle is in one of the warning areas, the first vehicle will be judged according to the warning conditions in this area Whether it is a dangerous vehicle in this area. It should be understood that the warning conditions in some areas may be set as long as a vehicle is in the area, that vehicle is considered to meet the warning conditions. It should also be understood that the vehicle is located in a certain area, which may specifically be that a part of the vehicle enters this area, or that the entire vehicle enters the area, which is not specifically limited in this application.
  • different warning conditions can be set for different police areas.
  • the early warning conditions may include at least one of the following: speed conditions, turn signal conditions, brake light conditions, and vehicle heading conditions.
  • the second vehicle-mounted device determines that the first vehicle is a dangerous vehicle in the warning area corresponding to the warning condition.
  • the first vehicle is determined to be the Dangerous vehicles in the left blind zone warning area or the right blind zone warning area.
  • the current spatial position of the first vehicle is in the left lane change warning area, it is determined whether the orientation of the first vehicle is the same as the orientation of the second vehicle, and whether the right turn light of the second vehicle is on. The direction of the first vehicle is the same, and the right turn light of the second vehicle is turned on, it is determined that the second vehicle is a dangerous vehicle in the left lane change warning area. If the current spatial position of the first vehicle is in the right lane change warning area, it is determined whether the orientation of the second vehicle is the same as the orientation of the first vehicle, and whether the left turn light of the second vehicle is turned on. The direction of the first vehicle is the same, and the left turn light of the second vehicle is turned on, it is determined that the second vehicle is a dangerous vehicle in the left lane change warning area.
  • the second vehicle-mounted device may determine that the first vehicle is a dangerous vehicle in the forward collision warning area.
  • the second vehicle-mounted device determines that the first vehicle is a dangerous vehicle in the emergency electronic brake light area.
  • the current spatial position of the first vehicle is in the left overtaking warning area on the left or the overtaking warning area on the right, it is determined whether the speed of the first vehicle is zero and whether the orientation of the first vehicle is opposite to the orientation of the second vehicle.
  • the speed of the vehicle is zero, and the orientation of the first vehicle is opposite to the orientation of the second vehicle, it is determined that the first vehicle is a dangerous vehicle in the left overtaking warning area or the right overtaking warning area.
  • the first vehicle is determined to be a dangerous vehicle in the left-side movement assistance area or the right-side movement assistance area.
  • the above-mentioned direction of the vehicle refers to the direction in which the vehicle is seated. As an optional way, it can be identified by the direction in geography. For example, the direction can be roughly divided into several directions such as east, south, west, north, northwest, southwest, northeast, and southeast.
  • the direction of the vehicle can be accurately indicated by the A direction deviating to the B direction X degrees, and the direction of the vehicle can also be indicated by other methods, which is not limited in this application.
  • the same orientation of the two vehicles may be the same general orientation. If vehicle A and vehicle B are both facing east, it is determined that vehicles A and B are in the same direction; It means that the direction of the vehicle A and the vehicle C are opposite, if the vehicle A faces the east and the vehicle C faces the west.
  • the second vehicle-mounted device may also determine whether the first vehicle is a dangerous vehicle in the warning area through other methods. The specifics are not limited here.
  • the second vehicle-mounted device outputs warning information corresponding to the second vehicle.
  • the second vehicle-mounted device determines that the first vehicle is a dangerous vehicle
  • the second vehicle-mounted device outputs warning information corresponding to the second vehicle.
  • the second vehicle-mounted device may display warning information on the dashboard of the second vehicle, where the warning information is used to indicate that the user has a dangerous vehicle in the warning area.
  • the early warning information is also used to indicate which early warning area the user has a dangerous vehicle. For example, if the second in-vehicle device determines that the first vehicle is a dangerous vehicle in the forward collision warning area, the second in-vehicle device may indicate to the user that there is a dangerous vehicle in the forward collision warning area through text or a graphical form on the dashboard.
  • the second vehicle-mounted device may also output warning information through voice to remind the user that there is a dangerous vehicle in the warning area.
  • the early warning information is also used to indicate to the user which early warning area has a dangerous vehicle. For example, if the second vehicle-mounted device determines that the first vehicle is a dangerous vehicle in the right mobility assistance area, the second vehicle-mounted device may play a voice prompt of “there is a dangerous vehicle in the right mobility assistance area” through the microphone of the second vehicle.
  • the second vehicle-mounted device may display a warning message on the instrument panel and use a voice prompt to warn that there is a danger in the area.
  • the second vehicle-mounted device may also prompt the user in other ways to warn the user that there is a dangerous vehicle in the area, which is not specifically limited herein.
  • the second vehicle-mounted device executes other processes.
  • the second vehicle-mounted device may prompt the user that there is no dangerous vehicle in the current warning area, or continue to judge other vehicles, or perform other processes.
  • the application is not limited.
  • step 303 and step 304 do not distinguish the order.
  • the second vehicle-mounted device can receive the warning area first and then receive the V2X message, or it can receive the V2X message first and then receive the warning area, two steps It can also be executed at the same time, the specific application is not limited.
  • the warning area may be determined by the second vehicle-mounted device, that is, the second vehicle-mounted device may not perform the steps of sending vehicle information to the server and accept the step of sending the warning area from the server, that is, step 301 is not performed.
  • the server does not perform the step of determining the warning area based on the vehicle information, that is, step 302 is not performed.
  • the second vehicle-mounted device determines the warning area based on the pre-stored vehicle information of the second vehicle, and receives the V2X message corresponding to the first vehicle sent by the first vehicle-mounted device, and then determines whether the first vehicle is in the warning area according to the V2X message Dangerous vehicle.
  • the manner in which the second vehicle-mounted device determines the warning area according to the vehicle information of the second vehicle is similar to the manner in which the server determines the warning area in step 302 above, and details are not described herein again.
  • the second vehicle-mounted device after receiving the V2X message corresponding to the first vehicle, determines whether the first vehicle is a dangerous vehicle in the warning area according to the V2X message, and if so, outputs the alarm information corresponding to the second vehicle, where ,
  • the warning area corresponds to the vehicle information of the second vehicle, and the vehicle information includes: the first position information and the vehicle size are determined.
  • the warning area of the vehicle is set according to the position and size of the vehicle. When there is a vehicle located in the warning area and the vehicle meets the warning conditions of the warning area, an alarm is triggered.
  • this embodiment can analyze dangerous vehicles with a risk of collision without relying on a map, which is easy to implement and can avoid misjudgment caused by factors such as map accuracy and vehicle pressure line, and improve the accuracy of recognition .
  • this embodiment provides multiple ways to determine the warning area and multiple ways to output the warning information, which improves the flexibility of the solution.
  • an embodiment of the vehicle early warning method includes:
  • the second in-vehicle device determines the warning area according to the vehicle information of the second vehicle.
  • the second vehicle-mounted device is an intelligent communication device on the second vehicle, and the vehicle information of the second vehicle is pre-stored in the second vehicle-mounted device.
  • the second vehicle-mounted device The vehicle information of the second vehicle determines the warning area.
  • the trigger condition may be that the user starts an early warning function, or the user starts the automatic driving mode, or the time meets a preset condition, or other conditions, which is not specifically limited herein.
  • the vehicle information of the second vehicle includes the position information of the second vehicle and the vehicle size of the second vehicle.
  • the second vehicle-mounted device may determine the warning area by determining the current spatial position of the second vehicle according to the position information of the second vehicle, and then determining the warning area corresponding to the second vehicle according to the current spatial position and the vehicle size of the second vehicle .
  • the vehicle information of the second vehicle includes position information of the second vehicle and at least one of the following: the vehicle type, vehicle model, or vehicle identification of the second vehicle.
  • the server side sets the vehicle size corresponding to different types of vehicles, the vehicle size corresponding to different vehicle identification codes, or the vehicle size corresponding to different types of vehicle models.
  • the second vehicle-mounted device may determine the warning area by determining the current spatial position of the second vehicle according to the position information of the second vehicle, and obtaining the vehicle size corresponding to the vehicle type, vehicle model, or vehicle identification from the server side, according to The current spatial position and the vehicle size determine the warning area corresponding to the second vehicle.
  • vehicle information of the second vehicle may also include other information, such as vehicle speed and vehicle orientation.
  • vehicle size of the second vehicle includes at least one of the following: vehicle width and vehicle length.
  • the position information of the second vehicle may include the GPS measurement result of the second vehicle and at least one of the following: the GPS antenna position of the second vehicle or the GPS measurement accuracy of the second vehicle, where The GPS antenna position of the second vehicle refers to the relative position of the antenna in the second vehicle.
  • the GPS measurement results are generally latitude and longitude information obtained through GPS positioning.
  • the latitude and longitude information is essentially used to indicate the latitude and longitude of the GPS antenna, and there is a certain error in the latitude and longitude.
  • the size of the error depends on the accuracy of GPS measurement In combination with the position of the GPS antenna in the second vehicle and/or GPS measurement accuracy, the vehicle position can be more accurately located.
  • the early warning areas determined in the above two implementation methods may include at least one of the following areas: a left blind area warning area, a right blind area warning area, a left lane change warning area, a right lane change warning area, a forward collision warning area, a Emergency electronic brake lights, reverse overtaking warning area on the left, reverse overtaking warning area on the right, moving auxiliary area on the left, and moving auxiliary area on the right.
  • the left blind zone warning area is located behind the second vehicle's left B-pillar.
  • the length of the area is positively related to the length of the vehicle, and the width of the area is positively related to the width of the vehicle;
  • the warning area is located behind the rearview mirror on the right side of the second vehicle, the length of the area is positively related to the length of the vehicle, and the width of the area is positively related to the width of the vehicle.
  • the right blind zone warning area is behind the second vehicle's right B-pillar.
  • the length of the area is positively correlated with the vehicle length, and the width of the area is positively correlated with the vehicle width;
  • the left blind zone warning area Located behind the rearview mirror on the left side of the second vehicle, the length of the area is positively related to the length of the vehicle, and the width of the area is positively related to the width of the vehicle.
  • the definition of the left lane change warning zone is similar to the aforementioned left blind zone warning zone
  • the definition of the right blind zone warning zone is similar to the aforementioned right blind zone warning zone
  • the server determines the left lane change warning zone and/or the right lane change warning zone
  • the method is similar to the foregoing server determining the left-side blind zone warning area and/or the right-side blind zone warning area, and details are not repeated here.
  • the forward collision warning area is located directly in front of the second vehicle, the width of the forward collision warning area is positively correlated with the vehicle width of the second vehicle, and the length of the forward collision warning area is positively correlated with the vehicle speed of the second vehicle.
  • the emergency electronic brake light area is located directly in front of the second vehicle, the width of the emergency electronic brake light area is positively correlated with the vehicle width of the second vehicle, and the length of the emergency electronic brake light area is positively correlated with the vehicle speed of the second vehicle. Specifically, the width of the emergency electronic brake light area is equal to the width of the forward collision warning area, and the length of the emergency electronic brake light area is greater than the length of the forward collision warning area.
  • the left mobility assistance area is located on the left front of the left head of the second vehicle, the length of the left mobility assistance area is positively correlated with the vehicle length of the second vehicle, and the width of the left mobility assistance area is positively correlated with the vehicle width of the second vehicle;
  • the right mobility assistance area is located on the right front of the right side of the second vehicle, the length of the right mobility assistance area is positively related to the vehicle length of the second vehicle, and the width of the right mobility assistance area is positively related to the vehicle width of the second vehicle.
  • the second vehicle-mounted device can determine the corresponding early warning area according to the corresponding vehicle information.
  • the server determines the early warning area in the embodiment, and details are not described here.
  • the second vehicle-mounted device sends an early warning area to the server.
  • sending an early warning area refers to sending information that can indicate the corresponding position of the early warning area, such as the latitude and longitude range of the sending area.
  • the server receives the V2X message corresponding to the first vehicle and sent by the first vehicle-mounted device.
  • the first in-vehicle device periodically or irregularly sends a V2X message corresponding to the first vehicle
  • the server receives the V2X message corresponding to the first vehicle
  • the V2X message includes at least one of the following: location information of the first vehicle, The orientation of the first vehicle, the brake light status of the first vehicle, the turn signal status of the first vehicle, and the speed of the first vehicle.
  • the V2X message may also include other information, which is not specifically limited in this application.
  • the position information of the first vehicle may include the GPS measurement result of the first vehicle and at least one of the following: the GPS antenna position of the first vehicle or the GPS measurement accuracy of the first vehicle, wherein the GPS antenna position of the first vehicle Refers to the relative position of the antenna in the first vehicle.
  • the brake light status of the first vehicle is used to indicate whether the brake light of the first vehicle is on.
  • the first vehicle's turn signal status is used to indicate whether the first vehicle's turn signal (including left turn light and right turn light) is on, and the first vehicle's speed is the first vehicle's current speed, which may be dynamically changed .
  • the server determines whether the first vehicle is a dangerous vehicle in the warning area according to the V2X message. If yes, step 505 is performed, and if not, step 507 is performed.
  • the server After the server obtains the warning area and the V2X message corresponding to the first vehicle, it determines whether the first vehicle is a dangerous vehicle in the warning area according to the V2X message. If yes, step 505 is performed, and if not, step 507 is performed.
  • the server will first determine the current spatial position of the first vehicle according to the location information in the V2X message. If the current spatial position of the first vehicle is in one of the warning areas, the first vehicle will be judged according to the warning conditions in this area Whether it is a dangerous vehicle in this area. Different warning conditions can be set for different police areas. The early warning conditions may include at least one of the following: speed conditions, turn signal conditions, brake light conditions, and vehicle heading conditions.
  • the second vehicle-mounted device determines that the first vehicle is a dangerous vehicle in the warning area corresponding to the warning condition.
  • the specific determination process is similar to the determination process of the second vehicle-mounted device in the foregoing embodiment corresponding to FIG. 3, and details are not described herein again.
  • the server sends information to the second vehicle-mounted device, and executes 506.
  • the server determines that the first vehicle is a dangerous vehicle in the warning area of the second vehicle
  • the server sends notification information to the second vehicle-mounted device to notify the second vehicle-mounted device that there is a dangerous vehicle in the warning area of the second vehicle.
  • the second in-vehicle device prompts the user to warn that there is a dangerous vehicle in the area.
  • the second vehicle-mounted device After receiving the notification information sent by the server, the second vehicle-mounted device outputs corresponding warning information to remind the user that there is a dangerous vehicle in the warning area.
  • the second vehicle-mounted device may display the warning information on the dashboard of the second vehicle, or output the warning information by voice, or output the warning information by other methods, which is not limited in this application.
  • the server may notify the second vehicle-mounted device in which area there is a dangerous vehicle in the notification information, and the warning information output by the second vehicle-mounted device may further indicate which area has a dangerous vehicle in the user.
  • the server executes other processes.
  • the server determines that the first vehicle is not a dangerous vehicle in the early warning area
  • the server indicates to the second in-vehicle device that no dangerous vehicle currently exists in the early warning area, or continues to discriminate other vehicles, or execute other processes, which is not limited in this application.
  • the steps of receiving the warning area and receiving the V2X message by the server are in no particular order.
  • the server can receive the warning area first, then the V2X message, or the V2X message and then the warning area. This step can also be executed at the same time, the specific application is not limited.
  • the early warning area may be determined by the server itself, that is, the second vehicle-mounted device may not perform the steps of determining the early warning area based on the vehicle information of the second vehicle and sending the early warning area to the server, that is, not performing the step At 501 and 502, the server also does not perform the step of receiving the warning area.
  • the second vehicle-mounted device sends the vehicle information of the second vehicle to the server, and the server determines the warning area of the second vehicle according to the vehicle information sent by the second vehicle-mounted device, and receives the V2X corresponding to the first vehicle sent by the first vehicle-mounted device Message, and then determine whether the first vehicle is a dangerous vehicle in the warning area according to the V2X message.
  • the manner in which the server determines the warning area according to the vehicle information of the second vehicle is similar to the manner in which the second vehicle-mounted vehicle determines the warning area in step 501 above, and details are not described herein again.
  • the server determines whether the first vehicle is a dangerous vehicle in the early warning area according to the V2X message, and if so, outputs the alarm information corresponding to the second vehicle, wherein the early warning area
  • the vehicle information includes: the first position information and the vehicle size are determined.
  • the warning area of the vehicle is set according to the position and size of the vehicle. When there is a vehicle located in the warning area and the vehicle meets the warning conditions of the warning area, an alarm is triggered.
  • this embodiment can analyze dangerous vehicles with a risk of collision without relying on a map, which is easy to implement and can avoid misjudgment caused by factors such as map accuracy and vehicle pressure line, and improve the accuracy of recognition .
  • this embodiment provides multiple ways for the server to determine the warning area, which improves the flexibility of the solution.
  • the on-board devices of vehicles A, B, C and D broadcast the GPS measurement results, GPS antenna position, vehicle speed, vehicle orientation, brake light status and turn signal status of the corresponding vehicle every 10 milliseconds according to the settings.
  • the driver position of vehicle A is on the left side of the vehicle, the vehicle length is 4 meters, and the vehicle width is 1.6 meters.
  • the vehicle-mounted device of the vehicle A acquires the vehicle speed (8 m/s), heading (north), GPS measurement result and GPS antenna position of the vehicle A, and according to the GPS measurement result and GPS antenna position itself The current spatial position, and then determine the left blind area warning area of the vehicle A, the right blind area warning area, the left reverse overtaking warning area, and the right reverse overtaking according to the current spatial position and the vehicle length, vehicle width and vehicle speed of the vehicle A
  • Early warning area, forward collision warning area and emergency electronic brake light area as shown in Figure 6, where the left blind area warning area is located on the left side of the B-pillar, 1.5 vehicle lengths outward and 1.5 vehicle widths; the right blind area warning The area is located on the right side of the rearview mirror, 2 vehicle lengths backward and 1.5 widths outward; the left side overtaking warning area is located on the left side of the front of
  • the forward collision warning area is located directly in front of vehicle A, the width is equal to 1.5 vehicle widths, the length is equal to the vehicle speed times 0.5 seconds;
  • the light area is located directly in front of the vehicle A, the width is equal to 1.5 vehicle widths, and the length is equal to the vehicle speed multiplied by 1 second.
  • the vehicle-mounted device of vehicle A will also receive the V2X message sent by the vehicle-mounted devices of vehicle B, C and D (the first vehicle-mounted device).
  • the vehicle-mounted device of vehicle A determines the current spatial position of vehicle B according to the GPS measurement results in the V2X message sent by the vehicle-mounted device of vehicle B and the GPS antenna position, and the GPS measurement results and GPS antennas in the V2X message sent by the vehicle-mounted device of vehicle C
  • the position determines the current spatial position of vehicle C
  • the current spatial position of vehicle D is determined according to the GPS measurement results in the V2X message sent by the vehicle-mounted device of vehicle D and the position of the GPS antenna.
  • vehicle B is located in the left overtaking warning area on the left side of vehicle A
  • vehicle C is located in the blind warning area on the right side of vehicle A
  • vehicle D is located in the emergency electronic brake light area of vehicle A.
  • the vehicle-mounted device of vehicle A determines whether the vehicle orientation of vehicle B is opposite to that of vehicle A.
  • the vehicle orientation in the V2X message sent by vehicle-mounted device of vehicle B is south, that is, the vehicle orientation of vehicle B is opposite to the vehicle orientation of vehicle A. If vehicle B satisfies the warning conditions of the left overtaking warning area on the left, then vehicle B is determined to be a dangerous vehicle in the left overtaking warning area of vehicle A.
  • the vehicle-mounted device of vehicle A determines whether the vehicle orientation of vehicle C is the same as the vehicle direction of vehicle A.
  • the vehicle orientation in the V2X message sent by vehicle C's vehicle-mounted device is north, that is, the vehicle orientation of vehicle C is the same as the vehicle orientation of vehicle A, If vehicle C meets the warning conditions of the right blind zone warning area, then vehicle C is determined to be a dangerous vehicle in vehicle A's right blind zone warning area.
  • the vehicle-mounted device of vehicle A determines whether the vehicle orientation of vehicle D is the same as that of vehicle A.
  • the vehicle orientation in the V2X message sent by vehicle A of vehicle A is north, that is, the vehicle orientation of vehicle D is the same as the vehicle orientation of vehicle A.
  • the vehicle-mounted device of vehicle A determines whether the emergency electronic brake light of vehicle D is turned on, the brake light status is turned on in the V2X message sent by the vehicle-mounted device of vehicle D, and vehicle D meets the early warning condition of the area of the emergency electronic brake light, then determines the vehicle D is a dangerous vehicle in the emergency electronic brake light area of vehicle A.
  • the vehicle-mounted device of vehicle A prompts the user through a graphical logo on the dashboard of vehicle A that there is a dangerous vehicle in the left overtaking warning area on the left, the blind warning area on the right, and the emergency electronic brake light area.
  • One embodiment of the vehicle-mounted equipment in the embodiment of the present application includes:
  • the first receiving module 701 is configured to receive the V2X message corresponding to the first vehicle
  • the first determination module 702 is used to determine that the first vehicle is a dangerous vehicle in the early warning area according to the V2X message.
  • the early warning area is determined according to the vehicle information of the second vehicle, and the vehicle information includes at least the position information of the second vehicle and the second The vehicle size corresponding to the vehicle;
  • the output module 703 is used to output warning information corresponding to the second vehicle.
  • the early warning area may include at least one of the following areas: a left blind area warning area, a right blind area warning area, a left lane change warning area, a right lane change warning area, and a forward direction Collision warning area, pre-emergency electronic brake light, left-side reverse overtaking warning area, right-side reverse overtaking warning area, left moving auxiliary area, right moving auxiliary area.
  • the left blind zone warning area is located behind the second vehicle's left B-pillar.
  • the length of the area is positively related to the length of the vehicle, and the width of the area is positively related to the width of the vehicle;
  • the warning area is located behind the rearview mirror on the right side of the second vehicle, the length of the area is positively related to the length of the vehicle, and the width of the area is positively related to the width of the vehicle.
  • the right blind zone warning area is behind the second vehicle's right B-pillar.
  • the length of the area is positively correlated with the vehicle length, and the width of the area is positively correlated with the vehicle width;
  • the left blind zone warning area Located behind the rearview mirror on the left side of the second vehicle, the length of the area is positively related to the length of the vehicle, and the width of the area is positively related to the width of the vehicle.
  • the definition of the left lane change warning zone is similar to the aforementioned left blind zone warning zone
  • the definition of the right blind zone warning zone is similar to the aforementioned right blind zone warning zone
  • the server determines the left lane change warning zone and/or the right lane change warning zone
  • the method is similar to the foregoing server determining the left-side blind zone warning area and/or the right-side blind zone warning area, and details are not repeated here.
  • the forward collision warning area is located directly in front of the second vehicle, the width of the forward collision warning area is positively correlated with the vehicle width of the second vehicle, and the length of the forward collision warning area is positively correlated with the vehicle speed of the second vehicle.
  • the emergency electronic brake light area is located directly in front of the second vehicle, the width of the emergency electronic brake light area is positively correlated with the vehicle width of the second vehicle, and the length of the emergency electronic brake light area is positively correlated with the vehicle speed of the second vehicle. Specifically, the width of the emergency electronic brake light area is equal to the width of the forward collision warning area, and the length of the emergency electronic brake light area is greater than the length of the forward collision warning area.
  • the left mobility assistance area is located on the left front of the left head of the second vehicle, the length of the left mobility assistance area is positively correlated with the vehicle length of the second vehicle, and the width of the left mobility assistance area is positively correlated with the vehicle width of the second vehicle;
  • the right mobility assistance area is located on the right front of the right side of the second vehicle, the length of the right mobility assistance area is positively related to the vehicle length of the second vehicle, and the width of the right mobility assistance area is positively related to the vehicle width of the second vehicle.
  • the early warning area includes a left blind area early warning area
  • the V2X message includes: the position information of the first vehicle and the orientation of the first vehicle
  • the first determination module 702 includes:
  • the first determining unit 7021 is configured to determine the current spatial position of the first vehicle according to the position information of the first vehicle;
  • the second determining unit 7022 is configured to determine that the first vehicle is in the left blind area warning area when the current spatial position of the first vehicle is in the left blind area warning area, and the orientation of the first vehicle is the same as the second vehicle's orientation Dangerous vehicle
  • the warning information output by the output module 703 is used to indicate that there is a dangerous vehicle in the warning area on the left blind area.
  • the early warning area includes the right blind area early warning area
  • the V2X message includes: the position information of the first vehicle and the orientation of the first vehicle
  • the first determination module 702 includes:
  • the first determining unit 7021 is configured to determine the current spatial position of the first vehicle according to the position information of the first vehicle;
  • the third determining unit 7023 is configured to determine that the first vehicle is in the right blind zone warning area when the current spatial position of the first vehicle is in the right blind zone warning area and the orientation of the first vehicle is the same as the second vehicle's orientation Dangerous vehicle
  • the warning information output by the output module 703 is used to indicate that there is a dangerous vehicle in the warning area on the right blind area.
  • the warning area includes a forward collision warning area, then the V2X message includes: location information of the first vehicle; the first determination module 702 includes:
  • the first determining unit 7021 is configured to determine the current spatial position of the first vehicle according to the position information of the first vehicle;
  • the fourth determining unit 7024 is configured to determine that the first vehicle is a dangerous vehicle in the forward collision warning area when the current spatial position of the first vehicle is in the forward collision warning area;
  • the warning information output by the output module 703 is used to indicate that there is a dangerous vehicle in the forward collision warning area.
  • the early warning area includes the emergency electronic brake light area
  • the V2X message includes: the position information of the first vehicle and the brake light status of the first vehicle
  • the first determination module 702 includes:
  • the first determining unit 7021 is configured to determine the current spatial position of the first vehicle according to the position information of the first vehicle;
  • the fifth determining unit 7025 is configured to determine that the first vehicle is a dangerous vehicle in the emergency electronic brake light area when the current spatial position of the first vehicle is in the emergency electronic brake light area and the brake light status of the first vehicle is on;
  • the warning information output by the output module 703 is used to indicate that there is a dangerous vehicle in the emergency electronic brake light area.
  • the early warning area includes the left overtaking early warning area
  • the V2X message includes: the position information of the first vehicle, the orientation of the first vehicle, and the speed of the first vehicle;
  • the first determination module 702 includes:
  • the first determining unit 7021 is configured to determine the current spatial position of the first vehicle according to the position information of the first vehicle;
  • the sixth determining unit 7026 is used to determine the first when the current spatial position of the first vehicle is in the left overtaking warning area on the left, the speed of the first vehicle is not zero, and the orientation of the first vehicle is opposite to the orientation of the second vehicle The vehicle is a dangerous vehicle in the left overtaking warning area;
  • the warning information output by the output module 703 is used to indicate that there is a dangerous vehicle in the left overtaking warning area on the left.
  • the early warning area includes the right overtaking early warning area
  • the V2X message includes: the position information of the first vehicle, the orientation of the first vehicle, and the speed of the first vehicle
  • the first determination module 702 includes:
  • the first determining unit 7021 is configured to determine the current spatial position of the first vehicle according to the position information of the first vehicle;
  • the seventh determining unit 7027 is used to determine the first when the current spatial position of the first vehicle is in the right-side reverse overtaking warning area, the speed of the first vehicle is not zero, and the orientation of the first vehicle is opposite to the orientation of the second vehicle The vehicle is a dangerous vehicle in the warning zone for reverse overtaking on the right side;
  • the warning information output by the output module 703 is used to indicate that there is a dangerous vehicle in the left overtaking warning area on the left.
  • the early warning area includes the left-side mobility assistance area, and the V2X message includes: the position information of the first vehicle, the orientation of the first vehicle, and the speed of the first vehicle; the first determination module 702 includes:
  • the first determining unit 7021 is configured to determine the current spatial position of the first vehicle according to the position information of the first vehicle;
  • the eighth determining unit 7028 is used to determine the first vehicle when the current spatial position of the first vehicle is in the left movement assistance area, the speed of the first vehicle is not zero, and the orientation of the first vehicle intersects the orientation of the second vehicle Dangerous vehicles in the auxiliary area on the left;
  • the warning information output by the output module 703 is used to indicate that there is a dangerous vehicle in the left mobility assistance area.
  • the warning area includes the right-side movement assistance area, and the V2X message includes: the position information of the first vehicle, the orientation of the first vehicle, and the speed of the first vehicle; the first determination module 702 includes:
  • the first determining unit 7021 is configured to determine the current spatial position of the first vehicle according to the position information of the first vehicle;
  • the ninth determination unit 7029 is used to determine the first vehicle when the current spatial position of the first vehicle is in the right movement assistance area, the speed of the first vehicle is not zero, and the orientation of the first vehicle intersects the orientation of the second vehicle Dangerous vehicles in the auxiliary area on the right side;
  • the warning information output by the output module 703 is used to indicate that there is a dangerous vehicle in the right mobility assistance area.
  • the position information of the first vehicle includes: a GPS measurement result of the first vehicle and at least one of the following: the position of the GPS antenna of the first vehicle or the accuracy of GPS measurement;
  • the position information of the second vehicle includes : GPS measurement result of the second vehicle and at least one of the following: GPS antenna position or GPS measurement accuracy of the second vehicle.
  • the vehicle-mounted device further includes:
  • the second determining module 704 is used to determine the current spatial position of the second vehicle according to the position information of the second vehicle and the size of the vehicle;
  • the third determining module 705 is used to determine an early warning area according to the current spatial position of the second vehicle and the vehicle size.
  • the vehicle-mounted device further includes:
  • the sending module 706 is used to send the vehicle information of the second vehicle to the server, so that the server determines the current spatial position of the second vehicle according to the position information of the second vehicle and the vehicle size, and according to the current spatial position and vehicle size of the second vehicle Determine the early warning area;
  • the second receiving module 707 is used to receive the warning area sent by the server.
  • the output module 703 includes:
  • the display unit is used to display early warning information on the dashboard of the second vehicle, and the early warning information is used to indicate that the user has a dangerous vehicle in the early warning area;
  • the voice unit is used to prompt the user by voice to warn of the existence of dangerous vehicles in the area.
  • the first determining module 702 determines whether the first vehicle is a dangerous vehicle in the warning area according to the V2X message, and if so, the output module 703 outputs The warning information corresponding to the second vehicle, wherein the warning area corresponds to the vehicle information of the second vehicle, and the vehicle information includes: the first position information and the vehicle size are determined.
  • the warning area of the vehicle is set according to the position and size of the vehicle. When there is a vehicle located in the warning area and the vehicle meets the warning conditions of the warning area, an alarm is triggered.
  • this embodiment can analyze dangerous vehicles with a risk of collision without relying on a map, which is easy to implement and can avoid misjudgment caused by factors such as map accuracy and vehicle pressure line, and improve the accuracy of recognition .
  • FIG. 8 another embodiment of the vehicle-mounted device in the embodiment of the present application includes:
  • the first determining module 801 is configured to determine the current spatial position of the second vehicle according to the position information of the second vehicle;
  • the second determination module 802 is used to determine the warning area of the second vehicle according to the current spatial position of the second vehicle and the vehicle size of the second vehicle;
  • the sending module 803 is used to send an early warning area to the server, so that the server determines that the first vehicle is a dangerous vehicle in the early warning area according to the Internet of Vehicles V2X message of the first vehicle, and when the first vehicle is determined to be a dangerous vehicle in the early warning area , Send a notification message to the vehicle equipment;
  • the receiving module 804 is used to receive the notification message sent by the server
  • the prompt module 805 prompts the user to warn of dangerous vehicles in the area.
  • the second determination module 802 can determine the warning area of the second vehicle according to the vehicle size of the second vehicle. When there are vehicles in the warning area and the vehicle meets the warning conditions of the warning area, the prompt module 804 will Send out a warning.
  • this embodiment can analyze dangerous vehicles with a risk of collision without relying on a map, which is easy to implement and can avoid misjudgment caused by factors such as map accuracy and vehicle pressure line, and improve the accuracy of recognition .
  • an embodiment of the server includes:
  • the first receiving module 901 is configured to receive a V2X message corresponding to the first vehicle
  • the first determining module 902 is used to determine that the first vehicle is a dangerous vehicle in the early warning area according to the V2X message.
  • the early warning area is determined according to the vehicle information of the second vehicle, and the vehicle information includes at least the position information of the second vehicle and the second The vehicle size corresponding to the vehicle;
  • the output module 903 is used to output warning information corresponding to the second vehicle.
  • the early warning area may include at least one of the following areas: a left blind area warning area, a right blind area warning area, a left lane change warning area, a right lane change warning area, and a forward direction Collision warning area, pre-emergency electronic brake light, left-side reverse overtaking warning area, right-side reverse overtaking warning area, left moving auxiliary area, right moving auxiliary area.
  • the left blind zone warning area is located behind the second vehicle's left B-pillar.
  • the length of the area is positively related to the length of the vehicle, and the width of the area is positively related to the width of the vehicle;
  • the warning area is located behind the rearview mirror on the right side of the second vehicle, the length of the area is positively related to the length of the vehicle, and the width of the area is positively related to the width of the vehicle.
  • the right blind zone warning area is behind the second vehicle's right B-pillar.
  • the length of the area is positively correlated with the vehicle length, and the width of the area is positively correlated with the vehicle width;
  • the left blind zone warning area Located behind the rearview mirror on the left side of the second vehicle, the length of the area is positively related to the length of the vehicle, and the width of the area is positively related to the width of the vehicle.
  • the definition of the left lane change warning zone is similar to the aforementioned left blind zone warning zone
  • the definition of the right blind zone warning zone is similar to the aforementioned right blind zone warning zone
  • the server determines the left lane change warning zone and/or the right lane change warning zone
  • the method is similar to the foregoing server determining the left-side blind zone warning area and/or the right-side blind zone warning area, and details are not repeated here.
  • the forward collision warning area is located directly in front of the second vehicle, the width of the forward collision warning area is positively correlated with the vehicle width of the second vehicle, and the length of the forward collision warning area is positively correlated with the vehicle speed of the second vehicle.
  • the emergency electronic brake light area is located directly in front of the second vehicle, the width of the emergency electronic brake light area is positively correlated with the vehicle width of the second vehicle, and the length of the emergency electronic brake light area is positively correlated with the vehicle speed of the second vehicle. Specifically, the width of the emergency electronic brake light area is equal to the width of the forward collision warning area, and the length of the emergency electronic brake light area is greater than the length of the forward collision warning area.
  • the left mobility assistance area is located on the left front of the left head of the second vehicle, the length of the left mobility assistance area is positively correlated with the vehicle length of the second vehicle, and the width of the left mobility assistance area is positively correlated with the vehicle width of the second vehicle;
  • the right mobility assistance area is located on the right front of the right side of the second vehicle, the length of the right mobility assistance area is positively related to the vehicle length of the second vehicle, and the width of the right mobility assistance area is positively related to the vehicle width of the second vehicle.
  • the early warning area includes the left blind area early warning area
  • the V2X message includes: the position information of the first vehicle and the orientation of the first vehicle
  • the first determination module 902 includes:
  • the first determining unit 9021 is configured to determine the current spatial position of the first vehicle according to the position information of the first vehicle;
  • the second determining unit 9022 is configured to determine that the first vehicle is in the left blind zone warning area when the current spatial position of the first vehicle is in the left blind zone warning area, and the orientation of the first vehicle is the same as the second vehicle's orientation Dangerous vehicle
  • the early warning information output by the output module 903 is used to indicate that there is a dangerous vehicle in the left blind zone early warning area.
  • the early warning area includes the right blind area early warning area
  • the V2X message includes: the position information of the first vehicle and the orientation of the first vehicle
  • the first determination module 902 includes:
  • the first determining unit 9021 is configured to determine the current spatial position of the first vehicle according to the position information of the first vehicle;
  • the third determining unit 9023 is configured to determine that the first vehicle is in the right blind zone warning area when the current spatial position of the first vehicle is in the right blind zone warning area, and the orientation of the first vehicle is the same as that of the second vehicle Dangerous vehicle
  • the warning information output by the output module 903 is used to indicate that there is a dangerous vehicle in the warning area on the right blind zone.
  • the early warning area includes a forward collision warning area
  • the V2X message includes: location information of the first vehicle
  • the first determination module 902 includes:
  • the first determining unit 9021 is configured to determine the current spatial position of the first vehicle according to the position information of the first vehicle;
  • the fourth determining unit 9024 is configured to determine that the first vehicle is a dangerous vehicle in the forward collision warning area when the current spatial position of the first vehicle is in the forward collision warning area;
  • the warning information output by the output module 903 is used to indicate that there is a dangerous vehicle in the forward collision warning area.
  • the early warning area includes the emergency electronic brake light area
  • the V2X message includes: the position information of the first vehicle and the brake light status of the first vehicle
  • the first determination module 902 includes:
  • the first determining unit 9021 is configured to determine the current spatial position of the first vehicle according to the position information of the first vehicle;
  • the fifth determining unit 9025 is configured to determine that the first vehicle is a dangerous vehicle in the emergency electronic brake light area when the current spatial position of the first vehicle is in the emergency electronic brake light area and the brake light status of the first vehicle is on;
  • the warning information output by the output module 903 is used to indicate that there is a dangerous vehicle in the emergency electronic brake light area.
  • the early warning area includes the left overtaking early warning area
  • the V2X message includes: the position information of the first vehicle, the orientation of the first vehicle, and the speed of the first vehicle;
  • the first determination module 902 includes:
  • the first determining unit 9021 is configured to determine the current spatial position of the first vehicle according to the position information of the first vehicle;
  • the sixth determining unit 9026 is used to determine the first when the current spatial position of the first vehicle is in the left overtaking warning area on the left, the speed of the first vehicle is not zero, and the orientation of the first vehicle is opposite to the orientation of the second vehicle The vehicle is a dangerous vehicle in the left overtaking warning area;
  • the warning information output by the output module 903 is used to indicate that there is a dangerous vehicle in the left overtaking warning area on the left.
  • the early warning area includes the right overtaking early warning area
  • the V2X message includes: the position information of the first vehicle, the orientation of the first vehicle, and the speed of the first vehicle
  • the first determination module 902 includes:
  • the first determining unit 9021 is configured to determine the current spatial position of the first vehicle according to the position information of the first vehicle;
  • the seventh determining unit 9027 is used to determine the first when the current spatial position of the first vehicle is in the right-side reverse overtaking warning area, the speed of the first vehicle is not zero, and the orientation of the first vehicle is opposite to the orientation of the second vehicle The vehicle is a dangerous vehicle in the warning zone for reverse overtaking on the right side;
  • the warning information output by the output module 903 is used to indicate that there is a dangerous vehicle in the left overtaking warning area on the left.
  • the early warning area includes the left-side mobility assistance area, and the V2X message includes: the position information of the first vehicle, the orientation of the first vehicle, and the speed of the first vehicle; the first determination module 902 includes:
  • the first determining unit 9021 is configured to determine the current spatial position of the first vehicle according to the position information of the first vehicle;
  • the eighth determination unit 9028 is used to determine the first vehicle when the current spatial position of the first vehicle is in the left movement assistance area, the speed of the first vehicle is not zero, and the orientation of the first vehicle intersects the orientation of the second vehicle Dangerous vehicles in the auxiliary area on the left;
  • the warning information output by the output module 903 is used to indicate that there is a dangerous vehicle in the left mobility assistance area.
  • the early warning area includes the right-side movement assistance area, and the V2X message includes: the position information of the first vehicle, the orientation of the first vehicle, and the speed of the first vehicle; the first determination module 902 includes:
  • the first determining unit 9021 is configured to determine the current spatial position of the first vehicle according to the position information of the first vehicle;
  • the ninth determination unit 9029 is used to determine the first vehicle when the current spatial position of the first vehicle is in the right movement assistance area, the speed of the first vehicle is not zero, and the orientation of the first vehicle intersects the orientation of the second vehicle Dangerous vehicles in the auxiliary area on the right side;
  • the warning information output by the output module 903 is used to indicate that there is a dangerous vehicle in the right mobility assistance area.
  • the position information of the first vehicle includes: a GPS measurement result of the first vehicle and at least one of the following: the position of the GPS antenna of the first vehicle or the accuracy of GPS measurement;
  • the position information of the second vehicle includes : GPS measurement result of the second vehicle and at least one of the following: GPS antenna position or GPS measurement accuracy of the second vehicle.
  • the server also includes:
  • the second receiving module 904 is configured to receive vehicle information of the second vehicle sent by the vehicle-mounted device;
  • the second determination module 905 is configured to determine the current spatial position of the second vehicle according to the position information of the second vehicle and the size of the vehicle;
  • the third determining module 906 is used to determine an early warning area according to the current spatial position of the second vehicle and the vehicle size.
  • the server also includes:
  • the third receiving module 907 is configured to receive an early warning area sent by the in-vehicle device, and the early warning area is determined by the in-vehicle device according to the vehicle information of the second vehicle.
  • the output module 903 includes: a sending unit 9031 for sending information to the vehicle-mounted device, so that the vehicle-mounted device indicates to the user that there is a dangerous vehicle in the warning area.
  • the first determining module 902 determines whether the first vehicle is a dangerous vehicle in the warning area according to the V2X message, and if so, the output module 903 outputs The warning information corresponding to the second vehicle, wherein the warning area corresponds to the vehicle information of the second vehicle, and the vehicle information includes: the first position information and the vehicle size are determined.
  • the warning area of the vehicle is set according to the position and size of the vehicle. When there is a vehicle located in the warning area and the vehicle meets the warning conditions of the warning area, an alarm is triggered.
  • this embodiment can analyze dangerous vehicles with a risk of collision without relying on a map, which is easy to implement and can avoid misjudgment caused by factors such as map accuracy and vehicle pressure line, and improve the accuracy of recognition .
  • another embodiment of the server includes:
  • the receiving module 1001 is configured to receive the vehicle information of the second vehicle sent by the in-vehicle device, and the vehicle information includes at least: position information of the second vehicle and vehicle size of the second vehicle;
  • the first determining module 1002 is configured to determine the current spatial position of the second vehicle according to the position information of the second vehicle;
  • the second determination module 1003 is used to determine the warning area of the second vehicle according to the current spatial position of the second vehicle and the size of the vehicle;
  • the sending module 1004 is configured to send the warning area to the vehicle-mounted device, so that the vehicle-mounted device according to the V2X message of the first vehicle is that the first vehicle is a dangerous vehicle in the warning area and outputs warning information.
  • the second determination module 1003 may determine the warning area of the second vehicle according to the vehicle size of the second vehicle. When there are vehicles in the warning area and the vehicle meets the warning conditions of the warning area, the sending module 1004 will Send out a warning.
  • this embodiment can analyze dangerous vehicles with a risk of collision without relying on a map, which is easy to implement and can avoid misjudgment caused by factors such as map accuracy and vehicle pressure line, and improve the accuracy of recognition .
  • the vehicle-mounted equipment and server in the present application are described above from the perspective of function modules, and the vehicle-mounted equipment and the server in the present application are introduced from the perspective of physical hardware.
  • FIG. 11 is a type disclosed in the embodiments of the present application. Schematic diagram of the in-vehicle device 1100.
  • the vehicle-mounted device 1100 may include at least one controller 1101, such as a CPU, at least one antenna 1102, a memory 1103, at least one communication bus 1104, an interactive interface 1105, and a GPS locator 1106.
  • the communication bus 1104 is used to realize connection and communication between these components.
  • the antenna 1102 can be used for sending and receiving information data
  • the memory 1103 may include a high-speed random access memory (random access memory, RAM), or may also include a non-volatile memory (non-volatile memory), such as at least one Disk storage.
  • the memory 1103 may optionally include at least one storage vehicle-mounted device remote from the foregoing controller 1101.
  • the GPS locator 1106 is used to record the current positioning data.
  • the memory 1103 stores the following elements, executable modules or data structures, or their subsets, or their extended sets:
  • Operating system 11031 which contains various system programs for implementing various basic services and processing hardware-based tasks;
  • the application program 11032 includes various application programs such as a device control service program and a device identification service program, and is used to implement various application services.
  • the interactive interface 1105 can be used for information input and output.
  • the controller 1101 is used to call a program stored in the memory 1103, so that the vehicle-mounted device 1100 executes the steps in the method embodiment corresponding to FIG. 3 or FIG. 5 described above.
  • FIG. 12 is a schematic diagram of a server structure provided by an embodiment of the present invention.
  • the server 1200 may have a relatively large difference due to different configurations or performances, and may include one or more central processing units (central processing units).
  • CPU central processing units
  • CPU central processing units
  • memory 1232 e.g. one or more processors
  • storage media 1230 e.g, one or more mass storage devices
  • the memory 1232 and the storage medium 1230 may be short-term storage or persistent storage.
  • the program stored in the storage medium 1230 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations on the server.
  • the central processor 1222 may be configured to communicate with the storage medium 1230 and execute a series of instruction operations in the storage medium 1230 on the server 1200.
  • the server 1200 may also include one or more power supplies 1226, one or more wired or wireless network interfaces 1250, one or more input and output interfaces 1258, and/or one or more operating systems 1241, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.
  • operating systems 1241 such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.
  • the steps performed by the server in the method embodiment shown in FIG. 3 or FIG. 5 in the foregoing embodiment may be based on the server structure shown in FIG. 12.
  • An embodiment of the present application further provides a computer storage medium for storing computer software instructions used for the above-mentioned vehicle-mounted device or server, which includes a program designed to execute the vehicle-mounted device or server.
  • the in-vehicle device may be as described in FIGS. 3 and 5 described above.
  • the server may be as described in FIGS. 3 and 5 previously.
  • An embodiment of the present application also provides a computer program product, the computer program product includes computer software instructions, and the computer software instructions can be loaded by a processor to implement the process in any of the foregoing vehicle warning methods of FIG. 3 or FIG. 5 .
  • the computer program product includes one or more computer instructions.
  • the computer may be a general-purpose computer, a dedicated computer, a computer network, or other programmable devices.
  • Computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium.
  • the computer instructions can be transmitted from a website site, computer, server, or data center by wire (e.g. Coaxial cable, optical fiber, digital subscriber line (DSL) or wireless (such as infrared, wireless, microwave, etc.) to another website, computer, server or data center.
  • wire e.g. Coaxial cable, optical fiber, digital subscriber line (DSL) or wireless (such as infrared, wireless, microwave, etc.
  • the computer-readable storage medium may be any available medium that can be stored by a computer or a data storage device such as a server, a data center, or the like that includes one or more available medium integration.
  • the available media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media, or semiconductor media, such as solid state disks (SSD).
  • the disclosed system, device, and method may be implemented in other ways.
  • the device embodiments described above are only schematic.
  • the division of the unit is only a division of logical functions.
  • there may be another division manner for example, multiple units or components may be combined or may Integration into another system, or some features can be ignored, or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
  • the unit described as a separate component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above integrated unit may be implemented in the form of hardware or software functional unit.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.
  • the technical solution of the present application essentially or part of the contribution to the existing technology or all or part of the technical solution can be embodied in the form of a software product, the computer software product is stored in a storage medium , Including several instructions to enable a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method in various embodiments of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM), random access memory (random access memory, RAM), magnetic disk or optical disk and other media that can store program codes .

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Abstract

一种车辆预警方法，用于避免由于地图精度、车辆压线等因素所导致的误判，提高预警的准确性。本方法包括：车联网V2X设备接收第一车辆对应的V2X消息；所述V2X设备根据所述V2X消息确定所述第一车辆为预警区域中的危险车辆，所述预警区域是根据第二车辆的车辆信息确定的，所述车辆信息至少包括：所述第二车辆的位置信息以及所述第二车辆对应的车辆尺寸；所述V2X设备输出所述第二车辆对应的预警信息。还公开了一种车载设备以及服务器，用于提高识别的准确性。

Description

车辆预警方法及相关装置
本申请要求于2018年11月26日提交中国国家知识产权局、申请号为201811419443.9、申请名称为“车辆预警方法及相关装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及物联网领域，尤其涉及车辆预警方法及相关装置。
背景技术
为了提升交通系统的安全性和智能化，智能交通系统的概念正逐渐兴起。智能交通可以利用新一代的通信网络和数据处理能力，提高现有交通系统的整体效率，降低能量损耗，增加运输的安全和便捷程度。近年来智能交通系统的开发将主要集中在智能公路交通系统领域，也就是俗称的车联网(Vehicle to Everything，V2X)。其中V2X技术借助车与车、车与路侧基础设施、车与路人之间的无线通信，实时感知车辆周边状况进行及时预警成为当前世界各国解决道路安全问题的一个研究热点。
在一些方案中，服务器会通过V2X技术收集主车(Host Vehicle，HV)和远车(Remote Vehicle，RV)的经纬度及方向数据，得出两车之间的横向距离、纵向距离以及行驶方向，然后判断两车是否为同一行驶方向，若是，则根据地图确定两车所在的车道，若两车所在的车道相邻，则依据两车的相对距离进一步计算两车碰撞危险的可能性，并根据计算结果对用户进行提示。
上述方案依赖于地图进行识别，如果地图数据不够精确，则会影响识别的准确性，另外，在实际应用过程中，车辆可能会存在压线、骑线等行为，这些行为都可能会导致服务器误判。
发明内容
本申请实施例提供了一种车辆预警方法，用于避免由于地图精度、车辆压线等因素所导致的误判，提高预警的准确性。
有鉴于此，本申请第一方面提供了一种车辆预警方法，该方法包括：V2X设备接收第一车辆对应的V2X消息，当V2X设备根据该V2X消息确定第一车辆为第二车辆的预警区域中的危险车辆时，V2X设备输出该第二车辆对应的预警信息，本实现方式中，第二车辆的预警区域是根据第二车辆的车辆信息确定的，该车辆信息至少包括：第二车辆的位置信息以及第二车辆对应的车辆尺寸。
需要说明的是，第一车辆对应的V2X消息中至少包括第一车辆的位置信息。本实现方式所说的位置信息指的是能够确定车辆位置的信息。
本实现方式中，V2X设备接收第一车辆对应的V2X消息后，可以根据该V2X消息确定第一车辆为预警区域中的危险车辆，并输出第二车辆对应的报警信息，其中，预警区域与第二车辆的车辆信息对应，车辆信息包括：第一位置信息和车辆尺寸确定的。本实施例中 车辆的预警区域是根据车辆的位置和尺寸设定的，当存在位于预警区域的车辆，且车辆满足预警区域的预警条件时，就会触发警报。也就是说，本实施例不需要依赖地图就可以分析出存在碰撞风险的危险车辆，既容易实现，又可以避免由于地图精度、车辆压线等因素所导致的误判，提高了识别的准确性。
结合本申请第一方面，在第一方面的第一种实现方式中，预警区域包括：左侧盲区预警区域和/或右侧盲区预警区域；第二车辆的车辆尺寸包括：第二车辆的车辆长度以及车辆宽度；第二车辆的车辆信息还包括：第二车辆的驾驶员座位位置；
若驾驶员座位位置位于第二车辆的左侧，则左侧盲区预警区域位于第二车辆左侧B柱后方，左侧盲区预警区域的长度与车辆长度正相关，左侧盲区预警区域的宽度与车辆宽度正相关；右侧盲区预警区域位于第二车辆右侧后视镜后方，右侧盲区预警区域的长度与车辆长度正相关，右侧盲区预警区域的宽度与车辆宽度正相关；
若驾驶员座位位置位于第二车辆的右侧，则右侧盲区预警区域位于第二车辆右侧B柱后方，右侧盲区预警区域的长度与车辆长度正相关，右侧盲区预警区域的宽度与车辆宽度正相关；左侧盲区预警区域位于第二车辆左侧后视镜后方，左侧盲区预警区域的长度与车辆长度正相关，左侧盲区预警区域的宽度与车辆宽度正相关。
需要说明的是，汽车的B柱位于驾驶舱的前座和后座之间，就是两侧两扇门之间的那根纵向杠子，从车顶延伸到车底部。驾驶员座位位置用于指示汽车的驾驶员座位是位于车辆左侧或者右侧。两个参数正相关指的这两个变量变动方向相同，例如区域长度与车辆长度正相关指的是，车辆长度越大，区域长度越大。
本实现方式提供了一种基于车辆尺寸确定预警区域的具体方式，提高了方案的可实现性。
结合本申请第一方面的第一种实现方式，在第一方面的第二种实现方式中，第一车辆对应的V2X消息包括：第一车辆的位置信息以及第一车辆的朝向；第二车辆的车辆信息还包括：第二车辆的朝向；则V2X设备根据V2X消息可以通过如下方式确定第一车辆为左侧盲区预警区域和/或右侧盲区预警区域中的危险车辆：
V2X设备根据第一车辆得位置信息确定第一车辆当前的空间位置，若第一车辆当前的空间位置处于左侧盲区预警区域(或右侧盲区预警区域)内，且第一车辆的朝向与第二车辆的朝向相同，则V2X设备确定第一车辆为该左侧盲区预警区域(或右侧盲区预警区域)中的危险车辆。
对应地，本实现方式中，V2X设备输出的预警信息可以用于指示左侧盲区预警区域(或所述右侧盲区预警区域)存在危险车辆。
本实现方式中V2X设备可以对盲区预警区域中的车辆进行预警识别，可以避免车辆与盲区中的车辆发生碰撞。
结合本申请第一方面，在第一方面的第三种实现方式中，预警区域包括：前向碰撞预警区域，第二车辆的车辆尺寸包括：第二车辆的车辆宽度，第二车辆的车辆信息还包括：第二车辆的车辆速度；该前向碰撞预警区域位于第二车辆的正前方，该前向碰撞预警区域的宽度与第二车辆的车辆宽度正相关，该前向碰撞预警区域的长度与第二车辆的车辆速度正相关。
本实现方式基于车辆尺寸和车辆速度确定车辆的前向碰撞预警区域，区域的大小可以随着车辆的速度而改变，更加灵活。
结合本申请第一方面的第三种实现方式，在第一方面的第四种实现方式中，第一车辆对应的V2X消息包括：第一车辆的位置信息，则V2X设备根据V2X消息可以通过如下方式确定第一车辆为前向碰撞预警区域中的危险车辆：
V2X设备根据第一车辆得位置信息确定第一车辆当前的空间位置，若第一车辆当前的空间位置处于前向碰撞预警区域，则确定第一车辆为前向碰撞预警区域中的危险车辆。
对应地，本实现方式中，V2X设备输出的预警信息可以用于指示前向碰撞预警区域存在危险车辆。
本实现方式中V2X设备可以对前向碰撞预警区域中的车辆进行预警识别，可以避免车辆由于跟车太近而导致的追尾。
结合本申请第一方面的，在第一方面的第五种实现方式中，预警区域包括：紧急电子刹车灯区域，紧急电子刹车灯区域位于第二车辆的正前方，紧急电子刹车灯区域的宽度与前向碰撞预警区域的宽度相等，紧急电子刹车灯区域的长度与前向碰撞预警区域的长度正相关，紧急电子刹车灯区域包括前向碰撞预警区域。
本实现方式提供了另一种确定预警区域的方式，提高了方案的灵活性。
结合本申请第一方面的第五种实现方式，在第一方面的第六种实现方式中，第一车辆对应的V2X消息包括：第一车辆的位置信息以及第一车辆的刹车灯状态，则V2X设备根据V2X消息可以通过如下方式确定第一车辆为紧急电子刹车灯预警区域中的危险车辆：
V2X设备根据第一车辆得位置信息确定第一车辆当前的空间位置，若第一车辆当前的空间位置处于紧急电子刹车灯状态，且第一车辆的刹车灯状态为开启，则确定第一车辆为第二车辆的紧急电子刹车灯区域中的危险车辆。
对应地，本实现方式中，V2X设备输出的预警信息可以用于指示紧急电子刹车灯区域存在危险车辆。
本实现方式可以对紧急电子刹车灯预警区域中的车辆进行识别，可以让用户提前刹车，避免由于紧急刹车而导致的追尾。
结合本申请第一方面，在第一方面的第七种实现方式中，预警区域包括：左侧逆向超车预警区域和/或右侧逆向超车预警区域；车辆尺寸包括：车辆宽度以及车辆长度；
左侧逆向超车预警区域位于第二车辆左侧车头的左前方，左侧逆向超车区域的长度与车辆长度正相关，左侧逆向超车区域的宽度与车辆宽度正相关，左侧逆向超车区域的长度大于左侧逆向超车区域的宽度；
右侧逆向超车预警区域位于第二车辆右侧车头的右前方，右侧逆向超车区域的长度与车辆长度正相关，右侧逆向超车区域的宽度与车辆宽度正相关，右侧逆向超车区域的长度大于右侧逆向超车区域的宽度。
本实现方式提供了另一种确定预警区域的方式，提高了方案的灵活性。
结合本申请第一方面的第七种实现方式，在第一方面的第八种实现方式中，第一车辆对应的V2X消息包括：第一车辆的位置信息，第一车辆的朝向以及第一车辆的速度，第二车辆的车辆信息还包括：第二车辆的车辆朝向。对应地，V2X设备根据第一车辆对应的V2X 消息可以通过如下方式确定第一车辆为左侧逆向超车预警区域或右侧逆向超车预警区域中的危险车辆：
V2X设备根据第二车辆的位置信息确定第一车辆当前的空间位置，若第一车辆当前的空间位置处于左侧逆向超车预警区域(或右侧逆向超车预警区域)，且第一车辆的速度不为零且第一车辆的朝向与第二车辆的朝向相反，则V2X设备确定第一车辆为第二车辆的左侧逆向超车预警区域(或右侧逆向超车预警区域)中的危险车辆。
对应地，本实现方式中，V2X设备输出的预警信息可以用于指示左侧逆向超车预警区域(或右侧逆向超车预警区域)存在危险车辆。
本实现方式可以对逆向超车预警区域中的车辆进行识别，可以避免车辆与逆向行驶的车辆发生碰撞。
结合本申请第一方面，在第一方面的第九种实现方式中，预警区域包括：左侧移动辅助区域和/或右侧移动辅助区域；车辆尺寸包括：车辆宽度以及车辆长度；
左侧移动辅助区域位于第二车辆左侧车头的左前方，左侧移动辅助区域的长度与车辆长度正相关，左侧移动辅助区域的宽度与车辆宽度正相关；
右侧辅助区域位于第二车辆右侧车头的右前方，右侧移动辅助区域的长度与车辆长度正相关，右侧移动辅助区域的宽度与车辆宽度正相关。
本实现方式提供了另一种确定预警区域的具体方式，提高了方案的灵活性。
结合本申请第一方面的第九种实现方式，在第一方面的第十种实现方式中，第一车辆对应的V2X消息包括：第一车辆的位置信息，第一车辆的朝向以及第一车辆的速度。第二车辆的车辆信息还包括：第二车辆的朝向。对应的，V2X设备根据第一车辆对应的V2X消息可以通过如下方式确定第一车辆为左侧移动辅助区域或右侧移动辅助区域中的危险车辆：
V2X设备根据第一车辆的位置信息确定第一车辆当前的空间位置，若第一车辆当前的空间位置处于左侧移动辅助区域(或右侧移动辅助区域)，第一车辆的速度不为零且第一车辆的朝向与第二车辆的朝向相交，则V2X设备确定第一车辆为第二车辆的左侧移动辅助区域(或右侧移动辅助区域)中的危险车辆。
对应地，本实现方式中，V2X设备输出的预警信息可以用于指示左侧移动辅助区域(或所述右侧移动辅助区域)存在危险车辆。
本实现方式可以对路口移动辅助区域中的车辆进行识别，可以辅助用户安全通过路口，避免在路口发生碰撞。
结合本申请第一方面，第一方面的第一至第十种实现方式中的任意一种实现方式，在本申请第一方面的第十一种实现方式中，位置信息包括GPS测量结果以及如下至少一项：GPS天线位置或GPS测量精度。
本实现方式可以结合GPS天线位置和/或GPS测量精度对车辆进行定位，提高了定位精度。
结合本申请第一方面的第十一种实现方式，在本申请第一方面的第十二种实现方式中，V2X设备为车载设备，则V2X设备根据V2X消息确定第一车辆为预警区域中的危险车辆之前，可以执行如下步骤：V2X设备根据第二车辆的位置信息以及车辆尺寸确定第二车 辆当前的空间位置，再根据第二车辆当前的空间位置以及车辆尺寸确定第二车辆的预警区域。
本实现方式提供了一种车载设备确定预警区域的方式，提高了方案的可实现性。
结合本申请第一方面的第十一种实现方式，在本申请第一方面的第十三种实现方式中，V2X设备为车载设备，则V2X设备根据V2X消息确定第一车辆为预警区域中的危险车辆之前，可以执行如下步骤：V2X设备向服务器发送第二车辆的车辆信息，该车辆信息包括第二车辆的位置信息以及车辆尺寸，则服务器接收第二车辆的车辆信息后可以根据第二车辆的位置信息确定第二车辆当前的空间位置，并根据第二车辆当前的空间位置以及车辆尺寸确定预警区域，再将确定的预警区域返回给V2X设备，V2X设备接收服务器发送的预警区域。
本实现方式提供了另一种车载设备确定预警区域的方式，提高了方案的灵活性。
结合本申请第一方面的第十一种实现方式，在本申请第一方面的第十四种实现方式中，V2X设备为服务器，则V2X设备根据V2X消息确定第一车辆为预警区域中的危险车辆之前，可以执行如下步骤：V2X设备接收车载设备发送的第二车辆的车辆信息，根据该车辆信息中的位置信息确定第二车辆当前的空间位置，再根据第二车辆当前的空间位置以及车辆信息中的车辆尺寸确定第二车辆的预警区域。
本实现方式提供了一种服务器确定预警区域的方式，提高了方案的可实现性。
结合本申请第一方面的第十一种实现方式，在本申请第一方面的第十五种实现方式中，V2X设备为服务器，则V2X设备根据V2X消息确定第一车辆为预警区域中的危险车辆之前，可以执行如下步骤：V2X设备接收车载设备发送的预警区域，该预警区域为车载设备根据第二车辆当前的空间位置以及车辆尺寸确定的。
本实现方式提供了另一种服务器确定预警区域的方式，提高了方案的灵活性。
结合本申请第一方面的第十二或十三种实现方式，在本申请第一方面的第十六种实现方式中，V2X设备可以通过如下方式输出第二车辆对应的预警信息：V2X设备在第二车辆的仪表盘上显示预警信息，该预警信息用于指示用户预警区域存在危险车辆；或者通过如下方式输出第二车辆对应的预警信息：V2X设备通过语音提示用户预警区域存在危险车辆。
本实现方式提供了多种车载设备输出预警信息的方式，提高了方案的灵活性。
结合本申请第一方面的第十四或十五种实现方式，在本申请第一方面的第十七种实现方式中，则V2X设备可以通过如下方式输出第二车辆对应的预警信息：V2X设备向车载设备发送通知信息，以使得车载设备根据该通知信息向第二车辆对应的用户指示预警区域存在危险车辆。
本实现方式提供了一种服务器输出预警信息的方式，提高了方案的可实现性。
第二方面，本申请提供了另一种车辆预警方法，该方法包括：车载设备根据第二车辆的位置信息确定第二车辆当前的空间位置，并根据第二车辆当前的空间位置以及车辆尺寸确定第二车辆的预警区域，然后向服务器发送第二车辆的预警区域，以使得服务器根据第一车辆的V2X消息确定第一车辆为第二车辆的预警区域中的危险车辆，并在确定第一车辆为第二车辆的预警区域中的危险车辆时，向车载设备发送通知消息，车载设备接收该通知消息，并提示用户预警区域存在危险车辆。
本实现方式车辆的预警区域是根据车辆的位置和尺寸设定的，当存在位于预警区域的车辆，且车辆满足预警区域的预警条件时，就会触发警报。也就是说，本实施例不需要依赖地图就可以分析出存在碰撞风险的危险车辆，既容易实现，又可以避免由于地图精度、车辆压线等因素所导致的误判，提高了识别的准确性。
结合本申请第二方面，在一种可能的实现方式中，位置信息包括GPS测量结果以及如下至少一项：GPS测量精度以及GPS天线位置。
本实现方式可以结合GPS天线位置和/或GPS测量精度对车辆进行定位，提高了定位精度。
结合本申请第二方面，在一种可能的实现方式中，预警区域包括：左侧盲区预警区域和/或右侧盲区预警区域；第二车辆的车辆尺寸包括：第二车辆的车辆长度以及车辆宽度；第二车辆的车辆信息还包括：第二车辆的驾驶员座位位置；
若驾驶员座位位置位于第二车辆的左侧，则左侧盲区预警区域位于第二车辆左侧B柱后方，左侧盲区预警区域的长度与车辆长度正相关，左侧盲区预警区域的宽度与车辆宽度正相关；右侧盲区预警区域位于第二车辆右侧后视镜后方，右侧盲区预警区域的长度与车辆长度正相关，右侧盲区预警区域的宽度与车辆宽度正相关；
若驾驶员座位位置位于第二车辆的右侧，则右侧盲区预警区域位于第二车辆右侧B柱后方，右侧盲区预警区域的长度与车辆长度正相关，右侧盲区预警区域的宽度与车辆宽度正相关；左侧盲区预警区域位于第二车辆左侧后视镜后方，左侧盲区预警区域的长度与车辆长度正相关，左侧盲区预警区域的宽度与车辆宽度正相关。
需要说明的是，汽车的B柱位于驾驶舱的前座和后座之间，就是两侧两扇门之间的那根纵向杠子，从车顶延伸到车底部。驾驶员座位位置用于指示汽车的驾驶员座位是位于车辆左侧或者右侧。两个参数正相关指的这两个变量变动方向相同，例如区域长度与车辆长度正相关指的是，车辆长度越大，区域长度越大。
本实现方式提供了一种基于车辆尺寸确定预警区域的具体方式，提高了方案的可实现性。
结合本申请第二方面，在一种可能的实现方式中，预警区域包括：前向碰撞预警区域，第二车辆的车辆尺寸包括：第二车辆的车辆宽度，第二车辆的车辆信息还包括：第二车辆的车辆速度；该前向碰撞预警区域位于第二车辆的正前方，该前向碰撞预警区域的宽度与第二车辆的车辆宽度正相关，该前向碰撞预警区域的长度与第二车辆的车辆速度正相关。
本实现方式基于车辆尺寸和车辆速度确定车辆的前向碰撞预警区域，区域的大小可以随着车辆的速度而改变，更加灵活。
结合本申请第二方面，在一种可能的实现方式中，预警区域包括：紧急电子刹车灯区域，紧急电子刹车灯区域位于第二车辆的正前方，紧急电子刹车灯区域的宽度与前向碰撞预警区域的宽度相等，紧急电子刹车灯区域的长度与前向碰撞预警区域的长度正相关，紧急电子刹车灯区域包括前向碰撞预警区域。
本实现方式提供了另一种确定预警区域的具体方式，提高了方案的灵活性。
结合本申请第二方面，在一种可能的实现方式中，预警区域包括：左侧逆向超车预警区域和/或右侧逆向超车预警区域；车辆尺寸包括：车辆宽度以及车辆长度；
左侧逆向超车预警区域位于第二车辆左侧车头的左前方，左侧逆向超车区域的长度与车辆长度正相关，左侧逆向超车区域的宽度与车辆宽度正相关，左侧逆向超车区域的长度大于左侧逆向超车区域的宽度；
右侧逆向超车预警区域位于第二车辆右侧车头的右前方，右侧逆向超车区域的长度与车辆长度正相关，右侧逆向超车区域的宽度与车辆宽度正相关，右侧逆向超车区域的长度大于右侧逆向超车区域的宽度。
本实现方式提供了另一种确定预警区域的具体方式，提高了方案的灵活性。
结合本申请第二方面，在一种可能的实现方式中，预警区域包括：左侧移动辅助区域和/或右侧移动辅助区域；车辆尺寸包括：车辆宽度以及车辆长度；
左侧移动辅助区域位于第二车辆左侧车头的左前方，左侧移动辅助区域的长度与车辆长度正相关，左侧移动辅助区域的宽度与车辆宽度正相关；
右侧辅助区域位于第二车辆右侧车头的右前方，右侧移动辅助区域的长度与车辆长度正相关，右侧移动辅助区域的宽度与车辆宽度正相关。
本实现方式提供了另一种确定预警区域的具体方式，提高了方案的灵活性。
结合本申请第二方面，在一种可能的实现方式中，车载设备可以通过如下方式输出第二车辆对应的预警信息：在第二车辆的仪表盘上显示预警信息，该预警信息用于指示用户预警区域存在危险车辆；或者通过语音提示用户预警区域存在危险车辆。
本实现方式提供了多种车载设备输出预警信息的方式，提高了方案的灵活性。
第三方面，本申请提供了一种车辆预警方法，该方法包括：服务器接收车载设备发送的第二车辆的车辆信息，根据该车辆信息中的位置信息确定第二车辆当前的空间位置，根据第二车辆当前的空间位置以及车辆尺寸确定第二车辆的预警区域，向车载设备发送第二车辆的预警区域，以使得车载设备根据第一车辆对应的V2X消息确定第一车辆为第二车辆的预警区域中的危险车辆，当确定第一车辆为第二车辆的预警区域中的危险车辆时，输出预警信息。
本实现方式车辆的预警区域是根据车辆的位置和尺寸设定的，当存在位于预警区域的车辆，且车辆满足预警区域的预警条件时，就会触发警报。也就是说，本实施例不需要依赖地图就可以分析出存在碰撞风险的危险车辆，既容易实现，又可以避免由于地图精度、车辆压线等因素所导致的误判，提高了识别的准确性。
结合本申请第二方面，在一种可能的实现方式中，第二车辆的位置信息包括GPS测量结果以及如下至少一项：GPS测量精度以及GPS天线位置。
本实现方式可以结合GPS天线位置和/或GPS测量精度对车辆进行定位，提高了定位精度。
结合本申请第三方面，在一种可能的实现方式中，预警区域包括：左侧盲区预警区域和/或右侧盲区预警区域；第二车辆的车辆尺寸包括：第二车辆的车辆长度以及车辆宽度；第二车辆的车辆信息还包括：第二车辆的驾驶员座位位置；
若驾驶员座位位置位于第二车辆的左侧，则左侧盲区预警区域位于第二车辆左侧B柱后方，左侧盲区预警区域的长度与车辆长度正相关，左侧盲区预警区域的宽度与车辆宽度正相关；右侧盲区预警区域位于第二车辆右侧后视镜后方，右侧盲区预警区域的长度与车 辆长度正相关，右侧盲区预警区域的宽度与车辆宽度正相关；
若驾驶员座位位置位于第二车辆的右侧，则右侧盲区预警区域位于第二车辆右侧B柱后方，右侧盲区预警区域的长度与车辆长度正相关，右侧盲区预警区域的宽度与车辆宽度正相关；左侧盲区预警区域位于第二车辆左侧后视镜后方，左侧盲区预警区域的长度与车辆长度正相关，左侧盲区预警区域的宽度与车辆宽度正相关。
需要说明的是，汽车的B柱位于驾驶舱的前座和后座之间，就是两侧两扇门之间的那根纵向杠子，从车顶延伸到车底部。驾驶员座位位置用于指示汽车的驾驶员座位是位于车辆左侧或者右侧。两个参数正相关指的这两个变量变动方向相同，例如区域长度与车辆长度正相关指的是，车辆长度越大，区域长度越大。
本实现方式提供了一种基于车辆尺寸确定预警区域的具体方式，提高了方案的可实现性。
结合本申请第三方面，在一种可能的实现方式中，预警区域包括：前向碰撞预警区域，第二车辆的车辆尺寸包括：第二车辆的车辆宽度，第二车辆的车辆信息还包括：第二车辆的车辆速度；该前向碰撞预警区域位于第二车辆的正前方，该前向碰撞预警区域的宽度与第二车辆的车辆宽度正相关，该前向碰撞预警区域的长度与第二车辆的车辆速度正相关。
本实现方式基于车辆尺寸和车辆速度确定车辆的前向碰撞预警区域，区域的大小可以随着车辆的速度而改变，更加灵活。
结合本申请第三方面，在一种可能的实现方式中，预警区域包括：紧急电子刹车灯区域，紧急电子刹车灯区域位于第二车辆的正前方，紧急电子刹车灯区域的宽度与前向碰撞预警区域的宽度相等，紧急电子刹车灯区域的长度与前向碰撞预警区域的长度正相关，紧急电子刹车灯区域包括前向碰撞预警区域。
本实现方式提供了另一种确定预警区域的具体方式，提高了方案的灵活性。
结合本申请第三方面，在一种可能的实现方式中，预警区域包括：左侧逆向超车预警区域和/或右侧逆向超车预警区域；车辆尺寸包括：车辆宽度以及车辆长度；
左侧逆向超车预警区域位于第二车辆左侧车头的左前方，左侧逆向超车区域的长度与车辆长度正相关，左侧逆向超车区域的宽度与车辆宽度正相关，左侧逆向超车区域的长度大于左侧逆向超车区域的宽度；
右侧逆向超车预警区域位于第二车辆右侧车头的右前方，右侧逆向超车区域的长度与车辆长度正相关，右侧逆向超车区域的宽度与车辆宽度正相关，右侧逆向超车区域的长度大于右侧逆向超车区域的宽度。
本实现方式提供了另一种确定预警区域的具体方式，提高了方案的灵活性。
结合本申请第三方面，在一种可能的实现方式中，预警区域包括：左侧移动辅助区域和/或右侧移动辅助区域；车辆尺寸包括：车辆宽度以及车辆长度；
左侧移动辅助区域位于第二车辆左侧车头的左前方，左侧移动辅助区域的长度与车辆长度正相关，左侧移动辅助区域的宽度与车辆宽度正相关；
右侧辅助区域位于第二车辆右侧车头的右前方，右侧移动辅助区域的长度与车辆长度正相关，右侧移动辅助区域的宽度与车辆宽度正相关。
本实现方式提供了另一种确定预警区域的具体方式，提高了方案的灵活性。
本申请第四方面提供了一种车载设备，该车载设备具有实现上述第一方面，第一方面的第一至十三，第十六种实现方式中V2X设备的功能。该功能可以通过硬件实现，也可以通过硬件执行相应的软件实现。该硬件或软件包括一个或多个与上述功能相对应的模块。
本申请第五方面提供了一种服务器，该服务器具有实现上述第一方面，第一方面的第一至十一，十四，十五以及第十七种实现方式中V2X设备的功能。该功能可以通过硬件实现，也可以通过硬件执行相应的软件实现。该硬件或软件包括一个或多个与上述功能相对应的模块。
本申请第六方面提供了一种车载设备，该车载设备具有实现上述第二方面各个实现方式中车载设备的功能。该功能可以通过硬件实现，也可以通过硬件执行相应的软件实现。该硬件或软件包括一个或多个与上述功能相对应的模块。
本申请第七方面提供了一种服务器，该车载设备具有实现上述第三方面各个实现方式中服务器的功能。该功能可以通过硬件实现，也可以通过硬件执行相应的软件实现。该硬件或软件包括一个或多个与上述功能相对应的模块。
本申请第八方面提供了一种计算机可读存储介质，包括指令，当其在计算机上运行时，使得计算机执行如第一方面，第二方面或第三方面的方法。
本申请第九方面提供了一种包含指令的计算机程序产品，当其在计算机上运行时，使得计算机执行如第一方面，第二方面或第三方面的方法。
从以上技术方案可以看出，本申请实施例具有以下优点：
本申请实施例中，V2X设备接收第一车辆对应的V2X消息后，可以根据该V2X消息确定第一车辆为预警区域中的危险车辆，并输出第二车辆对应的预警信息，其中，预警区域与第二车辆的车辆信息对应，车辆信息包括：第一位置信息和车辆尺寸确定的。本实施例中车辆的预警区域是根据车辆的位置和尺寸设定的，当存在位于预警区域的车辆，且车辆满足预警区域的预警条件时，就会触发警报。也就是说，本实施例不需要依赖地图就可以分析出存在碰撞风险的危险车辆，既容易实现，又可以避免由于地图精度、车辆压线等因素所导致的误判，提高了识别的准确性。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例。
图1A为本申请实施例中车辆的主视图；
图1B为本申请实施例中车辆的左视图；
图2为本申请实施例中车联网系统的一个示意图；
图3为本申请实施例中车辆预警方法的一个实施例流程图；
图4A为本申请实施例中预警区域的一个示意图；
图4B为本申请实施例中预警区域的一个示意图；
图4C为本申请实施例中预警区域的一个示意图；
图4D为本申请实施例中预警区域的一个示意图；
图4E为本申请实施例中预警区域的一个示意图；
图5为本申请实施例中车辆预警方法的一个实施例流程图；
图6为本申请实施例中危险车辆的一个实施例流程图；
图7为本申请实施例中车载设备的一个示意图；
图8为本申请实施例中车载设备的一个示意图；
图9为本申请实施例中服务器的一个示意图；
图10为本申请实施例中服务器的一个示意图；
图11为本申请实施例中车载设备的一个示意图；
图12为本申请实施例中服务器的一个示意图。
具体实施方式
本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”、“第四”等(如果存在)是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
为了便于理解，下面对本申请实施例中的汽车参数进行介绍。
如图1A为汽车的主视图，本申请实施例中的车辆宽度为汽车宽度方向两个极端点间的距离，也就是车身左、右最凸出位置之间的距离。根据业界通用的规则，车身宽度不包含左、右后视镜伸出的宽度，即最凸出位置应在后视镜折叠后选取。
本申请实施例中后视镜是驾驶员坐在驾驶室座位上直接获取汽车后方、侧方和下方等外部信息的工具。一般来说，后视镜位于车门上，汽车左右两侧各有一个后视镜，如图1A所示。
如图1B为汽车的左视图，本申请实施例中的车辆长度为汽车长度方向两个极端点间的距离，即从车前保险杆最凸出的位置量起，到车后保险杆最凸出的位置，这两点间的距离。
如图1B所示，本申请实施例中B柱指的是驾驶舱的前座和后座之间，就是两侧两扇门之间的那根纵向杠子，从车顶延伸到车底部，从内侧看，安全带就在B柱上。汽车左右两侧各有一个B柱。
为了便于理解，下面对本申请实施例提供的车辆预警方法所适用的场景进行简单介绍，请参阅图2，本申请实施例提供的车辆预警方法所适用的系统结构示意图。该系统包括至少一台服务器201组成的服务系统，与该服务系统对应的若干台车载设备，图2以两台车载设备为例，这两台车载设备分别为第一车载设备202和第二车载设备203。
该系统中第一车载设备置于第一车辆内，第二车载设备置于第二车辆内，为了便于描述本实施例将第一车载设备发出的V2X消息称为第一车辆对应的V2X消息，将第二车载设备发出的V2X消息称为第二车辆对应的V2X消息。该系统中的各个设备均可以相互进行通 信，具体可以通过广播消息进行通信，也可以通过单播消息进行通信，具体本申请不作限定。作为一种可选的方式，该系统中车载设备可以根据设定定期广播V2X消息，该V2X消息包括该车载设备对应车辆的位置信息，方向数据等，则该系统中的其他车载设备或服务器接收该V2X消息后，可以采用本申请实施例中的车辆预警方法进行预警识别。
基于上述场景，下面对本申请实施例中的车辆预警方法进行详细介绍，请参阅图3，本申请实施例中车辆预警方法的一个实施例包括：
301、第二车载设备向服务器发送第二车辆的车辆信息。
本实施例中，第二车载设备为第二车辆上的智能通信设备，第二车载设备中预先存储有第二车辆的车辆信息，当满足预定的触发条件时，第二车载设备向服务器发送第二车辆的车辆信息。具体地，该触发条件可以是用户启动预警功能，或者用户开启自动驾驶模式，或者时间满足预设条件，或者其他条件，具体此处不作限定。
可选地，本实施例中，第二车辆的车辆信息包括第二车辆的位置信息以及第二车辆的车辆尺寸。
可选地，本实施例中，第二车辆的位置信息可以包括第二车辆的GPS测量结果以及如下至少一项：第二车辆的GPS天线位置或第二车辆的GPS测量精度，其中，第二车辆GPS天线位置指的是天线在第二车辆中的相对位置。
应理解，全球定位系统(Global Positioning System，GPS)测量结果一般为通过GPS定位得到的经纬度信息，该经纬度信息实质上用于指示GPS天线所在的经纬度，且该经纬度存在一定的误差，误差的大小取决于GPS的测量精度，结合GPS天线在第二车辆中的位置和/或GPS测量精度可以更精确的定位车辆位置。
302、服务器根据第二车辆的车辆信息确定预警区域。
第二车载设备发送第二车辆的车辆信息后，服务器接收第二车辆的车辆信息后，根据第二车辆的位置信息以及车辆尺寸确定第二车辆当前的空间位置，然后再根据第二车辆当前的空间位置以及车辆尺寸确定预警区域。
作为一种可选的方式，服务器侧设定不同类型的车辆对应的车辆尺寸，不同的车辆识别码对应的车辆尺寸，或者不同类型的车辆型号对应的车辆尺寸。第二车辆的车辆信息可以包括第二车辆的位置信息以及如下至少一项：第二车辆的车辆类型，车辆型号或车辆标识。
则服务器接收第二车辆的车辆信息后，可以根据该车辆类型，车辆型号或车辆标识确定第二车辆的车辆尺寸，然后根据车辆尺寸以及第二车辆的位置信息确定第二车辆当前的空间位置，然后再根据第二车辆当前的空间位置以及车辆尺寸确定第二车辆对应的预警区域。
可选地，本实施例中，预警区域包括如下至少一个区域：左侧盲区预警区域，右侧盲区预警区域，左侧变道预警区域，右侧变道预警区域，前向碰撞预警区域，预紧急电子刹车灯，左侧逆向超车预警区域，右侧逆向超车预警区域，左侧移动辅助区域，右侧移动辅助区域。
不同预警区域的定义有所不同，服务器确定预警区域的方式也有所不同，下面举例对其中几种情况进行说明。
本实施例中，预警区域包括：左侧盲区预警(Blind Spot Warning，BSW)区域和/或右侧盲区预警区域；车辆尺寸包括；车辆长度以及车辆宽度；车辆信息还包括：驾驶员座位位置；其中，驾驶员座位位置用于指示驾驶员的座位位于汽车的左侧或右侧。
具体地，若驾驶员座位位于车辆的左侧，则左侧盲区预警区域位于第二车辆左侧B柱的后方，区域的长度与车辆长度正相关，区域的宽度与车辆宽度正相关；右侧盲区预警区域位于第二车辆右侧后视镜后方，区域的长度与车辆长度正相关，区域的宽度与车辆宽度正相关。
若驾驶员座位位于车辆的右侧，则右侧盲区预警区域位于第二车辆右侧B柱的后方，区域的长度与车辆长度正相关，区域的宽度与车辆宽度正相关；左侧盲区预警区域位于第二车辆左侧后视镜后方，区域的长度与车辆长度正相关，区域的宽度与车辆宽度正相关。
对应地，服务器确定第二车辆当前的空间位置后，可以通过如下方式确定预警区域中的左侧盲区预警区域：若第二车辆的驾驶员座位位于车辆的左侧，则将第二车辆左侧B柱后方左侧的第一区域确定为左侧盲区预警区域，和/或，将第二车辆右侧后视镜右后方的右侧的第二区域确定为右侧盲区预警区域，其中，第一区域的长度为第二车辆的车辆长度的a倍，第一区域的宽度为第二车辆的车辆宽度的b倍，第一区域的高度不作限定，第二区域的长度为第二车辆的车辆长度的c倍，第二区域的宽度为第二车辆的车辆宽度的d倍，第二区域的高度不作限定；若第二车辆的驾驶员作为位于车辆的右侧，则将第二车辆右侧B柱后方右侧的第三区域确定为右侧盲区预警区域，和/或，将第二车辆左侧后视镜后方的左侧的第四区域确定为左侧盲区预警区域，其中，第三区域的长度为第二车辆的车辆长度的a倍，第三区域的宽度为第二车辆的车辆宽度的b倍，第三区域的高度不作限定，第四区域的长度为第二车辆的车辆长度的c倍，第四区域的宽度为第二车辆的车辆宽度的d倍，第四区域的高度不作限定。
应理解，上述a，b，c和d为预设值，作为一种示例，可以设置a＝1.5，b＝1.5，c＝2，d＝1.5，当第二车辆的驾驶员座位位于车辆的左侧时，服务器确定的左侧盲区预警区域和/或右侧盲区预警区域如图4A所示，当第二车辆的驾驶员作为位于车辆的右侧时，服务器确定的右侧盲区预警区域和/或右盲预警区域如图4B所示。
本实施例中，预警区域可以包括：左侧变道预警(Lane Change Warning，LCW)区域和/或右侧变道预警区域，其中，左侧变道预警区域的定义与前述左侧盲区预警区域相似，右侧盲区预警区域的定义与前述右侧盲区预警区域相似，服务器确定左侧变道预警区域和/或右侧变道预警区域的方式与前述服务器确定左侧盲区预警区域和/右侧盲区预警区域相似，具体此处不再赘述。
本实施例中，预警区域包括：前向碰撞预警(Forward Collision Warning，FCW)区域以及预紧急电子刹车灯(Electronic Emergency Brake Light，EEBL)区域，车辆尺寸包括：车辆宽度；车辆信息还包括：车辆速度。
其中，该前向碰撞预警区域和预紧急电子刹车灯位于第二车辆的正前方，前向碰撞预警区域的宽度与第二车辆的车辆宽度正相关，前向碰撞预警区域的长度与第二车辆的车辆速度正相关；紧急电子刹车灯区域的宽度与前向碰撞预警区域的宽度相等，紧急电子刹车灯区域的长度大于前向碰撞预警区域的长度，即该紧急电子刹车灯区域包含了该前向碰撞 预警区域。
对应地，服务器确定第二车辆当前的空间位置后，可以通过如下方式确定预警区域中的前向碰撞预警区域：将第二车辆的正前方的第五区域作为前向碰撞预警区域，将第二车辆的正前方的第六区域作为紧急电子刹车灯区域，其中，第五区域和第六区域的宽度均为第二车辆的车辆宽度的e倍，第五区域的长度为第二车辆的车辆速度乘以f秒，第六区域的长度为第五区域的长度的g倍，第五区域和第六区域的高度均不作限定。
应理解，上述e，f和g为预设值，作为一种示例，可以设置e＝1.5，f＝0.5，g＝2，当第二车辆的车辆速度为8米/秒时，第二车辆确定的前向碰撞预警区域和紧急电子刹车灯区域如图4C所示。
本实施例中，预警区域包括：左侧逆向超车预警(Do Not Pass Warning，DNPW)区域和/或右侧逆向超车预警区域；车辆尺寸包括：车辆宽度以及车辆长度。
其中，该左侧逆向超车预警区域位于第二车辆左侧车头的左前方，左侧逆向超车预警区域的长度与第二车辆的车辆长度正相关，左侧逆向超车预警区域的宽度与第二车辆的车辆宽度正相关，且左侧逆向超车预警区域的长度大于左侧逆向超车预警区域的宽度；该右侧逆向超车预警区域位于第二车辆右侧车头的右前方，右侧逆向超车预警区域的长度与第二车辆的车辆长度正相关，右侧逆向超车预警区域的宽度与第二车辆的车辆宽度正相关，且右侧逆向超车预警区域的长度大于右侧逆向超车预警区域的宽度。
对应地，服务器确定第二车辆当前的空间位置后，可以通过如下方式确定预警区域中的左侧逆向超车预警区域和/或右侧逆向超车预警区域：将第二车辆左侧车头的左前方的第七区域作为左侧逆向超车预警区域，将第二车辆右侧车头的右前方的第八区域作为右侧逆向超车预警区域，其中，第七区域的宽度为第二车辆的车辆宽度的h倍，第七区域的长度为第二车辆的车辆长度的i倍，第七区域的高度不作限定，第八区域的宽度为第二车辆的车辆宽度的j倍，第八区域的长度为第二车辆的车辆长度的k倍，第八区域的高度不作限定。
应理解，上述h，i，j和k为预设值，作为一种示例，可以设置h＝1.5，i＝3，j＝1.5,k＝3，则服务器确定的第二车辆的左侧逆向超车预警区域和/或右侧逆向超车预警区域如图4D所示。
本实施例中，预警区域可以包括：左侧移动辅助(Intersection Motion Assistant，IMA)区域和/或右侧移动辅助区域，车辆尺寸包括：车辆宽度以及车辆长度。
具体地，左侧移动辅助区域位于第二车辆左侧车头的左前方，左侧移动辅助区域的长度与第二车辆的车辆长度正相关，左侧移动辅助区域的宽度与第二车辆的车辆宽度正相关；右侧移动辅助区域位于第二车辆右侧车头的右前方，右侧移动辅助区域的长度与第二车辆的车辆长度正相关，右侧移动辅助区域的宽度与第二车辆的车辆宽度正相关。
对应地，服务器确定第二车辆当前的空间位置后，可以通过如下方式确定预警区域中的左侧移动辅助区域和/或右侧移动辅助区域：将第二车辆左侧车头的左前方的第九区域作为左侧移动辅助区域，将第二车辆右侧车头的右前方的第十区域作为右侧移动辅助区域，其中，第九区域的宽度为第二车辆的车辆宽度的m倍，第九区域的长度为第二车辆的车辆长度的n倍，第九区域的高度不作限定，第十区域的宽度为第二车辆的车辆宽度的p 倍，第十区域的长度为第二车辆的车辆长度的q倍，第十区域的高度不作限定。
应理解，上述m，n，p和q为预设值，作为一种示例，可以设置m＝4，n＝3，p＝4,q＝3，则服务器确定的第二车辆的左侧移动辅助区域和/或右侧移动辅助区域如图4E所示。
303、第二车载设备接收服务器发送的预警区域。
服务器根据第二车辆的车辆信息确定预警区域后，向第二车载设备发送该预警区域，第二车载设备接收服务器发送的预警区域。应理解，本实施例中，发送预警区域指的是发送能够指示预警区域对应位置的信息，如发送区域的经纬度范围等。
304、第二车载设备接收第一车载设备发送的第一车辆对应的V2X消息。
第一车载设备根据设定定期或不定期的发出第一车辆对应的V2X消息，第二车载设备接收该第一车辆对应的V2X消息，其中，该V2X消息包括如下至少一项：第一车辆的位置信息，第一车辆的朝向，第一车辆的刹车灯状态，第一车辆的转向灯状态，第一车辆的速度。应理解，V2X消息还可以包括其他信息，具体本申请不作限定。
需要说明的是，第一车辆的位置信息可以包括第一车辆的GPS测量结果以及如下至少一项：第一车辆的GPS天线位置或第一车辆的GPS测量精度，其中，第一车辆GPS天线位置指的是天线在第一车辆中的相对位置。第一车辆的刹车灯状态用于指示第一车辆的刹车灯是否开启。第一车辆的转向灯状态用于指示第一车辆的转向灯(包括左转灯和右转灯)是否为开启，第一车辆的速度为第一车辆当前的速度，该速度可以是动态变化的。
305、第二车载设备根据该V2X消息判断第一车辆是否为预警区域中的危险车辆，若是，则执行步骤306，若否，则执行步骤307。
第二车载设备确定第二车辆的预警区域，并接收到第一车辆对应的V2X消息后，根据该V2X消息判断第一车辆是否为预警区域中的危险车辆，若是，则执行步骤306，若否，则执行步骤307。
本实施例中，预警区域包括如下一个或多个区域：左侧盲区预警区域，右侧盲区预警区域，左侧变道预警区域，右侧变道预警区域，前向碰撞预警区域，预紧急电子刹车灯，左侧逆向超车预警区域，右侧逆向超车预警区域，左侧移动辅助区域，右侧移动辅助区域。
第二车载设备会先根据V2X消息中的位置信息确定第一车辆当前的空间位置，若第一车辆当前的空间位置处于预警区域中的其中一个区域，则根据这个区域的预警条件判断第一车辆是否为这个区域中的危险车辆。应理解，一些区域的预警条件可以设定为只要有车辆处于该区域，即认为该车辆满足预警条件。还应理解，车辆处于某个区域具体可以是该车辆的一部分进入了这个区域，也可以是整个车都进入了该区域，具体本申请不作限定。
可选地，对于不同的警区域，可以设定不同的预警条件。其中，预警条件可以包括如下至少一项：速度条件，转向灯条件，刹车灯条件，车辆朝向条件。当第一车辆满足预警条件中的一项或者多项时，第二车载设备确定该第一车辆为该预警条件对应的预警区域中的危险车辆。
具体地，若第一车辆当前的空间位置处于左侧盲区预警区域或右侧盲区预警区域，则判断第一车辆的朝向与第二车辆的朝向是否相同，若相同，则确定第一车辆为该左侧盲区预警区域或该右侧盲区预警区域中的危险车辆。
若第一车辆当前的空间位置处于左侧变道预警区域，则判断第一车辆的朝向与第二车 辆的朝向是否相同，以及第二车辆的右转灯是否开启，若第二车辆的朝向与第一车辆的朝向相同，且第二车辆的右转灯开启，则确定第二车辆为该左侧变道预警区域中的危险车辆。若第一车辆当前的空间位置处于右侧变道预警区域，则判断第二车辆的朝向与第一车辆的朝向是否相同，以及第二车辆的左转灯是否开启，若第二车辆的朝向与第一车辆的朝向相同，且第二车辆的左转灯开启，则确定第二车辆为该左侧变道预警区域中的危险车辆。
若第一车辆当前的空间位置处于前向碰撞预警区域，则第二车载设备可以确定第一车辆为前向碰撞预警区域中的危险车辆。
若第一车辆当前的空间位置处于紧急电子刹车灯区域，则判断第一车辆的刹车灯是否开启，若开启，则第二车载设备确定第一车辆为该紧急电子刹车灯区域的危险车辆。
若第一车辆当前的空间位置处于左侧逆向超车预警区域或右侧超车预警区域，则判断第一车辆的速度是否零，以及第一车辆的朝向与第二车辆的朝向是否相反，若第一车辆的速度为零，且第一车辆的朝向与第二车辆的朝向相反，则确定第一车辆为该左侧超车预警区域或该右侧超车预警区域中的危险车辆。
若第一车辆当前的空间位置处于左侧移动辅助区域或右侧移动辅助区域，则判断第一车辆的速度是否为零，以及第一车辆的朝向与第二车辆的朝向是否相交，若第一车辆的速度不为零且第一车辆的朝向与第二车辆的朝向相交，则确定第一车辆为该左侧移动辅助区域或右侧移动辅助区域中的危险车辆。
需要说明的是，上述所说的车辆的朝向，指的是车辆坐落的方向。作为一种可选的方式，可以用地理中的方向来标识，如可以将朝向大致分为东，南，西，北，西北，西南，东北，东南等若干个方位，通过这些大致指示出车辆的朝向，也可以用A方位偏向B方位X度这样方式精确的指示车辆的朝向，还可以用其他方式指示车辆的朝向，具体本申请不作限定。而本实施例中，两个车辆的朝向相同具体可以是其大致朝向的方位相同，，车辆A朝和车辆B均朝向东边，则确定车辆A和B的朝向相同；两个车辆的朝向相反具体指的是其大致朝向相反，如车辆A朝向东边，车辆C朝向西边，则确定车辆A和车辆C的朝向相反。
还需要说明的是，上述几种方式仅仅只是示例，在实际应用中，基于不同的预警条件的设定，第二车载设备还可以通过其他方式判断第一车辆是否为预警区域中的危险车辆，具体此处不做限定。
306、第二车载设备输出第二车辆对应的预警信息。
当第二车载设备确定第一车辆为危险车辆时，第二车载设备输出第二车辆对应的预警信息。
作为一种可选的方式，第二车载设备可以在第二车辆的仪表盘上显示预警信息，该预警信息用于指示用户预警区域存在危险车辆。进一步地，该预警信息还用于指示用户是哪一个预警区域存在危险车辆。例如，第二车载设备确定第一车辆为前向碰撞预警区域中的危险车辆，则第二车载设备可以在仪表盘上通过文本或者图形化的形式指示用户前向碰撞预警区域存在危险车辆。
作为一种可选的方式，第二车载设备也可以通过语音的方式输出预警信息，以提示用户预警区域存在危险车辆。进一步地，该预警信息还用于指示用户是哪一个预警区域存在 危险车辆。例如，第二车载设备确定第一车辆为右侧移动辅助区域中的危险车辆，则第二车载设备可以通过第二车辆的麦克风播放“右侧移动辅助区域存在危险车辆”的语音提示。
作为一种可选的方式，第二车载设备可以在仪表盘上显示预警信息的同时，通过语音提示用于预警区域存在危险。
应理解，除了上述几种方式，第二车载设备还可以通过其他方式向提示用户预警区域存在危险车辆，具体此处不作限定。
307、第二车载设备执行其他流程。
当第二车载设备确定第一车辆不是预警区域中的危险车辆时，第二车载设备可以提示用户当前的预警区域中不存在危险车辆，或者继续对其他车辆进行判别，或者执行其他流程，具体本申请不作限定。
需要说明的是，本实施例中，步骤303和步骤304不区分先后顺序，第二车载设备可以先接收预警区域，再接收V2X消息，也可以先接收V2X消息，再接收预警区域，两个步骤也可以同时执行，具体本申请不作限定。
需要说明的是，在一些实施例中，预警区域可以由第二车载设备自行确定，即第二车载设备可以不执行向服务器发送车辆信息，以及接受服务器发送预警区域的步骤，即不执行步骤301和步骤303，服务器也不执行根据车辆信息确定预警区域的步骤，即不执行步骤302。而是由第二车载设备根据预存的第二车辆的车辆信息确定预警区域，并接收第一车载设备发送的第一车辆对应的V2X消息，再根据该V2X消息判断第一车辆是否为预警区域中的危险车辆。其中，第二车载设备根据第二车辆的车辆信息确定预警区域的方式与上述步骤302中服务器确定预警区域的方式相似，此处不再赘述。
本申请实施例中，第二车载设备接收第一车辆对应的V2X消息后，根据该V2X消息判断第一车辆是否为预警区域中的危险车辆，若是，则输出第二车辆对应的报警信息，其中，预警区域与第二车辆的车辆信息对应，车辆信息包括：第一位置信息和车辆尺寸确定的。本实施例中车辆的预警区域是根据车辆的位置和尺寸设定的，当存在位于预警区域的车辆，且车辆满足预警区域的预警条件时，就会触发警报。也就是说，本实施例不需要依赖地图就可以分析出存在碰撞风险的危险车辆，既容易实现，又可以避免由于地图精度、车辆压线等因素所导致的误判，提高了识别的准确性。
其次，本实施例提供了多种确定预警区域的方式以及多种输出预警信息的方式，提高了方案的灵活性。
应理解，上述图3对应的车辆预警方法中由第二车载设备进行预警识别的，在一些实施例中，还可以由服务器进行预警识别，下面进行详细介绍，请参阅图5，本申请实施例中车辆预警方法的一个实施例包括：
501、第二车载设备根据第二车辆的车辆信息确定预警区域。
本实施例中，第二车载设备为第二车辆上的智能通信设备，第二车载设备中预先存储有第二车辆的车辆信息，当满足预定的触发条件时，第二车载设备根据预存的第二车辆的车辆信息确定预警区域。
具体地，该触发条件可以是用户启动预警功能，或者用户开启自动驾驶模式，或者时间满足预设条件，或者其他条件，具体此处不作限定。
可选地，本实施例中，第二车辆的车辆信息包括第二车辆的位置信息以及第二车辆的车辆尺寸。则第二车载设备可以通过如下方式确定预警区域：根据第二车辆的位置信息确定第二车辆当前的空间位置，再根据当前的空间位置以及第二车辆的车辆尺寸确定第二车辆对应的预警区域。
可选地，本实施例中，第二车辆的车辆信息包括第二车辆的位置信息以及如下至少一项：第二车辆的车辆类型，车辆型号或车辆标识。服务器侧设定不同类型的车辆对应的车辆尺寸，不同的车辆识别码对应的车辆尺寸，或者不同类型的车辆型号对应的车辆尺寸。则第二车载设备可以通过如下方式确定预警区域：根据第二车辆的位置信息确定第二车辆当前的空间位置，并从服务器侧获取与该车辆类型，车辆型号或车辆标识对应的车辆尺寸，根据当前的空间位置以及该车辆尺寸确定第二车辆对应的预警区域。
需要说明的是，第二车辆的车辆信息还可以包括其他信息，如车辆速度，车辆朝向等。第二车辆的车辆尺寸包括如下至少一项：车辆宽度，车辆长度。
需要说明的是，本实施例中，第二车辆的位置信息可以包括第二车辆的GPS测量结果以及如下至少一项：第二车辆的GPS天线位置或第二车辆的GPS测量精度，其中，第二车辆GPS天线位置指的是天线在第二车辆中的相对位置。
还需要说明的是，GPS测量结果一般为通过GPS定位得到的经纬度信息，该经纬度信息实质上用于指示GPS天线所在的经纬度，且该经纬度存在一定的误差，误差的大小取决于GPS的测量精度，结合GPS天线在第二车辆中的位置和/或GPS测量精度可以更精确的定位车辆位置。
上述两种实现方式中所确定预警区域可以包括如下至少一个区域：左侧盲区预警区域，右侧盲区预警区域，左侧变道预警区域，右侧变道预警区域，前向碰撞预警区域，预紧急电子刹车灯，左侧逆向超车预警区域，右侧逆向超车预警区域，左侧移动辅助区域，右侧移动辅助区域。
其中，若驾驶员座位位于车辆的左侧，则左侧盲区预警区域位于第二车辆左侧B柱的后方，区域的长度与车辆长度正相关，区域的宽度与车辆宽度正相关；右侧盲区预警区域位于第二车辆右侧后视镜后方，区域的长度与车辆长度正相关，区域的宽度与车辆宽度正相关。
若驾驶员座位位于车辆的右侧，则右侧盲区预警区域位于第二车辆右侧B柱的后方，区域的长度与车辆长度正相关，区域的宽度与车辆宽度正相关；左侧盲区预警区域位于第二车辆左侧后视镜后方，区域的长度与车辆长度正相关，区域的宽度与车辆宽度正相关。
左侧变道预警区域的定义与前述左侧盲区预警区域相似，右侧盲区预警区域的定义与前述右侧盲区预警区域相似，服务器确定左侧变道预警区域和/或右侧变道预警区域的方式与前述服务器确定左侧盲区预警区域和/右侧盲区预警区域相似，具体此处不再赘述。
前向碰撞预警区域位于第二车辆的正前方，前向碰撞预警区域的宽度与第二车辆的车辆宽度正相关，前向碰撞预警区域的长度与第二车辆的车辆速度正相关。
紧急电子刹车灯区域位于第二车辆的正前方，紧急电子刹车灯区域的宽度与第二车辆的车辆宽度正相关，紧急电子刹车灯区域的长度与第二车辆的车辆速度正相关。具体地，紧急电子刹车灯区域的宽度等于前向碰撞预警区域的宽度，紧急电子刹车灯区域的长度大 于前向碰撞预警区域的长度。
左侧移动辅助区域位于第二车辆左侧车头的左前方，左侧移动辅助区域的长度与第二车辆的车辆长度正相关，左侧移动辅助区域的宽度与第二车辆的车辆宽度正相关；右侧移动辅助区域位于第二车辆右侧车头的右前方，右侧移动辅助区域的长度与第二车辆的车辆长度正相关，右侧移动辅助区域的宽度与第二车辆的车辆宽度正相关。
第二车载设备根据相应的车辆信息即可确定相应的预警区域，具体过程可以参见前述图3对于实施例中服务器确定预警区域的方式，此处不再赘述。
502、第二车载设备向服务器发送预警区域。
第二车载设备根据第二车辆的车辆信息确定预警区域后，向服务器发送该预警区域，服务器接收该预警区域。应理解，本实施例中，发送预警区域指的是发送能够指示预警区域对应位置的信息，如发送区域的经纬度范围等。
503、服务器接收第一车载设备发送的第一车辆对应的V2X消息。
第一车载设备根据设定定期或不定期的发出第一车辆对应的V2X消息，服务器接收该第一车辆对应的V2X消息，其中，该V2X消息包括如下至少一项：第一车辆的位置信息，第一车辆的朝向，第一车辆的刹车灯状态，第一车辆的转向灯状态，第一车辆的速度。应理解，V2X消息还可以包括其他信息，具体本申请不作限定。
需要说明的是，第一车辆的位置信息可以包括第一车辆的GPS测量结果以及如下至少一项：第一车辆的GPS天线位置或第一车辆的GPS测量精度，其中，第一车辆GPS天线位置指的是天线在第一车辆中的相对位置。第一车辆的刹车灯状态用于指示第一车辆的刹车灯是否开启。第一车辆的转向灯状态用于指示第一车辆的转向灯(包括左转灯和右转灯)是否为开启，第一车辆的速度为第一车辆当前的速度，该速度可以是动态变化的。
504、服务器根据该V2X消息判断第一车辆是否为预警区域中的危险车辆，若是，则执行步骤505，若否，则执行步骤507。
服务器获取预警区域以及第一车辆对应的V2X消息之后，会根据该V2X消息判断第一车辆是否为该预警区域中的危险车辆，若是，则执行步骤505，若否，则执行步骤507。
具体地，服务器会先根据V2X消息中的位置信息确定第一车辆当前的空间位置，若第一车辆当前的空间位置处于预警区域中的其中一个区域，则根据这个区域的预警条件判断第一车辆是否为这个区域中的危险车辆。对于不同的警区域，可以设定不同的预警条件。其中，预警条件可以包括如下至少一项：速度条件，转向灯条件，刹车灯条件，车辆朝向条件。当第一车辆满足预警条件中的一项或者多项时，第二车载设备确定该第一车辆为该预警条件对应的预警区域中的危险车辆。具体地的判断过程与前述图3对应实施例中第二车载设备的判断过程类似，此处不再赘述。
505、服务器向第二车载设备发送信息，并执行506。
当服务器确定第一车辆为第二车辆的预警区域中的危险车辆时，服务器向第二车载设备发送通知信息，以通知第二车载设备第二车辆的预警区域中存在危险车辆。
506、第二车载设备提示用户预警区域存在危险车辆。
第二车载设备接收服务器发送的通知信息后，输出对应的预警信息以提示用户预警区域存在危险车辆。具体地，第二车载设备可以在第二车辆的仪表盘上显示该预警信息，或 者通过语音的方式输出该预警信息，或者通过其他方式输出该预警信息，具体本申请不作限定。作为一种可选的方式，服务器可以在通知信息中通知第二车载设备具体是哪一个区域存在危险车辆，则第二车载设备输出的预警信息可以进一步指示用户是哪一个区域存在危险车辆。
507、服务器执行其他流程。
当服务器确定第一车辆不是预警区域中的危险车辆时，服务器向第二车载设备指示预警区域当前不存在危险车辆，或者继续对其他车辆进行判别，或者执行其他流程，具体本申请不作限定。
需要说明的是，本实施例中，服务器接收预警区域和接收V2X消息的步骤不区分先后顺序，服务器可以先接收预警区域，再接收V2X消息，也可以先接收V2X消息，再接收预警区域，两个步骤也可以同时执行，具体本申请不作限定。
需要说明的是，在一些实施例中，预警区域可以由服务器自行确定，即第二车载设备可以不执行根据第二车辆的车辆信息确定预警区域以及向服务器发送预警区域的步骤，即不执行步骤501和502，服务器也不执行接收预警区域的步骤。而是由第二车载设备将第二车辆的车辆信息发送给服务器，服务器根据第二车载设备发送的车辆信息确定第二车辆的预警区域，并接收第一车载设备发送的第一车辆对应的V2X消息，再根据该V2X消息判断第一车辆是否为预警区域中的危险车辆。其中，服务器根据第二车辆的车辆信息确定预警区域的方式与上述步骤501中第二车载确定预警区域的方式相似，此处不再赘述。
本申请实施例中，服务器接收第一车辆对应的V2X消息后，根据该V2X消息判断第一车辆是否为预警区域中的危险车辆，若是，则输出第二车辆对应的报警信息，其中，预警区域与第二车辆的车辆信息对应，车辆信息包括：第一位置信息和车辆尺寸确定的。本实施例中车辆的预警区域是根据车辆的位置和尺寸设定的，当存在位于预警区域的车辆，且车辆满足预警区域的预警条件时，就会触发警报。也就是说，本实施例不需要依赖地图就可以分析出存在碰撞风险的危险车辆，既容易实现，又可以避免由于地图精度、车辆压线等因素所导致的误判，提高了识别的准确性。
其次，本实施例提供了多种服务器确定预警区域的方式，提高了方案的灵活性。
为了便于理解，下面以一具体应用场景对本申请实施例中的预警方法进行详细说明。
车辆A，B，C和D的车载设备根据设置每10毫秒广播一次对应车辆的GPS测量结果，GPS天线位置，车辆速度，车辆朝向，刹车灯状态以及转向灯状态。
车辆A的驾驶员位置位于车辆的左侧，车辆长度为4米，车辆宽度为1.6米。在某一时刻，车辆A的车载设备(第二车载设备)获取车辆A的车速(8米/秒)，朝向(北)，GPS测量结果以及GPS天线位置，根据GPS测量结果以及GPS天线位置自己当前的空间位置，再根据当前的空间位置以及车辆A的车辆长度，车辆宽度以及车辆速度确定车辆A的左侧盲区预警区域，右侧盲区预警区域，左侧逆向超车预警区域，右侧逆向超车预警区域，前向碰撞预警区域以及紧急电子刹车灯区域，如图6所示，其中，左侧盲区预警区域位于左侧B柱向后1.5个车长向外1.5个车宽；右侧盲区预警区域位于右侧后视镜向后2个车长向外1.5个车宽；左侧逆向超车预警区域位于车辆A车头左侧向外1.5个车宽向前3个车长；右侧逆向超车预警区域位于车辆A车头右侧向外1.5个车宽向前3个车长；前向碰 撞预警区域位于车辆A的正前方，宽度等于1.5个车宽，长度等于车速乘以0.5秒；紧急电子刹车灯区域位于车辆A的正前方，宽度等于1.5个车宽，长度等于车速乘以1秒。
与此同时，车辆A的车载设备还会接收车辆B，C和D的车载设备(第一车载设备)发出的V2X消息。车辆A的车载设备根据车辆B的车载设备发出的V2X消息中的GPS测量结果以及GPS天线位置确定车辆B当前的空间位置，根据车辆C的车载设备发出的V2X消息中的GPS测量结果以及GPS天线位置确定车辆C当前的空间位置，根据车辆D的车载设备发出的V2X消息中的GPS测量结果以及GPS天线位置确定车辆D当前的空间位置。其中，车辆B位于车辆A的左侧逆向超车预警区域中，车辆C位于车辆A的右侧盲区预警区域，车辆D位于车辆A的紧急电子刹车灯区域。
车辆A的车载设备判断车辆B的车辆朝向与车辆A的车辆朝向是否相反，车辆B的车载设备发出的V2X消息中的车辆朝向为南，即车辆B的车辆朝向与车辆A的车辆朝向相反，车辆B满足左侧逆向超车预警区域的预警条件，则确定车辆B为车辆A的左侧逆向超车预警区域中的危险车辆。
车辆A的车载设备判断车辆C的车辆朝向与车辆A的车辆朝向是否相同，车辆C的车载设备发出的V2X消息中的车辆朝向为北，即车辆C的车辆朝向与车辆A的车辆朝向相同，车辆C满足右侧盲区预警区域的预警条件，则确定车辆C为车辆A的右侧盲区预警区域中的危险车辆。
车辆A的车载设备判断车辆D的车辆朝向与车辆A的车辆朝向是否相同，车辆A的车载设备发出的V2X消息中的车辆朝向为北，即车辆D的车辆朝向与车辆A的车辆朝向相同，进一步地，车载A的车载设备判断车辆D的紧急电子刹车灯是否开启，车辆D的车载设备发出的V2X消息中刹车灯状态为开启，车辆D满足紧急电子刹车灯区域的预警条件，则确定车辆D为车辆A的紧急电子刹车灯区域中的危险车辆。
车辆A的车载设备在车辆A的仪表盘上通过图形标识提示用户左侧逆向超车预警区域，右侧盲区预警区域以及紧急电子刹车灯区域存在危险车辆。
上面介绍了本申请实施例中的车辆预警方法，下面对本申请中的车载设备进行介绍，请参阅图7，本申请实施例中车载设备的一个实施例包括：
第一接收模块701，用于接收第一车辆对应的V2X消息；
第一确定模块702，用于根据V2X消息确定第一车辆为预警区域中的危险车辆，预警区域是根据第二车辆的车辆信息确定的，车辆信息至少包括：第二车辆的位置信息以及第二车辆对应的车辆尺寸；
输出模块703，用于输出第二车辆对应的预警信息。
作为一种可能的实现方式，本实施例中，预警区域可以包括如下至少一个区域：左侧盲区预警区域，右侧盲区预警区域，左侧变道预警区域，右侧变道预警区域，前向碰撞预警区域，预紧急电子刹车灯，左侧逆向超车预警区域，右侧逆向超车预警区域，左侧移动辅助区域，右侧移动辅助区域。
其中，若驾驶员座位位于车辆的左侧，则左侧盲区预警区域位于第二车辆左侧B柱的后方，区域的长度与车辆长度正相关，区域的宽度与车辆宽度正相关；右侧盲区预警区域位于第二车辆右侧后视镜后方，区域的长度与车辆长度正相关，区域的宽度与车辆宽度正 相关。
若驾驶员座位位于车辆的右侧，则右侧盲区预警区域位于第二车辆右侧B柱的后方，区域的长度与车辆长度正相关，区域的宽度与车辆宽度正相关；左侧盲区预警区域位于第二车辆左侧后视镜后方，区域的长度与车辆长度正相关，区域的宽度与车辆宽度正相关。
左侧变道预警区域的定义与前述左侧盲区预警区域相似，右侧盲区预警区域的定义与前述右侧盲区预警区域相似，服务器确定左侧变道预警区域和/或右侧变道预警区域的方式与前述服务器确定左侧盲区预警区域和/右侧盲区预警区域相似，具体此处不再赘述。
前向碰撞预警区域位于第二车辆的正前方，前向碰撞预警区域的宽度与第二车辆的车辆宽度正相关，前向碰撞预警区域的长度与第二车辆的车辆速度正相关。
紧急电子刹车灯区域位于第二车辆的正前方，紧急电子刹车灯区域的宽度与第二车辆的车辆宽度正相关，紧急电子刹车灯区域的长度与第二车辆的车辆速度正相关。具体地，紧急电子刹车灯区域的宽度等于前向碰撞预警区域的宽度，紧急电子刹车灯区域的长度大于前向碰撞预警区域的长度。
左侧移动辅助区域位于第二车辆左侧车头的左前方，左侧移动辅助区域的长度与第二车辆的车辆长度正相关，左侧移动辅助区域的宽度与第二车辆的车辆宽度正相关；右侧移动辅助区域位于第二车辆右侧车头的右前方，右侧移动辅助区域的长度与第二车辆的车辆长度正相关，右侧移动辅助区域的宽度与第二车辆的车辆宽度正相关。
具体地，预警区域包括左侧盲区预警区域，则V2X消息包括：第一车辆的位置信息以及第一车辆的朝向；第一确定模块702包括：
第一确定单元7021，用于根据第一车辆的位置信息确定第一车辆当前的空间位置；
第二确定单元7022，用于当第一车辆当前的空间位置处于左侧盲区预警区域，且第一车辆的朝向与第二车辆的朝向相同时，确定第一车辆为左侧盲区预警区域中的危险车辆；
对应地，输出模块703输出的预警信息用于指示左侧盲区预警区域存在危险车辆。
预警区域包括右侧盲区预警区域，则V2X消息包括：第一车辆的位置信息以及第一车辆的朝向，第一确定模块702包括：
第一确定单元7021，用于根据第一车辆的位置信息确定第一车辆当前的空间位置；
第三确定单元7023，用于当第一车辆当前的空间位置处于右侧盲区预警区域，且第一车辆的朝向与第二车辆的朝向相同时，确定第一车辆为右侧盲区预警区域中的危险车辆；
对应地，输出模块703输出的预警信息用于指示右侧盲区预警区域存在危险车辆。
预警区域包括前向碰撞预警区域，则V2X消息包括：第一车辆的位置信息；第一确定模块702包括：
第一确定单元7021，用于根据第一车辆的位置信息确定第一车辆当前的空间位置；
第四确定单元7024，用于当第一车辆当前的空间位置处于前向碰撞预警区域内时，确定第一车辆为前向碰撞预警区域中的危险车辆；
对应地，输出模块703输出的预警信息用于指示前向碰撞预警区域存在危险车辆。
预警区域包括紧急电子刹车灯区域，则V2X消息包括：第一车辆的位置信息以及第一车辆的刹车灯状态；第一确定模块702包括：
第一确定单元7021，用于根据第一车辆的位置信息确定第一车辆当前的空间位置；
第五确定单元7025，用于当第一车辆当前的空间位置处于紧急电子刹车灯区域，且第一车辆的刹车灯状态为开启时，确定第一车辆为紧急电子刹车灯区域中的危险车辆；
对应地，输出模块703输出的预警信息用于指示紧急电子刹车灯区域存在危险车辆。
预警区域包括左侧逆向超车预警区域，则V2X消息包括：第一车辆的位置信息，第一车辆的朝向以及第一车辆的速度；第一确定模块702包括：
第一确定单元7021，用于根据第一车辆的位置信息确定第一车辆当前的空间位置；
第六确定单元7026，用于当第一车辆当前的空间位置处于左侧逆向超车预警区域，第一车辆的速度不为零且第一车辆的朝向与第二车辆的朝向相反时，确定第一车辆为左侧逆向超车预警区域中的危险车辆；
对应地，输出模块703输出的预警信息用于指示左侧逆向超车预警区域存在危险车辆。
预警区域包括右侧逆向超车预警区域，则V2X消息包括：第一车辆的位置信息，第一车辆的朝向以及第一车辆的速度；第一确定模块702包括：
第一确定单元7021，用于根据第一车辆的位置信息确定第一车辆当前的空间位置；
第七确定单元7027，用于当第一车辆当前的空间位置处于右侧逆向超车预警区域，第一车辆的速度不为零且第一车辆的朝向与第二车辆的朝向相反时，确定第一车辆为右侧逆向超车预警区域中的危险车辆；
对应地，输出模块703输出的预警信息用于指示左侧逆向超车预警区域存在危险车辆。
预警区域包括左侧移动辅助区域，则V2X消息包括：第一车辆的位置信息，第一车辆的朝向以及第一车辆的速度；第一确定模块702包括：
第一确定单元7021，用于根据第一车辆的位置信息确定第一车辆当前的空间位置；
第八确定单元7028，用于当第一车辆当前的空间位置处于左侧移动辅助区域，第一车辆的速度不为零且第一车辆的朝向与第二车辆的朝向相交时，确定第一车辆为左侧移动辅助区域中的危险车辆；
对应地，输出模块703输出的预警信息用于指示左侧移动辅助区域存在危险车辆。
预警区域包括右侧移动辅助区域，则V2X消息包括：第一车辆的位置信息，第一车辆的朝向以及第一车辆的速度；第一确定模块702包括：
第一确定单元7021，用于根据第一车辆的位置信息确定第一车辆当前的空间位置；
第九确定单元7029，用于当第一车辆当前的空间位置处于右侧移动辅助区域，第一车辆的速度不为零且第一车辆的朝向与第二车辆的朝向相交时，确定第一车辆为右侧移动辅助区域中的危险车辆；
对应地，输出模块703输出的预警信息用于指示右侧移动辅助区域存在危险车辆。
作为一种可能的实现方式，上述第一车辆的位置信息包括：第一车辆的GPS测量结果以及如下至少一项：第一车辆的GPS天线位置或GPS测量精度；上述第二车辆的位置信息包括：第二车辆的GPS测量结果以及如下至少一项：第二车辆的GPS天线位置或GPS测量精度。
作为一种可能的实现方式，该车载设备还包括：
第二确定模块704，用于根据第二车辆的位置信息以及车辆尺寸确定第二车辆当前的空间位置；
第三确定模块705，用于根据第二车辆当前的空间位置以及车辆尺寸确定预警区域。
作为一种可能的实现方式，该车载设备还包括：
发送模块706，用于向服务器发送第二车辆的车辆信息，以使得服务器根据第二车辆的位置信息以及车辆尺寸确定第二车辆当前的空间位置，并根据第二车辆当前的空间位置以及车辆尺寸确定预警区域；
第二接收模块707，用于接收服务器发送的预警区域。
作为一种可能的实现方式，输出模块703包括：
显示单元，用于在第二车辆的仪表盘上显示预警信息，预警信息用于指示用户预警区域存在危险车辆；
或，
语音单元，用于通过语音提示用户预警区域存在危险车辆。
需要说明的是，上述图7对应的实施例中，车载设备所执行的流程与前述图3以及图5所示的实施例中描述的方法流程类似，此处不再赘述。
本申请实施例中，第一接收模块701接收第一车辆对应的V2X消息后，第一确定模块702根据该V2X消息判断第一车辆是否为预警区域中的危险车辆，若是，则输出模块703输出第二车辆对应的报警信息，其中，预警区域与第二车辆的车辆信息对应，车辆信息包括：第一位置信息和车辆尺寸确定的。本实施例中车辆的预警区域是根据车辆的位置和尺寸设定的，当存在位于预警区域的车辆，且车辆满足预警区域的预警条件时，就会触发警报。也就是说，本实施例不需要依赖地图就可以分析出存在碰撞风险的危险车辆，既容易实现，又可以避免由于地图精度、车辆压线等因素所导致的误判，提高了识别的准确性。
请参阅图8，本申请实施例中车载设备的另一实施例包括：
第一确定模块801，用于根据第二车辆的位置信息确定第二车辆当前的空间位置；
第二确定模块802，用于根据第二车辆当前的空间位置以及第二车辆的车辆尺寸确定第二车辆的预警区域；
发送模块803，用于向服务器发送预警区域，以使得服务器根据第一车辆的车联网V2X消息确定第一车辆为预警区域中的危险车辆，并在确定第一车辆为预警区域中的危险车辆时，向车载设备发送通知消息；
接收模块804，用于接收服务器发送的通知消息；
提示模块805，提示用户预警区域存在危险车辆。
本实施例中，第二确定模块802可以根据第二车辆的车辆尺寸确定第二车辆的预警区域，当存在位于该预警区域的车辆，且车辆满足预警区域的预警条件时，提示模块804就会发出警报。也就是说，本实施例不需要依赖地图就可以分析出存在碰撞风险的危险车辆，既容易实现，又可以避免由于地图精度、车辆压线等因素所导致的误判，提高了识别的准确性。
下面对本申请中的服务器进行介绍，请参阅图9，本申请实施例中，服务器的一个实施例包括：
第一接收模块901，用于接收第一车辆对应的V2X消息；
第一确定模块902，用于根据V2X消息确定第一车辆为预警区域中的危险车辆，预警 区域是根据第二车辆的车辆信息确定的，车辆信息至少包括：第二车辆的位置信息以及第二车辆对应的车辆尺寸；
输出模块903，用于输出第二车辆对应的预警信息。
作为一种可能的实现方式，本实施例中，预警区域可以包括如下至少一个区域：左侧盲区预警区域，右侧盲区预警区域，左侧变道预警区域，右侧变道预警区域，前向碰撞预警区域，预紧急电子刹车灯，左侧逆向超车预警区域，右侧逆向超车预警区域，左侧移动辅助区域，右侧移动辅助区域。
其中，若驾驶员座位位于车辆的左侧，则左侧盲区预警区域位于第二车辆左侧B柱的后方，区域的长度与车辆长度正相关，区域的宽度与车辆宽度正相关；右侧盲区预警区域位于第二车辆右侧后视镜后方，区域的长度与车辆长度正相关，区域的宽度与车辆宽度正相关。
若驾驶员座位位于车辆的右侧，则右侧盲区预警区域位于第二车辆右侧B柱的后方，区域的长度与车辆长度正相关，区域的宽度与车辆宽度正相关；左侧盲区预警区域位于第二车辆左侧后视镜后方，区域的长度与车辆长度正相关，区域的宽度与车辆宽度正相关。
左侧变道预警区域的定义与前述左侧盲区预警区域相似，右侧盲区预警区域的定义与前述右侧盲区预警区域相似，服务器确定左侧变道预警区域和/或右侧变道预警区域的方式与前述服务器确定左侧盲区预警区域和/右侧盲区预警区域相似，具体此处不再赘述。
前向碰撞预警区域位于第二车辆的正前方，前向碰撞预警区域的宽度与第二车辆的车辆宽度正相关，前向碰撞预警区域的长度与第二车辆的车辆速度正相关。
紧急电子刹车灯区域位于第二车辆的正前方，紧急电子刹车灯区域的宽度与第二车辆的车辆宽度正相关，紧急电子刹车灯区域的长度与第二车辆的车辆速度正相关。具体地，紧急电子刹车灯区域的宽度等于前向碰撞预警区域的宽度，紧急电子刹车灯区域的长度大于前向碰撞预警区域的长度。
左侧移动辅助区域位于第二车辆左侧车头的左前方，左侧移动辅助区域的长度与第二车辆的车辆长度正相关，左侧移动辅助区域的宽度与第二车辆的车辆宽度正相关；右侧移动辅助区域位于第二车辆右侧车头的右前方，右侧移动辅助区域的长度与第二车辆的车辆长度正相关，右侧移动辅助区域的宽度与第二车辆的车辆宽度正相关。
具体地，预警区域包括左侧盲区预警区域，则V2X消息包括：第一车辆的位置信息以及第一车辆的朝向；第一确定模块902包括：
第一确定单元9021，用于根据第一车辆的位置信息确定第一车辆当前的空间位置；
第二确定单元9022，用于当第一车辆当前的空间位置处于左侧盲区预警区域，且第一车辆的朝向与第二车辆的朝向相同时，确定第一车辆为左侧盲区预警区域中的危险车辆；
对应地，输出模块903输出的预警信息用于指示左侧盲区预警区域存在危险车辆。
预警区域包括右侧盲区预警区域，则V2X消息包括：第一车辆的位置信息以及第一车辆的朝向，第一确定模块902包括：
第一确定单元9021，用于根据第一车辆的位置信息确定第一车辆当前的空间位置；
第三确定单元9023，用于当第一车辆当前的空间位置处于右侧盲区预警区域，且第一车辆的朝向与第二车辆的朝向相同时，确定第一车辆为右侧盲区预警区域中的危险车辆；
对应地，输出模块903输出的预警信息用于指示右侧盲区预警区域存在危险车辆。
预警区域包括前向碰撞预警区域，则V2X消息包括：第一车辆的位置信息；第一确定模块902包括：
第一确定单元9021，用于根据第一车辆的位置信息确定第一车辆当前的空间位置；
第四确定单元9024，用于当第一车辆当前的空间位置处于前向碰撞预警区域内时，确定第一车辆为前向碰撞预警区域中的危险车辆；
对应地，输出模块903输出的预警信息用于指示前向碰撞预警区域存在危险车辆。
预警区域包括紧急电子刹车灯区域，则V2X消息包括：第一车辆的位置信息以及第一车辆的刹车灯状态；第一确定模块902包括：
第一确定单元9021，用于根据第一车辆的位置信息确定第一车辆当前的空间位置；
第五确定单元9025，用于当第一车辆当前的空间位置处于紧急电子刹车灯区域，且第一车辆的刹车灯状态为开启时，确定第一车辆为紧急电子刹车灯区域中的危险车辆；
对应地，输出模块903输出的预警信息用于指示紧急电子刹车灯区域存在危险车辆。
预警区域包括左侧逆向超车预警区域，则V2X消息包括：第一车辆的位置信息，第一车辆的朝向以及第一车辆的速度；第一确定模块902包括：
第一确定单元9021，用于根据第一车辆的位置信息确定第一车辆当前的空间位置；
第六确定单元9026，用于当第一车辆当前的空间位置处于左侧逆向超车预警区域，第一车辆的速度不为零且第一车辆的朝向与第二车辆的朝向相反时，确定第一车辆为左侧逆向超车预警区域中的危险车辆；
对应地，输出模块903输出的预警信息用于指示左侧逆向超车预警区域存在危险车辆。
预警区域包括右侧逆向超车预警区域，则V2X消息包括：第一车辆的位置信息，第一车辆的朝向以及第一车辆的速度；第一确定模块902包括：
第一确定单元9021，用于根据第一车辆的位置信息确定第一车辆当前的空间位置；
第七确定单元9027，用于当第一车辆当前的空间位置处于右侧逆向超车预警区域，第一车辆的速度不为零且第一车辆的朝向与第二车辆的朝向相反时，确定第一车辆为右侧逆向超车预警区域中的危险车辆；
对应地，输出模块903输出的预警信息用于指示左侧逆向超车预警区域存在危险车辆。
预警区域包括左侧移动辅助区域，则V2X消息包括：第一车辆的位置信息，第一车辆的朝向以及第一车辆的速度；第一确定模块902包括：
第一确定单元9021，用于根据第一车辆的位置信息确定第一车辆当前的空间位置；
第八确定单元9028，用于当第一车辆当前的空间位置处于左侧移动辅助区域，第一车辆的速度不为零且第一车辆的朝向与第二车辆的朝向相交时，确定第一车辆为左侧移动辅助区域中的危险车辆；
对应地，输出模块903输出的预警信息用于指示左侧移动辅助区域存在危险车辆。
预警区域包括右侧移动辅助区域，则V2X消息包括：第一车辆的位置信息，第一车辆的朝向以及第一车辆的速度；第一确定模块902包括：
第一确定单元9021，用于根据第一车辆的位置信息确定第一车辆当前的空间位置；
第九确定单元9029，用于当第一车辆当前的空间位置处于右侧移动辅助区域，第一车 辆的速度不为零且第一车辆的朝向与第二车辆的朝向相交时，确定第一车辆为右侧移动辅助区域中的危险车辆；
对应地，输出模块903输出的预警信息用于指示右侧移动辅助区域存在危险车辆。
作为一种可能的实现方式，上述第一车辆的位置信息包括：第一车辆的GPS测量结果以及如下至少一项：第一车辆的GPS天线位置或GPS测量精度；上述第二车辆的位置信息包括：第二车辆的GPS测量结果以及如下至少一项：第二车辆的GPS天线位置或GPS测量精度。
作为一种可能的实现方式，该服务器还包括：
第二接收模块904，用于接收车载设备发送第二车辆的车辆信息；
第二确定模块905，用于根据第二车辆的位置信息以及车辆尺寸确定第二车辆当前的空间位置；
第三确定模块906，用于根据第二车辆当前的空间位置以及车辆尺寸确定预警区域。
作为一种可能的实现方式，该服务器还包括：
第三接收模块907，用于接收车载设备发送的预警区域，该预警区域为车载设备根据第二车辆的车辆信息确定的。
作为一种可能的实现方式，输出模块903包括：发送单元9031，用于向车载设备发送信息，以使得车载设备向用户指示预警区域存在危险车辆。
本申请实施例中，第一接收模块901接收第一车辆对应的V2X消息后，第一确定模块902根据该V2X消息判断第一车辆是否为预警区域中的危险车辆，若是，则输出模块903输出第二车辆对应的报警信息，其中，预警区域与第二车辆的车辆信息对应，车辆信息包括：第一位置信息和车辆尺寸确定的。本实施例中车辆的预警区域是根据车辆的位置和尺寸设定的，当存在位于预警区域的车辆，且车辆满足预警区域的预警条件时，就会触发警报。也就是说，本实施例不需要依赖地图就可以分析出存在碰撞风险的危险车辆，既容易实现，又可以避免由于地图精度、车辆压线等因素所导致的误判，提高了识别的准确性。
请参阅图10，本申请实施例中，服务器的另一实施例包括：
接收模块1001，用于接收车载设备发送的第二车辆的车辆信息，该车辆信息至少包括：第二车辆的位置信息以及第二车辆的车辆尺寸；
第一确定模块1002，用于根据第二车辆的位置信息确定第二车辆当前的空间位置；
第二确定模块1003，用于根据第二车辆当前的空间位置以及车辆尺寸确定第二车辆的预警区域；
发送模块1004，用于向车载设备发送该预警区域，以使得车载设备根据第一车辆的V2X消息所述第一车辆为预警区域中的危险车辆，并输出预警信息。
本实施例中，第二确定模块1003可以根据第二车辆的车辆尺寸确定第二车辆的预警区域，当存在位于该预警区域的车辆，且车辆满足预警区域的预警条件时，发送模块1004就会发出警报。也就是说，本实施例不需要依赖地图就可以分析出存在碰撞风险的危险车辆，既容易实现，又可以避免由于地图精度、车辆压线等因素所导致的误判，提高了识别的准确性。
上面从功能模块的角度介绍了本申请中的车载设备以及服务器，下面从实体硬件的角 度对本申请中的车载设备以及服务器进行介绍，请参阅图11，图11是本申请实施例公开的一种车载设备1100的结构示意图。如图11所示，所述车载设备1100可以包括至少一个控制器1101，例如CPU，至少一个天线1102，存储器1103，至少一个通信总线1104、交互接口1105和GPS定位器1106。通信总线1104用于实现这些组件之间的连接通信。其中，天线1102可以用于信息数据的发送和接收，存储器1103可能包含高速随机存取存储器(random access memory，RAM)，也可能还包括非易失性存储器(non-volatile memory)，例如至少一个磁盘存储器。存储器1103可选的可以包含至少一个位于远离前述控制器1101的存储车载设备。GPS定位器1106用于记录当前定位数据。
存储器1103存储了如下的元素，可执行模块或者数据结构，或者他们的子集，或者他们的扩展集：
操作系统11031，包含各种系统程序，用于实现各种基础业务以及处理基于硬件的任务；
应用程序11032，包含设备控制服务程序、设备识别服务程序等各种应用程序，用于实现各种应用业务。
在一些实施方式中，交互接口1105可用于信息输入和输出。
具体地，控制器1101用于调用存储器1103中存储的程序，使得车载设备1100执行上述图3或图5对应方法实施例中的步骤。
请参阅图12，图12是本发明实施例提供的一种服务器结构示意图，该服务器1200可因配置或性能不同而产生比较大的差异，可以包括一个或一个以上中央处理器(central processing units，CPU)1222(例如，一个或一个以上处理器)和存储器1232，一个或一个以上存储应用程序1242或数据1244的存储介质1230(例如一个或一个以上海量存储设备)。其中，存储器1232和存储介质1230可以是短暂存储或持久存储。存储在存储介质1230的程序可以包括一个或一个以上模块(图示没标出)，每个模块可以包括对服务器中的一系列指令操作。更进一步地，中央处理器1222可以设置为与存储介质1230通信，在服务器1200上执行存储介质1230中的一系列指令操作。
服务器1200还可以包括一个或一个以上电源1226，一个或一个以上有线或无线网络接口1250，一个或一个以上输入输出接口1258，和/或，一个或一个以上操作系统1241，例如Windows ServerTM，Mac OS XTM，UnixTM,LinuxTM，FreeBSDTM等等。
上述实施例中由图3或图5所示方法实施例中服务器所执行的步骤可以基于该图12所示的服务器结构。
本申请实施例还提供了一种计算机存储介质，该计算机存储介质用于储存为上述车载设备或服务器所用的计算机软件指令，其包括用于执行为车载设备或服务器所设计的程序。
该车载设备可以如前述图3和图5中所描述的车载设备。
该服务器可以如前述图3和图5中所描述服务器。
本申请实施例还提供了一种计算机程序产品，该计算机程序产品包括计算机软件指令，该计算机软件指令可通过处理器进行加载来实现上述图3或图5任意一项的车辆预警方法中的流程。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。
计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行计算机程序指令时，全部或部分地产生按照本发明实施例的流程或功能。计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一计算机可读存储介质传输，例如，计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line，DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。计算机可读存储介质可以是计算机能够存储的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。可用介质可以是磁性介质，(例如，软盘、硬盘、磁带)、光介质、或者半导体介质，例如固态硬盘(solid state disk，SSD)等。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统，装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统，装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，该单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
该作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
该集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例该方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(read-only memory，ROM)、随机存取存储器(random access memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (24)

  1. 一种车辆预警方法，其特征在于，包括：
    车联网V2X设备接收第一车辆对应的V2X消息；
    所述V2X设备根据所述V2X消息确定所述第一车辆为预警区域中的危险车辆，所述预警区域是根据第二车辆的车辆信息确定的，所述车辆信息至少包括：所述第二车辆的位置信息以及所述第二车辆对应的车辆尺寸；
    所述V2X设备输出所述第二车辆对应的预警信息。
  2. 根据权利要求1所述的方法，其特征在于，所述预警区域包括：左侧盲区预警区域和/或右侧盲区预警区域；所述车辆尺寸包括：车辆长度以及车辆宽度；所述车辆信息还包括：驾驶员座位位置；
    若所述驾驶员座位位置位于第二车辆的左侧，则所述左侧盲区预警区域位于所述第二车辆左侧B柱后方，所述左侧盲区预警区域的长度与所述车辆长度正相关，所述左侧盲区预警区域的宽度与所述车辆宽度正相关；所述右侧盲区预警区域位于所述第二车辆右侧后视镜后方，所述右侧盲区预警区域的长度与所述车辆长度正相关，所述右侧盲区预警区域的宽度与所述车辆宽度正相关；
    若所述驾驶员座位位置位于第二车辆的右侧，则所述右侧盲区预警区域位于所述第二车辆右侧B柱后方，所述右侧盲区预警区域的长度与所述车辆长度正相关，所述右侧盲区预警区域的宽度与所述车辆宽度正相关；所述左侧盲区预警区域位于所述第二车辆左侧后视镜后方，所述左侧盲区预警区域的长度与所述车辆长度正相关，所述左侧盲区预警区域的宽度与所述车辆宽度正相关。
  3. 根据权利要求2所述的方法，其特征在于，所述V2X消息包括：第一车辆的位置信息以及第一车辆的朝向；
    所述V2X设备根据所述V2X消息确定所述第一车辆为预警区域中的危险车辆包括：
    所述V2X设备根据所述第一车辆的位置信息确定所述第一车辆当前的空间位置；
    若所述第一车辆当前的空间位置处于所述左侧盲区预警区域或者所述右侧盲区预警区域内，且所述第一车辆的朝向与所述第二车辆的朝向相同，则所述V2X设备确定所述第一车辆为所述左侧盲区预警区域或所述右侧盲区预警中的危险车辆；
    所述预警信息用于指示所述左侧盲区预警区域或所述右侧盲区预警区域存在危险车辆。
  4. 根据权利要求1所述的方法，其特征在于，所述预警区域包括：前向碰撞预警区域，所述车辆尺寸包括：车辆宽度，所述车辆信息还包括：车辆速度；
    所述前向碰撞预警区域位于所述第二车辆的正前方，所述前向碰撞预警区域的宽度与所述车辆宽度正相关，所述前向碰撞预警区域的长度与所述车辆速度正相关。
  5. 根据权利要求4所述的方法，其特征在于，所述V2X消息包括：第一车辆的位置信息；
    所述V2X设备根据所述V2X消息确定所述第一车辆为预警区域中的危险车辆包括：
    所述V2X设备根据所述第一车辆的位置信息确定所述第一车辆当前的空间位置；
    若所述第一车辆当前的空间位置处于所述前向碰撞预警区域内，则所述V2X设备确定所述第一车辆为所述前向碰撞预警区域中的危险车辆；
    所述预警信息用于指示所述前向碰撞预警区域存在危险车辆。
  6. 根据权利要求4所述的方法，其特征在于，所述预警区域还包括：紧急电子刹车灯区域；所述紧急电子刹车灯区域位于所述第二车辆的正前方，所述紧急电子刹车灯区域的宽度与所述前向碰撞预警区域的宽度相等，所述紧急电子刹车灯区域的长度与所述前向碰撞预警区域的长度正相关，所述紧急电子刹车灯区域包括所述前向碰撞预警区域。
  7. 根据权利要求6所述的方法，其特征在于，所述V2X消息包括：第一车辆的位置信息以及第一车辆的刹车灯状态；所述V2X设备根据所述V2X消息确定所述第一车辆为预警区域中的危险车辆包括：
    所述V2X设备根据所述第一车辆的位置信息确定所述第一车辆当前的空间位置；
    若所述第一车辆当前的空间位置处于所述紧急电子刹车灯区域，且所述第一车辆的刹车灯状态为开启，则所述V2X设备确定所述第一车辆为所述紧急电子刹车灯区域中的危险车辆；
    所述预警信息用于指示所述紧急电子刹车灯区域存在危险车辆。
  8. 根据权利要求1所述的方法，其特征在于，所述预警区域包括：左侧逆向超车预警区域和/或右侧逆向超车预警区域；所述车辆尺寸包括：车辆宽度以及车辆长度；
    所述左侧逆向超车预警区域位于所述第二车辆左侧车头的左前方，所述左侧逆向超车区域的长度与所述车辆长度正相关，所述左侧逆向超车区域的宽度与所述车辆宽度正相关，所述左侧逆向超车区域的长度大于所述左侧逆向超车区域的宽度；
    所述右侧逆向超车预警区域位于所述第二车辆右侧车头的右前方，所述右侧逆向超车区域的长度与所述车辆长度正相关，所述右侧逆向超车区域的宽度与所述车辆宽度正相关，所述右侧逆向超车区域的长度大于所述右侧逆向超车区域的宽度。
  9. 根据权利要求8所述的方法，其特征在于，所述V2X消息包括：第一车辆的位置信息，第一车辆的朝向以及第一车辆的速度；
    所述V2X设备根据所述V2X消息确定所述第一车辆为预警区域中的危险车辆包括：
    所述V2X设备根据所述第一车辆的位置信息确定所述第一车辆当前的空间位置；
    若所述第一车辆当前的空间位置处于所述左侧逆向超车预警区域或右侧逆向超车预警区域，第一车辆的速度不为零且所述第一车辆的朝向与所述第二车辆的朝向相反，则所述V2X设备确定所述第一车辆为所述左侧逆向超车预警区域或右侧逆向超车预警区域中的危险车辆；
    所述预警信息用于指示所述左侧逆向超车预警区域或右侧逆向超车预警区域存在危险车辆。
  10. 根据权利要求1所述的方法，其特征在于，所述预警区域包括：左侧移动辅助区域和/或右侧移动辅助区域；所述车辆尺寸包括：车辆宽度以及车辆长度；
    所述左侧移动辅助区域位于所述第二车辆左侧车头的左前方，所述左侧移动辅助区域的长度与所述车辆长度正相关，所述左侧移动辅助区域的宽度与所述车辆宽度正相关；
    所述右侧辅助区域位于所述第二车辆右侧车头的右前方，所述右侧移动辅助区域的长度与所述车辆长度正相关，所述右侧移动辅助区域的宽度与所述车辆宽度正相关。
  11. 根据权利要求10所述的方法，其特征在于，所述V2X消息包括：第一车辆的位 置信息，第一车辆的朝向以及第一车辆的速度；
    所述V2X设备根据所述V2X消息确定所述第一车辆为预警区域中的危险车辆包括：
    所述V2X设备根据所述第一车辆的位置信息确定所述第一车辆当前的空间位置；
    若所述第一车辆当前的空间位置处于所述左侧移动辅助区域或所述右侧移动辅助区域，第一车辆的速度不为零且所述第一车辆的朝向与所述第二车辆的朝向相交，则所述V2X设备确定所述第一车辆为所述左侧移动辅助区域或所述右侧移动辅助区域中的危险车辆；
    所述预警信息用于指示所述左侧移动辅助区域或所述右侧移动辅助区域存在危险车辆。
  12. 根据权利要求1至11任一项所述的方法，其特征在于，所述位置信息包括：GPS测量结果以及如下至少一项：GPS天线位置或GPS测量精度。
  13. 根据权利要求12所述的方法，其特征在于，所述V2X设备为车载设备；
    所述V2X设备根据所述V2X消息确定所述第一车辆为预警区域中的危险车辆之前，所述方法包括：
    所述V2X设备根据所述第二车辆的位置信息以及所述车辆尺寸确定所述第二车辆当前的空间位置；
    所述V2X设备根据所述第二车辆当前的空间位置以及所述车辆尺寸确定所述预警区域。
  14. 根据权利要求12所述的方法，其特征在于，所述V2X设备为车载设备；
    所述V2X设备根据所述V2X消息确定所述第一车辆为预警区域中的危险车辆之前，所述方法包括：
    所述V2X设备向服务器发送第二车辆的车辆信息，以使得所述服务器根据所述第二车辆的位置信息以及所述车辆尺寸确定所述第二车辆当前的空间位置，并根据所述第二车辆当前的空间位置以及所述车辆尺寸确定预警区域；
    所述V2X设备接收所述服务器发送的预警区域。
  15. 根据权利要求12所述的方法，其特征在于，所述V2X设备为服务器；
    所述V2X设备根据所述V2X消息确定所述第一车辆为预警区域中的危险车辆之前，所述方法包括：
    所述V2X设备接收车载设备发送所述第二车辆的车辆信息；
    所述V2X设备根据所述第二车辆的位置信息以及所述车辆尺寸确定所述第二车辆当前的空间位置；
    所述V2X设备根据所述第二车辆当前的空间位置以及所述车辆尺寸确定所述预警区域。
  16. 根据权利要求12所述的方法，其特征在于，所述V2X设备为服务器；
    所述V2X设备根据所述V2X消息确定所述第一车辆为预警区域中的危险车辆之前，所述方法包括：
    所述V2X设备接收车载设备发送的预警区域，所述预警区域为所述车载设备根据所述车辆信息确定的。
  17. 根据权利要求13或14所述的方法，其特征在于，所述V2X设备输出所述第二车 辆对应的预警信息包括：
    所述V2X设备在所述第二车辆的仪表盘上显示预警信息，所述预警信息用于指示用户所述预警区域存在危险车辆；
    或，
    所述V2X设备通过语音提示用户所述预警区域存在危险车辆。
  18. 根据权利要求15或16所述的方法，其特征在于，所述V2X设备输出所述第二车辆对应的预警信息包括：
    所述V2X设备向所述车载设备发送信息，以使得所述车载设备向用户指示所述预警区域存在危险车辆。
  19. 一种车辆预警方法，其特征在于，包括：
    车载设备根据第二车辆的位置信息确定所述第二车辆当前的空间位置，并根据所述第二车辆当前的空间位置以及第二车辆的车辆尺寸确定所述第二车辆的预警区域；
    所述车载设备向服务器发送所述预警区域，以使得所述服务器根据第一车辆的车联网V2X消息确定所述第一车辆为所述预警区域中的危险车辆，并在确定所述第一车辆为所述预警区域中的危险车辆时，向所述车载设备发送通知消息；
    所述车载设备接收所述通知消息，并提示用户所述预警区域存在危险车辆。
  20. 一种车辆预警方法，其特征在于，包括：
    服务器接收车载设备发送的第二车辆的车辆信息，所述车辆信息至少包括：所述第二车辆的位置信息以及所述第二车辆的车辆尺寸；
    所述服务器根据所述第二车辆的位置信息确定所述第二车辆当前的空间位置，并根据所述第二车辆当前的空间位置以及所述车辆尺寸确定所述第二车辆的预警区域；
    所述服务器向所述车载设备发送所述预警区域，以使得所述车载设备根据第一车辆的车联网V2X消息确定所述第一车辆为所述预警区域中的危险车辆，并输出预警信息。
  21. 一种车载设备，其特征在于，包括：存储器及处理器；
    所述存储器用于存储程序；
    所述处理器用于执行所述程序，以使得所述车载设备执行如权利要求1至14以及权利要求17中任一项所述的方法。
  22. 一种服务器，其特征在于，包括：存储器及处理器；
    所述存储器用于存储程序；
    所述处理器用于执行所述程序，以使得所述服务器执行如权利要求1至12，权利要求15，16和18中任一项所述的方法。
  23. 一种车载设备，其特征在于，包括：存储器及处理器；
    所述存储器用于存储程序；
    所述处理器用于执行所述程序，以使得所述车载设备执行如下步骤：
    根据第二车辆的位置信息确定所述第二车辆当前的空间位置，并根据所述第二车辆当前的空间位置以及所述车辆尺寸确定所述第二车辆的预警区域；
    向服务器发送所述预警区域，以使得所述服务器根据第一车辆的车联网V2X消息确定所述第一车辆为所述预警区域中的危险车辆，并向所述车载设备发送通知消息，所述通知 消息用于指示所述预警区域存在危险车辆；
    接收所述通知消息，并提示用户所述预警区域存在危险车辆。
  24. 一种服务器，其特征在于，包括：存储器及处理器；
    所述存储器用于存储程序；
    所述处理器用于执行所述程序，以使得所述服务器执行如下步骤：
    接收车载设备发送的第二车辆的车辆信息，所述车辆信息至少包括：所述第二车辆的位置信息以及所述第二车辆的车辆尺寸；
    根据所述第二车辆的位置信息确定所述第二车辆当前的空间位置，并根据所述第二车辆当前的空间位置以及所述车辆尺寸确定所述第二车辆的预警区域；
    向所述车载设备发送所述预警区域，以使得所述车载设备根据第一车辆的车联网V2X消息确定所述第一车辆为所述预警区域中的危险车辆，并输出预警信息。
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