Vehicle forward collision early warning method, computer program product, electronic equipment and storage medium

Abstract

The invention relates to the technical field of vehicle control, in particular to a vehicle forward collision early warning method, a computer program product, electronic equipment and a storage medium. The vehicle forward collision early warning method comprises the following steps: acquiring an Internet of Vehicles basic safety message sent by a remote vehicle, wherein the basic safety message comprises a remote vehicle position and a remote vehicle speed; determining a rectangular area in front of the driving direction of the vehicle according to the position, the direction angle and the speed of the vehicle; if the position of the far vehicle is located in the rectangular area, determining a safe distance between the two vehicles according to the speed of the far vehicle and the speed of the vehicle; according to the size relation between the longitudinal distance and the safety distance between the two vehicles, forward collision early warning is conducted on the vehicle. According to the invention, the accuracy and real-time performance of forward collision early warning can be improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle forward collision warning method, a computer program product, an electronic device, and a storage medium. Background Art

[0002] Forward Collision Warning (FCW) technology not only significantly improves driving safety and experience, but also promotes the development of autonomous driving technology, reduces economic losses, and promotes a safer traffic environment. With technological advancements and the continuous development of intelligent transportation, FCW technology will play an increasingly important role.

[0003] Common FCW technologies include: 1) using sensor technology, such as millimeter-wave radar, to monitor the distance, speed, and relative motion of objects ahead. These technologies can operate in all weather conditions, but are subject to a high incidence of false alarms. 2) Using high-definition cameras combined with image processing and computer vision to analyze video images and identify the status of vehicles ahead is also a mainstream option. However, cameras generally work best in good lighting conditions, and their accuracy decreases at night or in extreme weather.

[0004] In view of the above-mentioned shortcomings of the FCW technology, the solution of this application is proposed. Summary of the Invention

[0005] The purpose of this application is to provide a vehicle forward collision warning method, computer program product, electronic device and storage medium to improve the accuracy and real-time performance of forward collision warning.

[0006] In order to achieve the above objectives, this application adopts the following technical solutions: In a first aspect, the present application provides a vehicle forward collision warning method, comprising: Obtaining basic Internet of Vehicles safety information sent by the remote vehicle, wherein the basic safety information includes the remote vehicle position and remote vehicle speed; Determine the rectangular area in front of the vehicle's direction of travel based on the vehicle's position, direction angle, and speed; If the remote vehicle is located within the rectangular area, determining a safe distance between the two vehicles based on the remote vehicle speed and the own vehicle speed; Based on the relationship between the longitudinal distance between the two vehicles and the safety distance, a forward collision warning is issued to the vehicle.

[0007] Optionally, determining a rectangular area in front of the vehicle's direction of travel based on the vehicle's position, direction angle, and speed includes: Determining the position of the left proximal end point and the right proximal end point in the direction of travel of the vehicle based on the vehicle position, the vehicle direction angle, and the lane width; Determining the position of the left distal end point and the right distal end point in the direction of travel of the vehicle based on the vehicle direction angle and the vehicle speed; The left proximal end point, the left distal end point, the right proximal end point and the right distal end point constitute the rectangular area.

[0008] Optionally, if the remote vehicle is located within the rectangular area, before determining the safe distance between the two vehicles based on the speed of the remote vehicle and the speed of the host vehicle, the method further includes: Determine the maximum longitude and the minimum longitude among the left proximal end point, the left distal end point, the right proximal end point, and the right distal end point; Determine the maximum latitude and the minimum latitude among the left proximal end point, the left distal end point, the right proximal end point, and the right distal end point; If the longitude of the remote vehicle is between the maximum longitude and the minimum longitude, and the latitude of the remote vehicle is between the maximum latitude and the minimum latitude, then the remote vehicle position is within the rectangular area.

[0009] Optionally, if the remote vehicle is located within the rectangular area, determining the safe distance between the two vehicles based on the speed of the remote vehicle and the speed of the host vehicle includes: If the remote vehicle is located within the rectangular area and the speed of the host vehicle is greater than that of the remote vehicle, the safety distance between the two vehicles is calculated based on the vehicle braking process.

[0010] Optionally, the basic safety message includes the length of the remote vehicle; Based on the relationship between the longitudinal distance between the two vehicles and the safety distance, before issuing a forward collision warning to the vehicle itself, the following steps are also performed: Calculate the initial longitudinal distance between the two vehicles based on the position of the own vehicle and the remote vehicle; The initial longitudinal distance is corrected according to the length of the own vehicle and the length of the remote vehicle to obtain a final longitudinal distance.

[0011] Optionally, based on the relationship between the longitudinal distance between the two vehicles and the safety distance, a forward collision warning is issued to the vehicle, including: Determine the warning level based on the relationship between the longitudinal distance between the two workshops and the safety distance; A forward collision warning strategy is determined according to the warning level.

[0012] Optionally, the warning level is determined based on the relationship between the longitudinal distance between the two vehicles and the safety distance, including: If the longitudinal distance between the two vehicles is less than a set threshold, the warning level is the highest; the set threshold is greater than or equal to 0 and less than the safety distance; If the longitudinal distance between the two vehicles is greater than the safety distance, the warning level is the lowest; If the longitudinal distance between the two vehicles is between the set threshold and the safety distance, the warning level is calculated based on the longitudinal distance and the safety distance.

[0013] In a second aspect, the present application provides a computer program product, which stores computer instructions. When the computer instructions are executed by a processor, the steps of the vehicle forward collision warning method are implemented.

[0014] In a third aspect, the present application provides an electronic device, comprising: at least one processor, and a memory communicatively coupled to the at least one processor; The memory stores instructions that can be executed by at least one of the processors, and the instructions are executed by at least one of the processors so that the at least one processor can execute the above-mentioned vehicle forward collision warning method.

[0015] In a fourth aspect, the present application provides a computer-readable storage medium having computer instructions stored thereon, wherein the computer instructions are used to enable a computer to execute the above-mentioned vehicle forward collision warning method.

[0016] Compared with the prior art, the present invention has the following advantages: This application obtains the position and speed of the distant vehicle through the Internet of Vehicles, and then gradually determines whether the distant vehicle is located in the rectangular area in front of the vehicle, the safe distance between the distant vehicle and the vehicle, and finally performs a forward collision warning on the vehicle based on the relationship between the longitudinal distance between the two vehicles and the safe distance. This embodiment performs a forward collision warning based on information obtained from the Internet of Vehicles. Compared with the existing method of obtaining information through image recognition or millimeter-wave radar, it is more reliable and has lower latency, and can effectively improve the real-time and reliability of the warning. This embodiment determines whether the distant vehicle and the vehicle are in the same lane by whether the position of the distant vehicle is within the rectangular area. It has good results on both straight roads and curves, can effectively filter out interfering vehicles, and improve the accuracy of the warning. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the specific implementation methods or the description of the prior art. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] Figure 1 This is a flow chart of a vehicle forward collision warning method provided by this application; Figure 2 This is a flowchart of another vehicle forward collision warning method provided by an embodiment of the present application; Figure 3 is a schematic diagram of a rectangular area provided in an embodiment of the present application; Figure 4 This is a schematic diagram of a remote vehicle within a rectangular area provided by an embodiment of the present application; Figure 5 This is a flow chart of another vehicle forward collision warning method provided by an embodiment of the present application; Figure 6 It is a structural diagram of the electronic device provided in this application. DETAILED DESCRIPTION

[0019] The following description of exemplary embodiments of the present application is made in conjunction with the accompanying drawings, including various details of the embodiments of the present application to facilitate understanding. These details should be considered as merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0020] Figure 1 This is a flow chart of a vehicle forward collision warning method provided by this embodiment. This method can be executed by an electronic device that can be integrated into a vehicle computer. The method provided by this embodiment is applicable to the situation where a vehicle is traveling and performing forward collision detection and warning for a vehicle ahead. Figure 1 , the method provided in this embodiment includes the following operations: S110: Obtaining basic Internet of Vehicles security information sent by the remote vehicle.

[0021] For the convenience of description and distinction, the vehicle performing collision warning is called the host vehicle (HV), and the vehicle in front of the host vehicle is called the remote vehicle (RV).

[0022] Both the host vehicle and the remote vehicle are connected to the Vehicle to Everything (V2X) network. The remote vehicle sends Basic Safety Messages (BSMs) to the host vehicle in real time via the V2X network. BSMs include: 1) three-dimensional coordinates: longitude, latitude, and altitude; 2) dynamic parameters: speed, heading, acceleration, and yaw rate; and 3) vehicle attributes and status: vehicle dimensions (including length, width, and height) and system status.

[0023] After receiving the BSM sent by the remote vehicle, the vehicle can parse the remote vehicle's position and speed.

[0024] S120: Determine a rectangular area ahead of the vehicle's traveling direction based on the vehicle's position, direction angle, and speed.

[0025] In this embodiment, a virtual rectangular area is set in front of the vehicle in the direction of travel. The vehicles within the rectangular area are in the same lane as the vehicle. In other words, the vehicles within the rectangular area are in the same lane as the vehicle. It is necessary to determine whether the distant vehicle falls within the rectangular area based on the position of the distant vehicle.

[0026] Optionally, the size and position of the rectangular area are determined based on the vehicle's position and heading. The rectangular area is located in front of the vehicle, and its length (parallel to the vehicle's longitudinal direction) is aligned with the vehicle's heading. The length of the rectangular area can be set to a fixed value.

[0027] Optionally, the size and position of the rectangular area are determined based on the vehicle's position, heading angle, and speed. The rectangular area is located in front of the vehicle, and its length (parallel to the vehicle's longitudinal direction) is aligned with the vehicle's heading angle. The length of the rectangular area is determined by the vehicle's speed. For example, the vehicle's speed is positively correlated with the length of the rectangular area and can be pre-calibrated. For example, if the vehicle's speed is 50 km / h, the length of the rectangular area is 100 meters.

[0028] S130: If the remote vehicle is located within the rectangular area, determine a safe distance between the two vehicles based on the speed of the remote vehicle and the speed of the host vehicle.

[0029] If the remote vehicle is within the rectangular area, indicating that the remote vehicle and the host vehicle are in the same lane, the risk of collision between the two vehicles is further determined. First, the safe distance between the two vehicles is determined based on the speed of the remote vehicle and the host vehicle. In this embodiment, the safe distance is the minimum longitudinal distance that the host vehicle must maintain between the remote vehicle and the host vehicle to avoid rear-end collisions.

[0030] Optionally, the reaction distance and braking distance of the vehicle are calculated and added together to obtain the safe distance. The reaction distance is the distance the vehicle travels from the time the driver detects danger to the time he or she applies the brakes. The braking distance is the distance from the time the driver applies the brakes to the time the vehicle comes to a complete stop. This is calculated using the following formula: Safety distance = reaction distance + braking distance; Reaction distance = V hv ×t 反应 ; Braking distance = ; in, is the vehicle speed, in m / s, is the friction coefficient between tire and road, is the acceleration due to gravity, for example 9.8m / s 2 . t 反应 is the driver's reaction time, which can be any value between 0.5 and 2 seconds.

[0031] S140: Based on the relationship between the longitudinal distance between the two vehicles and the safety distance, a forward collision warning is issued to the vehicle.

[0032] The real-time longitudinal distance between the distant vehicle and the host vehicle is calculated by subtracting the distance between them. If the longitudinal distance at a given moment is less than the safe distance, there is a risk of the host vehicle rear-ending the distant vehicle, and a forward collision warning is issued.

[0033] Optional forward collision warnings are designed to alert the driver to the risk of a rear-end collision. They can control the movement of components within the cockpit to alert the driver, for example, by flashing lights or vibrating the steering wheel.

[0034] The embodiment of the present application obtains the position and speed of the remote vehicle through the Internet of Vehicles, and then gradually determines whether the remote vehicle is located in the rectangular area in front of the host vehicle, the safe distance between the remote vehicle and the host vehicle, and finally performs a forward collision warning on the host vehicle based on the relationship between the longitudinal distance between the two vehicles and the safe distance. This embodiment performs a forward collision warning based on information obtained from the Internet of Vehicles. Compared with the existing method of obtaining information through image recognition or millimeter-wave radar, this embodiment is more reliable and has lower latency, and can effectively improve the real-time and reliability of the warning. This embodiment determines whether the remote vehicle and the host vehicle are in the same lane by whether the remote vehicle position is within the rectangular area. It has good results on both straight roads and curves, can effectively filter out interfering vehicles, and improve the accuracy of the warning.

[0035] Figure 2 is a flow chart of another vehicle forward collision warning method provided by an embodiment of the present application, Figure 2 The method shown refines the process of determining the rectangular area and the process of determining whether the remote vehicle is within the rectangular area. The method provided in this embodiment includes the following operations: S210: Obtain a basic Internet of Vehicles safety message sent by a remote vehicle, where the basic safety message includes a remote vehicle position and a remote vehicle speed.

[0036] S220: Determine the position of the left proximal end point and the right proximal end point in the direction of travel of the vehicle based on the vehicle position, the vehicle direction angle, and the lane width.

[0037] S230: Determine the position of the left far end point and the right far end point in the direction of travel of the vehicle based on the vehicle's direction angle and speed. The left near end point, the left far end point, the right near end point, and the right far end point constitute a rectangular area.

[0038] The vehicle's position is determined by its onboard positioning device, while its heading angle (also known as heading angle) is determined by its onboard gyroscope or inertial measurement unit. Lane widths use standard values. Vehicle speed can be determined from wheel speed sensors or real-time position.

[0039] For the convenience of description and distinction, the left and right sides of the vehicle's driving direction are from the driver's perspective. Figure 3 , establish the vehicle coordinate system, with the origin at the center of mass, the X-axis as the longitudinal direction of the vehicle, and the driving direction as the positive direction of the X-axis. The Y-axis is the lateral direction of the vehicle, with the left side as the positive direction and the right side as the negative direction.

[0040] Continue to see Figure 3 The left proximal endpoint P2 and the right proximal endpoint P1 are two endpoints close to the vehicle, and the line connecting the two endpoints is parallel to the Y axis. The left distal endpoint P3 and the right distal endpoint P4 are two endpoints far from the vehicle, and the line connecting the two endpoints is parallel to the Y axis.

[0041] In a specific embodiment, the positions of the host vehicle and the remote vehicle are expressed in longitude and latitude, and the longitude and latitude of the aforementioned four endpoints are calculated by combining the radius of the earth and trigonometric functions.

[0042] The direction angle of point P1 relative to the vehicle is the negative direction of the Y axis, so the following formula is used: rt0= rt hv + (D h1 / R)×cos(α+π / 2); rg0= rg hv + (D h1 / R)×[sin(α+π / 2) / cos(rt0)]; Among them, rt0 and rg0 are the latitude and longitude of point P1 respectively, rt hv and rg hv are the latitude and longitude of the vehicle, D h1 is the straight-line distance from the center of mass of the vehicle to point P1, which can be approximated as half the lane width, R is the radius of the earth, and α is the direction angle of the vehicle. For example, if the direction angle α of the vehicle is 0, the straight-line distance D from the center of mass of the vehicle to point P1 is h1 is 2m, the radius of the earth is R=6371393m, then the difference in latitude between the own vehicle and the distant vehicle can be found in the following formula: (D h1 / R)×cos(α+π / 2)=2 / 6371393×1 = 3.1×10 -7 ; The vehicle uses real-time kinematic differential (RTK) high-precision positioning technology, which has centimeter-level or even millimeter-level positioning accuracy. 1 degree of latitude is approximately equal to 111 km, so the latitude accuracy that can be positioned is within 10 -8 ~10 -7 , which can be applied to the latitude and longitude calculation method provided in this embodiment.

[0043] The direction angle of point P2 relative to the vehicle is the positive direction of the Y axis, so the following formula is used: rt1= rt hv + (D h2 / R)×cos(α+3×π / 2); rg1= rg hv + (D h2 / R)×[sin(α+3×π / 2) / cos(rt1)]; Among them, rt1 and rg1 are the latitude and longitude of point P2 respectively, D h2 is the straight-line distance from the center of mass of the vehicle to point P2, which can be approximated as half the lane width, R is the radius of the earth, and α is the direction angle of the vehicle.

[0044] The direction angle of point P3 relative to point P2 is the positive direction of the X axis, so the following formula is used: rt2= rt1+ (D 23 / R)×cos(α+π / 2); rg2= rg1+ (D 23 / R)×[sin(α+π / 2) / cos(rt2)]; Among them, rt1 and rg1 are the latitude and longitude of point P2, and rt2 and rg2 are the latitude and longitude of point P1. 23 It is the straight-line distance from point P3 to point P2, which can be determined in real time according to the speed of the vehicle. The greater the speed of the vehicle, the greater the distance D 23 The larger the radius, the greater the angle. R is the radius of the earth, and α is the direction angle of the vehicle.

[0045] The direction angle of point P4 relative to P1 is the positive direction of the X axis, so the following formula is used: rt3= rt0+ (D 14 / R)×cos(α+3×π / 2); rg3= rg0+ (D 14 / R)×[sin(α+3×π / 2) / cos(rt3)]; Among them, rt3 and rg3 are the latitude and longitude of point P4, rt0 and rg0 are the latitude and longitude of point P1, D 14 It is the straight-line distance from point P1 to point P4, which can be determined in real time according to the speed of the vehicle. The greater the speed of the vehicle, the greater the distance D14 The larger the radius, the greater the angle. R is the radius of the earth, and α is the direction angle of the vehicle.

[0046] After obtaining the latitude and longitude of points P1 to P4, determine whether the latitude and longitude of the vehicle falls within the rectangular frame formed by points P1 to P4.

[0047] S240. Determine the maximum longitude and minimum longitude among the left proximal endpoint, the left distal endpoint, the right proximal endpoint, and the right distal endpoint; determine the maximum latitude and minimum latitude among the left proximal endpoint, the left distal endpoint, the right proximal endpoint, and the right distal endpoint.

[0048] rt min = MIN(rt0,rt1,rt2,rt3); rt max = MAX(rt0,rt1,rt2,rt3); rg min = MIN(rg0,rg1,rg2,rg3); rg max = MAX(rg0,rg1,rg2,rg3); Among them, rt min is the minimum latitude of points P1 to P4, rt max is the maximum latitude of points P1 to P4, rg min is the minimum longitude of points P1 to P4, rg max The maximum longitude of points P1 to P4.

[0049] S250: Determine whether the remote vehicle position is within the rectangular area. If yes, execute S251; if not, return to S210.

[0050] If the following formula is satisfied: rt min ≤rt rv ≤rt max ; rg min ≤rg rv ≤rg max ; It is assumed that the position of the distant vehicle is within the rectangular area in front of the vehicle, see Figure 4 , at this time, the host vehicle and the remote vehicle are considered to be in the same lane. Conversely, if the above formula is not satisfied, it is considered that the remote vehicle does not fall within the rectangular area, and the host vehicle and the remote vehicle are considered to be in different lanes. Return to S210 to continue to obtain the BSM of the remote vehicle for real-time monitoring of the remote vehicle.

[0051] S251. Determine the safe distance between the two vehicles based on the speed of the distant vehicle and the speed of the own vehicle.

[0052] S252: Based on the relationship between the longitudinal distance between the two vehicles and the safety distance, a forward collision warning is issued to the vehicle.

[0053] This embodiment determines whether the remote vehicle and the vehicle are in the same lane based on the longitude and latitude of the vehicle and the remote vehicle. It does not require camera or radar monitoring and is not affected by weather, which reduces costs and improves the accuracy of same-lane detection.

[0054] Figure 5 This is a flowchart of another vehicle forward collision warning method provided by an embodiment of the present application. After determining that the vehicle and the distant vehicle are in the same lane, whether a warning is needed and how to issue the warning are determined based on the real-time longitudinal distance between the vehicle and the distant vehicle. Figure 5 The method shown includes the following steps: S310: Obtain a basic Internet of Vehicles safety message sent by a remote vehicle, where the basic safety message includes the remote vehicle's position, speed, and length.

[0055] The remote vehicle length in this embodiment is the longitudinal length of the remote vehicle, which can be obtained from the vehicle attribute information of the BSM.

[0056] S320: Determine a rectangular area ahead of the vehicle's traveling direction based on the vehicle's position, direction angle, and speed.

[0057] S330: If the remote vehicle is located within the rectangular area, compare the speed of the vehicle with that of the remote vehicle. If the speed of the vehicle is greater than that of the remote vehicle, execute S340; If the speed of the own vehicle is less than or equal to the speed of the distant vehicle, it means that the own vehicle cannot catch up with the distant vehicle and there is no risk of forward collision, and the process returns to S310 to continue monitoring.

[0058] S340: Calculate the safety distance between the two vehicles based on the vehicle braking process.

[0059] If the speed of the own vehicle is greater than that of the distant vehicle, it means that the own vehicle will catch up with the distant vehicle at some point in the future and may collide with it. In this case, the safe distance between the two vehicles is calculated.

[0060] The vehicle braking process is usually divided into the following stages: 1) Driver reaction time: The reaction time from when the driver detects danger to when he starts to step on the brake pedal, ranging from 0.3 seconds to 2 seconds.

[0061] 2) Braking coordination time: The delay time from when the brake pedal is pressed to when effective braking is generated, ranging from 0.35 seconds to 0.6 seconds.

[0062] 3) Deceleration growth time: the time required for the braking force to increase from zero to the maximum value, generally 0.2 seconds.

[0063] 4) Continuous braking phase: The vehicle brakes at maximum deceleration until it stops. This deceleration is the negative value of the acceleration.

[0064] Based on the above vehicle braking process, the following formula is used to calculate the safe distance between the host vehicle and the remote vehicle: : ; in, and are the speed of the own vehicle and the speed of the distant vehicle, is the driver's reaction time, is the braking coordination time, is the deceleration growth time, is the maximum braking deceleration of the vehicle (unit: m / s 2 ), which is determined by the road adhesion coefficient, To reserve a safe distance, for example, 2 to 5 meters.

[0065] S350: Calculate the initial longitudinal distance between the two vehicles based on the position of the own vehicle and the position of the remote vehicle; and correct the initial longitudinal distance based on the length of the own vehicle and the length of the remote vehicle to obtain a final longitudinal distance.

[0066] Since the host vehicle and the distant vehicle are in the same lane, the distance between the two vehicles can be directly approximated to be equal to the initial longitudinal distance between the two vehicles. The formula for calculating the distance between the two vehicles using the haversine formula is as follows: ; ; ; Where R is the radius of the earth, a is the difference in latitude between the host vehicle and the remote vehicle, and b is the difference in longitude between the host vehicle and the remote vehicle. is the initial longitudinal distance.

[0067] Taking into account the impact of vehicle length on warning accuracy in actual applications, this embodiment corrects the initial longitudinal distance according to the lengths of the two vehicles, as shown in the following formula: ; Where D is the final longitudinal distance, It's the captain of this vehicle. It's the driver of the distant vehicle.

[0068] S360. Determine the warning level based on the relationship between the longitudinal distance between the two workshops and the safety distance.

[0069] Optionally, if the longitudinal distance D between the two vehicles is less than the set threshold, the warning level is the highest, which is recorded as The set threshold is greater than or equal to 0 and less than the safety distance If the longitudinal distance D between the two vehicles is greater than the safety distance, the warning level is the lowest. .

[0070] If the longitudinal distance between the two vehicles is between the set threshold and the safety distance, the warning level is calculated based on the longitudinal distance and the safety distance, as shown in the following formula: ; in, It is the warning level.

[0071] S370. Determine a forward collision warning strategy based on the warning level.

[0072] The warning level is sent to the vehicle system, which then uses the vehicle's interactive devices to provide different levels of forward collision warnings based on the warning level. For example, the warning levels, from low to high, are: flashing instrument panel, flashing instrument panel + beeping, flashing instrument panel + beeping + steering wheel vibration, and direct emergency braking.

[0073] Compared with the prior art, this embodiment has the following technical effects: 1. Higher accuracy: This embodiment uses V2X equipment to receive information such as the remote vehicle's position and speed. It can accurately calculate the distance between the host vehicle and the remote vehicle and the speed difference between the two vehicles, thereby accurately calculating the forward collision warning level with high accuracy.

[0074] 2. Improved real-time performance: This embodiment utilizes the low-latency technical characteristics of V2X to receive remote vehicle driving information in real time, quickly determine the driving relationship between the host vehicle and the remote vehicle, and perform early warning calculations, effectively improving the real-time performance of early warnings.

[0075] 3. Better reliability: The V2X wireless communication distance used in this embodiment can reach 300 meters. According to knowledge of braking dynamics, when the speed difference between two vehicles is 100 km / h, the minimum safe distance is about 185 meters. The 300-meter effective communication distance can greatly improve the reliability of early warning.

[0076] 4. Better warning effect: This embodiment uses the driving information of the host vehicle and the remote vehicle to calculate the driving relationship between the two vehicles in real time and output the forward collision warning level. At the same time, it links other on-board equipment to output warning prompts, effectively improving the driving safety of the vehicle.

[0077] like Figure 6 As shown, this embodiment provides an electronic device, including: at least one processor; and a memory communicatively connected to at least one of the processors; wherein, The memory stores instructions executable by at least one processor, and the instructions are executed by at least one processor to enable at least one processor to perform the above method. The at least one processor in the electronic device is capable of performing the above method, thereby having at least the same advantages as the above method.

[0078] Optionally, the electronic device also includes interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses and can be installed on a common motherboard or installed in other ways as needed. The processor can process instructions executed in the electronic device, including instructions stored in or on the memory to display graphical information of a GUI (Graphical User Interface) on an external input / output device (such as a display device coupled to the interface). In other embodiments, if necessary, multiple processors can be used with multiple memories, and / or multiple buses can be used with multiple memories. Similarly, multiple electronic devices can be connected (for example, as a server array, a group of blade servers, or a multi-processor system), with each device providing part of the necessary operations. Figure 6 A processor 301 is taken as an example.

[0079] Memory 302, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the vehicle forward collision warning method in the embodiments of the present application. Processor 301 executes the software programs, instructions, and modules stored in memory 302 to perform various functional applications and data processing of the device, thereby implementing the aforementioned vehicle forward collision warning method.

[0080] The memory 302 may primarily include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function; the data storage area may store data created based on the use of the terminal, etc. Furthermore, the memory 302 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 302 may further include a memory remotely located relative to the processor 301, and these remote memories may be connected to the device via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0081] The electronic device may further include: an input device 303 and an output device 304. The processor 301, the memory 302, the input device 303 and the output device 304 may be connected via a bus or other means. Figure 6The bus connection is taken as an example.

[0082] The input device 303 can receive input digital or character information, and the output device 304 can include a display device, an auxiliary lighting device (e.g., an LED), a tactile feedback device (e.g., a vibration motor), etc. The display device may include, but is not limited to, a liquid crystal display (LCD), a light-emitting diode (LED) display, and a plasma display. In some embodiments, the display device may be a touch screen.

[0083] This embodiment provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to cause a computer to execute the above method. The computer instructions on the computer-readable storage medium are used to cause a computer to execute the above method, thereby having at least the same advantages as the above method.

[0084] The medium in this application may be any combination of one or more computer-readable media. The medium may be a computer-readable signal medium or a computer-readable storage medium. The medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof. More specific examples of media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, a medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device.

[0085] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0086] The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wire, optical cable, RF (Radio Frequency), etc., or any suitable combination of the foregoing.

[0087] Computer program code for performing the operations of the present application can be written in one or more programming languages, or a combination thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0088] In the above embodiments, all or part of the embodiments can be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired connection, such as a coaxial cable, optical fiber, digital subscriber line (DSL), or wireless connection, such as infrared, wireless, or microwave. The computer-readable storage medium can be any available medium that can be accessed by a computer, or a data storage device, such as a server or data center, that includes one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, hard disk, or magnetic tape), an optical medium, or a semiconductor medium. It is worth noting that the computer-readable storage medium mentioned in the embodiments of the present application may be a non-volatile storage medium, in other words, a non-transitory storage medium.

[0089] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this application can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this application can be achieved. This is not a limitation herein.

[0090] The above specific embodiments do not constitute a limitation on the scope of protection of this application. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be included within the scope of protection of this application.

Claims

1. A vehicle forward collision warning method, characterized in that: include: Obtaining basic Internet of Vehicles safety information sent by the remote vehicle, wherein the basic safety information includes the remote vehicle position and remote vehicle speed; Determine the rectangular area in front of the vehicle's direction of travel based on the vehicle's position, direction angle, and speed; If the remote vehicle is located within the rectangular area, determining a safe distance between the two vehicles based on the remote vehicle speed and the own vehicle speed; Based on the relationship between the longitudinal distance between the two vehicles and the safety distance, a forward collision warning is issued to the vehicle.

2. The vehicle forward collision warning method according to claim 1, characterized in that: Based on the vehicle's position, direction, and speed, determine the rectangular area in front of the vehicle's direction of travel, including: Determining the position of the left proximal end point and the right proximal end point in the direction of travel of the vehicle based on the vehicle position, the vehicle direction angle, and the lane width; Determining the position of the left distal end point and the right distal end point in the direction of travel of the vehicle based on the vehicle direction angle and the vehicle speed; The left proximal end point, the left distal end point, the right proximal end point and the right distal end point constitute the rectangular area.

3. The vehicle forward collision warning method according to claim 2, characterized in that: If the remote vehicle is located within the rectangular area, before determining the safe distance between the two vehicles based on the speed of the remote vehicle and the speed of the host vehicle, the method further includes: Determine the maximum longitude and the minimum longitude among the left proximal end point, the left distal end point, the right proximal end point, and the right distal end point; Determine the maximum latitude and the minimum latitude among the left proximal end point, the left distal end point, the right proximal end point, and the right distal end point; If the longitude of the remote vehicle is between the maximum longitude and the minimum longitude, and the latitude of the remote vehicle is between the maximum latitude and the minimum latitude, then the remote vehicle position is within the rectangular area.

4. The vehicle forward collision warning method according to any one of claims 1 to 3, characterized in that: If the remote vehicle is located within the rectangular area, determining a safe distance between the two vehicles based on the remote vehicle speed and the own vehicle speed includes: If the remote vehicle is located within the rectangular area and the speed of the host vehicle is greater than that of the remote vehicle, the safety distance between the two vehicles is calculated based on the braking process of the vehicles.

5. The vehicle forward collision warning method according to any one of claims 1 to 3, characterized in that: The basic safety message includes the length of the remote vehicle; Based on the relationship between the longitudinal distance between the two vehicles and the safety distance, before issuing a forward collision warning to the vehicle itself, the following steps are also performed: Calculate the initial longitudinal distance between the two vehicles based on the position of the own vehicle and the remote vehicle; The initial longitudinal distance is corrected according to the length of the own vehicle and the length of the remote vehicle to obtain a final longitudinal distance.

6. The vehicle forward collision warning method according to any one of claims 1 to 3, characterized in that: Based on the relationship between the longitudinal distance between the two vehicles and the safety distance, the vehicle is given a forward collision warning, including: Determine the warning level based on the relationship between the longitudinal distance between the two workshops and the safety distance; A forward collision warning strategy is determined according to the warning level.

7. The vehicle forward collision warning method according to claim 6, characterized in that: The warning level is determined based on the relationship between the longitudinal distance between the two workshops and the safety distance, including: If the longitudinal distance between the two vehicles is less than a set threshold, the warning level is the highest; the set threshold is greater than or equal to 0 and less than the safety distance; If the longitudinal distance between the two vehicles is greater than the safety distance, the warning level is the lowest; If the longitudinal distance between the two vehicles is between the set threshold and the safety distance, the warning level is calculated based on the longitudinal distance and the safety distance.

8. A computer program product, characterized in that The computer program product stores computer instructions, and when the computer instructions are executed by a processor, the steps of the vehicle forward collision warning method according to any one of claims 1 to 7 are implemented.

9. An electronic device, characterized in that: include: at least one processor, and a memory communicatively coupled to the at least one processor; The memory stores instructions that can be executed by at least one of the processors, and the instructions are executed by at least one of the processors so that the at least one processor can execute the vehicle forward collision warning method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The medium stores computer instructions, which are used to enable a computer to execute the vehicle forward collision warning method according to any one of claims 1 to 7.

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