WO2022083381A1 - 交通预警方法、装置及计算机存储介质 - Google Patents

交通预警方法、装置及计算机存储介质 Download PDF

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Publication number
WO2022083381A1
WO2022083381A1 PCT/CN2021/119497 CN2021119497W WO2022083381A1 WO 2022083381 A1 WO2022083381 A1 WO 2022083381A1 CN 2021119497 W CN2021119497 W CN 2021119497W WO 2022083381 A1 WO2022083381 A1 WO 2022083381A1
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vehicle
dangerous
hazardous
condition information
information
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PCT/CN2021/119497
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English (en)
French (fr)
Inventor
侯琛
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腾讯科技（深圳）有限公司
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Publication of WO2022083381A1 publication Critical patent/WO2022083381A1/zh
Priority to US17/973,239 priority Critical patent/US20230049268A1/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
    • G08G1/164—Centralised systems, e.g. external to vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G08G1/0133—Traffic data processing for classifying traffic situation
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
    • 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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

Definitions

  • the present application relates to the technical field of Internet of Vehicles, and specifically relates to a traffic early warning technology.
  • the embodiments of the present application provide a traffic warning method, device and computer storage medium, which can effectively warn dangerous vehicles and improve the reliability of safe assisted driving.
  • a traffic early warning method executed by a computer device, including: acquiring the driving condition information of the dangerous vehicle on the target road and the road surface condition information of the target road; according to the driving condition information of the first vehicle on the target road, The driving condition information of the dangerous vehicle and the road surface condition information of the target road are used to determine the potential collision intensity of the dangerous vehicle to the first vehicle; The potential collision intensity of a vehicle is corrected; the traffic warning is performed on the potential collision intensity of the first vehicle according to the revised dangerous vehicle.
  • a traffic early warning method comprising: a second vehicle on a target road sending performance parameters of the second vehicle to a first vehicle on the target road, and the performance parameters of the second vehicle are used for the first vehicle to conduct traffic Early warning; wherein the performance parameters include at least one of the following: the positioning accuracy of the second vehicle, the communication delay of the second vehicle relative to the first vehicle, the driving condition information of the second vehicle and the total amount of information of the driving condition information, the second vehicle The vehicle's used time and credit life.
  • a traffic early warning device comprising: an acquisition unit for acquiring driving condition information of dangerous vehicles on a target road and road surface condition information on the target road; a determining unit for acquiring information according to the first vehicle on the target road The driving condition information of the dangerous vehicle, the driving condition information of the dangerous vehicle and the road surface condition information of the target road, determine the potential collision intensity of the dangerous vehicle to the first vehicle; the correction unit is used for the performance parameters of the dangerous vehicle and the target road. The difference in performance parameters is used to correct the potential collision intensity of the dangerous vehicle on the first vehicle; the early warning unit is used to perform traffic warning on the potential collision intensity of the first vehicle according to the revised dangerous vehicle.
  • a traffic warning device configured to send performance parameters of the second vehicle, performance parameters of the second vehicle to the first vehicle It is used for the first vehicle to carry out traffic warning; wherein, the performance parameters of the second vehicle include at least one of the following: the positioning accuracy of the second vehicle, the communication delay of the second vehicle relative to the first vehicle, and the driving condition information of the second vehicle and the total amount of driving condition information, the used time and the rated service life of the second vehicle.
  • a computer device comprising: a communication bus, a processor, a communication interface and a memory, the processor, the communication interface and the memory are connected to each other through the communication bus, wherein the memory For storing program code, the processor is configured to invoke the program code to perform the method of the first aspect or the second aspect above.
  • a traffic early warning system comprising: the traffic early warning device in the third aspect and the traffic early warning device in the fourth aspect; or, the computer equipment in the fifth aspect and the computer equipment in the sixth aspect.
  • a computer storage medium stores a computer program, the computer program includes program instructions, and the program instructions, when executed by a processor, cause the processor to execute the above-mentioned first Aspect or the method of the second aspect.
  • a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of the first or second aspect above.
  • the traffic early warning method of the embodiment of the present application can estimate the potential collision intensity of the dangerous vehicle with other vehicles according to the driving condition information of the dangerous vehicle, and further according to the difference between the performance parameters of the dangerous vehicle and the performance parameters of the non-hazardous vehicle, correct the The potential collision intensity of the dangerous vehicle to other vehicles, and then traffic warning is carried out according to the corrected potential collision intensity of the dangerous vehicle, which is beneficial to improve the accuracy of the warning, reduce the false alarm rate, realize effective early warning of dangerous vehicles, and improve safety. Reliability of assisted driving.
  • FIG. 1 is a block diagram of a system structure applicable to an embodiment of the present application.
  • FIG. 2 is a schematic flowchart of a traffic early warning method provided by an embodiment of the present application.
  • FIG. 3 is a schematic interaction diagram of a manner for determining a communication delay provided by an embodiment of the present application.
  • FIG. 4 is a schematic flowchart of a traffic early warning method provided by another embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of a traffic early warning device provided by an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a traffic early warning device provided by an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of a traffic early warning device provided by an embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of a traffic early warning device provided by an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a traffic early warning system provided by an embodiment of the present application.
  • FIG. 1 is a schematic diagram of a system architecture applicable to the traffic early warning method provided by the embodiment of the present application.
  • the system architecture 100 may include one or more servers 101 , and multiple vehicles, such as ordinary vehicles (or non-hazardous vehicles) 102 and dangerous vehicles 103 .
  • Vehicles in system architecture 100 may communicate with server 101 .
  • the communication takes place by means of wired, wireless communication links, or fiber optic cables.
  • the dangerous vehicle 103 may be, for example, a two-passenger and one-hazardous vehicle, or may be other vehicles with a higher degree of danger than ordinary vehicles, and the present application is not limited thereto.
  • System architecture 100 may include any number of vehicles and servers, depending on implementation needs.
  • the server 101 may be a server that provides related traffic services.
  • the server 101 may acquire vehicle data on the road, and analyze and process the vehicle data for traffic warning, route planning, and the like.
  • the analysis results can be displayed on any platform or product used to present real-time traffic conditions, such as digital large screens, map service applications, taxi-hailing software, logistics scheduling systems, etc. ) timely and dynamically display the information of dangerous vehicles around the vehicle, which is convenient for users to plan the route.
  • the user can use the terminal to interact with the server 101 to receive or send messages and the like.
  • a related client (Client) can be installed and run on the terminal.
  • a client (such as a map service client, etc.) refers to a program corresponding to the server 101 that provides related traffic services for users, including but not limited to: potential collision intensity analysis of vehicles, traffic warning, and path planning.
  • Clients include, but are not limited to, applications running locally, functions running on web browsers (also known as Web App), applets embedded in emails, and applets embedded in instant messaging client software , as well as functions embedded in other applications (such as application accounts applied by developers or merchants based on public platforms), etc.
  • the server 101 needs to run a corresponding server-side program to provide corresponding services, such as database services, data calculation, decision execution, and so on.
  • corresponding services such as database services, data calculation, decision execution, and so on.
  • users can perform operations related to traffic services on the corresponding platform, for example, perform operations such as obtaining the potential collision intensity of dangerous vehicles, and path planning.
  • the terminal in this embodiment of the present application may include, but is not limited to, any vehicle-mounted or hand-held electronic product based on an intelligent operating system, which may communicate with the user through input components such as a keyboard, a virtual keyboard, a touch pad, a touch screen, and a voice control device. computer interaction, the terminal such as smart phone, tablet computer, personal computer, etc.
  • the smart operating system includes, but is not limited to, any operating system that enriches device functions by providing mobile applications with mobile devices, such as Android (Android), IOS, Windows Phone, and the like.
  • the present application provides a technical solution, which can obtain the driving condition information of the dangerous vehicle, estimate the potential collision intensity of the dangerous vehicle based on the driving condition information, and further according to the performance parameters of the dangerous vehicle and the non-hazardous vehicle. According to the difference of the performance parameters of the dangerous vehicle, the potential collision intensity of the dangerous vehicle is corrected, and the traffic warning is carried out according to the corrected potential collision intensity of the dangerous vehicle, so as to realize the effective early warning of the dangerous vehicle, improve the accuracy of the early warning, and reduce the false alarm rate.
  • FIG. 2 is a schematic flowchart of a traffic early warning method 200 provided by an embodiment of the present application. The method 200 can be implemented based on the system architecture shown in FIG. 1 .
  • the embodiments of the present application can be applied to any scenario where there are dangerous vehicles driving on the road, and effective warning of the dangerous vehicles is required.
  • it can be applied to any application (Application, App) oriented to users (To Customer, To C), for example, a small program in an instant messaging application, a car application, etc., or it can also be applied to an enterprise oriented ( In any product of To Business, To B), such as road operation monitoring products, or road management cloud platform, etc.
  • the execution body of the method 200 may be a computer device on the first vehicle, for example, an on-board computer, or may also be a computer device capable of information interaction with the first vehicle, for example, a background server of a road management platform,
  • the background server of the road management platform can obtain the relevant information for traffic warning, and carry out traffic warning according to the information.
  • the warning information can be sent to the first vehicle to remind the driver of the first vehicle to be cautious. Driving, this application is not limited to this.
  • the method 200 may include at least some of the following steps:
  • S210 Acquire the driving condition information of the dangerous vehicle on the target road and the road surface condition information of the target road.
  • acquiring the driving condition information of the dangerous vehicle on the target road includes: receiving its own driving condition information sent by the dangerous vehicle.
  • a dangerous vehicle when a dangerous vehicle travels to a target road, it can send its own driving condition information to other vehicles on the target road.
  • the dangerous vehicle can send its own driving condition information through a communication protocol between vehicles, such as a vehicle-to-everything (Vehicle to Everything, V2X) protocol.
  • V2X vehicle-to-everything
  • the driving state information of the dangerous vehicle includes at least one of the following:
  • the location of the dangerous vehicle may be location information determined by a global positioning system (Global Positioning System, GPS), or may also be location information determined by other means, which is not limited in this application.
  • GPS Global Positioning System
  • obtaining the road surface condition information of the target road includes:
  • the road surface condition information of the target road is acquired through a road monitoring device, such as a road camera.
  • the road surface condition information of the target road includes at least one of the following:
  • the vehicle early warning system of the embodiment of the present application has very high requirements on the accuracy, real-time, completeness, and service life of the acquired data of dangerous vehicles.
  • the method 200 further includes:
  • the performance parameters of the dangerous vehicle include at least one of the following: the positioning accuracy of the dangerous vehicle, the communication delay of the dangerous vehicle relative to the first vehicle, and the driving condition information of the dangerous vehicle learned by the first vehicle the integrity of the vehicle and the health of the dangerous vehicle.
  • the method 200 further includes:
  • the performance parameters of the non-hazardous vehicle include at least one of the following: the positioning accuracy of the non-hazardous vehicle, the communication delay of the non-hazardous vehicle relative to the first vehicle, the non-hazardous vehicle learned by the first vehicle The completeness of the driving situation information.
  • the positioning accuracy can be the positioning accuracy of the GPS positioning device installed on the dangerous vehicle.
  • the positioning accuracy can be stored in the memory of the dangerous vehicle, and can be obtained by reading the memory.
  • the positioning accuracy of the dangerous vehicle can be recorded in the memory. is g dangerous .
  • the non-hazardous vehicle can also send its positioning accuracy to other vehicles on the target road.
  • the specific implementation is similar.
  • the positioning accuracy of the non-hazardous vehicle can be recorded as g. general .
  • the first vehicle can obtain the communication delay between the dangerous vehicle and itself.
  • the following describes the process of determining the communication delay between the dangerous vehicle and the first vehicle with reference to FIG. 3 .
  • the dangerous vehicle sends first information to a first vehicle, where the first information includes a first timestamp.
  • the first information may include GPS positioning accuracy of the dangerous vehicle, and the first timestamp may be the moment when the dangerous vehicle sends its own positioning accuracy. Specifically, when the self-positioning accuracy of the dangerous vehicle can be sent, the display time of the on-board clock of the dangerous vehicle is denoted as t dangerous,1 .
  • the first vehicle After the first vehicle receives the first information, it records the time when it receives the first information, which is recorded as the second time stamp t host,1 .
  • the first vehicle sends second information to the dangerous vehicle
  • the sending time of the second information is marked as a third timestamp t host,2
  • the second information includes a second timestamp t host,1 and a third timestamp t host,2 , or may also include the difference t host,2 -t host,1 between the second timestamp t host,1 and the third timestamp t host,2 , and the difference can be understood as the th The processing time of a vehicle for the first information.
  • the dangerous vehicle After receiving the second information, the dangerous vehicle records the moment when it receives the second information, which is recorded as the fourth time stamp t dangerous,2 .
  • the dangerous vehicle sends the communication delay ⁇ t dangerous to the first vehicle.
  • the dangerous vehicle evaluates the driving risk of the first vehicle
  • reference is made to the communication delay ⁇ t dangerous so that the evaluation of the driving risk can be avoided because the clock of the dangerous vehicle and the clock of the first vehicle are not synchronized.
  • the first vehicle can also obtain the communication delay ⁇ t general between the non-hazardous vehicle and itself in a similar manner as shown in FIG. 3 .
  • the calculated delay is the communication delay between the first vehicle and other vehicles, and in other implementations
  • the third-party computer device can perform information interaction with the computer device on the first vehicle, in this case, the determined The communication delay is the communication delay between the third-party device and the first vehicle. Accordingly, the communication delay needs to be modified to subtract the communication delay between the third-party device and the first vehicle.
  • the dangerous vehicle after the dangerous vehicle enters the target road, it can send its own driving condition information to other vehicles on the target road (for example, the first vehicle). Inform other vehicles of the total amount of information sent by it, which can be measured in bits and is recorded as n dangerous .
  • the driving condition information of the dangerous vehicle may be obtained from a dashboard of the vehicle.
  • the first vehicle can also acquire the information integrity of the driving condition information of the non-hazardous vehicle in a similar manner, denoted as ⁇ n general .
  • the dangerous vehicle may send its own service life related information to other vehicles on the target road, for example, the used time (denoted as T already ) and rated service life (denoted as I specified ) of the dangerous vehicle.
  • the service life of the quota can be determined by the manufacturer, can be obtained from the manufacturer, or can also be the average service life of similar vehicles.
  • the vehicle that receives the information about the service life of the dangerous vehicle can evaluate the health of the dangerous vehicle according to the information about the service life of the dangerous vehicle.
  • the service life of a dangerous vehicle can also be considered to obey an exponential distribution.
  • the health degree of the dangerous vehicle when it just leaves the factory is 1
  • the current "health" degree P dangerous of the dangerous vehicle can be expressed as: That is to say, the ratio of the probability that the dangerous vehicle can still work normally for the first period of time and the probability that the dangerous vehicle can work normally for the same period of time when it leaves the factory, and the first period of time can be any period of time.
  • the driving condition information of the first vehicle, the driving condition information of the dangerous vehicle, and the road surface condition information of the target road may all be input into the driving risk calculation model, and the driving risk calculation model may be used to calculate the impact of the dangerous vehicle on the first vehicle.
  • the potential collision strength of the vehicle denoted as E initial .
  • the first vehicle may further determine the potential collision intensity of the non-hazardous vehicle to the first vehicle according to the driving condition information of the first vehicle, the driving condition information of the non-hazardous vehicle, and the road surface condition information of the target road.
  • the driving condition information of the first vehicle, the driving condition information of the non-hazardous vehicle, and the road surface condition information of the target road can all be input into the driving risk calculation model, and the driving risk calculation model can be used to calculate the driving risk of the non-hazardous vehicle to the first vehicle.
  • Potential collision strength denoted as E general .
  • the potential collision intensity between vehicles is calculated through the driving risk calculation model, and the calculation methods shown in the following two formulas can be used exemplarily:
  • first term of the first formula i.e. Indicates the collision strength between a stationary object that may collide with the first vehicle and the first vehicle.
  • the second term of the first formula i.e. Indicates the driving risk brought to the first vehicle by a stationary object that will not collide with the first vehicle, but will affect the driving risk of the first vehicle.
  • the second formula expresses the driving risk between a moving object that could collide with the first vehicle and the first vehicle.
  • objects around the vehicle can be divided into two categories: stationary and moving.
  • Stationary objects can be further divided into two categories: the first category is stationary objects that will collide with the vehicle, and the second category is stationary objects that will not collide with the vehicle, but will affect the vehicle and other objects. colliding objects.
  • the driving risk caused by stationary objects and moving objects can be calculated by the first formula and the second formula respectively.
  • M represents the quality
  • r represents the distance
  • V represents the speed
  • ⁇ b represents the driving direction
  • GR represents the driver's risk factor
  • R represents the road surface factor
  • the road surface factor may include the road surface.
  • D represents the width of the road surface.
  • LT a indicates the type of road sign, for example, the value is 1, 2, 3, 4. The more stress the road sign puts on the driver, the higher the value of LT a .
  • the driving risk may refer to the probability of collision between vehicles or the potential collision intensity between vehicles, that is, the potential collision intensity in the embodiment of the present application may also be replaced by the driving risk, the collision probabilities, or other equivalent evaluation parameters.
  • the method 200 further includes:
  • the performance parameter of the non-hazardous vehicle used to correct the potential collision intensity of the hazardous vehicle with respect to the first vehicle may be determined according to the performance parameter of the non-hazardous vehicle running on the target road, for example , which may be the performance parameters of a certain non-hazardous vehicle running on the target road, or the average value of the performance parameters of the non-hazardous vehicles running on the target road.
  • the performance parameters of the non-hazardous vehicle may also be obtained from a road monitoring server.
  • the road monitoring server may perform a statistical average of the performance parameters of the historically running non-hazardous vehicles on the road to obtain the performance parameters of the non-hazardous vehicles.
  • the manner of obtaining the performance parameters of the non-hazardous vehicle is not specifically limited.
  • the correction of the potential collision intensity can improve the accuracy of the estimated potential collision intensity, thereby further improving the accuracy of the early warning.
  • the difference between the positioning accuracy of the dangerous vehicle and the non-hazardous vehicle, the difference between the communication delays of the dangerous vehicle and the non-hazardous vehicle relative to the first vehicle, the difference between the dangerous vehicle and the non-hazardous vehicle, and the At least one of the difference between the completeness of the respective driving state information and the health degree of the dangerous vehicle is used to correct the potential collision intensity of the dangerous vehicle with respect to the first vehicle.
  • the potential collision intensity of the dangerous vehicle to the first vehicle can be corrected according to the following formula:
  • E dangerous is the potential collision strength of the dangerous vehicle after the correction to the first vehicle
  • E initial is the potential collision strength of the dangerous vehicle before the correction to the first vehicle
  • p dangerous is the health degree of the dangerous vehicle
  • g general is the non- GPS positioning accuracy of the dangerous vehicle
  • g dangerous is the positioning accuracy of the dangerous vehicle
  • ⁇ t general is the communication delay of the non-dangerous vehicle relative to the first vehicle
  • ⁇ t dangerous is the communication delay of the dangerous vehicle relative to the first vehicle
  • ⁇ n general is the information integrity of the driving state information of the non-dangerous vehicle
  • ⁇ n dangerous is the information integrity of the driving state information of the dangerous vehicle.
  • S240 Perform a traffic warning on the potential collision intensity of the first vehicle according to the revised dangerous vehicle.
  • the warning information if the potential collision intensity of the corrected dangerous vehicle to the first vehicle is greater than the first threshold, the warning information is output, otherwise, the warning information is not output.
  • the first threshold may be an average value, a minimum value, etc. of the potential collision intensity of the dangerous vehicle to the first vehicle in history.
  • the potential collision intensity of dangerous vehicles around the first vehicle is greater than the first threshold, the user in the vehicle may be prompted that "the potential collision intensity brought to the vehicle by the dangerous vehicle has exceeded the historical average level, please drive with caution".
  • the traffic warning is performed on the potential collision intensity of the first vehicle according to the corrected dangerous vehicle, including:
  • Traffic accidents caused by dangerous vehicles are usually more serious and the economic losses caused are also greater.
  • traffic warnings can be made comprehensively considering the historical economic losses caused by dangerous vehicles.
  • the ratio of the potential collision intensity of the corrected dangerous vehicle to the first vehicle and the potential collision intensity of the non-dangerous vehicle to the first vehicle may be determined as the first ratio, namely E dangerous /E general ;
  • the ratio of the historical average economic loss to the historical average economic loss caused by non-dangerous vehicles is taken as the second ratio, namely C dangerous /C general ; if the above-mentioned first ratio is greater than the above-mentioned second ratio, namely E dangerous /E general >C dangerous /C general , output warning information.
  • the historical average economic loss C dangerous caused by the dangerous vehicle and the historical average economic loss C general caused by the non-dangerous vehicle can be obtained from the road monitoring server (or, in other words, the traffic management platform, the road management cloud platform).
  • the road monitoring server can count the economic losses of traffic accidents caused by dangerous vehicles in history, and then average the total number of traffic accidents according to the total economic losses to obtain the C dangerous , and count the traffic accidents caused by non-dangerous vehicles in history The economic loss is then averaged according to the total economic loss and the total number of traffic accidents to obtain the C general .
  • Table 1 is a comparison table of the missed alarm rate and the false alarm rate of the traffic early warning in the related art and the missed alarm rate and the false alarm rate of the traffic early warning based on the embodiment of the present application.
  • the traffic early warning method of the embodiment of the present application significantly reduces the false alarm rate, reduces the traffic accident caused by the false alarm, reduces the false alarm rate, and improves the user experience.
  • the traffic early warning method of the embodiment of the present application can estimate the potential collision intensity of the dangerous vehicle according to the driving condition information of the dangerous vehicle, and further correct the performance parameters of the dangerous vehicle according to the difference between the performance parameters of the dangerous vehicle and the performance parameters of the non-hazardous vehicle.
  • Potential collision intensity, traffic warning is carried out according to the revised potential collision intensity of the dangerous vehicle, thereby improving the accuracy of the warning and reducing the false alarm rate.
  • the method 400 includes:
  • the second vehicle on the target road sends performance parameters of the second vehicle to the first vehicle on the target road, where the performance parameters of the second vehicle are used to assist the first vehicle in performing traffic warning.
  • the execution body of the method 400 may be, for example, a computer device on the second vehicle, such as an on-board computer, or a computer device capable of information interaction with the second vehicle, but the application is not limited thereto.
  • the first vehicle and the second vehicle may be any vehicle on the target road.
  • the self-performance parameter is sent, so that the first vehicle can estimate the potential collision intensity of the second vehicle with the first vehicle according to the performance parameter, and further carry out traffic warning.
  • the performance parameter of the second vehicle includes at least one of the following: positioning accuracy of the second vehicle, communication delay of the second vehicle relative to the first vehicle, driving condition information of the second vehicle, and driving condition information The total amount of information, the used time and the service life of the second vehicle.
  • the method 400 includes:
  • the second vehicle sends first information to the first vehicle, the first information includes a first timestamp, and the first timestamp is the moment when the second vehicle sends the first information;
  • the second vehicle receives the second information sent by the first vehicle, the second information includes a second timestamp and a third timestamp, the second timestamp is the moment when the first vehicle receives the first information, and the third timestamp is the first vehicle the moment of sending the second message;
  • the second vehicle determines the communication delay of the second vehicle relative to the first vehicle according to the first timestamp, the second timestamp, the third timestamp and the fourth timestamp, where the fourth timestamp is when the second vehicle receives the first timestamp.
  • Second Information Moment is when the second vehicle receives the first timestamp.
  • FIG. 5 is a schematic structural diagram of a traffic early warning device according to an embodiment of the present application.
  • the traffic early warning device 500 may include:
  • an acquisition unit 510 configured to acquire the driving condition information of the dangerous vehicle on the target road and the road surface condition information of the target road;
  • the determining unit 520 is configured to determine the potential collision intensity of the dangerous vehicle to the first vehicle according to the driving condition information of the first vehicle on the target road, the driving condition information of the dangerous vehicle and the road surface condition information of the target road;
  • a correction unit 530 configured to correct the potential collision intensity of the dangerous vehicle on the first vehicle according to the difference between the performance parameter of the dangerous vehicle and the performance parameter of the non-hazardous vehicle on the target road;
  • the early warning unit 540 is configured to perform traffic warning on the potential collision intensity of the first vehicle according to the revised dangerous vehicle.
  • the traffic early warning apparatus 500 may be provided in the first vehicle, or the traffic early warning apparatus 500 may be a third-party device capable of information interaction with the first vehicle.
  • the traffic early warning device 500 may be, for example, a vehicle-mounted terminal, including but not limited to a computer and the like.
  • the determining unit 520 is further configured to:
  • the performance parameters of the dangerous vehicle include at least one of the following:
  • the positioning accuracy of the dangerous vehicle the communication delay of the dangerous vehicle relative to the first vehicle, the completeness of the driving condition information of the dangerous vehicle learned by the first vehicle, and the health of the dangerous vehicle;
  • the performance parameters of non-hazardous vehicles include at least one of the following:
  • the positioning accuracy of the non-hazardous vehicle the communication delay of the non-hazardous vehicle relative to the first vehicle, and the completeness of the driving condition information of the non-hazardous vehicle learned by the first vehicle.
  • the traffic warning device 500 when the performance parameter of the dangerous vehicle includes the communication delay of the dangerous vehicle relative to the first vehicle, the traffic warning device 500 further includes:
  • a communication unit configured to receive first information sent by the dangerous vehicle, where the first information includes a first time stamp, and the first time stamp is the moment when the dangerous vehicle sends the first information; and, send second information, the second information to the dangerous vehicle Including a second time stamp and a third time stamp, the second time stamp is the moment when the first vehicle receives the first information, and the third time stamp is the moment when the first vehicle sends the second information; and, receiving the dangerous vehicle sent by the dangerous vehicle Communication delay information relative to the first vehicle, wherein the communication delay information is determined according to the first time stamp, the second time stamp, the third time stamp and the fourth time stamp, wherein the fourth time stamp is a dangerous vehicle The moment at which the second message was received.
  • the traffic warning device 500 when the performance parameter of the dangerous vehicle includes the completeness of the driving condition information of the dangerous vehicle learned by the first vehicle, the traffic warning device 500 further includes:
  • a communication unit configured to receive the driving state information sent by the dangerous vehicle and a first information amount, where the first information amount is the total information amount of the driving state information sent by the dangerous vehicle;
  • the determining unit 520 is further configured to: determine the completeness of the traveling state information of the dangerous vehicle received by the first vehicle according to the received information amount of the traveling state information sent by the dangerous vehicle and the first information amount.
  • the traffic warning device 500 when the performance parameter of the non-hazardous vehicle includes the completeness of the driving condition information of the non-hazardous vehicle learned by the first vehicle, the traffic warning device 500 further includes:
  • a communication unit configured to receive the driving state information sent by the non-hazardous vehicle and a second information amount, where the second information amount is the total information amount of the driving state information sent by the non-hazardous vehicle;
  • the determining unit 520 is further configured to determine the completeness of the driving state information of the non-hazardous vehicle received by the first vehicle according to the received information quantity and the second information quantity of the driving state information sent by the non-hazardous vehicle.
  • the performance parameter of the dangerous vehicle includes the health level of the dangerous vehicle
  • the traffic warning device 500 further includes:
  • a communication unit for receiving the elapsed time and rated service life sent by the dangerous vehicle
  • the determining unit 520 is further configured to: determine the current health level of the dangerous vehicle according to the used time and the rated service life of the dangerous vehicle.
  • the determining unit 520 is specifically configured to:
  • P dangerous indicates the current health level of the dangerous vehicle
  • T alreay indicates the used time of the dangerous vehicle
  • T specified indicates the rated service life of the dangerous vehicle.
  • the correction unit 530 is further configured to:
  • the dangerous vehicle At least one of the difference between the completeness of the respective driving state information of the non-dangerous vehicle and the health degree of the dangerous vehicle, the potential collision intensity of the dangerous vehicle to the first vehicle is corrected .
  • the correction unit 530 is specifically configured to:
  • the potential collision intensity of the dangerous vehicle to the first vehicle is corrected according to the following formula:
  • E dangerous is the potential collision intensity of the revised dangerous vehicle to the first vehicle
  • E initial is the potential collision intensity of the dangerous vehicle before the revision to the first vehicle
  • p dangerous is the health degree of the dangerous vehicle
  • g general is non-dangerous
  • the positioning accuracy of the vehicle g dangerous is the positioning accuracy of the dangerous vehicle
  • ⁇ t general is the communication delay of the non-dangerous vehicle relative to the first vehicle
  • ⁇ t dangerous is the communication delay of the dangerous vehicle relative to the first vehicle
  • ⁇ n general is the non-dangerous vehicle
  • ⁇ n dangerous is the information integrity of the driving state information of the dangerous vehicle.
  • the early warning unit 540 is specifically configured to:
  • the early warning unit 540 is specifically configured to:
  • the determining unit 520 is specifically configured to:
  • the potential collision intensity of the dangerous vehicle to the first vehicle is determined according to the driving condition information of the first vehicle, the driving condition information of the dangerous vehicle and the road surface condition information of the target road.
  • the determining unit 520 is further configured to:
  • the potential collision intensity of the non-hazardous vehicle to the first vehicle is determined according to the driving condition information of the first vehicle, the driving condition information of the non-hazardous vehicle and the road surface condition information of the target road.
  • the driving state information of the dangerous vehicle includes at least one of the following: mass, speed, acceleration and position of the dangerous vehicle.
  • the road surface condition information of the target road includes at least one of the following: road surface viscosity, road surface friction coefficient, road curvature, and visibility of the target road.
  • the traffic early warning device 500 may be, for example, a vehicle-mounted terminal, including but not limited to a computer and the like.
  • FIG. 6 is a schematic structural diagram of a traffic early warning device according to an embodiment of the present application.
  • the traffic early warning device 600 may be disposed in the second vehicle, or the traffic early warning device 600 may be capable of information interaction with the second vehicle. of third-party devices.
  • the traffic warning device 600 may include:
  • a communication unit 610 configured to send performance parameters of the second vehicle to the first vehicle, where the performance parameters of the second vehicle are used for the first vehicle to perform traffic warning;
  • the performance parameters include at least one of the following:
  • the functions of each unit in the traffic early warning device 600 provided in the embodiment of the present application may correspond to the specific implementation manner of the embodiment shown in FIG. 4 , which will not be repeated here.
  • the traffic warning device 600 may be, for example, a vehicle-mounted terminal, including but not limited to a computer and the like.
  • FIG. 7 is a schematic structural diagram of a computer device for traffic warning provided by an embodiment of the present application.
  • the computer device 700 may include: a communication interface 701 , a memory 702 , a processor 703 and a communication bus 704 .
  • the communication interface 701 , the memory 702 , and the processor 703 communicate with each other through the communication bus 704 .
  • the communication interface 701 is used for data communication between the traffic warning device 700 and external devices.
  • the memory 702 can be used to store software programs and modules, and the processor 703 executes the software programs and modules stored in the memory 702, for example, the software programs for corresponding operations in the method embodiments shown in FIG. 2 to FIG. 3 .
  • the processor 703 can call the software programs and modules stored in the memory 702 to perform the following operations: obtain the driving condition information of the dangerous vehicle on the target road and the road surface condition information of the target road; according to the first vehicle on the target road According to the driving condition information of the dangerous vehicle, the driving condition information of the dangerous vehicle and the road surface condition information of the target road, the potential collision intensity of the dangerous vehicle to the first vehicle is determined; Correcting the potential collision intensity of the dangerous vehicle to the first vehicle; and performing traffic warning according to the revised potential collision intensity of the dangerous vehicle to the first vehicle.
  • FIG. 8 is another schematic structural diagram of a computer device for traffic warning provided by an embodiment of the present application.
  • the computer device 800 may include: a communication interface 801 , a memory 802 , a processor 803 and a communication bus 804.
  • the communication interface 801 , the memory 802 , and the processor 803 communicate with each other through the communication bus 804 .
  • the communication interface 801 is used for data communication between the traffic warning device 800 and external equipment.
  • the memory 802 may be used to store software programs and modules, and the processor 803 executes the software programs and modules stored in the memory 802, for example, the software programs for corresponding operations in the method embodiment shown in FIG. 4 .
  • the processor 803 can call the software programs and modules stored in the memory 802 to control the communication interface 801 to perform the following operations: send its own performance parameters to the first vehicle on the target road, wherein the performance parameters include at least the following One: positioning accuracy, communication delay of itself relative to the first vehicle, driving condition information and total information amount of driving condition information, used time and limit service life.
  • FIG. 9 is a schematic structural diagram of a traffic early warning system 900 provided by an embodiment of the present application.
  • the traffic early warning system 900 may include: a traffic early warning device 910 and a traffic early warning device 920 , wherein the traffic early warning device 910 may be shown in FIG. 5
  • the traffic early warning apparatus 920 may be the traffic early warning apparatus 600 in FIG. 6 or the computer equipment 800 in FIG. 8 .
  • Embodiments of the present application further provide a computer-readable storage medium for storing a computer program.
  • the computer-readable storage medium can be applied to a computer device, and the computer program enables the computer device to execute the corresponding process in the traffic early warning method in the embodiment of the present application, which is not repeated here for brevity.
  • the processor in this embodiment of the present application may be an integrated circuit chip, which has a signal processing capability.
  • each step of the above method embodiments may be completed by a hardware integrated logic circuit in a processor or an instruction in the form of software.
  • the above-mentioned processor can be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), an off-the-shelf programmable gate array (Field Programmable Gate Array, FPGA) or other available Programming logic devices, discrete gate or transistor logic devices, discrete hardware components.
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • FPGA Field Programmable Gate Array
  • a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the steps of the methods disclosed in conjunction with the embodiments of the present application may be directly embodied as executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor.
  • the software module may be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other storage media mature in the art.
  • the storage medium is located in the memory, and the processor reads the information in the memory, and completes the steps of the above method in combination with its hardware.
  • the memory in this embodiment of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memory.
  • the non-volatile memory may be a read-only memory (Read-Only Memory, ROM), a programmable read-only memory (Programmable ROM, PROM), an erasable programmable read-only memory (Erasable PROM, EPROM), an electrically programmable read-only memory (Erasable PROM, EPROM). Erase programmable read-only memory (Electrically EPROM, EEPROM) or flash memory.
  • Volatile memory may be Random Access Memory (RAM), which acts as an external cache.
  • RAM Static RAM
  • DRAM Dynamic RAM
  • SDRAM Synchronous DRAM
  • SDRAM double data rate synchronous dynamic random access memory
  • Double Data Rate SDRAM DDR SDRAM
  • enhanced SDRAM ESDRAM
  • synchronous link dynamic random access memory Synchlink DRAM, SLDRAM
  • Direct Rambus RAM Direct Rambus RAM
  • the memory in the embodiment of the present application may also be a static random access memory (static RAM, SRAM), a dynamic random access memory (dynamic RAM, DRAM), Synchronous dynamic random access memory (synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous connection Dynamic random access memory (synch link DRAM, SLDRAM) and direct memory bus random access memory (Direct Rambus RAM, DR RAM) and so on. That is, the memory in the embodiments of the present application is intended to include but not limited to these and any other suitable types of memory.
  • the disclosed system, apparatus and method may be implemented in other manners.
  • the apparatus embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented.
  • the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • the functions, if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable storage medium.
  • the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution.
  • the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server) to execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk and other mediums that can store program codes.

Abstract

一种交通预警方法（200）、装置（500,600,700,800,900）及计算机存储介质，该方法包括：获取目标道路上危险车辆（103）的行驶状况信息、以及目标道路的路面状况信息（S210）；根据目标道路上第一车辆的行驶状况信息、危险车辆（103）的行驶状况信息以及目标道路的路面状况信息，确定危险车辆（103）对第一车辆的潜在碰撞强度（S220）；根据危险车辆（103）的性能参数和目标道路上非危险车辆（102）的性能参数的差异，对危险车辆（103）对第一车辆的潜在碰撞强度进行修正（S230）；根据修正后的危险车辆（103）对第一车辆的潜在碰撞强度进行交通预警（S240）。该方法能够对危险车辆（103）进行有效预警，提高安全辅助驾驶的可靠性。

Description

交通预警方法、装置及计算机存储介质
本申请要求于2020年10月21日提交中国专利局、申请号为2020111310882、申请名称为“交通预警方法、装置及计算机存储介质”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
本申请涉及车联网技术领域，具体涉及交通预警技术。
背景技术
“两客一危”是指从事旅游的包车、三类以上班线客车和运输危险化学品、烟花爆竹、民用爆炸物品的道路专用车辆，此类型的车辆一旦卷入交通事故，其后果非常严重。如何对此类型车辆进行有效预警，是实现安全辅助驾驶所要解决的关键问题。
发明内容
本申请实施例提供一种交通预警方法、装置及计算机存储介质，能够对危险车辆进行有效预警，提高安全辅助驾驶的可靠性。
第一方面，提供了一种交通预警方法，由计算机设备执行，包括：获取目标道路上危险车辆的行驶状况信息、以及目标道路的路面状况信息；根据目标道路上第一车辆的行驶状况信息、危险车辆的行驶状况信息以及目标道路的路面状况信息，确定危险车辆对第一车辆的潜在碰撞强度；根据危险车辆的性能参数和目标道路上非危险车辆的性能参数的差异，对危险车辆对第一车辆的潜在碰撞强度进行修正；根据修正后的危险车辆对第一车辆的潜在碰撞强度进行交通预警。
第二方面，提供了一种交通预警方法，包括：目标道路上的第二车辆向目标道路上的第一车辆发送第二车辆的性能参数，第二车辆的性能参数用于第一车辆进行交通预警；其中，性能参数包括以下至少一项：第二车辆的定位精度、第二车辆相对于第一车辆的通信延时、第二车辆的行驶状况信息和行驶状况信息的总信息量、第二车辆的已使用时长和额度使用寿命。
第三方面，提供了一种交通预警装置，包括：获取单元，用于获取目标道路上危险车辆的行驶状况信息、以及目标道路的路面状况信息；确定单元，用于根据目标道路上第一车辆的行驶状况信息、危险车辆的行驶状况信息以及目标道路的路面状况信息，确定危险车辆对第一车辆的潜在碰撞强度；修正单元，用于根据危险车辆的性能参数和目标道路上非危险车辆的性能参数的差异，对危险车辆对第一车辆的潜在碰撞强度进行修正；预警单元，用于根据修正后的危险车辆对第一车辆的潜在碰撞强度进行交通预警。
第四方面，提供了一种交通预警装置，所述装置包括在第二车辆中，所 述装置包括：通信单元，用于向第一车辆发送第二车辆的性能参数，第二车辆的性能参数用于第一车辆进行交通预警；其中，第二车辆的性能参数包括以下至少一项：第二车辆的定位精度、第二车辆相对于第一车辆的通信延时、第二车辆的行驶状况信息和行驶状况信息的总信息量、第二车辆的已使用时长和额度使用寿命。
第五方面，提供了一种计算机设备，包括：通信总线、处理器、通信接口和存储器，所述处理器、所述通信接口和所述存储器通过所述通信总线相互连接，其中，所述存储器用于存储程序代码，所述处理器被配置为调用所述程序代码，执行如上述第一方面或第二方面的方法。
第六方面，提供了一种交通预警系统，包括：第三方面中的交通预警装置以及第四方面中的交通预警装置；或者，第五方面中的计算机设备以及第六方面中的计算机设备。
第七方面，提供了一种计算机存储介质，所述计算机存储介质存储有计算机程序，所述计算机程序包括程序指令，所述程序指令当被处理器执行时使所述处理器执行如上述第一方面或第二方面的方法。
第八方面，提供了一种计算机程序产品，包括指令，当其在计算机上运行时，使得计算机执行如上述第一方面或第二方面的方法。
本申请实施例的交通预警方法，可以根据危险车辆的行驶状况信息预估该危险车辆对其他车辆的潜在碰撞强度，并且进一步根据该危险车辆的性能参数和非危险车辆的性能参数的差异，修正该危险车辆对其他车辆的潜在碰撞强度，进而根据修正后的该危险车辆的潜在碰撞强度进行交通预警，有利于提升预警的准确率，降低虚警率，实现对危险车辆进行有效预警，提高安全辅助驾驶的可靠性。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是适用于本申请实施例的系统结构框图；
图2是本申请实施例提供的交通预警方法的示意性流程图；
图3是本申请实施例提供的通信延时的确定方式的示意性交互图；
图4是本申请另一实施例提供的交通预警方法的示意性流程图；
图5是本申请实施例提供的交通预警装置的结构示意图；
图6是本申请实施例提供的交通预警装置的结构示意图；
图7是本申请实施例提供的交通预警装置的结构示意图；
图8是本申请实施例提供的交通预警装置的结构示意图；
图9是本申请实施例提供的交通预警系统的结构示意图。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
为了更好的理解本申请实施例，下面先对本申请实施例适用的系统构架进行描述。
参见图1，图1是适用于本申请实施例提供的交通预警方法的系统构架示意图。如图1所示，系统构架100可以包括一个或多个服务器101、多个车辆，例如普通车辆(或称非危险车辆)102，危险车辆103。系统构架100中的车辆可以与服务器101进行通信。例如，通过有线、无线通信链路或者光纤电缆等方式进行通信。
需要说明的是，危险车辆103例如可以为两客一危车辆，或者也可以是其他比普通车辆的危险程度更高的车辆，本申请并不限于此。
应理解，图l中系统构架100包括的车辆和服务器的数量仅仅是示例性的。根据实现需要，系统构架100可以包括任意数目的车辆和服务器。
服务器101可以是提供相关交通服务的服务器，例如，该服务器101可以获取道路上的车辆数据，并对车辆数据进行分析处理以进行交通预警、路径规划等。例如，可以将分析结果展示于用于呈现实时交通情况的任何平台或产品中，如数字大屏、地图服务应用、打车软件、物流调度系统等等，或者也可以在用户的终端(例如车载电脑)及时动态地显示车辆周围的危险车辆信息，方便用户规划路线。
用户可以使用终端与服务器101进行交互，以接收或发送消息等。例如，终端上可以安装并运行相关的客户端(Client)。客户端(例如地图服务客户端等)是指与服务器101相对应，为用户提供相关交通服务的程序，该相关交通服务包括但不限于：车辆的潜在碰撞强度分析、交通预警、路径规划。
客户端例如包括但不限于：本地运行的应用程序、运行于网络浏览器上的功能(又称为Web App)、嵌入于电子邮件中的小程序、嵌入于即时通讯客户端软件中的小程序，以及嵌入在其他应用程序中的功能(如开发者或商家基于公众平台上申请的应用账号)等。对于客户端，服务器101上需要运行有相应的服务器端程序来提供相应的服务，如数据库服务，数据计算、决策执行等等。用户使用终端可以在相应平台上进行与交通服务相关的操作，例如，执行获取危险车辆的潜在碰撞强度，路径规划等操作。
本申请实施例中的终端可以包括但不限于任何一种基于智能操作系统的车载或手持型电子产品，其可以通过键盘、虚拟键盘、触摸板、触摸屏以及声控设备等输入部件，与用户进行人机交互，该终端诸如智能手机、平板电 脑、个人电脑等。其中，智能操作系统包括但不限于任何通过向移动设备提供移动应用来丰富设备功能的操作系统，例如安卓(Android)、IOS、Windows Phone等。
如前所述，“两客一危”车辆的危险程度相对于普通车辆的危险程度更高，此类车辆一旦发生交通事故，所造成的后果非常严重，因此，如何对此类车辆进行有效预警是目前亟待解决的问题。
有鉴于此，本申请提供了一种技术方案，可以获取危险车辆的行驶状况信息，基于该行驶状况信息预估该危险车辆的潜在碰撞强度，并进一步根据该危险车辆的性能参数和非危险车辆的性能参数的差异，修正该危险车辆的潜在碰撞强度，根据修正后的该危险车辆的潜在碰撞强度进行交通预警，从而实现对危险车辆的有效预警，提升预警的准确率，降低虚警率。
图2为本申请实施例提供的交通预警方法200的示意性流程图。该方法200可以基于图1所示的系统架构实现。
应理解，本申请实施例可以应用于道路上有危险车辆行驶，并且需要对危险车辆进行有效预警的任意场景。作为示例而非限定，可以应用于面向用户(To Customer，To C)的任意应用(Application，App)，例如，即时通讯应用中的小程序，车载应用等，或者，也可以应用于面向企业(To Business，To B)的任意产品中，例如道路运营监控产品，或者道路管理云平台等。
以下，从目标道路上的第一车辆的角度来描述该交通预警方法200。具体地，该方法200的执行主体可以是第一车辆上的计算机设备，例如，车载电脑，或者也可以是能够与该第一车辆进行信息交互的计算机设备，例如，道路管理平台的后台服务器，道路管理平台的后台服务器可以获取用于交通预警的相关信息，并根据这些信息进行交通预警，在需要输出预警信息的情况下，可以向第一车辆发送预警信息，提示第一车辆的驾驶员谨慎驾驶，本申请并不限于此。
参见图2，该方法200可以包括如下至少部分步骤：
S210，获取目标道路上危险车辆的行驶状况信息、以及目标道路的路面状况信息。
在一些实施例中，获取目标道路上危险车辆的行驶状况信息，包括：接收危险车辆发送的自身的行驶状况信息。
具体地，危险车辆行驶到目标道路时，可以向该目标道路上的其他车辆发送自身的行驶状况信息。例如，该危险车辆可以通过车辆之间的通信协议，例如车辆到其他设备(Vehicle to Everything，V2X)协议，发送自身的行驶状况信息。
作为示例而非限定，该危险车辆的行驶状态信息包括以下至少一项：
危险车辆的质量、速度、加速度和位置。
该危险车辆的位置，例如可以为通过全球定位系统(Global Positioning  System，GPS)确定的位置信息，或者也可以通过其他方式确定的位置信息，本申请对此不作限定。
在一些实施例中，获取目标道路的路面状况信息，包括：
通过道路监控设备，例如道路摄像头，获取该目标道路的路面状况信息。
作为示例而非限定，目标道路的路面状况信息包括以下至少一项：
目标道路的路面粘度、路面摩擦系数、道路弯度、能见度。
因为危险车辆造成的交通事故通常非常严重，所以本申请实施例的车辆预警系统对于获取到的危险车辆的数据的准确性、实时性、完整性、使用寿命有非常高的要求。
在本申请一些实施例中，该方法200还包括：
确定目标道路上危险车辆的性能参数。
可选地，在一些实施例中，危险车辆的性能参数包括以下至少一项：危险车辆的定位精度、危险车辆相对于第一车辆的通信延时、第一车辆获知的危险车辆的行驶状况信息的完整度、危险车辆的健康程度。
在本申请一些实施例中，该方法200还包括：
确定目标道路上的非危险车辆的性能参数。
可选地，在一些实施例中，非危险车辆的性能参数包括以下至少一项：非危险车辆的定位精度、非危险车辆相对于第一车辆的通信延时、第一车辆获知的非危险车辆的行驶状况信息的完整度。
以下，具体说明上述性能参数的确定方式。
一、定位精度
危险车辆驶入目标道路后，危险车辆可以向目标道路上的其他车辆发送自身的定位精度。该定位精度可以为该危险车辆所安装的GPS定位装置的定位精度，例如，该定位精度可以保存在该危险车辆的存储器中，具体可通过读取存储器来获取，该危险车辆的定位精度可以记为g dangerous。
类似地，非危险车辆驶入目标道路后，非危险车辆也可以向目标道路上的其他车辆发送自身的定位精度，具体实现方式类似，为便于区分，该非危险车辆的定位精度可以记为g general。
二、通信时延
具体地，当危险车辆驶入目标道路后，该第一车辆可以获取该危险车辆与自身之间的通信延时。
下面结合图3，说明危险车辆和第一车辆之间的通信延时的确定过程。
S201，危险车辆向第一车辆发送第一信息，该第一信息包括第一时间戳。
在一些实施例中，该第一信息可以包括危险车辆的GPS定位精度，该第一时间戳可以为危险车辆发送自身定位精度的时刻。具体地，可以为该危险车辆发送自身定位精度时，该危险车辆的车载时钟的显示时间，记为t dangerous,1。
第一车辆接收到该第一信息后，记录自身接收到该第一信息的时刻，记 为第二时间戳t host,1。
S202，第一车辆向危险车辆发送第二信息，该第二信息的发送时刻记为第三时间戳t host,2，该第二信息包括第二时间戳t host,1和第三时间戳t host,2，或者，也可以包括该第二时间戳t host,1和该第三时间戳t host,2之间的差值t host,2-t host,1，该差值可以理解为第一车辆对于该第一信息的处理时间。
危险车辆接收到该第二信息后，记录自身接收到该第二信息的时刻，记为第四时间戳t dangerous,2。
S203，该危险车辆根据该第一时间戳，第二时间戳，第三时间戳和第四时间戳，确定危险车辆和第一车辆之间的通信延时Δt dangerous。具体为：Δt dangerous＝((t dangerous.2-t host.2)+(t host.1-t dangerous.1))/2。
S204，危险车辆将该通信延时Δt dangerous发送给第一车辆。
进一步地，在危险车辆对第一车辆的驾驶风险进行评估时，参考该通信延时Δt dangerous，从而能够避免因危险车辆的时钟和第一车辆的时钟不同步而影响对驾驶风险的评估。
相类似地，第一车辆也可以按照图3中类似的方式获取非危险车辆和自身之间的通信延时Δt general。
需要说明的是，当上述通信延时的确定过程由该第一车辆中的计算机设备执行时，此时，计算的延时即为第一车辆和其他车辆之间的通信延迟，在另一些实施例中，当上述通信延迟的确定过程，或者方法200的执行过程由第三方计算机设备执行时，该第三方计算机设备可以与该第一车辆上的计算机设备进行信息交互，此情况下，确定的通信延时为该第三方设备与第一车辆之间的通信延迟，相应地，需要对该通信延时进行修改，减去第三方设备和该第一车辆之间的通信延时。
三、行驶状况信息的完整度
具体地，危险车辆在驶入目标道路后，可以向目标道路上的其他车辆(例如，第一车辆)发送自身的行驶状况信息，具体的通信方式参考上文所述，同时该危险车辆还需要告知其他车辆其所发信息的总信息量，该总信息量可以以比特衡量，记为n dangerous。
在一些实现方式中，该危险车辆的行驶状况信息可以从该车辆的仪表盘获取。
进一步地，第一车辆接收到危险车辆发送的行驶状况信息后，统计其接收到的该行驶状况信息的总信息量，同样可以以比特衡量，记为n host。则该第一车辆可以确定接收到危险车辆的行驶状况信息的完整度，记为Δn dangerous＝n host/n dangerous。
相类似地，第一车辆也可以按照类似的方式获取非危险车辆的行驶状况信息的信息完整度，记为Δn general。
四、车辆的健康程度
具体地，危险车辆可以向该目标道路上的其他车辆发送自身的使用寿命相关信息，例如，该危险车辆的已使用时长(记为T already)和额定使用寿命(记为I specified)。其中，该额度使用寿命可以由生产厂商决定，可从生产厂商获取，或者也可以是同类车辆的平均使用寿命。接收到该危险车辆的使用寿命相关信息的车辆，可以根据该危险车辆的使用寿命相关信息评估该危险车辆的健康程度。
因为车辆的使用寿命通常由组成车辆的各电子元器件的使用寿命决定，而电子产品的使用寿命服从指数分布，所以危险车辆的使用寿命也可以认为服从指数分布。在一种实现方式中，假设危险车辆刚出厂时的健康程度为1，则危险车辆当前的“健康”程度P dangerous可以表达为：
Figure PCTCN2021119497-appb-000001
Figure PCTCN2021119497-appb-000002
也即该危险车辆当前还能正常工作第一时长的概率与该危险车辆刚出厂时能正常工作同样时长的概率之比，该第一时长可以为任意时长。
S220，根据目标道路上第一车辆的行驶状况信息、危险车辆的行驶状况信息以及目标道路的路面状况信息，确定危险车辆对第一车辆的潜在碰撞强度。
在一些实施例中，可以将第一车辆的行驶状况信息、危险车辆的行驶状况信息以及目标道路的路面状况信息，均输入至驾驶风险计算模型，通过该驾驶风险计算模型计算危险车辆对第一车辆的潜在碰撞强度，记为E initial。
在一些实施例中，该第一车辆还可以根据第一车辆的行驶状况信息、非危险车辆的行驶状况信息以及目标道路的路面状况信息，确定非危险车辆对第一车辆的潜在碰撞强度。
例如，可以将第一车辆的行驶状况信息、非危险车辆的行驶状况信息以及目标道路的路面状况信息，均输入至驾驶风险计算模型，通过该驾驶风险计算模型计算非危险车辆对第一车辆的潜在碰撞强度，记为E general。
该非危险车辆的行驶状况信息的获取方式可以参考危险车辆的行驶状况信息的获取方式，为了简洁，这里不再赘述。
通过驾驶风险计算模型计算车辆之间的潜在碰撞强度，示例性地可以采 用如下两个公式所示的计算方式：
Figure PCTCN2021119497-appb-000003
Figure PCTCN2021119497-appb-000004
其中，第一个公式的第一项，即
Figure PCTCN2021119497-appb-000005
表示静止的但是可能会与该第一车辆发生碰撞的物体与该第一车辆之间的碰撞强度。第一个公式的第二项，即
Figure PCTCN2021119497-appb-000006
表示静止的不会与该第一车辆发生碰撞、但是会影响该第一车辆的驾驶风险的物体给该第一车辆带来的驾驶风险。
第二个公式表示运动的且会与该第一车辆发生碰撞的物体与该第一车辆之间的驾驶风险。
也就是说，车辆周围的物体可以分为两类：静止的和运动的。静止的物体进一步又可以分为两类：第一类是静止的但是会与该车辆发生碰撞的物体，第二类是静止的不会与该车辆发生碰撞、但是会影响该车辆与其他物体发生碰撞的物体。静止的物体与运动的物体导致的驾驶风险可以分别用第一个公式和二个公式计算。
其中，在上述两个公式中，M表示质量，r表示距离，V表示速度，θ b表示行驶方向，GR表示驾驶员风险因子，R(不论下标)表示路面因素，路面因素例如可以包括路面的粘度、湿度、坡度、温度等。D表示路面的宽度。LT a表示路标类型，例如，取值为1，2，3，4。路标给驾驶员带来的压力越大，LT a的值越大。k1，k2，k3都是常数，例如，k1＝3,k2＝1,k3＝光速。
应理解，在本申请实施例中，驾驶风险可以指车辆之间的碰撞概率或者车辆之间的潜在碰撞强度，也就是说，本申请实施例中的潜在碰撞强度也可以替换为驾驶风险，碰撞概率，或者其他等价的评估参数。
由于危险车辆的性能参数，例如定位精度、通信延时、信息完整度、使 用寿命等，均会给车辆带来额外的驾驶风险，因此，本申请实施例中，该方法200还包括：
S230，根据危险车辆的性能参数和目标道路上非危险车辆的性能参数的差异，对危险车辆对第一车辆的潜在碰撞强度进行修正。
需要说明的是，在本申请实施例中，用于修正危险车辆对于第一车辆的潜在碰撞强度的非危险车辆的性能参数，可以根据该目标道路上行驶的非危险车辆的性能参数确定，例如，可以为该目标道路上行驶的某一辆非危险车辆的性能参数，或者，该目标道路上行驶的非危险车辆的性能参数的平均值。或者，该非危险车辆的性能参数也可以从道路监控服务器获取，例如，道路监控服务器可以对该道路上历史行驶的非危险车辆的性能参数进行统计平均，得到非危险车辆的性能参数，本申请对于该非危险车辆的性能参数的获取方式不作具体限定。
由于危险车辆和非危险车辆的性能参数存在差异，因此导致二者带来的驾驶风险存在差异，根据危险车辆和目标道路上的非危险车辆的性能参数的差异，对危险车辆对于第一车辆的潜在碰撞强度进行修正，能够提升所评估的潜在碰撞强度的准确率，从而进一步能够提升预警的准确率。
在一种实现方式中，可以根据危险车辆和非危险车辆的定位精度的之间差异、危险车辆和非危险车辆各自相对于第一车辆的通信延时之间的差异、危险车辆和非危险车辆各自的行驶状态信息的完整度之间的差异、以及危险车辆的健康程度中的至少一项，对危险车辆对第一车辆的潜在碰撞强度进行修正。
例如，可以根据如下公式，对危险车辆对第一车辆的潜在碰撞强度进行修正：
Figure PCTCN2021119497-appb-000007
其中，E dangerous为修正后的危险车辆对第一车辆的潜在碰撞强E initial为修正前的所述危险车辆对第一车辆的潜在碰撞强度，p dangerous为危险车辆的健康程度，g general为非危险车辆的GPS定位精度，g dangerous为危险车辆的定位精度，Δt general为非危险车辆相对于所述第一车辆的通信延时，Δt dangerous为危险车辆相对于第一车辆的通信延时，Δn general为所述非危险车辆的行驶状态信息的信息完整度，Δn dangerous为危险车辆的行驶状态信息的信息完整度。
S240，根据修正后的危险车辆对第一车辆的潜在碰撞强度进行交通预警。
在一些实施例中，若修正后的危险车辆对第一车辆的潜在碰撞强度大于第一阈值，则输出预警信息，否则，不输出预警信息。
可选地，该第一阈值可以为历史上危险车辆对第一车辆的潜在碰撞强度的平均值，最小值等。当该第一车辆周围的危险车辆对其的潜在碰撞强度大于该第一阈值时，可以向车内用户提示“危险车辆带给本车的潜在碰撞强度已经超过历史平均水平，请谨慎驾驶”。
在本申请一些实施例中，根据修正后的危险车辆对第一车辆的潜在碰撞强度进行交通预警，包括：
根据修正后的危险车辆对第一车辆的潜在碰撞强度与非危险车辆对第一车辆的潜在碰撞强度之间的差异，结合危险车辆导致的历史车均经济损失(记为C dangerous)和非危险车辆导致的历史车均经济损失(记为C general)的之间差异，进行交通预警。
由于危险车辆造成的交通事故通常更为严重，导致的经济损失也更大，为了保证危险车辆导致的经济损失不超过历史水平，可以综合考虑危险车辆导致的历史经济损失进行交通预警。
例如，可以确定修正后的危险车辆对第一车辆的潜在碰撞强度与非危险车辆对第一车辆的潜在碰撞强度的比值，作为第一比值，即E dangerous/E general；并且确定危险车辆导致的历史车均经济损失与非危险车辆导致的历史车均经济损失的比值，作为第二比值，即C dangerous/C general；若上述第一比值大于上述第二比值，即E dangerous/E general＞C dangerous/C general，则输出预警信息。
其中，该危险车辆导致的历史车均经济损失C dangerous和非危险车辆导致的历史车均经济损失C general，可以从道路监控服务器(或者说，交通管理平台、道路管理云平台)获取。具体地，道路监控服务器可以统计历史上危险车辆导致的交通事故的经济损失，然后根据总经济损失对交通事故总次数做平均，得到所述C dangerous，以及统计历史上非危险车辆导致的交通事故的经济损失，然后根据总经济损失和交通事故总次数做平均，得到所述C general。
表1是相关技术中的交通预警的漏报率和虚警率和基于本申请实施例的交通预警的漏报率和虚警率的对比表。
表1
Figure PCTCN2021119497-appb-000008
Figure PCTCN2021119497-appb-000009
由表1可以看出，本申请实施例的交通预警方法明显降低了漏报率，减少了由于漏报而导致的交通事故，并且降低了虚警率，提升了用户体验。
本申请实施例的交通预警方法，可以根据危险车辆的行驶状况信息预估该危险车辆的潜在碰撞强度，进一步根据该危险车辆的性能参数和非危险车辆的性能参数的差异，修正该危险车辆的潜在碰撞强度，根据修正后的该危险车辆的潜在碰撞强度进行交通预警，从而提升预警的准确率，降低虚警率。
结合图4，说明根据本申请另一实施例的交通预警方法，如图4所示，该方法400包括：
S410，目标道路上第二车辆向目标道路上第一车辆发送第二车辆的性能参数，第二车辆的性能参数用于辅助第一车辆进行交通预警。
具体地，该方法400的执行主体例如可以是第二车辆上的计算机设备，例如，车载电脑，或者也可以是能够与该第二车辆进行信息交互的计算机设备，本申请并不限于此。
在本申请实施例中，该第一车辆和第二车辆可以为目标道路上的任意车辆，当第二车辆驶入该目标道路后，可以向该目标道路上的其他车辆，例如第一车辆，发送该自身性能参数，以供第一车辆根据该性能参数估计该第二车辆对该第一车辆的潜在碰撞强度，并进一步进行交通预警。
具体实现过程可以参考图2和图3所示方法实施例中的相关描述，这里不再赘述。
在一些实施例，第二车辆的性能参数包括以下中的至少一项：第二车辆的定位精度、第二车辆相对于第一车辆的通信延时、第二车辆的行驶状况信息和行驶状况信息的总信息量、第二车辆的已使用时长和额度使用寿命。
可选地，在一些实施例中，该方法400包括：
第二车辆向第一车辆发送第一信息，第一信息包括第一时间戳，第一时间戳为第二车辆发送第一信息的时刻；
第二车辆接收第一车辆发送的第二信息，第二信息包括第二时间戳和第三时间戳，第二时间戳为第一车辆接收第一信息的时刻，第三时间戳为第一车辆发送第二信息的时刻；
第二车辆根据第一时间戳、第二时间戳、第三时间戳和第四时间戳，确定第二车辆相对于第一车辆的通信延时，其中，第四时间戳为第二车辆接收第二信息的时刻。
具体实现过程参考图3所示实施例的相关描述，这里不再赘述。
上文结合图2至图4，详细描述了本申请的方法实施例，下文结合图5至图9，详细描述本申请的装置实施例，应理解，装置实施例与方法实施例相互对应，类似的描述可以参照方法实施例。
图5是根据本申请实施例的一种交通预警装置的示意性结构图，如图5所示，该交通预警装置500可以包括：
获取单元510，用于获取目标道路上危险车辆的行驶状况信息、以及目标道路的路面状况信息；
确定单元520，用于根据目标道路上第一车辆的行驶状况信息、危险车辆的行驶状况信息以及目标道路的路面状况信息，确定危险车辆对第一车辆的潜在碰撞强度；
修正单元530，用于根据危险车辆的性能参数和目标道路上非危险车辆的性能参数的差异，对危险车辆对第一车辆的潜在碰撞强度进行修正；
预警单元540，用于根据修正后的危险车辆对第一车辆的潜在碰撞强度进行交通预警。
可选地，在一些实施例中，该交通预警装置500可以设置在该第一车辆中，或者该交通预警装置500为能够与该第一车辆进行信息交互的第三方设备。
作为一个示例，该交通预警装置500例如可以为车载终端，包括但不限于计算机等。
可选地，在一些实施例中，确定单元520还用于：
确定目标道路上危险车辆的性能参数，以及确定目标道路上非危险车辆的性能参数；
其中，危险车辆的性能参数包括以下中的至少一项：
危险车辆的定位精度、危险车辆相对于第一车辆的通信延时、第一车辆获知的危险车辆的行驶状况信息的完整度、危险车辆的健康程度；
非危险车辆的性能参数包括以下中的至少一项：
非危险车辆的定位精度、非危险车辆相对于第一车辆的通信延时、第一车辆获知的非危险车辆的行驶状况信息的完整度。
可选地，在一些实施例中，当危险车辆的性能参数包括危险车辆相对于第一车辆的通信延时时，该交通预警装置500还包括：
通信单元，用于接收危险车辆发送的第一信息，第一信息包括第一时间戳，第一时间戳为危险车辆发送第一信息的时刻；以及，向危险车辆发送第二信息，第二信息包括第二时间戳和第三时间戳，第二时间戳为第一车辆接收第一信息的时刻，第三时间戳为第一车辆发送第二信息的时刻；以及，接收危险车辆发送的危险车辆相对于第一车辆的通信延时信息，其中，通信延时信息是根据第一时间戳、第二时间戳、第三时间戳和第四时间戳确定的，其中，第四时间戳为危险车辆接收第二信息的时刻。
可选地，在一些实施例中，当危险车辆的性能参数包括第一车辆获知的危险车辆的行驶状况信息的完整度时，该交通预警装置500还包括：
通信单元，用于接收危险车辆发送的行驶状态信息以及第一信息量，第一信息量为危险车辆发送的行驶状态信息的总信息量；
确定单元520还用于：根据接收到的危险车辆发送的行驶状态信息的信息量和第一信息量，确定第一车辆接收到的危险车辆的行驶状态信息的完整度。
可选地，在一些实施例中，当非危险车辆的性能参数包括第一车辆获知的非危险车辆的行驶状况信息的完整度时，该交通预警装置500还包括：
通信单元，用于接收非危险车辆发送的行驶状态信息以及第二信息量，第二信息量为非危险车辆发送的行驶状态信息的总信息量；
确定单元520，还用于根据接收到的非危险车辆发送的行驶状态信息的信息量和第二信息量，确定第一车辆接收到的非危险车辆的行驶状态信息的完整度。
可选地，在一些实施例中，危险车辆的性能参数包括危险车辆的健康程度，该交通预警装置500还包括：
通信单元，用于接收危险车辆发送的已使用时长和额定使用寿命；
确定单元520还用于：根据危险车辆的已使用时长和额定使用寿命，确定危险车辆当前的健康程度。
可选地，在一些实施例中，确定单元520具体用于：
根据如下公式，确定危险车辆当前的健康程度：
Figure PCTCN2021119497-appb-000010
其中，P dangerous表示危险车辆当前的健康程度，T alreay表示危险车辆的已使用时长，T specified表示危险车辆的额定使用寿命。
可选地，在一些实施例中，修正单元530还用于：
根据所述危险车辆和所述非危险车辆的定位精度之间的差异、所述危险车辆和所述非危险车辆各自相对于所述第一车辆的通信延时之间的差异、所述危险车辆和所述非危险车辆各自的行驶状态信息的完整度之间的差异、以及所述危险车辆的健康程度中的至少一项，对所述危险车辆对所述第一车辆的潜在碰撞强度进行修正。
可选地，在一些实施例中，修正单元530具体用于：
根据如下公式，对危险车辆对第一车辆的潜在碰撞强度进行修正：
Figure PCTCN2021119497-appb-000011
其中，E dangerous为修正后的危险车辆对第一车辆的潜在碰撞强度，E initial 为修正前的危险车辆对第一车辆的潜在碰撞强度，p dangerous为危险车辆的健康程度，g general为非危险车辆的定位精度，g dangerous为危险车辆的定位精度，Δt general为非危险车辆相对于第一车辆的通信延时，Δt dangerous为危险车辆相对于第一车辆的通信延时，Δn general为非危险车辆的行驶状态信息的信息完整度，Δn dangerous为危险车辆的行驶状态信息的信息完整度。
可选地，在一些实施例中，预警单元540具体用于：
根据修正后的危险车辆对第一车辆的潜在碰撞强度与非危险车辆对第一车辆的潜在碰撞强度之间的差异，结合危险车辆导致的历史车均经济损失与非危险车辆导致的历史车均经济损失之间的差异，进行交通预警。
可选地，在一些实施例中，预警单元540具体用于：
确定修正后的所述危险车辆对所述第一车辆的潜在碰撞强度与所述非危险车辆对所述第一车辆的潜在碰撞强度之间的比值，作为第一比值；确定危险车辆导致的历史车均经济损失与非危险车辆导致的历史车均经济损失之间的比值，作为第二比值；
若所述第一比值大于所述第二比值，输出预警信息。
可选地，在一些实施例中，确定单元520具体用于：
通过驾驶风险计算模型，根据第一车辆的行驶状况信息、危险车辆的行驶状况信息以及目标道路的路面状况信息，确定危险车辆对第一车辆的潜在碰撞强度。
可选地，在一些实施例中，确定单元520还用于：
通过驾驶风险计算模型，根据第一车辆的行驶状况信息、非危险车辆的行驶状况信息以及目标道路的路面状况信息，确定非危险车辆对第一车辆的潜在碰撞强度。
可选地，在一些实施例中，危险车辆的行驶状态信息包括以下至少一项：危险车辆的质量、速度、加速度和位置。
可选地，在一些实施例中，目标道路的路面状况信息包括以下至少一项：目标道路的路面粘度、路面摩擦系数、道路弯度、能见度。
需要说明的是，本申请实施例提供的交通预警装置500中各单元的功能可对应参考上述各方法实施例中图2至图3任意实施例的具体实现方式，这里不再赘述。交通预警装置500例如可以为车载终端，包括但不限于计算机等。
图6是根据本申请实施例的一种交通预警装置的示意性结构图，该交通预警装置600可以设置在该第二车辆中，或者该交通预警装置600为能够与该第二车辆进行信息交互的第三方设备。
如图6所示，该交通预警装置600可以包括：
通信单元610，用于向第一车辆发送第二车辆的性能参数，第二车辆的性能参数用于第一车辆进行交通预警；
其中，性能参数包括以下至少一项：
第二车辆的定位精度、第二车辆相对于第一车辆的通信延时、第二车辆的行驶状况信息和行驶状况信息的总信息量、第二车辆的已使用时长和额度使用寿命。
需要说明的是，本申请实施例提供的交通预警装置600中各单元的功能可对应参考图4所示实施例的具体实现方式，这里不再赘述。作为一个示例，该交通预警装置600例如可以为车载终端，包括但不限于计算机等。
图7为本申请实施例提供的用于交通预警的计算机设备的示意性结构图，如图7所示，该计算机设备700可以包括：通信接口701，存储器702，处理器703和通信总线704。通信接口701，存储器702，处理器703通过通信总线704实现相互间的通信。通信接口701用于交通预警装置700与外部设备进行数据通信。存储器702可用于存储软件程序以及模块，处理器703通过运行存储在存储器702的软件程序以及模块，例如，图2至图3所示方法实施例中的相应操作的软件程序。
具体地，该处理器703可以调用存储在存储器702的软件程序以及模块，以执行如下操作：获取目标道路上危险车辆的行驶状况信息、以及目标道路的路面状况信息；根据目标道路上第一车辆的行驶状况信息、危险车辆的行驶状况信息以及目标道路的路面状况信息，确定危险车辆对第一车辆的潜在碰撞强度；根据危险车辆的性能参数和目标道路上非危险车辆的性能参数的差异，对危险车辆对第一车辆的潜在碰撞强度进行修正；根据修正后的危险车辆对第一车辆的潜在碰撞强度进行交通预警。
图8为本申请实施例提供的用于交通预警的计算机设备的又一示意性结构图，如图8所示，该计算机设备800可以包括：通信接口801，存储器802，处理器803和通信总线804。通信接口801，存储器802，处理器803通过通信总线804实现相互间的通信。通信接口801用于交通预警装置800与外部设备进行数据通信。存储器802可用于存储软件程序以及模块，处理器803通过运行存储在存储器802的软件程序以及模块，例如，图4所示方法实施例中的相应操作的软件程序。
具体地，该处理器803可以调用存储在存储器802的软件程序以及模块，控制通信接口801以执行如下操作：向目标道路上的第一车辆发送其自身的性能参数，其中，性能参数包括以下至少一种：定位精度、自身相对于第一车辆的通信延时、行驶状况信息和行驶状况信息的总信息量、已使用时长和额度使用寿命。
图9是本申请实施例提供的交通预警系统900的结构示意图，参照图9， 该交通预警系统900可以包括：交通预警装置910和交通预警装置920，其中，该交通预警装置910可以为图5中的交通预警装置500或图7中的计算机设备700，该交通预警装置920可以为图6中的交通预警装置600或图8中的计算机设备800。具体实现可以参考前文中的相关描述，这里不再赘述。
本申请实施例还提供了一种计算机可读存储介质，用于存储计算机程序。该计算机可读存储介质可应用于计算机设备，并且该计算机程序使得计算机设备执行本申请实施例的中的交通预警方法中的相应流程，为了简洁，在此不再赘述。
应理解，本申请实施例的处理器可能是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法实施例的各步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器可以是通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本申请实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成上述方法的步骤。
可以理解，本申请实施例中的存储器可以是易失性存储器或非易失性存储器，或可包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(Read-Only Memory，ROM)、可编程只读存储器(Programmable ROM，PROM)、可擦除可编程只读存储器(Erasable PROM，EPROM)、电可擦除可编程只读存储器(Electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(Random Access Memory，RAM)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如静态随机存取存储器(Static RAM，SRAM)、动态随机存取存储器(Dynamic RAM，DRAM)、同步动态随机存取存储器(Synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(Double Data Rate SDRAM，DDR SDRAM)、增强型同步动态随机存取存储器(Enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(Synchlink DRAM，SLDRAM)和直接内存总线随机存取存储器(Direct Rambus RAM，DR RAM)。应注意，本文描述的系统和方法的存储器旨在包括但不限于这些和任意其它适合类型的存储器。
应理解，上述存储器为示例性但不是限制性说明，例如，本申请实施例 中的存储器还可以是静态随机存取存储器(static RAM，SRAM)、动态随机存取存储器(dynamic RAM，DRAM)、同步动态随机存取存储器(synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(double data rate SDRAM，DDR SDRAM)、增强型同步动态随机存取存储器(enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(synch link DRAM，SLDRAM)以及直接内存总线随机存取存储器(Direct Rambus RAM，DR RAM)等等。也就是说，本申请实施例中的存储器旨在包括但不限于这些和任意其它适合类型的存储器。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
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，所述单元的划分，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。
所述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。
所述功能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)执行本申请各个实施例所述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、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应所述以权利要求的保护范围为准。

Claims (14)

  1. 一种交通预警方法，由计算机设备执行，包括：
    获取目标道路上危险车辆的行驶状况信息、以及所述目标道路的路面状况信息；
    根据所述目标道路上第一车辆的行驶状况信息、所述危险车辆的行驶状况信息以及所述目标道路的路面状况信息，确定所述危险车辆对所述第一车辆的潜在碰撞强度；
    根据所述危险车辆的性能参数和所述目标道路上非危险车辆的性能参数的差异，对所述危险车辆对所述第一车辆的潜在碰撞强度进行修正；
    根据修正后的所述危险车辆对所述第一车辆的潜在碰撞强度进行交通预警。
  2. 根据权利要求1所述的方法，所述方法还包括：
    确定所述危险车辆的性能参数，以及确定所述非危险车辆的性能参数；
    其中，所述危险车辆的性能参数包括以下至少一项：
    所述危险车辆的定位精度、所述危险车辆相对于所述第一车辆的通信延时、所述第一车辆获知的所述危险车辆的行驶状况信息的完整度、所述危险车辆的健康程度；
    所述非危险车辆的性能参数包括以下至少一项：
    所述非危险车辆的定位精度、所述非危险车辆相对于所述第一车辆的通信延时、所述第一车辆获知的所述非危险车辆的行驶状况信息的完整度。
  3. 根据权利要求2所述的方法，当所述危险车辆的性能参数包括所述第一车辆获知的所述危险车辆的行驶状况信息的完整度时，所述确定所述危险车辆的性能参数，包括：
    通过所述第一车辆接收所述危险车辆发送的行驶状态信息以及第一信息量，所述第一信息量为所述危险车辆发送的所述行驶状态信息的总信息量；
    通过所述第一车辆根据其接收到的所述危险车辆发送的行驶状态信息的信息量和所述第一信息量，确定所述第一车辆接收到的所述危险车辆的行驶状态信息的完整度；
    当所述非危险车辆的性能参数包括所述第一车辆获知的所述非危险车辆的行驶状况信息的完整度时，所述确定所述非危险车辆的性能参数，包括：
    通过所述第一车辆接收所述非危险车辆发送的行驶状态信息以及第二信息量，所述第二信息量为所述非危险车辆发送的所述行驶状态信息的总信息量；
    通过所述第一车辆根据其接收到的所述非危险车辆发送的行驶状态信息的信息量和所述第二信息量，确定所述第一车辆接收到的所述非危险车辆的行驶状态信息的完整度。
  4. 根据权利要求2所述的方法，当所述危险车辆的性能参数包括所述危 险车辆的健康程度时，所述确定所述目标道路上的所述危险车辆的性能参数，包括：
    接收所述危险车辆发送的已使用时长和额定使用寿命；
    根据所述危险车辆的已使用时长和额定使用寿命，确定所述危险车辆当前的健康程度。
  5. 根据权利要求2-4中任一项所述的方法，所述根据所述危险车辆和所述目标道路上非危险车辆的性能参数的差异，对所述潜在碰撞强度进行修正，包括：
    根据所述危险车辆和所述非危险车辆的定位精度之间的差异、所述危险车辆和所述非危险车辆各自相对于所述第一车辆的通信延时之间的差异、所述危险车辆和所述非危险车辆各自的行驶状态信息的完整度之间的差异、以及所述危险车辆的健康程度中的至少一项，对所述潜在碰撞强度进行修正。
  6. 根据权利要求1-4中任一项所述的方法，所述根据修正后的所述危险车辆对所述第一车辆的潜在碰撞强度进行交通预警，包括：
    根据修正后的所述危险车辆对所述第一车辆的潜在碰撞强度与所述非危险车辆对所述第一车辆的潜在碰撞强度之间的差异，结合危险车辆导致的历史车均经济损失与非危险车辆导致的历史车均经济损失之间的差异，进行交通预警。
  7. 根据权利要求6所述的方法，所述根据修正后的所述危险车辆对所述第一车辆的潜在碰撞强度与所述非危险车辆对所述第一车辆的潜在碰撞强度之间的差异，结合危险车辆导致的历史车均经济损失与非危险车辆导致的历史车均经济损失之间的差异，进行交通预警，包括：
    确定修正后的所述危险车辆对所述第一车辆的潜在碰撞强度与所述非危险车辆对所述第一车辆的潜在碰撞强度之间的比值，作为第一比值；确定危险车辆导致的历史车均经济损失与非危险车辆导致的历史车均经济损失之间的比值，作为第二比值；
    若所述第一比值大于所述第二比值，输出预警信息。
  8. 根据权利要求1-4中任一项所述的方法，所述根据所述目标道路上第一车辆的行驶状况信息、所述危险车辆的行驶状况信息以及所述目标道路的路面状况信息，确定所述危险车辆对所述第一车辆的潜在碰撞强度，包括：
    通过驾驶风险计算模型，根据所述第一车辆的行驶状况信息、所述危险车辆的行驶状况信息以及所述目标道路的路面状况信息，确定所述危险车辆对所述第一车辆的潜在碰撞强度。
  9. 根据权利要求1所述的方法，所述危险车辆的行驶状态信息包括以下至少一项：
    所述危险车辆的质量、速度、加速度和位置。
  10. 根据权利要求1所述的方法，其特征在于，所述目标道路的路面状 况信息包括以下至少一项：
    所述目标道路的路面粘度、路面摩擦系数、道路弯度、能见度。
  11. 一种交通预警装置，包括：
    获取单元，用于获取目标道路上危险车辆的行驶状况信息、以及所述目标道路的路面状况信息；
    确定单元，用于根据所述目标道路上第一车辆的行驶状况信息、所述危险车辆的行驶状况信息以及所述目标道路的路面状况信息，确定所述危险车辆对所述第一车辆的潜在碰撞强度；
    修正单元，用于根据所述危险车辆的性能参数和所述目标道路上非危险车辆的性能参数的差异，对所述危险车辆对所述第一车辆的潜在碰撞强度进行修正；
    预警单元，用于根据修正后的所述危险车辆对所述第一车辆的潜在碰撞强度进行交通预警。
  12. 一种计算机设备，包括：通信总线、处理器、通信接口和存储器，所述处理器、所述通信接口和所述存储器通过所述通信总线相互连接，其中，所述存储器用于存储程序代码，所述处理器被配置用于调用所述程序代码，执行如权利要求1-10任一项所述的方法。
  13. 一种计算机存储介质，用于存储计算机程序，所述计算机程序包括程序指令，所述程序指令当被计算机执行时使得计算机执行如权利要求1至10中任一项所述的方法。
  14. 一种计算机程序产品，包括指令，当其在计算机上运行时，使得计算机执行权利要求1-10任一项所述的方法。
PCT/CN2021/119497 2020-10-21 2021-09-22 交通预警方法、装置及计算机存储介质 WO2022083381A1 (zh)

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