A vehicle boundary crossing protection method and device, electronic equipment and storage medium

Abstract

The one or more embodiments of the specification provide a vehicle boundary crossing protection method and device, electronic equipment and storage medium, comprising: reading a pre-generated map file; the map file is generated according to pre-calibrated track points, feature points and dangerous road sections; determining the current positioning point of the vehicle, and judging whether the vehicle is in the dangerous road section according to the current positioning point and the feature points; if it is determined that the vehicle is in the dangerous road section, determining the distance from the track point closest to the current positioning point in the dangerous road section to the current positioning point as a first detection value; determining the distance from the track point closest to the current positioning point in the dangerous road section to the road edge as a second detection value; calculating the difference between the first detection value and the second detection value; determining the distance value from the current positioning point to the road edge; and controlling the driving state of the vehicle according to the difference value and the distance value. The scheme of the present disclosure can timely intervene in the driving condition of the vehicle when the vehicle is in danger, thereby reducing the occurrence of accidents.

Description

TECHNICAL FIELD

[0001] The one or more embodiments of the present specification relate to the technical field of vehicle safety, and in particular to a vehicle boundary crossing protection method and device, an electronic device, and a storage medium. BACKGROUND

[0002] With the continuous development of artificial intelligence technology, the speed limit, road edge, and isolation belt can be accurately recognized by using a camera, the vehicle drivable area is generated, the centimeter-level positioning can be realized by using a high-precision positioning device, the vehicle position information can be obtained in real time, and timely control can be performed to prevent major safety accidents.

[0003] According to the summary statistics of the daily driving track of a bus, the present application uses a high-precision positioning device and feature map software to construct a virtual electronic fence at a bridge, a lake, and an isolation belt and other dangerous road sections. When the bus is driving on the dangerous road section, if the bus crosses the boundary of the electronic fence, the vehicle controller will trigger the vehicle boundary crossing protection system. At this time, the vehicle will automatically slow down and stop to avoid the bus from rushing out of the bridge and causing a crash or other serious traffic accidents, thereby protecting the safety of the passengers and crew. SUMMARY

[0004] Therefore, the purpose of the one or more embodiments of the present specification is to propose a vehicle boundary crossing protection method to prevent major safety accidents and ensure the safety of passengers and crew.

[0005] To achieve the above purpose, the one or more embodiments of the present specification provide a vehicle boundary crossing protection method, which comprises:

[0006] reading a pre-generated map file, wherein the map file is generated according to pre-calibrated track points, feature points, and dangerous road sections;

[0007] determining a current positioning point of the vehicle, and determining whether the vehicle is in the dangerous road section according to the current positioning point and the feature points;

[0008] if it is determined that the vehicle is in the dangerous road section, determining a distance from the track point closest to the current positioning point in the dangerous road section to the current positioning point, denoted as a first detection value; determining a distance from the track point closest to the current positioning point in the dangerous road section to the road edge, denoted as a second detection value; calculating a difference value between the first detection value and the second detection value; determining a distance value from the current positioning point to the road edge; and controlling the driving state of the vehicle according to the difference value and the distance value.

[0009] Based on the same inventive concept, the one or more embodiments of the present specification also provide a vehicle boundary crossing protection device, which comprises:

[0010] a reading module configured to read a pre-generated map file, wherein the map file is generated according to pre-calibrated track points, feature points and dangerous road sections;

[0011] a judging module configured to determine a current positioning point of the vehicle, and determine whether the vehicle is in the dangerous road section according to the current positioning point and the feature points;

[0012] a control module configured to, if it is determined that the vehicle is in the dangerous road section, determine a distance from the track point closest to the current positioning point in the dangerous road section to the current positioning point as a first detection value, determine a distance from the track point closest to the current positioning point in the dangerous road section to a road edge as a second detection value, calculate a difference value between the first detection value and the second detection value, determine a distance value from the current positioning point to the road edge, and control a driving state of the vehicle according to the difference value and the distance value.

[0013] Based on the same inventive concept, one or more embodiments of the present specification also provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of any one of the above when executing the program.

[0014] Based on the same inventive concept, one or more embodiments of the present specification also provide a non-transitory computer readable storage medium, which stores computer instructions for causing the computer to execute the method of any one of the above.

[0015] As can be seen from the above, the vehicle boundary protection method, device, electronic device and storage medium provided by one or more embodiments of the present specification include that in the present solution, a pre-generated map file is arranged in a vehicle, a controller of the vehicle reads a current positioning point of the vehicle in a driving process, and the current positioning point is compared with the pre-generated map file to determine whether the vehicle enters a dangerous area marked in the pre-set map file. When the vehicle enters a dangerous road section, it is determined whether the vehicle is in danger according to track points in the map file and positioning points in a driving process of the vehicle. When it is determined that the vehicle is in danger, the driving state of the vehicle is controlled, the vehicle brake is activated, and the vehicle throttle pedal is in an invalid state. At this time, the vehicle will not start again even if the throttle pedal is stepped on. The present solution greatly protects the life and property safety of the driver and passengers. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the one or more embodiments of the present specification or the prior art, the drawings needed to be used in the embodiment or prior art description will be briefly introduced as follows. Obviously, the drawings in the following description only constitute one or more embodiments of the present specification, and for those skilled in the art, other drawings can also be obtained without creative effort on the basis of these drawings.

[0017] Figure 1 Flow chart of the vehicle boundary protection method in one or more embodiments of the present specification;

[0018] Figure 2 Flow chart of step S101 in one or more embodiments of the present specification;

[0019] Figure 3 Schematic diagram of a feature point view in one or more embodiments of the present specification;

[0020] Figure 4 Schematic diagram of a vehicle boundary protection system device in one or more embodiments of the present specification;

[0021] Figure 5 Schematic diagram of an electronic device structure in one or more embodiments of the present specification. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below with reference to specific embodiments and drawings.

[0023] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in one or more embodiments of the present specification should be the commonly understood meanings by those skilled in the art to which the present disclosure belongs. The terms "first", "second" and the like used in one or more embodiments of the present specification do not represent any order, number or importance, but are only used to distinguish different components. The terms "include" or "contain" and the like mean that the elements or objects before the terms cover the elements or objects listed after the terms and their equivalents, and do not exclude other elements or objects. The terms "connect" or "connect" and the like are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms "up", "down", "left", "right" and the like are only used to represent relative positional relationships, and when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0024] As described in the background section, in recent years, bus crashes into rivers and rivers have occurred frequently, and the reasons are that passengers maliciously snatch the steering wheel, causing the vehicle driver to lose control of the vehicle, and the driver's subjective intention or attention is divided, causing the vehicle to crash, which causes the passengers to be injured, seriously endangering the safety of the society and the life and property safety of the passengers.

[0025] In the process of implementing the present disclosure, the applicant found that each bus has a specific driving route, and the route and dangerous section on the route of each bus driving are specific. The map file can be generated by obtaining the features on the driving route, the pre-generated map file is imported into the control system of the bus, the positioning point of the vehicle is obtained in real time during driving, and the real-time positioning point is compared with the corresponding feature point in the map file to determine whether the vehicle is dangerous. When it is determined that the vehicle is dangerous, the vehicle brake is controlled.

[0026] In view of the problems existing in the prior art and based on the foregoing findings of the applicant, one or more embodiments of the present specification provide a vehicle boundary protection method. First, the driving trajectory of the vehicle is obtained by using a positioning device, the driving route of the vehicle is obtained according to the driving trajectory in combination with map software, the dangerous section on the driving route and the feature point of the dangerous section are marked on the driving route, and finally a map file is generated. According to the track point in the map file and the positioning point in the driving process of the vehicle, it is determined whether the vehicle is dangerous. When it is determined that the vehicle is dangerous, the driving state of the vehicle is controlled, the vehicle brake is adopted, and the vehicle throttle pedal is in an invalid state. At this time, the vehicle will not start again when the throttle pedal is stepped on. The present scheme greatly protects the life and property safety of the passengers.

[0027] In the following, in view of the problems existing in the prior art, the technical solutions of one or more embodiments of the present specification are further described in detail through specific embodiments.

[0028] First, one embodiment of the present specification provides a vehicle boundary protection method. The method of the present embodiment can be executed by any vehicle with control function. In addition, the electronic device as a control object can be an electronic device executing the method of the present embodiment, or other electronic devices.

[0029] As an optional application scenario, the vehicle executing the method of the present embodiment is an urban bus vehicle; it can also be a school bus or a commuter bus of various units, etc.

[0030] As shown in Figure 1 One or more embodiments of the present specification provide a vehicle boundary protection method, which specifically includes the following steps:

[0031] Step S101, configured to read a pre-generated map file; the map file is generated according to pre-calibrated track points, feature points and dangerous road sections.

[0032] In this embodiment, the map file is first read. The map file is pre-generated and stored in the general controller of the bus vehicle.

[0033] Specifically, referring to Figure 2 , the map file generation step specifically includes:

[0034] Step S201, obtaining a driving route according to the track points, and marking the dangerous road sections on the driving route;

[0035] Step S202, taking the track points corresponding to the start and end points of the dangerous road sections as the feature points;

[0036] Step S203, determining the longitude, latitude and heading angle values contained in the track points;

[0037] Step S204, generating the map file according to the track points, the dangerous road sections, the feature points, and the longitude, latitude and heading angle values contained in the track points through a map software.

[0038] In this embodiment, first, a vehicle equipped with a positioning device is used to obtain the positioning information of the vehicle, and track points of normal driving of the vehicle are collected according to the positioning information, wherein one track point is collected every 5 meters when driving in a straight line, and one track point is collected every 1 meter when driving in a curve; the track points constitute a driving route of the vehicle, and a mark of a dangerous road section is marked on the driving route according to the actual road surface conditions, the dangerous road section being an area where a vehicle is easy to fall, such as a bridge or a lake.

[0039] As an optional embodiment, the interval distance of the track points when driving in a straight line and driving in a curve can be selected to be different values according to specific needs, for example, one track point is collected every 3 meters when driving in a straight line instead of every 5 meters, or one track point is collected every 1 meter; one track point is collected every 0.5 meters when driving in a curve instead of every 1 meter.

[0040] In this step, the positioning device transmits the longitude, latitude and heading angle of each trajectory point to the map software by setting the COM port and baud rate, wherein the baud rate refers to the rate of the effective data signal modulating the carrier wave, i.e. the number of times of the carrier wave modulation state change per unit time; the map software sets the straight line collection interval and the curve collection interval of each trajectory point, and marks the dangerous road section on the map software to obtain the trajectory points entering the dangerous road section and the trajectory points leaving the dangerous road section, the trajectory points entering the dangerous road section being the starting point of the dangerous road section, and the trajectory points leaving the dangerous road section being the end point of the dangerous road section, and the trajectory points corresponding to the starting point and the end point of the dangerous road section being the feature points. For example, as shown in FIG. 8, the third trajectory point is the starting point of the dangerous road section, i.e. the yellow marked point, and the eleventh trajectory point is the end point of the dangerous road section, i.e. the green marked point, and the area between the two points is the area of the dangerous road section. In the first column, the second column, the third column and the fourth column of the right half of the figure, the serial number, the latitude, the longitude and the heading angle value of the trajectory point are shown respectively. Figure 3

[0041] As an optional embodiment, a map file in a specific format is generated by using the map software and stored in the vehicle controller, and the map file contains all the trajectory point and feature point information. After the collection of the trajectory points, the marking of the feature points and the generation of the map file are completed, if there is no change in the subsequent bus routes and road conditions, it is not necessary to repeat this work. The heading angle value contained in the trajectory point is the angle between the longitudinal axis of the aircraft and the north pole of the earth. The heading angle in this scheme is the angle between the vehicle speed and the north pole of the earth.

[0042] In step S102, the current positioning point of the vehicle is determined, and it is judged whether the vehicle is in the dangerous road section according to the current positioning point and the feature points.

[0043] In this embodiment, the current positioning point is compared with the entering feature point and the leaving feature point; if the distance between the current positioning point and the entering feature point is less than 0.5 m, it is determined that the vehicle is in the dangerous road section; if the distance between the current positioning point and the leaving feature point is less than 0.5 m, it is determined that the vehicle is not in the dangerous road section.

[0044] ​As an optional embodiment, the vehicle controller first reads the map file through serial communication or CAN, wherein CAN is a converged network adapter, also known as C-NIC; it is a computer input / output device, which combines the functions of HBA (host bus adapter) and network adapter, and can access SAN (storage area network) and traditional computer network through CAN; the communication receives the longitude, latitude and heading angle values output by the high-precision positioning device in real time, obtains the current positioning point, compares the current positioning point with the feature points, judges whether the vehicle enters the dangerous road section; if the distance between the current positioning point and the entry feature point is less than 0.5 m, it is determined that the vehicle is in the dangerous road section; if the distance between the current positioning point and the exit feature point is less than 0.5 m, it is determined that the vehicle is not in the dangerous road section. For example, the distance between the current positioning point and the entry feature point is 0.8 m, at this time, 0.8 m>0.5 m, it is judged that the vehicle is not currently in the dangerous road section; if the distance between the current positioning point and the entry feature point is 0.495 m, 0.495 m<0.5 m, it is judged that the vehicle is currently in the dangerous road section. When the distance between the current positioning point and the exit feature point is 0.499 m, 0.499 m<0.5 m, it is judged that the vehicle exits the dangerous road section, regardless of whether the vehicle is still in the dangerous road section or not, because the vehicle will soon exit the dangerous road section due to the inertia of the vehicle.

[0045] In step S103, if it is determined that the vehicle is in the dangerous road section, the distance from the trajectory point closest to the current positioning point in the dangerous road section to the current positioning point is determined as a first detection value; the distance from the trajectory point closest to the current positioning point in the dangerous road section to the road edge is determined as a second detection value; the difference between the first detection value and the second detection value is calculated; the distance value from the current positioning point to the road edge is determined; and the driving state of the vehicle is controlled according to the difference value and the distance value.

[0046] In this embodiment, each trajectory point has longitude, latitude and heading angle values, wherein the heading angle is used to distinguish whether the vehicle is on the right side or the left side of the trajectory point; when the vehicle is on the right side of the trajectory point, the second detection value is the distance from the trajectory point closest to the current positioning point in the dangerous road section to the right road edge; the distance value is the distance from the current positioning point to the right road edge; when the vehicle is on the left side of the trajectory point, the second detection value is the distance from the trajectory point closest to the current positioning point in the dangerous road section to the left road edge; the distance value is the distance from the current positioning point to the left road edge. When the difference value is greater than 0 and the distance value is less than 0, a brake torque is sent to control the brake system of the vehicle to control the braking of the vehicle.

[0047] As an optional embodiment, when the vehicle controller identifies that the vehicle enters a dangerous section, through positioning discovery, the distance from the track point closest to the current positioning point in the dangerous section to the current positioning point is 2.5 meters, the distance from the track point closest to the current positioning point in the dangerous section to the road edge is 4.0 meters, 2.5-4.0=-1.5, -1.5<0, at this time the vehicle is in normal driving; if the distance from the track point closest to the current positioning point in the dangerous section to the current positioning point is 4.2 meters, 4.2-4.0=0.2, 0.2>0, at this time the vehicle controller sends control information to the actuator. When the vehicle boundary protection system is triggered, the vehicle controller determines that the accelerator pedal is in an ineffective state and will not respond to the accelerator pedal value. At the same time, a brake torque instruction is sent to the drive motor for auxiliary braking, and a deceleration instruction is sent to the braking system to make the vehicle decelerate to a stop in a short distance. The drive motor responds to the brake torque instruction, and the braking system responds to the deceleration instruction to make the vehicle decelerate to a stop in a short distance.

[0048] It can be seen that in the embodiment, a map file is pre-set in the vehicle controller, the position obtained in real time by the vehicle is compared with the track point pre-set in the map file to determine whether the vehicle is in a dangerous section, when it is found through calculation that the vehicle is in danger, the driving state of the vehicle is controlled, the vehicle is braked, and the accelerator pedal of the vehicle is in an ineffective state, at this time the vehicle will not start again even if the accelerator pedal is stepped on again, and the life and property safety of the driver and passengers is greatly protected.

[0049] It should be noted that the method of one or more embodiments of the present specification can be executed by a single device, such as a computer or a server, etc. The method of the present embodiment can also be applied to a distributed scenario, and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only execute one or more steps in the method of one or more embodiments of the present specification, and the multiple devices can interact with each other to complete the method.

[0050] It should be noted that the above describes specific embodiments of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be executed in an order different than the order in the embodiments and still achieve the desired result. In addition, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order, to achieve the desired results. In some implementations, multitasking and parallel processing can be advantageous.

[0051] Based on the same inventive concept, the vehicle boundary crossing protection device corresponding to any of the above-mentioned embodiments is also provided by one or more embodiments of the present specification.

[0052] Reference Figure 4 The vehicle boundary crossing protection device comprises:

[0053] The reading module 401 is configured to read a pre-generated map file; the map file is generated according to pre-calibrated track points, feature points and dangerous road sections;

[0054] The determining module 402 is configured to determine a current positioning point of the vehicle, and determine whether the vehicle is in the dangerous road section according to the current positioning point and the feature points;

[0055] The control module 403 is configured to, if it is determined that the vehicle is in the dangerous road section, determine a distance from the track point closest to the current positioning point in the dangerous road section to the current positioning point, denoted as a first detection value; determine a distance from the track point closest to the current positioning point in the dangerous road section to a road edge, denoted as a second detection value; calculate a difference value between the first detection value and the second detection value; determine a distance value from the current positioning point to the road edge; and control a driving state of the vehicle according to the difference value and the distance value.

[0056] For the convenience of description, the above device is described as various modules in function. Of course, the functions of the modules can be implemented in one or more software and / or hardware in the implementation of one or more embodiments of the present specification.

[0057] The device of the above-mentioned embodiments is used to implement the corresponding vehicle boundary crossing protection method in any of the above-mentioned embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be described here.

[0058] Based on the same inventive concept, the electronic device corresponding to any of the above-mentioned embodiment methods is also provided by one or more embodiments of the present specification, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the vehicle boundary crossing protection method of any of the above-mentioned embodiments when executing the program.

[0059] Figure 5 A more specific hardware structure schematic diagram of an electronic device provided by the present embodiment is shown, which can comprise a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040 and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030 and the communication interface 1040 are connected to each other through the bus 1050 for communication connection within the device.

[0060] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits, etc., for executing relevant programs to implement the technical solutions provided by the embodiments of the present specification.

[0061] The memory 1020 can be implemented by a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, etc. The memory 1020 can store an operating system and other application programs, and when the technical solutions provided by the embodiments of the present specification are implemented by software or firmware, relevant program codes are saved in the memory 1020 and called and executed by the processor 1010.

[0062] The input / output interface 1030 is configured to connect input / output modules to realize information input and output. The input / output modules can be configured as components in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. The input devices can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices can include a display, a speaker, a vibrator, an indicator light, etc.

[0063] The communication interface 1040 is configured to connect a communication module (not shown in the figure) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired manner (for example, a USB, a network cable, etc.) or through a wireless manner (for example, a mobile network, WIFI, Bluetooth, etc.).

[0064] The bus 1050 includes a channel for transmitting information between various components (for example, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040) of the device.

[0065] It should be noted that although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040, and the bus 1050, in the specific implementation process, the device can also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above device can also only include components necessary for implementing the solutions of the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0066] The electronic device of the above embodiment is used to implement the corresponding vehicle boundary crossing protection method in any of the preceding embodiments, and has the beneficial effects of the corresponding method embodiment, which are not repeated here.

[0067] Based on the same inventive concept, corresponding to the method of any of the above embodiments, one or more embodiments of the present specification also provide a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the vehicle boundary crossing protection method according to any of the above embodiments.

[0068] The computer-readable medium of the present embodiment includes permanent and non-permanent, removable and non-removable media, which can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tape, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device.

[0069] The computer instructions stored in the storage medium of the above embodiment are used to cause the computer to perform the vehicle boundary crossing protection method according to any of the above embodiments, and have the beneficial effects of the corresponding method embodiment, which are not repeated here.

[0070] Those skilled in the art should understand that the discussion of any of the above embodiments is only exemplary and is not intended to imply that the scope of the present disclosure (including claims) is limited to these examples; under the idea of the present disclosure, the above embodiments or technical features in different embodiments can also be combined, steps can be implemented in any order, and there are many other changes of different aspects of one or more embodiments of the present specification as described above. In order to be brief, they are not provided in detail.

[0071] Additionally, to simplify the description and discussion, and so as not to obscure one or more embodiments of the description, well-known power supply / ground connections to integrated circuit (IC) chips and other components can or can not be shown in the provided figures. Furthermore, devices can be shown in block diagram form in order to avoid obscuring one or more embodiments of the description, and this also acknowledges the fact that the details in regard to the implementation of such block diagram devices are highly dependent on the platform within which one or more embodiments of the description are to be implemented (i.e., such details should be well within the purview of one of ordinary skill in the art). Where specific details are set forth in order to describe an illustrative embodiment of the disclosure, it will be apparent to one of ordinary skill in the art that the one or more embodiments of the description can be practiced without, or with variation of, these specific details. Thus, the description is to be considered as illustrative and not restrictive, and the scope of the one or more embodiments of the description is to be determined not with the assistance of the foregoing description alone, but rather in light of the appended claims in conjunction with recognizing the one or more embodiments of the description can over come and solve any and all problems suggested below.

[0072] While the present disclosure has been described with respect to a specific implementation, many alternatives, modifications and variations will be apparent to those skilled in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) can use the embodiments discussed.

[0073] The one or more embodiments of the description are intended to cover all such alternatives, modifications and variations as can come within the scope of the appended claims. Accordingly, any and all such modifications, variations or equivalents that fall within the scope of the one or more embodiments of the description should be considered within the scope of the disclosure.

Claims

1. A control method for a vehicle boundary crossing protection system, characterized in that, include: Read the pre-generated map file; The map file is generated based on pre-marked trajectory points, feature points, and dangerous road sections. The feature points include the entry feature point at the start of the dangerous road section and the exit feature point at the end of the dangerous road section. Determine the vehicle's current location and, based on the current location and the feature points, determine whether the vehicle is in the dangerous road section; If the vehicle is determined to be in the dangerous road section, the distance from the trajectory point closest to the current location point within the dangerous road section to the current location point is determined and recorded as the first detection value; Determine the distance from the trajectory point closest to the current location point within the dangerous road section to the road edge, and record it as the second detection value; calculate the difference between the first detection value and the second detection value; Determine the distance from the current location point to the curb; The vehicle's driving status is controlled based on the difference and the distance value; The step of controlling the vehicle's driving state based on the difference and the distance value includes: when the difference is greater than zero and the distance value is less than zero, sending a braking torque command to control the vehicle's braking system to decelerate or stop the vehicle.

2. The method according to claim 1, characterized in that, The map file is generated in the following way: The driving route is obtained based on the trajectory points, and the dangerous road sections are marked on the driving route; The trajectory points corresponding to the start and end points of the dangerous road section are used as the feature points; Determine the longitude, latitude, and heading angle values ​​included in the trajectory points; The map file is generated using map software based on the trajectory points, the dangerous road sections, the feature points, and the longitude, latitude, and heading angle values ​​contained in the trajectory points.

3. The method according to claim 2, characterized in that, The map file is in .bin format.

4. The method according to claim 2, characterized in that, The feature points include: an entry feature point corresponding to the start of the dangerous road section and an exit feature point corresponding to the end of the dangerous road section; The step of determining whether a vehicle is in the dangerous road section based on the current location point and the feature points specifically includes: Compare the current location point with the entry feature point and the exit feature point; If the distance between the current location point and the entry feature point is less than 0.5m, the vehicle is determined to be in the dangerous road section. If the distance between the current location point and the exit feature point is less than 0.5m, it is determined that the vehicle is not in the dangerous road section.

5. The method according to claim 2, characterized in that, The heading angle is used to distinguish whether the vehicle is to the right or left of the trajectory point; When the vehicle is to the right of the trajectory point, the second detection value is the distance from the trajectory point closest to the current location point within the dangerous road section to the right edge of the road; the distance value is the distance from the current location point to the right edge of the road. When the vehicle is to the left of the trajectory point, the second detection value is the distance from the trajectory point closest to the current location point within the dangerous road segment to the left edge of the road; the distance value is the distance from the current location point to the left edge of the road.

6. A vehicle boundary crossing protection device, characterized in that, include: The read module is configured to read pre-generated map files; The map file is generated based on pre-marked trajectory points, feature points, and dangerous road sections. The feature points include the entry feature point of the starting point of the dangerous road section and the exit feature point of the ending point of the dangerous road section. The judgment module is configured to determine the current location of the vehicle and, based on the current location and the feature points, determine whether the vehicle is in the dangerous road section. The control module is configured to, if it is determined that the vehicle is in the dangerous road section, determine the distance from the trajectory point closest to the current positioning point within the dangerous road section to the current positioning point, and record it as a first detection value; determine the distance from the trajectory point closest to the current positioning point within the dangerous road section to the road edge, and record it as a second detection value; and calculate the difference between the first detection value and the second detection value. Determine the distance from the current location point to the curb; The vehicle's driving status is controlled based on the difference and the distance value; The step of controlling the vehicle's driving state based on the difference and the distance value includes: when the difference is greater than zero and the distance value is less than zero, sending a braking torque command to control the vehicle's braking system to decelerate or stop the vehicle.

7. The apparatus of claim 6, wherein the control module is configured to compare the current positioning point with the entry feature point and the exit feature point; If the distance between the current location point and the entry feature point is less than 0.5m, the vehicle is determined to be in the dangerous road section. If the distance between the current location point and the exit feature point is less than 0.5m, it is determined that the vehicle is not in the dangerous road section.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the method as described in any one of claims 1 to 5.

9. A non-transitory computer-readable storage medium, characterized in that, The non-transitory computer-readable storage medium stores computer instructions for causing the computer to perform the method of any one of claims 1 to 5.

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