WO2025002192A1 - 车辆环境感知的预警方法、装置、服务器及车辆 - Google Patents

车辆环境感知的预警方法、装置、服务器及车辆 Download PDF

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Publication number
WO2025002192A1
WO2025002192A1 PCT/CN2024/101709 CN2024101709W WO2025002192A1 WO 2025002192 A1 WO2025002192 A1 WO 2025002192A1 CN 2024101709 W CN2024101709 W CN 2024101709W WO 2025002192 A1 WO2025002192 A1 WO 2025002192A1
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WIPO (PCT)
Prior art keywords
target
warning
collision
current vehicle
information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2024/101709
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English (en)
French (fr)
Inventor
郝家余
吴超
董道文
池发玉
臧金雪
蒲恒
陈东
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chery Automobile Co Ltd
Lion Automotive Technology Nanjing Co Ltd
Wuhu Lion Automotive Technologies Co Ltd
Original Assignee
Chery Automobile Co Ltd
Lion Automotive Technology Nanjing Co Ltd
Wuhu Lion Automotive Technologies Co Ltd
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Application filed by Chery Automobile Co Ltd, Lion Automotive Technology Nanjing Co Ltd, Wuhu Lion Automotive Technologies Co Ltd filed Critical Chery Automobile Co Ltd
Publication of WO2025002192A1 publication Critical patent/WO2025002192A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • G08B—SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/18—Status alarms
    • G08B21/24—Reminder alarms, e.g. anti-loss alarms
    • 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

Definitions

  • the present application relates to the field of vehicle environment perception technology, and in particular to a vehicle environment perception early warning method, device, server and vehicle.
  • the surrounding environment information of the vehicle is collected by traditional sound collection equipment or image collection equipment, and the vehicle is warned based on the collected information.
  • the present application provides a vehicle environment perception warning method, device, server and vehicle to solve the problem that there is a lag in the warning reminder for vehicle driving safety in the related technology, so that the user cannot take timely driving remedial actions when traffic hazards occur.
  • the first warning strategy is sent to the current vehicle to control the current vehicle to issue a warning according to the first warning strategy.
  • the method after receiving the motion information, type information and location information of at least one target uploaded by the current vehicle, the method further includes:
  • the location information corresponding to the static target and the type information corresponding to the static target are sent to the obstacle clearing platform.
  • the obstacle clearing platform after sending the location information corresponding to the static target and the type information corresponding to the static target to the obstacle clearing platform, it also includes:
  • the control of the current vehicle to issue a warning according to the first warning strategy is stopped.
  • the method further includes:
  • the second warning strategy is sent to the remaining vehicles to control the remaining vehicles to issue warnings according to the second warning strategy.
  • the above-mentioned vehicle environment perception warning method further includes:
  • a warning is given through a preset acoustic reminder device or a preset optical reminder device;
  • an early warning is issued simultaneously through a preset acoustic reminder device and a preset optical reminder device.
  • the motion information, type information and location information of at least one target uploaded by the current vehicle are received, and based on the type information and location information, the collision target that meets the first preset collision risk condition and its corresponding first warning strategy are screened according to the motion information, and sent to the current vehicle to control the current vehicle to issue a warning according to the first warning strategy.
  • the problem that the warning reminder for vehicle driving safety in the related technology is delayed, so that the user cannot make driving remedial actions in time when traffic hazards occur is solved.
  • the road management platform and the cloud warning system the static obstacles and dynamic obstacles around the vehicle are detected in real time based on the environmental perception system, so that road warning information is provided to the user to ensure the user's driving safety.
  • an embodiment of the present application provides a warning device for vehicle environment perception, including:
  • a receiving module used to receive motion information, type information and location information of at least one target uploaded by the current vehicle
  • a screening module configured to screen out a collision target that meets a first preset collision risk condition and a first warning strategy corresponding to the collision target according to the motion information based on the type information and the position information;
  • a control module is used to send the first warning strategy to the current vehicle to control the current vehicle to issue a warning according to the first warning strategy.
  • the receiving module after receiving the motion information, type information and location information of at least one target uploaded by the current vehicle, the receiving module is further used to:
  • the location information corresponding to the static target and the type information corresponding to the static target are sent to the obstacle clearing platform.
  • the receiving module after sending the position information corresponding to the static target and the type information corresponding to the static target to the obstacle clearing platform, the receiving module is further used to:
  • the control of the current vehicle to issue a warning according to the first warning strategy is stopped.
  • the screening module is further used to:
  • the second warning strategy is sent to the remaining vehicles to control the remaining vehicles to issue warnings according to the second warning strategy.
  • the above-mentioned vehicle environment perception warning device is also used for:
  • a warning is given through a preset acoustic reminder device or a preset optical reminder device;
  • an early warning is issued simultaneously through a preset acoustic reminder device and a preset optical reminder device.
  • the motion information, type information and location information of at least one target uploaded by the current vehicle are received, and based on the type information and location information, the collision target that meets the first preset collision risk condition and its corresponding first warning strategy are screened according to the motion information, and sent to the current vehicle to control the current vehicle to issue a warning according to the first warning strategy.
  • the problem that the warning reminder for vehicle driving safety in the related technology is delayed, so that the user cannot make driving remedial actions in time when traffic hazards occur is solved.
  • the road management platform and the cloud warning system the static obstacles and dynamic obstacles around the vehicle are detected in real time based on the environmental perception system, so that road warning information is provided to the user to ensure the user's driving safety.
  • an embodiment of the present application provides a vehicle environment perception warning method, the method comprising:
  • the first warning strategy is sent to the current vehicle to control the current vehicle to issue a warning according to the first warning strategy.
  • the screening out a collision target that meets a first preset collision risk condition from the at least one target based on the type information and the position information of the at least one target includes:
  • determining a static target in the at least one target Based on the type information of the at least one target, determining a static target in the at least one target, the static target being a target whose type information is a static type;
  • collision targets that meet a first preset collision risk condition are screened out from the static targets.
  • screening out collision targets that meet a first preset collision risk condition from the static targets according to the position information of the static targets includes:
  • the static target whose position indicated by the position information is located on the driving route of the current vehicle is determined as the collision target.
  • the method after receiving the type information and location information of at least one target uploaded by the current vehicle, the method further includes:
  • the position information corresponding to the static target is sent to the obstacle clearing platform.
  • the method further includes:
  • the control of the current vehicle to issue a warning according to the first warning strategy is stopped.
  • the method further includes:
  • the second warning strategy is sent to the remaining vehicles to control the remaining vehicles to issue warnings according to the second warning strategy.
  • determining a first warning strategy corresponding to the collision target includes:
  • the first warning strategy is determined to be to simultaneously issue a warning through a preset acoustic reminder device and a preset optical reminder device.
  • the method further includes:
  • the first driving route is sent to the current vehicle to control the current vehicle to travel according to the first driving route.
  • an embodiment of the present application provides a vehicle environment perception warning method, the method comprising:
  • An early warning is issued according to the first early warning strategy.
  • the method further includes:
  • an embodiment of the present application provides a warning device for vehicle environment perception, the device comprising:
  • a receiving module used to receive type information and location information of at least one target uploaded by the current vehicle
  • a screening module configured to screen out, from the at least one target, a collision target that meets a first preset collision risk condition and a first warning strategy corresponding to the collision target based on the type information and the position information of the at least one target;
  • a control module is used to send the first warning strategy to the current vehicle to control the current vehicle to issue a warning according to the first warning strategy.
  • the screening module is used to determine a static target among the at least one target based on the type information of the at least one target, wherein the static target is a target whose type information is a static type; and screen out collision targets that meet a first preset collision risk condition among the static targets according to the position information of the static target.
  • the screening module is used to determine, among the static targets, a static target whose position indicated by position information is located on a driving route of the current vehicle as the collision target.
  • the device further includes:
  • the sending module is used to determine whether there is a static target among the at least one target according to the type information of the at least one target; if the static target exists, the position information corresponding to the static target is sent to the obstacle clearing platform.
  • control module is further configured to determine whether the obstacle The obstacle clearing platform sends an obstacle clearing information; if the obstacle clearing information is received, stop controlling the current vehicle to issue an early warning according to the first early warning strategy.
  • the screening module is further used to obtain other vehicles that meet a second preset collision risk condition with the collision target and a second warning strategy corresponding to the other vehicles;
  • the control module is further used to send the second warning strategy to the remaining vehicles to control the remaining vehicles to issue warnings according to the second warning strategy.
  • the screening module is used to identify the collision hazard level of the collision target; when the collision hazard level is less than or equal to a preset hazard level, determine that the first warning strategy is to issue a warning through a preset acoustic reminder device or a preset optical reminder device; when the collision hazard level is greater than the preset hazard level, determine that the first warning strategy is to issue a warning through a preset acoustic reminder device and a preset optical reminder device at the same time.
  • the device further includes:
  • an adjustment module configured to adjust the driving route of the current vehicle to obtain a first driving route when a collision target that meets a first preset collision risk condition is screened out from the at least one target, wherein the first driving route does not pass through the collision target;
  • a sending module is used to send the first driving route to the current vehicle to control the current vehicle to travel according to the first driving route.
  • an embodiment of the present application provides a warning device for vehicle environment perception, the device comprising:
  • An acquisition module used to acquire type information and location information of at least one target
  • a screening module configured to screen out a collision target that meets a first preset collision risk condition and a first warning strategy corresponding to the collision target from the at least one target based on the type information and the position information of the at least one target;
  • a control module is used to issue an early warning according to the first early warning strategy.
  • the device further includes:
  • a sending module configured to send the type information and location information of the at least one target to the server, wherein the type information and location information of the at least one target are used by the server to screen out a collision target that meets a first preset collision risk condition and a first warning strategy corresponding to the collision target from the at least one target based on the type information and location information of the at least one target;
  • a receiving module is used to receive the first warning strategy returned by the server.
  • an embodiment of the present application provides a server, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle environment perception warning method as described in the above embodiment.
  • an embodiment of the present application provides a vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle environment perception warning method as described in the above embodiment.
  • an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the vehicle environment perception warning method as described in the above embodiments.
  • an embodiment of the present application provides a computer program product, in which at least one computer instruction is stored.
  • the at least one computer instruction is loaded and executed by a processor so that the computer implements the vehicle environment perception warning method described in the above embodiment.
  • the method provided in the embodiment of the present application sends a first warning strategy corresponding to the collision target to the current vehicle when it is determined that there is a collision target that threatens the safe driving of the current vehicle among at least one target, so that the current vehicle can be warned according to the first warning strategy.
  • the current vehicle can be warned in advance so that the driver can make driving remedial actions in time, so that the current vehicle can avoid the collision target in time, reduce the probability of the current vehicle having a traffic accident, and thus improve the driving safety of the current vehicle, avoiding major losses to the user's life and property.
  • FIG1 is a schematic diagram of an implementation environment of a vehicle environment perception warning method provided according to an embodiment of the present application.
  • FIG2 is a flow chart of a vehicle environment perception warning method provided according to an embodiment of the present application.
  • FIG3 is a communication diagram of an environment perception system provided according to an embodiment of the present application.
  • FIG4 is an exemplary diagram of a warning device for vehicle environment perception provided according to an embodiment of the present application.
  • FIG5 is a flow chart of a vehicle environment perception warning method provided according to an embodiment of the present application.
  • FIG6 is a flow chart of a vehicle environment perception warning method provided according to an embodiment of the present application.
  • FIG7 is a flow chart of a vehicle environment perception warning method provided according to an embodiment of the present application.
  • FIG8 is a schematic diagram of the structure of a warning device for vehicle environment perception according to an embodiment of the present application.
  • FIG9 is a schematic diagram of the structure of a warning device for vehicle environment perception according to an embodiment of the present application.
  • FIG10 is a schematic diagram of the structure of a server provided according to an embodiment of the present application.
  • the surrounding environment information of the vehicle is collected by traditional sound collection equipment or image collection equipment, and the vehicle is warned based on the collected information.
  • the present application provides a vehicle environment perception warning method, in which the motion information, type information and location information of at least one target uploaded by the current vehicle are received, and based on the type information and location information, according to The motion information selects collision targets that meet the first preset collision risk condition and the corresponding first warning strategy, and sends them to the current vehicle to control the current vehicle to issue a warning according to the first warning strategy.
  • FIG. 1 it is a schematic diagram of the implementation environment of a vehicle environment perception warning method provided in an embodiment of the present application.
  • the implementation environment includes a vehicle 101 and a server 102.
  • the vehicle environment perception warning method provided in the embodiment of the present application can be executed by the vehicle 101, and can also be implemented by the interaction between the vehicle 101 and the server 102.
  • the embodiment of the present application is not limited to this.
  • the vehicle 101 may be any vehicle including a vehicle-mounted terminal.
  • the server 102 is a single server, or a server cluster consisting of multiple servers, or any one of a cloud computing platform and a virtualization center, which is not limited in the embodiments of the present application.
  • the server 102 is a cloud warning system.
  • the server 102 is directly or indirectly connected to the vehicle 101 via a wired communication method or a wireless communication method.
  • the server 102 has a data receiving function, a data processing function, and a data sending function.
  • the server 102 may also have other functions, which are not limited in the embodiments of the present application.
  • vehicle 101 and server 102 are for illustration only, and other existing or future vehicles or servers, if applicable to the present application, should also be included in the scope of protection of the present application and are incorporated herein by reference.
  • the relevant system modules involved in the embodiments of the present application are first introduced, mainly including a vehicle environment perception module, a communication module and a cloud warning system.
  • the vehicle environment perception module is used to realize target detection and identification in the direction of vehicle travel, such as millimeter wave radar, camera, etc.;
  • the communication module is used to realize the reporting of target information and the reception of cloud warning information;
  • the cloud warning system is used to receive and process the perceived target information sent by the vehicle, determine whether the target will pose a danger to the vehicles passing behind, and inform the road management department for timely handling.
  • FIG2 is a flow chart of a vehicle environment perception warning method provided in an embodiment of the present application.
  • the vehicle environment perception warning method includes the following steps:
  • step S201 motion information, type information and location information of at least one target uploaded by the current vehicle are received.
  • the target in the current vehicle's direction of travel is detected and identified based on the vehicle-side millimeter-wave radar or camera and other environmental perception modules, such as compensation, deduplication and fitting of the target information obtained by the millimeter-wave radar and the target information obtained by the camera, so as to obtain various accurate information of the target on the road.
  • the millimeter-wave radar can mainly obtain the moving target information, including the type information, position information, motion information, speed, heading angle, etc.
  • the camera is the most frequently used in the environmental perception system, thereby obtaining the type information, position information, motion information, vehicle license plate and other information of the current vehicle, non-motor vehicle and/or pedestrian, so as to obtain more accurate targets around the current vehicle, and output the motion information, type information and position information of at least one target, and upload the motion information, type information and position information of at least one target to the cloud warning system through the communication module.
  • the motion information, type information and position information of at least one target uploaded by the current vehicle after receiving the motion information, type information and position information of at least one target uploaded by the current vehicle, it also includes: judging whether there is a static target in at least one target based on the motion information, type information and position information; if there is a static target, sending the position information corresponding to the static target and the type information corresponding to the static target to the obstacle clearing platform.
  • the cloud-based early warning system receives the motion information, type information and position information of at least one target, it is determined whether there is a static target among the at least one target based on the received motion information, type information and position information. For example, whether there are spilled objects, malfunctioning vehicles that cannot move, or other target obstacles in front of the current vehicle, etc. If there is a static target, the position information and type information corresponding to the static target are uploaded to the cloud-based early warning system through the communication module, and the position information and type information corresponding to the static target are sent to the obstacle clearing platform.
  • step S202 based on the type information and the position information, a collision target that meets a first preset collision risk condition and a first warning strategy corresponding to the collision target are screened out according to the motion information.
  • the first preset collision risk condition and the first warning strategy may be relevant collision risk conditions and warning strategies determined by technical personnel in this field according to the actual perceived risks, and are not specifically limited here.
  • the embodiment of the present application after receiving the motion information, type information and location information of at least one target, re-analyzes the location information and type information corresponding to the received target based on the cloud computing power and perception algorithm model of the cloud warning system, and determines whether the target will cause danger to the current vehicle. If danger occurs, the target will be screened out according to the motion information of the target to meet the first preset
  • the collision target of the collision risk condition and the first warning strategy corresponding to the collision target are used to warn the user of the current vehicle to make path planning in advance to prevent traffic accidents.
  • step S203 the first warning strategy is sent to the current vehicle to control the current vehicle to issue a warning according to the first warning strategy.
  • a first warning strategy is sent to the current vehicle.
  • a warning message may be broadcast to the current vehicle through the vehicle-mounted speaker or a warning reminder may be made to the current vehicle through warning devices such as a buzzer that there is a collision target on the road ahead.
  • the warning message is synchronized to the vehicle-side intelligent driving assistance system, so that the current vehicle re-plans the driving path according to the collision target, thereby helping the user to perform emergency avoidance and improve driving safety.
  • the present application after screening out collision targets that meet the first preset collision risk condition and the first warning strategy corresponding to the collision targets based on motion information, it also includes: obtaining the remaining vehicles that meet the second preset collision risk condition with the current vehicle and the second warning strategy corresponding to the remaining vehicles; sending the second warning strategy to the remaining vehicles to control the remaining vehicles to issue a warning according to the second warning strategy.
  • the second preset collision risk condition and the second warning strategy can be the relevant collision risk condition and warning strategy determined by technical personnel in this field according to the actual perceived risk, and are not specifically limited here.
  • the embodiment of the present application screens out the collision targets that meet the first preset collision risk condition and the first warning strategy corresponding to the collision targets according to the motion information of the target, it can also re-analyze and process the received position information and type information corresponding to the target based on the cloud computing power and perception algorithm model of the cloud warning system, and judge whether the target will pose a danger to other vehicles that need to pass. If there is a danger, the remaining vehicles that meet the second preset collision risk condition and the second warning strategy corresponding to the remaining vehicles are screened out according to the motion information of the target, and the second warning strategy is sent to the remaining vehicles. After the remaining vehicles receive the warning information, the warning information is synchronized to the vehicle-side intelligent driving assistance system to control the remaining vehicles to issue warnings according to the second warning strategy, so as to warn the users of the remaining vehicles to make route planning in advance to prevent traffic accidents.
  • the embodiment of the present application determines that the target will pose a danger to other vehicles that need to pass, it can also broadcast warning information to other vehicles through the vehicle-mounted horn, or use warning devices such as buzzers to warn other vehicles that there is a collision target on the road ahead. After the other vehicles receive the warning information, the warning information is synchronized to the vehicle-side intelligent driving assistance system, so that the other vehicles can re-plan their driving routes according to the collision target to prevent traffic accidents.
  • the obstacle clearing platform after sending the location information corresponding to the static target and the type information corresponding to the static target to the obstacle clearing platform, it also includes: determining whether the obstacle clearing platform has received the location information corresponding to the static target and the type information corresponding to the static target. If the obstacle cleared information is received, the current vehicle is stopped from being controlled to issue an early warning according to the first early warning strategy.
  • the warning information is synchronized to the vehicle-side intelligent driving assistance system.
  • the obstacle clearing platform is notified through the cloud-based warning system to deal with the obstacle in a timely manner. After the obstacle clearing platform clears the obstacle, the obstacle clearing platform feeds back to the current vehicle and the remaining vehicles the information that the collision object has been cleared and the information that the obstacle warning has been lifted.
  • the above-mentioned vehicle environment perception warning method also includes: identifying the collision risk level of the collision target; when the collision risk level is less than or equal to the preset risk level, issuing a warning through a preset acoustic reminder device or a preset optical reminder device; when the risk level is greater than the preset risk level, issuing a warning simultaneously through a preset acoustic reminder device and a preset optical reminder device.
  • the preset danger level, preset acoustic reminder device and preset optical reminder device can be the relevant collision danger level, acoustic reminder device or optical reminder device set by technical personnel in this field according to the collision risk of the vehicle, and no specific limitation is made here.
  • the embodiment of the present application After receiving the motion information, type information and location information of at least one target, the embodiment of the present application re-analyzes and processes the location information and type information corresponding to the received target based on the cloud computing power and perception algorithm model of the cloud warning system, identifies the collision risk level of the collision target, and sets corresponding warning strategies according to the collision risk level. For example, when the collision risk level is less than or equal to the preset risk level, a warning is issued through a preset acoustic reminder device or a preset optical reminder device; when the risk level is greater than the preset risk level, a warning is issued simultaneously through a preset acoustic reminder device and a preset optical reminder device.
  • a warning can be issued to the current vehicle and other vehicles through a buzzer or an on-board display screen.
  • a warning can be issued to the current vehicle and other vehicles through a buzzer and an on-board display screen at the same time, so as to alert users to avoid collision risks and improve driving safety.
  • the vehicle environment perception warning method of the embodiment of the present application has the following beneficial effects:
  • the vehicle environment perception early warning method of the embodiment of the present application at least one uploaded by the current vehicle is received.
  • the motion information, type information and location information of each target are collected, and based on the type information and location information, the collision target that meets the first preset collision risk condition and its corresponding first warning strategy are screened out according to the motion information, and sent to the current vehicle to control the current vehicle to issue a warning according to the first warning strategy.
  • the problem that the warning reminder for vehicle driving safety in the related technology is delayed, so that the user cannot make driving remedial actions in time when traffic hazards occur is solved.
  • the road management platform and the cloud warning system the static obstacles and dynamic obstacles around the vehicle are detected in real time based on the environmental perception system, so as to provide road warning information to the user to ensure the user's driving safety.
  • an embodiment of the present application provides a vehicle environment perception warning device, which includes the following contents.
  • FIG4 is a block diagram of a vehicle environment perception warning device provided in an embodiment of the present application.
  • the vehicle environment perception warning device 10 includes: a receiving module 100 , a screening module 200 and a control module 300 .
  • the receiving module 100 is used to receive the motion information, type information and location information of at least one target uploaded by the current vehicle;
  • a screening module 200 configured to screen out collision targets that meet a first preset collision risk condition and a first warning strategy corresponding to the collision targets according to the motion information based on the type information and the position information;
  • the control module 300 is used to send the first warning strategy to the current vehicle to control the current vehicle to issue a warning according to the first warning strategy.
  • the receiving module 100 after receiving the motion information, type information and location information of at least one target uploaded by the current vehicle, the receiving module 100 is further used to:
  • the location information corresponding to the static target and the type information corresponding to the static target are sent to the obstacle clearing platform.
  • the control of the current vehicle is stopped to issue a warning according to the first warning strategy.
  • the screening module 200 is further used to:
  • the second warning strategy is sent to the remaining vehicles to control the remaining vehicles to issue warnings according to the second warning strategy.
  • the above-mentioned vehicle environment perception warning device 10 is also used for:
  • a warning is given through a preset acoustic warning device or a preset optical warning device;
  • the motion information, type information and location information of at least one target uploaded by the current vehicle are received, and based on the type information and location information, the collision target that meets the first preset collision risk condition and its corresponding first warning strategy are screened according to the motion information, and sent to the current vehicle to control the current vehicle to issue a warning according to the first warning strategy.
  • the problem that the warning reminder for vehicle driving safety in the related technology is delayed, so that the user cannot make driving remedial actions in time when traffic hazards occur is solved.
  • the road management platform and the cloud warning system the static obstacles and dynamic obstacles around the vehicle are detected in real time based on the environmental perception system, so that road warning information is provided to the user to ensure the user's driving safety.
  • FIG5 is a vehicle environment perception warning method provided in an embodiment of the present application.
  • the method may be executed by the server 102 in the implementation environment shown in FIG1 .
  • the method includes the following steps 501 to 503 .
  • step 501 type information and location information of at least one target uploaded by the current vehicle is received.
  • At least one target is a target included in the direction of travel of the current vehicle.
  • the current vehicle includes a vehicle environment perception module, which may be a millimeter wave radar, a camera, or other modules capable of perceiving the vehicle environment, which is not limited in the embodiment of the present application.
  • the current vehicle calls the vehicle environment perception module to identify the direction of travel of the current vehicle, and obtains type information and location information of at least one target included in the direction of travel.
  • the target type information can be either static or dynamic.
  • Static targets are immovable targets, for example, objects dropped by the vehicle ahead, or vehicles that cannot move due to a malfunction.
  • Dynamic targets are movable targets.
  • the target of the dynamic type is, for example, a pedestrian, or a vehicle moving in front.
  • the static type target and the dynamic type target can also be other, which is not limited in the embodiments of the present application.
  • the location information of the target refers to the information of the location of the target, that is, the location information of the target is used to indicate the location of the target.
  • the millimeter wave radar based on the vehicle environment perception module being a millimeter wave radar, the millimeter wave radar identifies the direction of travel of the current vehicle, and obtains the type information and position information of at least one target included in the direction of travel, and can also obtain the speed and heading angle of the target.
  • the type information of the target may be misjudged. Therefore, a camera is generally used to identify the direction of travel of the current vehicle to obtain the type information and position information of at least one target included in the direction of travel.
  • the current vehicle after the current vehicle obtains the type information and location information of at least one target, the current vehicle sends the type information and location information of at least one target to the server, so that the server obtains the type information and location information of at least one target.
  • the current vehicle includes a communication module, and the current vehicle sends the type information and location information of at least one target to the server through the communication module.
  • step 502 based on the type information and location information of at least one target, a collision target that meets a first preset collision risk condition and a first warning strategy corresponding to the collision target are screened out from the at least one target.
  • the process of screening out collision targets that meet a first preset collision risk condition from at least one target includes: based on the type information of at least one target, determining a static target from at least one target, where the static target is a target whose type information is a static type; and screening out collision targets that meet the first preset collision risk condition from the static targets according to the position information of the static target.
  • the collision target that meets the first preset collision risk condition among the static targets refers to the collision target that is located in the driving route of the current vehicle among the static targets. Further, the collision target that meets the first preset collision risk condition among the static targets refers to the collision target that is located in the driving route of the current vehicle among the static targets and in the traveling direction of the current vehicle.
  • a target whose corresponding type information is a static type among at least one target is determined as a static target.
  • the process of screening out collision targets that meet the first preset collision risk condition among the static targets includes: determining that among the static targets, a static target whose position indicated by the position information is located on the driving route of the current vehicle is a collision target. Further, determining that among the static targets, a static target whose position indicated by the position information is located on the driving route of the current vehicle and in the forward direction of the current vehicle is a collision target.
  • the collision target may threaten the driving of the current vehicle, making the current vehicle more likely to have a traffic accident, thereby making the driving safety of the current vehicle poor. Therefore, it is necessary to warn the current vehicle so that the current vehicle can avoid the collision target, thereby reducing the probability of the current vehicle having a traffic accident and improving the driving safety of the current vehicle.
  • the server Before determining the collision target in the static target, the driving route of the current vehicle needs to be obtained.
  • the server stores the identification of each vehicle and the driving route of each vehicle, and determines the driving route of the current vehicle based on the identification of the current vehicle and the identification of each vehicle and the driving route of each vehicle.
  • the server obtains the driving route of the current vehicle by interacting with the current vehicle. That is, the server sends a driving route acquisition request to the current vehicle, and after the current vehicle receives the driving route acquisition request, it sends the driving route of the current vehicle to the server, so that the server obtains the driving route of the current vehicle.
  • the process of determining the first warning strategy corresponding to the collision target includes: identifying the collision hazard level of the collision target; when the collision hazard level is less than or equal to the preset hazard level, determining the first warning strategy to be a warning through a preset acoustic reminder device or through a preset optical reminder device; when the collision hazard level is greater than the preset hazard level, determining the first warning strategy to be a warning through a preset acoustic reminder device and through a preset optical reminder device at the same time.
  • the preset danger level is set based on experience or adjusted according to the implementation environment, which is not limited in the embodiments of the present application.
  • the process of identifying the collision risk level of the collision target includes: storing the correspondence between each target and the risk level in the current vehicle, and determining the collision risk level of the collision target according to the collision target and the correspondence between each target and the risk level.
  • the warning by the preset acoustic reminder device may be to play the warning information by the preset acoustic reminder device (such as a speaker device).
  • the warning by the preset optical reminder device may be to display the warning information on the preset optical reminder device (such as a display screen).
  • the obstacle clearing platform refers to a platform for displaying information to enable staff to clear obstacles. After the obstacle clearing platform receives the location information corresponding to the static target, the staff clears the static target to remove the static target. When the static target has been removed After the static target is detected, the obstacle clearing platform sends an obstacle cleared message to the server, and the obstacle cleared message is used to indicate that the static target has been cleared. If the obstacle cleared message is received, the server stops controlling the current vehicle to issue an early warning according to the first early warning strategy.
  • the server sends a stop message to the current vehicle, where the stop message is used to instruct the current vehicle to stop issuing an early warning according to the first early warning strategy.
  • the obstacle cleared information is information indicating that the static target has been cleared
  • the stop information is information indicating that the warning according to the first warning strategy is stopped.
  • the embodiments of the present application do not limit the contents of the obstacle cleared information and the stop information.
  • the server further obtains the remaining vehicles that meet the second preset collision risk condition with the collision target and the second warning strategy corresponding to the remaining vehicles; sends the second warning strategy to the remaining vehicles to control the remaining vehicles to issue warnings according to the second warning strategy.
  • the collision target threatens the normal driving of a certain vehicle
  • the certain vehicle is determined as the remaining vehicle that meets the second preset collision risk condition with the collision target
  • the process of determining the second warning strategy is the same as the process of determining the first warning strategy.
  • the second warning strategy and the first warning strategy are the same strategy.
  • the server may further adjust the driving route of the current vehicle to obtain a first driving route, and the first driving route does not pass through the collision target; the server sends the first driving route to the current vehicle to control the current vehicle to drive according to the first driving route. Since the first driving route does not pass through the collision target, the current vehicle can avoid the collision target, thereby reducing the probability of a traffic accident occurring to the current vehicle and improving the driving safety of the current vehicle.
  • the process of adjusting the driving route of the current vehicle to obtain the first driving route includes: determining multiple optional routes according to the current position of the current vehicle and the end point of the driving route of the current vehicle; determining a target route among the multiple optional routes, and the target route does not pass through the collision target; and determining the first driving route according to the target route.
  • the starting point of any optional route is the current location of the current vehicle, and the end point is the end point of the current vehicle's driving route.
  • the process of determining the first driving route includes: determining the target route as the first driving route based on the number of target routes being one; determining the length of each target route based on the number of target routes being multiple; and determining the target route whose length meets the length requirement as the first driving route.
  • the length meeting the length requirement means the shortest length, which can speed up the current vehicle to reach the end point of the current vehicle's driving route.
  • the server may also adjust the driving routes of the remaining vehicles to obtain the first
  • the second driving route is sent to the remaining vehicles to control the remaining vehicles to drive according to the second driving route.
  • the process of the server adjusting the driving routes of the remaining vehicles to obtain the second driving route is similar to the process of the server adjusting the driving route of the current vehicle to obtain the first driving route, and the embodiment of the present application will not be repeated here.
  • step 503 the first warning strategy is sent to the current vehicle to control the current vehicle to issue a warning according to the first warning strategy.
  • the first warning strategy is to warn through a preset acoustic reminder device or a preset optical reminder device. Therefore, the current vehicle is warned through a preset acoustic reminder device or a preset optical reminder device.
  • the first warning strategy is to simultaneously warn through a preset acoustic warning device and a preset optical warning device. Therefore, the current vehicle is warned simultaneously through a preset acoustic warning device and a preset optical warning device.
  • the at least one target is a target included in the current traveling direction of the vehicle.
  • the current vehicle obtains type information and location information of at least one target.
  • the process of collecting information has been described in the above step 501.
  • step 602 based on the type information and location information of at least one target, a collision target that meets a first preset collision risk condition and a first warning strategy corresponding to the collision target are screened out from the at least one target.
  • the process of screening out collision targets that meet the first preset collision risk condition and the first warning strategy corresponding to the collision targets from at least one target has been described in the above step 502. For details, see the content of the above step 502, and the embodiment of the present application will not be repeated here.
  • step 603 an early warning is issued according to the first early warning strategy.
  • the process in which the current vehicle adjusts the driving route of the current vehicle to obtain the first driving route is similar to the process in which the server adjusts the driving route of the current vehicle to obtain the first driving route in the above step 502.
  • the relevant content of the above step 502 please see the relevant content of the above step 502, and the embodiment of the present application will not be repeated here.
  • the current vehicle when the current vehicle receives the stop information sent by the server, it stops issuing warnings according to the first warning strategy.
  • Figure 7 is a flowchart of a vehicle environment perception warning method provided in an embodiment of the present application.
  • the method can be implemented by the interaction between the current vehicle 101 and the server 102 in the implementation environment shown in Figure 1. As shown in Figure 7, the method includes the following steps.
  • step 701 the current vehicle identifies the driving direction of the current vehicle to obtain type information and position information of at least one target included in the driving direction.
  • the current vehicle identifies the driving direction of the current vehicle, and the process of obtaining the type information and location information of at least one target included in the driving direction has been described in the above step 501.
  • the process of obtaining the type information and location information of at least one target included in the driving direction has been described in the above step 501.
  • step 702 the current vehicle sends type information and location information of at least one target to the server.
  • step 501 the process of the current vehicle sending the type information and location information of at least one target to the server has been described in the above step 501.
  • the server receives type information and position information of at least one target sent by the current vehicle, and based on the type information and position information of the at least one target, selects a collision target that meets a first preset collision condition from the at least one target.
  • the process in which the server screens out collision targets that meet the first preset collision condition from at least one target based on the type information and location information of at least one target has been described in the above step 502.
  • the process in which the server screens out collision targets that meet the first preset collision condition from at least one target based on the type information and location information of at least one target has been described in the above step 502.
  • the content of the above step 502 which will not be repeated here.
  • step 704 the server determines a first warning strategy corresponding to the collision target.
  • the process of the server determining the first warning strategy corresponding to the collision target has been described in the above step 502.
  • step 705 the server sends a first warning strategy to the current vehicle.
  • the process of the server sending the first warning strategy to the current vehicle has been described in the above step 503. Please refer to the content of the above step 503 for details, which will not be repeated here.
  • step 706 the current vehicle receives the first warning strategy and issues a warning according to the first warning strategy.
  • the current vehicle receives the first warning strategy, and the process of issuing a warning according to the first warning strategy has been described in the above step 503.
  • the process of issuing a warning according to the first warning strategy has been described in the above step 503.
  • step 707 the server adjusts the current driving route of the vehicle to obtain a first driving route.
  • the server adjusts the current driving route of the vehicle to obtain the first driving route, which has been described in the above step 502. For details, see the above step 502. I will not go into details here.
  • step 708 the server sends the first driving route to the current vehicle.
  • the process of the server sending the first driving route to the current vehicle has been described in the above step 502.
  • the process of the server sending the first driving route to the current vehicle has been described in the above step 502.
  • step 709 the current vehicle receives the first driving route and drives according to the first driving route.
  • the current vehicle receives the first driving route, and the process of driving according to the first driving route has been described in the above step 502. For details, please refer to the content of the above step 502, which will not be repeated here.
  • FIG8 is a schematic diagram of the structure of a vehicle environment perception warning device provided in an embodiment of the present application. As shown in FIG8 , the device includes the following contents.
  • the receiving module 801 is used to receive type information and location information of at least one target uploaded by the current vehicle;
  • a screening module 802 is used to screen out collision targets that meet a first preset collision risk condition and a first warning strategy corresponding to the collision targets from at least one target based on type information and location information of at least one target;
  • the control module 803 is used to send the first warning strategy to the current vehicle to control the current vehicle to issue a warning according to the first warning strategy.
  • the screening module 802 is used to determine a static target in at least one target based on type information of at least one target, where the static target is a target whose type information is a static type; and screen out collision targets that meet a first preset collision risk condition in the static targets according to position information of the static targets.
  • the screening module 802 is used to determine, among the static targets, a static target whose position indicated by the position information is located on the driving route of the current vehicle as a collision target.
  • the device further includes:
  • the sending module is used to determine whether there is a static target among the at least one target according to the type information of the at least one target; if there is a static target, the position information corresponding to the static target is sent to the obstacle clearing platform.
  • control module 803 is further configured to determine whether obstacle clearing information sent by the obstacle clearing platform is received; if obstacle clearing information is received, stop controlling the current vehicle to issue an early warning according to the first early warning strategy.
  • the screening module 802 is further configured to obtain the remaining vehicles that meet the second preset collision risk condition with the collision target and the second warning strategy corresponding to the remaining vehicles;
  • the control module 803 is further used to send the second warning strategy to the remaining vehicles to control the remaining vehicles to issue warnings according to the second warning strategy.
  • the screening module 802 is used to identify the collision hazard level of the collision target; when the collision hazard level is less than or equal to the preset hazard level, the first warning strategy is determined to be a warning through a preset acoustic reminder device or a preset optical reminder device; when the collision hazard level is greater than the preset hazard level, the first warning strategy is determined to be a warning through a preset acoustic reminder device and a preset optical reminder device at the same time.
  • the device further includes:
  • an adjustment module configured to adjust the driving route of the current vehicle to obtain a first driving route when a collision target that meets a first preset collision risk condition is screened out from at least one target, wherein the first driving route does not pass through the collision target;
  • the sending module is used to send the first driving route to the current vehicle to control the current vehicle to travel according to the first driving route.
  • the above device After receiving the type information and location information of at least one target uploaded by the current vehicle, the above device determines the first warning strategy corresponding to the collision target based on the type information and location information of at least one target, and sends the first warning strategy to the current vehicle, so that the current vehicle can issue a warning according to the first warning strategy.
  • the current vehicle can be warned in advance, so that the driver can make driving remedial actions in time, so that the current vehicle can avoid the collision target in time, reduce the probability of the current vehicle having a traffic accident, and then improve the driving safety of the current vehicle, avoiding major losses to the user's life and property.
  • FIG9 is a schematic diagram of the structure of a vehicle environment perception warning device provided in an embodiment of the present application. As shown in FIG9 , the device includes the following contents.
  • An acquisition module 901 is used to acquire type information and location information of at least one target
  • a screening module 902 configured to screen out collision targets that meet a first preset collision risk condition and a first warning strategy corresponding to the collision targets from at least one target based on type information and location information of at least one target;
  • the control module 903 is used to issue an early warning according to the first early warning strategy.
  • the device further includes:
  • a sending module configured to send type information and location information of at least one target to a server, wherein the type information and location information of at least one target are used by the server to screen out a collision target that meets a first preset collision risk condition and a first warning strategy corresponding to the collision target from the at least one target based on the type information and location information of the at least one target;
  • the receiving module is used to receive the first early warning strategy returned by the server.
  • the above device obtains the type information and location information of at least one target, based on the type information and location information of at least one target, when it is determined that there is a collision target that threatens the safe driving of the current vehicle among the at least one target, the first warning strategy corresponding to the collision target is determined, and a warning is issued according to the first warning strategy.
  • the current vehicle can be warned in advance, so that the driver can make driving remedial actions in time, so that the current vehicle can avoid the collision target in time, reduce the probability of the current vehicle having a traffic accident, and thus improve the driving safety of the current vehicle, avoiding major losses to the user's life and property.
  • FIG10 is a schematic diagram of the structure of a server provided in an embodiment of the present application.
  • the server may include:
  • Memory 401 Memory 401 , processor 402 , and a computer program stored in the memory 401 and executable on the processor 402 .
  • the server also includes:
  • the communication interface 403 is used for communication between the memory 401 and the processor 402 .
  • the memory 401 is used to store computer programs that can be run on the processor 402 .
  • Memory 401 may include high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk storage.
  • the bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus.
  • ISA Industry Standard Architecture
  • PCI Peripheral Component
  • EISA Extended Industry Standard Architecture
  • the bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in FIG10, but it does not mean that there is only one bus or one type of bus.
  • the memory 401, the processor 402 and the communication interface 403 are integrated If the MCU 401 is implemented on a single chip, the memory 401, the processor 402 and the communication interface 403 can communicate with each other through an internal interface.
  • Processor 402 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.
  • CPU central processing unit
  • ASIC application specific integrated circuit
  • An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned vehicle environment perception warning method.
  • An embodiment of the present application also provides a computer program product, in which at least one computer instruction is stored.
  • the at least one computer instruction is loaded and executed by a processor so that the computer implements the above-mentioned vehicle environment perception warning method.
  • first and second are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as “first” or “second” may explicitly or implicitly include at least one of the features.
  • N means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
  • machine-readable media include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk case (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable and editable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM).
  • the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or processing in another suitable manner as necessary, and then stored in a computer memory.
  • the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof.
  • the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.
  • each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module.
  • the above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.
  • the storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc.

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Abstract

一种车辆环境感知的预警方法、装置、服务器及车辆，该方法包括：接收当前车辆上传的至少一个目标的类型信息和位置信息（501），基于至少一个目标的类型信息和位置信息，在至少一个目标中筛选出满足第一预设碰撞风险条件的碰撞目标和碰撞目标对应的第一预警策略（502），发送第一预警策略至当前车辆，以控制当前车辆根据第一预警策略进行预警（503）。由此，解决了车辆行驶安全的预警提醒存在滞后性，从而在发生交通危险时，用户无法及时做出驾驶补救动作等问题，降低了当前车辆发生交通事故的概率，提升了当前车辆的行驶安全性，以保障用户的行车安全。

Description

车辆环境感知的预警方法、装置、服务器及车辆
本申请要求于2023年6月29日提交的申请号为202310789298.8、发明名称为“车辆环境感知的预警方法、装置、服务器及存储介质”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
本申请涉及车辆环境感知技术领域，特别涉及一种车辆环境感知的预警方法、装置、服务器及车辆。
背景技术
随着车辆技术的发展，车辆的普及率越来越高，车辆已成为人们出行必不可少的交通工具，但随之而来的交通事故发生率也在不断增加，其中，驾驶员的驾驶操作不当、道路障碍物、车辆故障等因素均占有较大比重，如若不能及时处理，则在驾驶路段容易发生重大事故，从而给用户的生命财产造成重大损失。
相关技术中，通过传统的声音采集设备或者图像采集设备对车辆的周围环境信息进行采集，根据采集到的信息对车辆进行预警。
发明内容
本申请提供一种车辆环境感知的预警方法、装置、服务器及车辆，以解决相关技术中对于车辆行驶安全的预警提醒存在滞后性，从而在发生交通危险时，用户无法及时做出驾驶补救动作等问题。
第一方面，本申请实施例提供一种车辆环境感知的预警方法，包括以下步骤：
接收当前车辆上传的至少一个目标的运动信息、类型信息和位置信息；
基于所述类型信息和所述位置信息，根据所述运动信息筛选出满足第一预设碰撞风险条件的碰撞目标和所述碰撞目标对应的第一预警策略；以及
发送所述第一预警策略至所述当前车辆，以控制所述当前车辆根据所述第一预警策略进行预警。
根据本申请的一个实施例，在接收所述当前车辆上传的至少一个目标的运动信息、类型信息和位置信息之后，还包括：
根据所述运动信息、所述类型信息和所述位置信息判断所述至少一个目标中是否存在静态目标；
若存在所述静态目标，则将所述静态目标对应的位置信息和所述静态目标对应的类型信息发送至障碍物清理平台。
根据本申请的一个实施例，在将所述静态目标对应的位置信息和所述静态目标对应的类型信息发送至所述障碍物清理平台之后，还包括：
判断是否接收到所述障碍物清理平台发出的障碍物已清除信息；
若接收到所述障碍物已清除信息，则停止控制所述当前车辆根据所述第一预警策略进行预警。
根据本申请的一个实施例，在根据所述运动信息筛选出满足所述第一预设碰撞风险条件的碰撞目标和所述碰撞目标对应的所述第一预警策略之后，还包括：
获取与所述当前车辆满足第二预设碰撞风险条件的其余车辆和所述其余车辆对应的第二预警策略；
发送所述第二预警策略至所述其余车辆，以控制所述其余车辆根据所述第二预警策略进行预警。
根据本申请的一个实施例，上述的车辆环境感知的预警方法，还包括：
识别所述碰撞目标的碰撞危险等级；
在所述碰撞危险等级小于或等于预设危险等级时，通过预设声学提醒装置或者预设光学提醒装置进行预警；
在所述危险等级大于所述预设危险等级时，通过预设声学提醒装置和预设光学提醒装置同时进行预警。
根据本申请实施例的车辆环境感知的预警方法，接收当前车辆上传的至少一个目标的运动信息、类型信息和位置信息，基于类型信息和位置信息，根据运动信息筛选出满足第一预设碰撞风险条件的碰撞目标和其对应的第一预警策略，并发送至当前车辆，以控制当前车辆根据第一预警策略进行预警。由此，解决了相关技术中对于车辆行驶安全的预警提醒存在滞后性，从而在发生交通危险时，用户无法及时做出驾驶补救动作等问题，通过车端、道路管理平台以及云端预警系统协同合作，基于环境感知系统实时检测车辆周围的静态障碍物和动态障碍物，从而向用户做出道路预警信息，以保障用户的行车安全。
第二方面，本申请实施例提供一种车辆环境感知的预警装置，包括：
接收模块，用于接收当前车辆上传的至少一个目标的运动信息、类型信息和位置信息；
筛选模块，用于基于所述类型信息和所述位置信息，根据所述运动信息筛选出满足第一预设碰撞风险条件的碰撞目标和所述碰撞目标对应的第一预警策略；以及
控制模块，用于发送所述第一预警策略至所述当前车辆，以控制所述当前车辆根据所述第一预警策略进行预警。
根据本申请的一个实施例，在接收所述当前车辆上传的至少一个目标的运动信息、类型信息和位置信息之后，所述接收模块，还用于：
根据所述运动信息、所述类型信息和所述位置信息判断所述至少一个目标中是否存在静态目标；
若存在所述静态目标，则将所述静态目标对应的位置信息和所述静态目标对应的类型信息发送至障碍物清理平台。
根据本申请的一个实施例，在将所述静态目标对应的位置信息和所述静态目标对应的类型信息发送至所述障碍物清理平台之后，所述接收模块，还用于：
判断是否接收到所述障碍物清理平台发出的障碍物已清除信息；
若接收到所述障碍物已清除信息，则停止控制所述当前车辆根据所述第一预警策略进行预警。
根据本申请的一个实施例，在根据所述运动信息筛选出满足所述第一预设碰撞风险条件的碰撞目标和所述碰撞目标对应的所述第一预警策略之后，所述筛选模块，还用于：
获取与所述当前车辆满足第二预设碰撞风险条件的其余车辆和所述其余车辆对应的第二预警策略；
发送所述第二预警策略至所述其余车辆，以控制所述其余车辆根据所述第二预警策略进行预警。
根据本申请的一个实施例，上述的车辆环境感知的预警装置，还用于：
识别所述碰撞目标的碰撞危险等级；
在所述碰撞危险等级小于或等于预设危险等级时，通过预设声学提醒装置或者预设光学提醒装置进行预警；
在所述危险等级大于所述预设危险等级时，通过预设声学提醒装置和预设光学提醒装置同时进行预警。
根据本申请实施例的车辆环境感知的预警装置，接收当前车辆上传的至少一个目标的运动信息、类型信息和位置信息，基于类型信息和位置信息，根据运动信息筛选出满足第一预设碰撞风险条件的碰撞目标和其对应的第一预警策略，并发送至当前车辆，以控制当前车辆根据第一预警策略进行预警。由此，解决了相关技术中对于车辆行驶安全的预警提醒存在滞后性，从而在发生交通危险时，用户无法及时做出驾驶补救动作等问题，通过车端、道路管理平台以及云端预警系统协同合作，基于环境感知系统实时检测车辆周围的静态障碍物和动态障碍物，从而向用户做出道路预警信息，以保障用户的行车安全。
第三方面，本申请实施例提供了一种车辆环境感知的预警方法，所述方法包括：
接收当前车辆上传的至少一个目标的类型信息和位置信息；
基于所述至少一个目标的类型信息和位置信息，在所述至少一个目标中筛选出满足第一预设碰撞风险条件的碰撞目标和所述碰撞目标对应的第一预警策略；以及
发送所述第一预警策略至所述当前车辆，以控制所述当前车辆根据所述第一预警策略进行预警。
在一种可能的实现方式中，所述基于所述至少一个目标的类型信息和位置信息，在所述至少一个目标中筛选出满足第一预设碰撞风险条件的碰撞目标，包括：
基于所述至少一个目标的类型信息，在所述至少一个目标中确定静态目标，所述静态目标为类型信息为静态类型的目标；
根据所述静态目标的位置信息，在所述静态目标中筛选出满足第一预设碰撞风险条件的碰撞目标。
在一种可能的实现方式中，根据所述静态目标的位置信息，在所述静态目标中筛选出满足第一预设碰撞风险条件的碰撞目标，包括：
确定所述静态目标中，位置信息指示的位置位于所述当前车辆的行驶路线的静态目标为所述碰撞目标。
在一种可能的实现方式中，所述接收当前车辆上传的至少一个目标的类型信息和位置信息之后，还包括：
根据所述至少一个目标的类型信息判断所述至少一个目标中是否存在静态 目标；
若存在所述静态目标，则将所述静态目标对应的位置信息发送至障碍物清理平台。
在一种可能的实现方式中，所述将所述静态目标对应的位置信息发送至障碍物清理平台之后，还包括：
判断是否接收到所述障碍物清理平台发出的障碍物已清除信息；
若接收到所述障碍物已清除信息，则停止控制所述当前车辆根据所述第一预警策略进行预警。
在一种可能的实现方式中，所述在所述至少一个目标中筛选出满足第一预设碰撞风险条件的碰撞目标和所述碰撞目标对应的所述第一预警策略之后，还包括：
获取与所述碰撞目标满足第二预设碰撞风险条件的其余车辆和所述其余车辆对应的第二预警策略；
发送所述第二预警策略至所述其余车辆，以控制所述其余车辆根据所述第二预警策略进行预警。
在一种可能的实现方式中，确定所述碰撞目标对应的第一预警策略，包括：
识别所述碰撞目标的碰撞危险等级；
在所述碰撞危险等级小于或等于预设危险等级时，确定所述第一预警策略为通过预设声学提醒装置或者预设光学提醒装置进行预警；
在所述碰撞危险等级大于所述预设危险等级时，确定所述第一预警策略为通过预设声学提醒装置和预设光学提醒装置同时进行预警。
在一种可能的实现方式中，还包括：
在所述至少一个目标中筛选出满足第一预设碰撞风险条件的碰撞目标的情况下，调整所述当前车辆的行驶路线，得到第一行驶路线，所述第一行驶路线不经过所述碰撞目标；
向所述当前车辆发送所述第一行驶路线，以控制所述当前车辆根据所述第一行驶路线行驶。
第四方面，本申请实施例提供了一种车辆环境感知的预警方法，所述方法包括：
获取至少一个目标的类型信息和位置信息；
基于所述至少一个目标的类型信息和位置信息，在所述至少一个目标中筛选出满足第一预设碰撞风险条件的碰撞目标和所述碰撞目标对应的第一预警策略；
根据所述第一预警策略进行预警。
在一种可能的实现方式中，所述获取至少一个目标的类型信息和位置信息之后，所述方法还包括：
向服务器发送所述至少一个目标的类型信息和位置信息，所述至少一个目标的类型信息和位置信息用于所述服务器基于所述至少一个目标的类型信息和位置信息，在所述至少一个目标中筛选出满足第一预设碰撞风险条件的碰撞目标和所述碰撞目标对应的第一预警策略；
接收所述服务器返回的所述第一预警策略。
第五方面，本申请实施例提供了一种车辆环境感知的预警装置，所述装置包括：
接收模块，用于接收当前车辆上传的至少一个目标的类型信息和位置信息；
筛选模块，用于基于所述至少一个目标的类型信息和位置信息，在所述至少一个目标中筛选出满足第一预设碰撞风险条件的碰撞目标和所述碰撞目标对应的第一预警策略；以及
控制模块，用于发送所述第一预警策略至所述当前车辆，以控制所述当前车辆根据所述第一预警策略进行预警。
在一种可能的实现方式中，所述筛选模块，用于基于所述至少一个目标的类型信息，在所述至少一个目标中确定静态目标，所述静态目标为类型信息为静态类型的目标；根据所述静态目标的位置信息，在所述静态目标中筛选出满足第一预设碰撞风险条件的碰撞目标。
在一种可能的实现方式中，所述筛选模块，用于确定所述静态目标中，位置信息指示的位置位于所述当前车辆的行驶路线的静态目标为所述碰撞目标。
在一种可能的实现方式中，所述装置还包括：
发送模块，用于根据所述至少一个目标的类型信息判断所述至少一个目标中是否存在静态目标；若存在所述静态目标，则将所述静态目标对应的位置信息发送至障碍物清理平台。
在一种可能的实现方式中，所述控制模块，还用于判断是否接收到所述障碍 物清理平台发出的障碍物已清除信息；若接收到所述障碍物已清除信息，则停止控制所述当前车辆根据所述第一预警策略进行预警。
在一种可能的实现方式中，所述筛选模块，还用于获取与所述碰撞目标满足第二预设碰撞风险条件的其余车辆和所述其余车辆对应的第二预警策略；
所述控制模块，还用于发送所述第二预警策略至所述其余车辆，以控制所述其余车辆根据所述第二预警策略进行预警。
在一种可能的实现方式中，所述筛选模块，用于识别所述碰撞目标的碰撞危险等级；在所述碰撞危险等级小于或等于预设危险等级时，确定所述第一预警策略为通过预设声学提醒装置或者预设光学提醒装置进行预警；在所述碰撞危险等级大于所述预设危险等级时，确定所述第一预警策略为通过预设声学提醒装置和预设光学提醒装置同时进行预警。
在一种可能的实现方式中，所述装置还包括：
调整模块，用于在所述至少一个目标中筛选出满足第一预设碰撞风险条件的碰撞目标的情况下，调整所述当前车辆的行驶路线，得到第一行驶路线，所述第一行驶路线不经过所述碰撞目标；
发送模块，用于向所述当前车辆发送所述第一行驶路线，以控制所述当前车辆根据所述第一行驶路线行驶。
第六方面，本申请实施例提供了一种车辆环境感知的预警装置，所述装置包括：
获取模块，用于获取至少一个目标的类型信息和位置信息；
筛选模块，用于基于所述至少一个目标的类型信息和位置信息，在所述至少一个目标中筛选出满足第一预设碰撞风险条件的碰撞目标和所述碰撞目标对应的第一预警策略；
控制模块，用于根据所述第一预警策略进行预警。
在一种可能的实现方式中，所述装置还包括：
发送模块，用于向服务器发送所述至少一个目标的类型信息和位置信息，所述至少一个目标的类型信息和位置信息用于所述服务器基于所述至少一个目标的类型信息和位置信息，在所述至少一个目标中筛选出满足第一预设碰撞风险条件的碰撞目标和所述碰撞目标对应的第一预警策略；
接收模块，用于接收所述服务器返回的所述第一预警策略。
第七方面，本申请实施例提供一种服务器，包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述程序，以实现如上述实施例所述的车辆环境感知的预警方法。
第八方面，本申请实施例提供一种车辆，所述车辆包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述程序，以实现如上述实施例所述的车辆环境感知的预警方法。
第九方面，本申请实施例提供一种计算机可读存储介质，所述计算机可读存储介质存储计算机指令，所述计算机指令用于使所述计算机执行如上述实施例所述的车辆环境感知的预警方法。
第十方面，本申请实施例提供一种计算机程序产品，所述计算机程序产品中存储有至少一条计算机指令，所述至少一条计算机指令由处理器加载并执行，以使计算机实现上述实施例所述的车辆环境感知的预警方法。
本申请实施例提供的方法在确定出至少一个目标中存在威胁到当前车辆的安全行驶的碰撞目标的情况下，向当前车辆发送碰撞目标对应的第一预警策略，以使当前车辆根据第一预警策略进行预警。通过这种预警方式，可以提前对当前车辆进行预警，以使驾驶员能够及时做出驾驶补救动作，使得当前车辆能够及时避开碰撞目标，降低当前车辆发生交通事故的概率，进而能够提升当前车辆的行驶安全性，避免给用户的生命财产造成重大损失。
本申请附加的方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
本申请上述的和/或附加的方面和优点从下面结合附图对实施例的描述中将变得明显和容易理解，其中：
图1为根据本申请实施例提供的一种车辆环境感知的预警方法的实施环境示意图；
图2为根据本申请实施例提供的一种车辆环境感知的预警方法的流程图；
图3为根据本申请实施例提供的一种环境感知系统通讯示意图；
图4为根据本申请实施例提供的一种的车辆环境感知的预警装置的示例图；
图5为根据本申请实施例提供的一种车辆环境感知的预警方法的流程图；
图6为根据本申请实施例提供的一种车辆环境感知的预警方法的流程图；
图7为根据本申请实施例提供的一种车辆环境感知的预警方法的流程图；
图8为根据本申请实施例提供的一种车辆环境感知的预警装置的结构示意图；
图9为根据本申请实施例提供的一种车辆环境感知的预警装置的结构示意图；
图10为根据本申请实施例提供的一种服务器的结构示意图。
具体实施方式
下面详细描述本申请的实施例，实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本申请，而不能理解为对本申请的限制。
随着车辆技术的发展，车辆的普及率越来越高，车辆已成为人们出行必不可少的交通工具，但随之而来的交通事故发生率也在不断增加，其中，驾驶员的驾驶操作不当、道路障碍物、车辆故障等因素均占有较大比重，如若不能及时处理，则在驾驶路段容易发生重大事故，从而给用户的生命财产造成重大损失。
相关技术中，通过传统的声音采集设备或者图像采集设备对车辆的周围环境信息进行采集，根据采集到的信息对车辆进行预警。
然而，仅通过对车辆的周围环境的采集得到的信息对车辆进行预警，对于车辆行驶安全的预警提醒存在滞后性，在发生交通危险时，用户无法及时做出驾驶补救动作，使得车辆行驶的安全性较差。
下面参考附图描述本申请实施例的车辆环境感知的预警方法、装置、服务器及车辆。针对上述提到的相关技术中对于车辆行驶安全的预警提醒存在滞后性，从而在发生交通危险时，用户无法及时做出驾驶补救动作的问题，本申请提供了一种车辆环境感知的预警方法，在该方法中，接收当前车辆上传的至少一个目标的运动信息、类型信息和位置信息，基于类型信息和位置信息，根据 运动信息筛选出满足第一预设碰撞风险条件的碰撞目标和其对应的第一预警策略，并发送至当前车辆，以控制当前车辆根据第一预警策略进行预警。由此，解决了上述对于车辆行驶安全的预警提醒存在滞后性，从而在发生交通危险时，用户无法及时做出驾驶补救动作等问题，通过车端、道路管理平台以及云端预警系统协同合作，基于环境感知系统实时检测车辆周围的静态障碍物和动态障碍物，从而向用户做出道路预警信息，以保障用户的行车安全。
如图1所示为本申请实施例提供的一种车辆的环境感知的预警方法的实施环境示意图，该实施环境包括车辆101和服务器102，本申请实施例提供的车辆的环境感知的预警方法可以由车辆101执行，也可以由车辆101和服务器102之间的交互实现，本申请实施例对此不进行限定。
车辆101可以是包括车载终端的任意一种车辆。
服务器102为一台服务器，或者为多台服务器组成的服务器集群，或者为云计算平台和虚拟化中心中的任意一种，本申请实施例对此不加以限定。示例性地，服务器102为云端预警系统。服务器102与车辆101通过有线通信方式或无线通信方式进行直接或间接地通信连接。服务器102具有数据接收功能、数据处理功能和数据发送功能。当然，服务器102还可以具有其他功能，本申请实施例对此不加以限定。
本领域技术人员应能理解上述车辆101和服务器102仅为举例说明，其他现有的或者今后可能出现的车辆或服务器，如可适用于本申请，也应包含在本申请的保护范围之内，并在此以引用方式包含于此。
具体地，在介绍本申请实施例之前，首先介绍一下本申请实施例涉及的相关系统模块，主要包括车辆环境感知模块、通讯模块和云端预警系统。
其中，车辆环境感知模块用于实现对车辆行进方向的目标检测与识别，例如车辆环境感知模块为毫米波雷达、摄像头等；通讯模块用于实现对目标信息的上报和云端预警信息的接收；云端预警系统用于接收车端发送的感知目标信息并进行处理，确定目标是否会对后面通行的车辆产生危险，并告知道路管理部门及时处理。
具体而言，图2为本申请实施例所提供的一种车辆环境感知的预警方法的流程示意图。
如图2所示，该车辆环境感知的预警方法包括以下步骤：
在步骤S201中，接收当前车辆上传的至少一个目标的运动信息、类型信息和位置信息。
本申请实施例中，在当前车辆行驶过程中，基于车端的毫米波雷达或者摄像头等环境感知模块对当前车辆行进方向的目标进行检测与识别，如通过毫米波雷达获取的目标信息和通过摄像头获取的目标信息进行补偿、去重和拟合，从而获取道路上目标的各类准确信息。其中，毫米波雷达主要可以获取运动的目标信息，包括目标的类型信息、位置信息、运动信息、速度、航向角等；摄像头在环境感知系统里使用频率最高，由此可以获取当前车辆、非机动车和/或行人的类型信息、位置信息、运动信息、车辆车牌等信息，从而获取更准确的当前车辆周围的目标，并输出至少一个目标的运动信息、类型信息和位置信息，并通过通讯模块将至少一个目标的运动信息、类型信息和位置信息上传至云端预警系统。
根据本申请的一个实施例，在接收当前车辆上传的至少一个目标的运动信息、类型信息和位置信息之后，还包括：根据运动信息、类型信息和位置信息判断至少一个目标中是否存在静态目标；若存在静态目标，则将静态目标对应的位置信息和静态目标对应的类型信息发送至障碍物清理平台。
在本申请实施例中，在云端预警系统接收到至少一个目标的运动信息、类型信息和位置信息之后，根据接收到的运动信息、类型信息和位置信息判断至少一个目标中是否存在静态目标，例如，当前车辆的前方车辆是否存在洒落的物品、故障无法移动的车辆或者其他目标障碍物等，若存在静态目标，则将静态目标对应的位置信息和类型信息通过通讯模块上传至云端预警系统，同时将静态目标对应的位置信息和类型信息发送至障碍物清理平台。
在步骤S202中，基于类型信息和位置信息，根据运动信息筛选出满足第一预设碰撞风险条件的碰撞目标和碰撞目标对应的第一预警策略。
其中，第一预设碰撞风险条件和第一预警策略可以为本领域技术人员根据实际感知的风险确定的相关碰撞风险条件和预警策略，在此不做具体限定。
具体地，如图3所示，本申请实施例在接收到至少一个目标的运动信息、类型信息和位置信息之后，基于云端预警系统的云端算力和感知算法模型对接收到的目标对应的位置信息和类型信息进行再分析处理，并判断该目标是否会对当前车辆产生危险，如果产生危险则根据目标的运动信息筛选出满足第一预设 碰撞风险条件的碰撞目标和碰撞目标对应的第一预警策略，以警示当前车辆的用户提前做出路径规划，防止发生交通事故。
在步骤S203中，发送第一预警策略至当前车辆，以控制当前车辆根据第一预警策略进行预警。
本申请实施例在判断出该目标会对当前车辆产生危险时，则向当前车辆发送第一预警策略，例如可以向当前车辆通过车载喇叭广播预警信息或者通过蜂鸣器等预警设备向当前车辆做出前方道路有碰撞目标的预警提醒，在当前车辆接收到预警信息后，将该预警信息同步至车端智能驾驶辅助系统，从而使当前车辆根据碰撞目标重新规划行驶路径，以帮助用户进行紧急规避，提高行车安全。
根据本申请的一个实施例，在根据运动信息筛选出满足第一预设碰撞风险条件的碰撞目标和碰撞目标对应的第一预警策略之后，还包括：获取与当前车辆满足第二预设碰撞风险条件的其余车辆和其余车辆对应的第二预警策略；发送第二预警策略至其余车辆，以控制其余车辆根据第二预警策略进行预警。
其中，第二预设碰撞风险条件和第二预警策略可以为本领域技术人员根据实际感知的风险确定的相关碰撞风险条件和预警策略，在此不做具体限定。
具体地，如图3所示，本申请实施例在根据目标的运动信息筛选出满足第一预设碰撞风险条件的碰撞目标和碰撞目标对应的第一预警策略之后，还可以基于云端预警系统的云端算力和感知算法模型对接收到的目标对应的位置信息和类型信息进行再分析处理后，判断该目标是否会对其他需要通过的车辆产生危险，如果产生危险，则根据目标的运动信息筛选出满足第二预设碰撞风险条件的其余车辆和其余车辆对应的第二预警策略，并发送第二预警策略至其余车辆，在其余车辆接收到预警信息后，将该预警信息同步至车端智能驾驶辅助系统，以控制其余车辆根据第二预警策略进行预警，以警示其余车辆的用户提前做出路径规划，防止发生交通事故。
举例而言，本申请实施例在判断出该目标会对其他需要通过的车辆产生危险时，也可以通过车载喇叭向其余车辆广播预警信息，或者通过蜂鸣器等预警设备向其余车辆做出前方道路有碰撞目标的预警提醒，在其余车辆接收到预警信息后，将该预警信息同步至车端智能驾驶辅助系统，从而使其余车辆根据碰撞目标重新规划行驶路径，以防止发生交通事故。
根据本申请的一个实施例，在将静态目标对应的位置信息和静态目标对应的类型信息发送至障碍物清理平台之后，还包括：判断是否接收到障碍物清理平 台发出的障碍物已清除信息；若接收到障碍物已清除信息，则停止控制当前车辆根据第一预警策略进行预警。
在本申请实施例中，在当前车辆和其余车辆接收到静态目标的预警信息后，将该预警信息同步至车端智能驾驶辅助系统，同时，通过云端预警系统通知障碍物清理平台及时处理障碍物，在障碍物清理平台将障碍物清除后，障碍物清理平台向当前车辆和其余车辆反馈碰撞物清理完毕的信息以及障碍物预警的解除信息。
根据本申请的一个实施例，上述的车辆环境感知的预警方法，还包括：识别碰撞目标的碰撞危险等级；在碰撞危险等级小于或等于预设危险等级时，通过预设声学提醒装置或者预设光学提醒装置进行预警；在危险等级大于预设危险等级时，通过预设声学提醒装置和预设光学提醒装置同时进行预警。
其中，预设危险等级、预设声学提醒装置以及预设光学提醒装置可以为本领域技术人员根据车辆的碰撞风险设定的相关碰撞危险等级、声学提醒装置或者光学提醒装置，在此不做具体限定。
本申请实施例在接收到至少一个目标的运动信息、类型信息和位置信息之后，基于云端预警系统的云端算力和感知算法模型对接收到的目标对应的位置信息和类型信息进行再分析处理，识别出碰撞目标的碰撞危险等级，根据碰撞危险等级分别设定相应的预警策略。例如，在碰撞危险等级小于或等于预设危险等级时，通过预设声学提醒装置或者预设光学提醒装置进行预警；在危险等级大于预设危险等级时，通过预设声学提醒装置和预设光学提醒装置同时进行预警。
举例而言，在识别到碰撞目标的碰撞危险等级小于或等于预设危险等级时，可以通过蜂鸣器或者车载显示屏向当前车辆和其余车辆进行预警，在识别到碰撞目标的碰撞危险等级大于预设危险等级时，通过蜂鸣器和车载显示屏同时向当前车辆和其余车辆进行预警，以警示用户注意规避碰撞风险，提高驾驶安全。
综上，本申请实施例的车辆环境感知的预警方法具有如下有益效果：
(1)提前对车辆前方路况进行预警，以提升行车安全；
(2)同车端、平台和道路管理部门协同合作，提升预警解除效率；
(3)功能可扩展性强；
(4)成本低且易大范围推广使用。
根据本申请实施例的车辆环境感知的预警方法，接收当前车辆上传的至少一 个目标的运动信息、类型信息和位置信息，基于类型信息和位置信息，根据运动信息筛选出满足第一预设碰撞风险条件的碰撞目标和其对应的第一预警策略，并发送至当前车辆，以控制当前车辆根据第一预警策略进行预警。由此，解决了相关技术中对于车辆行驶安全的预警提醒存在滞后性，从而在发生交通危险时，用户无法及时做出驾驶补救动作等问题，通过车端、道路管理平台以及云端预警系统协同合作，基于环境感知系统实时检测车辆周围的静态障碍物和动态障碍物，从而向用户做出道路预警信息，以保障用户的行车安全。
参照附图4，本申请实施例提出一种车辆环境感知的预警装置，该装置包括下述内容。
图4是本申请实施例提供的一种车辆环境感知的预警装置的方框示意图。
如图4所示，该车辆环境感知的预警装置10包括：接收模块100、筛选模块200和控制模块300。
其中，接收模块100，用于接收当前车辆上传的至少一个目标的运动信息、类型信息和位置信息；
筛选模块200，用于基于类型信息和位置信息，根据运动信息筛选出满足第一预设碰撞风险条件的碰撞目标和碰撞目标对应的第一预警策略；以及
控制模块300，用于发送第一预警策略至当前车辆，以控制当前车辆根据第一预警策略进行预警。
根据本申请的一个实施例，在接收当前车辆上传的至少一个目标的运动信息、类型信息和位置信息之后，接收模块100，还用于：
根据运动信息、类型信息和位置信息判断至少一个目标中是否存在静态目标；
若存在静态目标，则将静态目标对应的位置信息和静态目标对应的类型信息发送至障碍物清理平台。
根据本申请的一个实施例，在将静态目标对应的位置信息和静态目标对应的类型信息发送至障碍物清理平台之后，接收模块100，还用于：
判断是否接收到障碍物清理平台发出的障碍物已清除信息；
若接收到障碍物已清除信息，则停止控制当前车辆根据第一预警策略进行预警。
根据本申请的一个实施例，在根据运动信息筛选出满足第一预设碰撞风险条 件的碰撞目标和碰撞目标对应的第一预警策略之后，筛选模块200，还用于：
获取与当前车辆满足第二预设碰撞风险条件的其余车辆和其余车辆对应的第二预警策略；
发送第二预警策略至其余车辆，以控制其余车辆根据第二预警策略进行预警。
根据本申请的一个实施例，上述的车辆环境感知的预警装置10，还用于：
识别碰撞目标的碰撞危险等级；
在碰撞危险等级小于或等于预设危险等级时，通过预设声学提醒装置或者预设光学提醒装置进行预警；
在危险等级大于预设危险等级时，通过预设声学提醒装置和预设光学提醒装置同时进行预警。
根据本申请实施例的车辆环境感知的预警装置，接收当前车辆上传的至少一个目标的运动信息、类型信息和位置信息，基于类型信息和位置信息，根据运动信息筛选出满足第一预设碰撞风险条件的碰撞目标和其对应的第一预警策略，并发送至当前车辆，以控制当前车辆根据第一预警策略进行预警。由此，解决了相关技术中对于车辆行驶安全的预警提醒存在滞后性，从而在发生交通危险时，用户无法及时做出驾驶补救动作等问题，通过车端、道路管理平台以及云端预警系统协同合作，基于环境感知系统实时检测车辆周围的静态障碍物和动态障碍物，从而向用户做出道路预警信息，以保障用户的行车安全。
图5是本申请实施例提供的一种车辆环境感知的预警方法，该方法可由图1所示的实施环境中的服务器102执行，如图5所示，该方法包括下述步骤501至步骤503。
在步骤501中，接收当前车辆上传的至少一个目标的类型信息和位置信息。
在本申请示例性实施例中，至少一个目标为当前车辆的行进方向包括的目标。当前车辆包括车辆环境感知模块，车辆环境感知模块可以是毫米波雷达，也可以是摄像头，还可以是其他能够感知车辆环境的模块，本申请实施例对此不进行限定。当前车辆调用车辆环境感知模块对当前车辆的行进方向进行识别，得到行进方向包括的至少一个目标的类型信息和位置信息。
其中，目标的类型信息可以是静态类型，也可以是动态类型。静态类型的目标是指不可移动的目标，例如，静态类型的目标为前方车辆洒落的物品，或者，静态类型的目标为由于故障而无法移动的车辆。动态类型的目标是指可以移动 的目标，例如，动态类型的目标为行人，或者，动态类型的目标为前方正在移动的车辆。当然，静态类型的目标和动态类型的目标还可以是其他，本申请实施例对此不进行限定。目标的位置信息是指目标所在的位置的信息，也即是目标的位置信息用于指示目标所在的位置。
可选地，基于车辆环境感知模块为毫米波雷达，毫米波雷达对当前车辆的行进方向进行识别，得到行进方向包括的至少一个目标的类型信息和位置信息之外，还可以获取到目标的速度和航向角，但是由于毫米波类型缺乏纹理信息，对目标的类型信息可能会有误判，因此，一般使用摄像头对当前车辆的行进方向进行识别，以得到行进方向包括的至少一个目标的类型信息和位置信息。
在一种可能的实现方式中，当前车辆获取到至少一个目标的类型信息和位置信息之后，向服务器发送至少一个目标的类型信息和位置信息，以使服务器获取到至少一个目标的类型信息和位置信息。可选地，当前车辆包括通讯模块，当前车辆通过通讯模块向服务器发送至少一个目标的类型信息和位置信息。
在步骤502中，基于至少一个目标的类型信息和位置信息，在至少一个目标中筛选出满足第一预设碰撞风险条件的碰撞目标和碰撞目标对应的第一预警策略。
在一种可能的实现方式中，基于至少一个目标的类型信息和位置信息，在至少一个目标中筛选出满足第一预设碰撞风险条件的碰撞目标的过程包括：基于至少一个目标的类型信息，在至少一个目标中确定静态目标，静态目标为类型信息为静态类型的目标；根据静态目标的位置信息，在静态目标中筛选出满足第一预设碰撞风险条件的碰撞目标。
其中，静态目标中满足第一预设碰撞风险条件的碰撞目标是指静态目标中位于当前车辆的行驶路线的碰撞目标。进一步，静态目标中满足第一预设碰撞风险条件的碰撞目标是指静态目标中位于当前车辆的行驶路线，且在当前车辆的行进方向的碰撞目标。
可选地，将至少一个目标中对应的类型信息为静态类型的目标确定为静态目标。根据静态目标的位置信息，在静态目标中筛选出满足第一预设碰撞风险条件的碰撞目标的过程包括：确定静态目标中，位置信息指示的位置位于当前车辆的行驶路线的静态目标为碰撞目标。进一步的，确定静态目标中，位置信息指示的位置位于当前车辆的行驶路线，且位于当前车辆的前进方向的静态目标为碰撞目标。
静态目标中存在位于当前车辆的行驶路线的碰撞目标的话，碰撞目标可能会威胁到当前车辆的行驶，以使当前车辆发生交通事故的概率较大，进而使得当前车辆的行驶安全性较差。因此，需要对当前车辆进行预警，以使当前车辆避开碰撞目标，从而降低当前车辆发生交通事故的概率，提升当前车辆的行驶安全性。
在静态目标中确定碰撞目标之前，还需获取当前车辆的行驶路线。可选地，服务器中存储有各个车辆的标识和各个车辆的行驶路线，根据当前车辆的标识以及各个车辆的标识和各个车辆的行驶路线，确定当前车辆的行驶路线。
或者，服务器通过和当前车辆的交互来获取当前车辆的行驶路线。也即是，服务器向当前车辆发送行驶路线获取请求，当前车辆接收到行驶路线获取请求之后，向服务器发送当前车辆的行驶路线，以使服务器获取到当前车辆的行驶路线。
在一种可能的实现方式，确定碰撞目标对应的第一预警策略的过程包括：识别碰撞目标的碰撞危险等级；在碰撞危险等级小于或等于预设危险等级的情况下，确定第一预警策略为通过预设声学提醒装置或者通过预设光学提醒装置进行预警；在碰撞危险等级大于预设危险等级的情况下，确定第一预警策略为通过预设声学提醒装置和通过预设光学提醒装置同时进行预警。
其中，预设危险等级基于经验进行设置，或者根据实施环境进行调整，本申请实施例对此不进行限定。示例性地，预设危险等级为3级。
可选地，识别碰撞目标的碰撞危险等级的过程包括：当前车辆中存储有各个目标和危险等级的对应关系，根据碰撞目标以及各个目标和危险等级的对应关系，确定碰撞目标的碰撞危险等级。
通过预设声学提醒装置进行预警可以是通过预设声学提醒装置(如喇叭装置)播放预警信息。通过预设光学提醒装置进行预警可以是在预设光学提醒装置(如显示屏)上显示预警信息。
在一种可能的实现方式中，在接收到当前车辆上传的当前车辆的行驶方向包括的至少一个目标的类型信息和位置信息之后，根据至少一个目标的类型信息，判断至少一个目标中是否存在静态目标；若存在静态目标，将静态目标对应的位置信息发送至障碍物清理平台。障碍物清理平台是指用于显示信息以使工作人员对障碍物进行清理的平台。障碍物清理平台接收到静态目标对应的位置信息之后，由工作人员对静态目标进行清除，以清除掉静态目标。当已清除掉静 态目标之后，障碍物清理平台向服务器发送障碍物已清除信息，障碍物已清除信息用于指示静态目标已清除。若接收到障碍物已清除信息，则服务器停止控制当前车辆根据第一预警策略进行预警。
可选地，若接收到障碍物已清除信息，服务器向当前车辆发送停止信息，停止信息用于指示停止当前车辆根据第一预警策略进行预警。
其中，障碍物已清除信息是指示静态目标已被清除的信息，停止信息是指示停止按照第一预警策略进行预警的信息。本申请实施例对障碍物已清除信息、停止信息包括的内容均不进行限定。
在一种可能的实现方式中，服务器还获取与碰撞目标满足第二预设碰撞风险条件的其余车辆和其余车辆对应的第二预警策略；发送第二预警策略至其余车辆，以控制其余车辆根据第二预警策略进行预警。当碰撞目标威胁到某一辆车辆的正常行驶时，将某一辆车辆确定为与碰撞目标满足第二预设碰撞风险条件的其余车辆，确定第二预警策略的过程与确定第一预警策略的过程相同。第二预警策略和第一预警策略为同一个策略。
在一种可能的实现方式中，在至少一个目标中筛选出满足第一预设碰撞风险条件的碰撞目标的情况下，服务器还可以调整当前车辆的行驶路线，得到第一行驶路线，第一行驶路线不经过碰撞目标；服务器向当前车辆发送第一行驶路线，以控制当前车辆根据第一行驶路线行驶。由于第一行驶路线不经过碰撞目标，因此这样可以使当前车辆避开碰撞目标，进而降低当前车辆发生交通事故的概率，提升当前车辆的行驶安全性。
其中，调整当前车辆的行驶路线，得到第一行驶路线的过程包括：根据当前车辆当前所在的位置和当前车辆的行驶路线的终点，确定多条可选路线；在多条可选路线中确定目标路线，目标路线不经过碰撞目标；根据目标路线，确定第一行驶路线。
示例性地，任一条可选路线的起点为当前车辆当前所在的位置，终点为当前车辆的行驶路线的终点。根据目标路线，确定第一行驶路线的过程包括：基于目标路线的条数为一条，确定目标路线为第一行驶路线；基于目标路线的条数为多条，确定各条目标路线的长度；确定长度满足长度要求的目标路线为第一行驶路线。其中，长度满足长度要求是指长度最短，这样可以加快当前车辆到达当前车辆的行驶路线的终点。
在一种可能的实现方式中，服务器还可以调整其余车辆的行驶路线，得到第 二行驶路线；向其余车辆发送第二行驶路线，以控制其余车辆根据第二行驶路线行驶。服务器调整其余车辆的行驶路线，得到第二行驶路线的过程，与上述服务器调整当前车辆的行驶路线，得到第一行驶路线的过程是类似的，本申请实施例在此不再进行赘述。
在步骤503中，发送第一预警策略至当前车辆，以控制当前车辆根据第一预警策略进行预警。
在一种可能的实现方式中，在上述步骤502中确定出碰撞目标对应的第一预警策略之后，向当前车辆发送第一预警策略，以控制当前车辆根据第一预警策略进行预警。也即是，当前车辆接收第一预警策略之后，根据第一预警策略进行预警。
示例性地，第一预警策略为通过预设声学提醒装置或者通过预设光学提醒装置进行预警。因此，当前车辆通过预设声学提醒装置或者通过预设光学提醒装置进行预警。
又例如，第一预警策略为通过预设声学提醒装置和通过预设光学提醒装置同时进行预警。因此，当前车辆通过预设声学提醒装置和通过预设光学提醒装置同时进行预警。
上述方法接收到当前车辆上传的至少一个目标的类型信息和位置信息之后，根据至少一个目标的类型信息和位置信息，在确定出至少一个目标中存在威胁到当前车辆的安全行驶的碰撞目标的情况下，确定碰撞目标对应的第一预警策略，并向当前车辆发送第一预警策略，以使当前车辆根据第一预警策略进行预警。通过这种预警方式，可以提前对当前车辆进行预警，以使驾驶员能够及时做出驾驶补救动作，使得当前车辆能够及时避开碰撞目标，降低当前车辆发生交通事故的概率，进而能够提升当前车辆的行驶安全性，避免给用户的生命财产造成重大损失。
图6是本申请实施例提供的一种车辆环境感知的预警方法，该方法可由图1所示的实施环境中的车辆101执行，如图6所示，该方法包括下述步骤601至步骤603。
在步骤601中，获取至少一个目标的类型信息和位置信息。
示例性地，至少一个目标为当前车辆的行进方向包括的目标。
在一种可能的实现方式中，当前车辆获取至少一个目标的类型信息和位置信 息的过程在上述步骤501中已进行描述，详见上述步骤501的相关内容，本申请实施例在此不再进行赘述。
在步骤602中，基于至少一个目标的类型信息和位置信息，在至少一个目标中筛选出满足第一预设碰撞风险条件的碰撞目标和碰撞目标对应的第一预警策略。
在一种可能的实现方式中，基于至少一个目标的类型信息和位置信息，在至少一个目标中筛选出满足第一预设碰撞风险条件的碰撞目标和碰撞目标对应的第一预警策略的过程在上述步骤502中已进行描述，详见上述步骤502的内容，本申请实施例在此不再进行赘述。
在步骤603中，根据第一预警策略进行预警。
在一种可能的实现方式中，当前车辆根据第一预警策略进行预警的过程在上述步骤503中已进行描述，详见上述步骤503的内容，本申请实施例在此不再进行赘述。
可选地，基于当前车辆接收到服务器发送的第一预警策略，当前车辆还可以对当前车辆的行驶路线进行调整，得到第一行驶路线，第一行驶路线的起点为当前车辆当前所在的位置，终点为当前车辆的行驶路线的终点，且第一行驶路线不经过碰撞目标。
其中，当前车辆对当前车辆的行驶路线进行调整，得到第一行驶路线的过程，与上述步骤502中服务器对当前车辆的行驶路线进行调整，得到第一行驶路线的过程是类似的，详见上述步骤502的相关内容，本申请实施例在此不再进行赘述。
在一种可能的实现方式中，当前车辆接收到服务器发送的停止信息的情况下，停止根据第一预警策略进行预警。
上述方法获取到至少一个目标的类型信息和位置信息之后，根据至少一个目标的类型信息和位置信息，在确定出至少一个目标中存在威胁到当前车辆的安全行驶的碰撞目标的情况下，确定碰撞目标对应的第一预警策略，并根据第一预警策略进行预警。通过这种预警方式，使得当前车辆能够提前进行预警，以使驾驶员能够及时做出驾驶补救动作，使得当前车辆能够及时避开碰撞目标，降低当前车辆发生交通事故的概率，进而能够提升当前车辆的行驶安全性，避免给用户的生命财产造成重大损失。
图7是本申请实施例提供的一种车辆环境感知的预警方法的流程图，该方法可由图1所示的实施环境中的当前车辆101和服务器102之间的交互实现，如图7所示，该方法包括下述步骤。
在步骤701中，当前车辆对当前车辆的行驶方向进行识别，得到行驶方向包括的至少一个目标的类型信息和位置信息。
在一种可能的实现方式中，当前车辆对当前车辆的行驶方向进行识别，得到行驶方向包括的至少一个目标的类型信息和位置信息的过程在上述步骤501中已进行描述，详见上述步骤501的内容，在此不再进行赘述。
在步骤702中，当前车辆向服务器发送至少一个目标的类型信息和位置信息。
在一种可能的实现方式中，当前车辆向服务器发送至少一个目标的类型信息和位置信息的过程在上述步骤501中已进行描述，详见上述步骤501的内容，在此不再进行赘述。
在步骤703中，服务器接收当前车辆发送的至少一个目标的类型信息和位置信息，基于至少一个目标的类型信息和位置信息，在至少一个目标中筛选出满足第一预设碰撞条件的碰撞目标。
在一种可能的实现方式中，服务器基于至少一个目标的类型信息和位置信息，在至少一个目标中筛选出满足第一预设碰撞条件的碰撞目标的过程在上述步骤502中已进行描述，详见上述步骤502的内容，在此不再进行赘述。
在步骤704中，服务器确定碰撞目标对应的第一预警策略。
在一种可能的实现方式中，服务器确定碰撞目标对应的第一预警策略的过程在上述步骤502中已进行描述，详见上述步骤502的内容，在此不再进行赘述。
在步骤705中，服务器向当前车辆发送第一预警策略。
在一种可能的实现方式中，服务器向当前车辆发送第一预警策略的过程在上述步骤503中已进行描述，详见上述步骤503的内容，在此不再进行赘述。
在步骤706中，当前车辆接收第一预警策略，按照第一预警策略进行预警。
在一种可能的实现方式中，当前车辆接收第一预警策略，按照第一预警策略进行预警的过程在上述步骤503中已进行描述，详见上述步骤503的内容，在此不再进行赘述。
在步骤707中，服务器对当前车辆的行驶路线进行调整，得到第一行驶路线。
在一种可能的实现方式中，服务器对当前车辆的行驶路线进行调整，得到第一行驶路线的过程在上述步骤502中已进行描述，详见上述步骤502的内容， 在此不再进行赘述。
在步骤708中，服务器向当前车辆发送第一行驶路线。
在一种可能的实现方式中，服务器向当前车辆发送第一行驶路线的过程在上述步骤502中已进行描述，详见上述步骤502的内容，在此不再进行赘述。
在步骤709中，当前车辆接收第一行驶路线，按照第一行驶路线行驶。
在一种可能的实现方式中，当前车辆接收第一行驶路线，按照第一行驶路线行驶的过程在上述步骤502中已进行描述，详见上述步骤502的内容，在此不再进行赘述。
图8是本申请实施例提供的一种车辆环境感知的预警装置的结构示意图，如图8所示，该装置包括下述内容。
接收模块801，用于接收当前车辆上传的至少一个目标的类型信息和位置信息；
筛选模块802，用于基于至少一个目标的类型信息和位置信息，在至少一个目标中筛选出满足第一预设碰撞风险条件的碰撞目标和碰撞目标对应的第一预警策略；以及
控制模块803，用于发送第一预警策略至当前车辆，以控制当前车辆根据第一预警策略进行预警。
在一种可能的实现方式中，筛选模块802，用于基于至少一个目标的类型信息，在至少一个目标中确定静态目标，静态目标为类型信息为静态类型的目标；根据静态目标的位置信息，在静态目标中筛选出满足第一预设碰撞风险条件的碰撞目标。
在一种可能的实现方式中，筛选模块802，用于确定静态目标中，位置信息指示的位置位于当前车辆的行驶路线的静态目标为碰撞目标。
在一种可能的实现方式中，装置还包括：
发送模块，用于根据至少一个目标的类型信息判断至少一个目标中是否存在静态目标；若存在静态目标，则将静态目标对应的位置信息发送至障碍物清理平台。
在一种可能的实现方式中，控制模块803，还用于判断是否接收到障碍物清理平台发出的障碍物已清除信息；若接收到障碍物已清除信息，则停止控制当前车辆根据第一预警策略进行预警。
在一种可能的实现方式中，筛选模块802，还用于获取与碰撞目标满足第二预设碰撞风险条件的其余车辆和其余车辆对应的第二预警策略；
控制模块803，还用于发送第二预警策略至其余车辆，以控制其余车辆根据第二预警策略进行预警。
在一种可能的实现方式中，筛选模块802，用于识别碰撞目标的碰撞危险等级；在碰撞危险等级小于或等于预设危险等级时，确定第一预警策略为通过预设声学提醒装置或者预设光学提醒装置进行预警；在碰撞危险等级大于预设危险等级时，确定第一预警策略为通过预设声学提醒装置和预设光学提醒装置同时进行预警。
在一种可能的实现方式中，装置还包括：
调整模块，用于在至少一个目标中筛选出满足第一预设碰撞风险条件的碰撞目标的情况下，调整当前车辆的行驶路线，得到第一行驶路线，第一行驶路线不经过碰撞目标；
发送模块，用于向当前车辆发送第一行驶路线，以控制当前车辆根据第一行驶路线行驶。
上述装置接收到当前车辆上传的至少一个目标的类型信息和位置信息之后，根据至少一个目标的类型信息和位置信息，在确定出至少一个目标中存在威胁到当前车辆的安全行驶的碰撞目标的情况下，确定碰撞目标对应的第一预警策略，并向当前车辆发送第一预警策略，以使当前车辆根据第一预警策略进行预警。通过这种预警方式，可以提前对当前车辆进行预警，以使驾驶员能够及时做出驾驶补救动作，使得当前车辆能够及时避开碰撞目标，降低当前车辆发生交通事故的概率，进而能够提升当前车辆的行驶安全性，避免给用户的生命财产造成重大损失。
图9是本申请实施例提供的一种车辆环境感知的预警装置的结构示意图，如图9所示，该装置包括下述内容。
获取模块901，用于获取至少一个目标的类型信息和位置信息；
筛选模块902，用于基于至少一个目标的类型信息和位置信息，在至少一个目标中筛选出满足第一预设碰撞风险条件的碰撞目标和碰撞目标对应的第一预警策略；
控制模块903，用于根据第一预警策略进行预警。
在一种可能的实现方式中，装置还包括：
发送模块，用于向服务器发送至少一个目标的类型信息和位置信息，至少一个目标的类型信息和位置信息用于服务器基于至少一个目标的类型信息和位置信息，在至少一个目标中筛选出满足第一预设碰撞风险条件的碰撞目标和碰撞目标对应的第一预警策略；
接收模块，用于接收服务器返回的第一预警策略。
上述装置获取到至少一个目标的类型信息和位置信息之后，根据至少一个目标的类型信息和位置信息，在确定出至少一个目标中存在威胁到当前车辆的安全行驶的碰撞目标的情况下，确定碰撞目标对应的第一预警策略，并根据第一预警策略进行预警。通过这种预警方式，使得当前车辆能够提前进行预警，以使驾驶员能够及时做出驾驶补救动作，使得当前车辆能够及时避开碰撞目标，降低当前车辆发生交通事故的概率，进而能够提升当前车辆的行驶安全性，避免给用户的生命财产造成重大损失。
图10为本申请实施例提供的服务器的结构示意图。该服务器可以包括：
存储器401、处理器402及存储在存储器401上并可在处理器402上运行的计算机程序。
处理器402执行程序时实现上述实施例中提供的车辆环境感知的预警方法。
进一步地，服务器还包括：
通信接口403，用于存储器401和处理器402之间的通信。
存储器401，用于存放可在处理器402上运行的计算机程序。
存储器401可能包含高速RAM存储器，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。
如果存储器401、处理器402和通信接口403独立实现，则通信接口403、存储器401和处理器402可以通过总线相互连接并完成相互间的通信。总线可以是工业标准体系结构(Industry Standard Architecture，简称为ISA)总线、外部设备互连(Peripheral Component，简称为PCI)总线或扩展工业标准体系结构(Extended Industry Standard Architecture，简称为EISA)总线等。总线可以分为地址总线、数据总线、控制总线等。为便于表示，图10中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。
可选的，在具体实现上，如果存储器401、处理器402及通信接口403，集 成在一块芯片上实现，则存储器401、处理器402及通信接口403可以通过内部接口完成相互间的通信。
处理器402可能是一个中央处理器(Central Processing Unit，简称为CPU)，或者是特定集成电路(Application Specific Integrated Circuit，简称为ASIC)，或者是被配置成实施本申请实施例的一个或多个集成电路。
本申请实施例还提供一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如上的车辆环境感知的预警方法。
本申请实施例还提供一种计算机程序产品，计算机程序产品中存储有至少一条计算机指令，至少一条计算机指令由处理器加载并执行，以使计算机实现如上的车辆环境感知的预警方法。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或N个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本申请的描述中，“N个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算 机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或N个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得程序，然后将其存储在计算机存储器中。
应当理解，本申请的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中，N个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。如，如果用硬件来实现和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。
本技术领域的普通技术人员可以理解实现上述实施例方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
此外，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模块中，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模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。
上述提到的存储介质可以是只读存储器，磁盘或光盘等。尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (16)

  1. 一种车辆环境感知的预警方法，其中，所述方法包括：
    接收当前车辆上传的至少一个目标的类型信息和位置信息；
    基于所述至少一个目标的类型信息和位置信息，在所述至少一个目标中筛选出满足第一预设碰撞风险条件的碰撞目标和所述碰撞目标对应的第一预警策略；以及
    发送所述第一预警策略至所述当前车辆，以控制所述当前车辆根据所述第一预警策略进行预警。
  2. 根据权利要求1所述的方法，其中，所述基于所述至少一个目标的类型信息和位置信息，在所述至少一个目标中筛选出满足第一预设碰撞风险条件的碰撞目标，包括：
    基于所述至少一个目标的类型信息，在所述至少一个目标中确定静态目标，所述静态目标为类型信息为静态类型的目标；
    根据所述静态目标的位置信息，在所述静态目标中筛选出满足第一预设碰撞风险条件的碰撞目标。
  3. 根据权利要求2所述的方法，其中，根据所述静态目标的位置信息，在所述静态目标中筛选出满足第一预设碰撞风险条件的碰撞目标，包括：
    确定所述静态目标中，位置信息指示的位置位于所述当前车辆的行驶路线的静态目标为所述碰撞目标。
  4. 根据权利要求1所述的方法，其中，所述接收当前车辆上传的至少一个目标的类型信息和位置信息之后，还包括：
    根据所述至少一个目标的类型信息判断所述至少一个目标中是否存在静态目标；
    若存在所述静态目标，则将所述静态目标对应的位置信息发送至障碍物清理平台。
  5. 根据权利要求4所述的方法，其中，所述将所述静态目标对应的位置信 息发送至障碍物清理平台之后，还包括：
    判断是否接收到所述障碍物清理平台发出的障碍物已清除信息；
    若接收到所述障碍物已清除信息，则停止控制所述当前车辆根据所述第一预警策略进行预警。
  6. 根据权利要求1所述的方法，其中，所述在所述至少一个目标中筛选出满足第一预设碰撞风险条件的碰撞目标和所述碰撞目标对应的所述第一预警策略之后，还包括：
    获取与所述碰撞目标满足第二预设碰撞风险条件的其余车辆和所述其余车辆对应的第二预警策略；
    发送所述第二预警策略至所述其余车辆，以控制所述其余车辆根据所述第二预警策略进行预警。
  7. 根据权利要求1所述的方法，其中，确定所述碰撞目标对应的第一预警策略，包括：
    识别所述碰撞目标的碰撞危险等级；
    在所述碰撞危险等级小于或等于预设危险等级时，确定所述第一预警策略为通过预设声学提醒装置或者预设光学提醒装置进行预警；
    在所述碰撞危险等级大于所述预设危险等级时，确定所述第一预警策略为通过预设声学提醒装置和预设光学提醒装置同时进行预警。
  8. 根据权利要求1所述的方法，其中，还包括：
    在所述至少一个目标中筛选出满足第一预设碰撞风险条件的碰撞目标的情况下，调整所述当前车辆的行驶路线，得到第一行驶路线，所述第一行驶路线不经过所述碰撞目标；
    向所述当前车辆发送所述第一行驶路线，以控制所述当前车辆根据所述第一行驶路线行驶。
  9. 一种车辆环境感知的预警方法，其中，所述方法包括：
    获取至少一个目标的类型信息和位置信息；
    基于所述至少一个目标的类型信息和位置信息，在所述至少一个目标中筛 选出满足第一预设碰撞风险条件的碰撞目标和所述碰撞目标对应的第一预警策略；
    根据所述第一预警策略进行预警。
  10. 根据权利要求9所述的方法，其中，所述获取至少一个目标的类型信息和位置信息之后，所述方法还包括：
    向服务器发送所述至少一个目标的类型信息和位置信息，所述至少一个目标的类型信息和位置信息用于所述服务器基于所述至少一个目标的类型信息和位置信息，在所述至少一个目标中筛选出满足第一预设碰撞风险条件的碰撞目标和所述碰撞目标对应的第一预警策略；
    接收所述服务器返回的所述第一预警策略。
  11. 一种车辆环境感知的预警装置，其中，所述装置包括：
    接收模块，用于接收当前车辆上传的至少一个目标的类型信息和位置信息；
    筛选模块，用于基于所述至少一个目标的类型信息和位置信息，在所述至少一个目标中筛选出满足第一预设碰撞风险条件的碰撞目标和所述碰撞目标对应的第一预警策略；以及
    控制模块，用于发送所述第一预警策略至所述当前车辆，以控制所述当前车辆根据所述第一预警策略进行预警。
  12. 一种车辆环境感知的预警装置，其中，所述装置包括：
    获取模块，用于获取至少一个目标的类型信息和位置信息；
    筛选模块，用于基于所述至少一个目标的类型信息和位置信息，在所述至少一个目标中筛选出满足第一预设碰撞风险条件的碰撞目标和所述碰撞目标对应的第一预警策略；
    控制模块，用于根据所述第一预警策略进行预警。
  13. 一种服务器，其中，包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述程序，以实现如权利要求1-8任一项所述的车辆环境感知的预警方法。
  14. 一种车辆，其中，包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述程序，以实现如权利要求9-10任一项所述的车辆环境感知的预警方法。
  15. 一种计算机可读存储介质，其上存储有计算机程序，其中，所述计算机程序被处理器执行，以用于实现如权利要求1-10任一项所述的车辆环境感知的预警方法。
  16. 一种计算机程序产品，其中，所述计算机程序产品中存储有至少一条计算机指令，所述至少一条计算机指令由处理器加载并执行，以使计算机实现如权利要求1-10任一所述的车辆环境感知的预警方法。
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