Parking violation warning method, device, system and storage medium

Abstract

The present application is applicable to the field of smart transportation technology, and provides a method, device, system and computer-readable storage medium for warning of illegal parking. The method comprises: receiving road reference information from a roadside sensing device; determining a target vehicle illegally parked within the sensing area of ​​the roadside sensing device based on the road reference information; determining a designated vehicle within the sensing area that has an accident risk with the target vehicle based on the road reference information; and sending warning information to the on-board terminal of the designated vehicle. The present application can promptly detect illegally parked vehicles on the road, specifically find designated vehicles affected by illegally parked vehicles, and send warnings to them, thereby greatly reducing the risk to normally traveling vehicles. At the same time, it will not disturb other unaffected vehicles, which is conducive to maintaining stable traffic order.

Description

Technical Field

[0001] This application belongs to the field of intelligent transportation technology, and in particular relates to a method, device, system and computer-readable storage medium for illegal parking warning. Background Technology

[0002] With the development of science and technology and the continuous improvement of people's living standards, the automotive industry has also developed rapidly, widely affecting people's daily life and travel habits.

[0003] Maintaining proper driving awareness while driving is fundamental to safe driving. However, illegal parking in reality poses a significant safety hazard to traffic, and if other drivers fail to notice and react in time, collisions may occur. Summary of the Invention

[0004] This application provides a method, device, system, and computer-readable storage medium for issuing early warnings of illegal parking. It can identify designated vehicles that pose an accident risk to illegally parked vehicles and send early warning information to the on-board terminal of the designated vehicles, thereby reducing safety hazards.

[0005] In a first aspect, embodiments of this application provide a method for issuing a warning of illegal parking, including:

[0006] Receive road reference information from roadside sensing devices;

[0007] Based on the road reference information, the target vehicles illegally parked within the sensing area of ​​the roadside sensing device are identified;

[0008] Based on the road reference information, identify designated vehicles within the perception area that pose an accident risk to the target vehicle;

[0009] Send a warning message to the vehicle's onboard terminal.

[0010] In one embodiment, the road reference information includes vehicle status information of each vehicle within the sensing area and map information within the sensing area; based on the road reference information, determining the target vehicle illegally parked within the sensing area of ​​the roadside sensing device includes:

[0011] Based on the vehicle status information and map information of each vehicle, the target vehicles to be parked in the no-parking area are determined;

[0012] And / or,

[0013] Based on the vehicle status information and map information of each vehicle, the target vehicle to be parked on the driving section is determined.

[0014] In one embodiment, the vehicle status information includes vehicle length, vehicle width, current position, and current speed; the map information includes no-parking locations and corresponding no-parking areas; based on the vehicle status information and map information, the target vehicle to be parked within the no-parking area is determined, including:

[0015] A rectangle is constructed with the no-parking position as the center and a preset aspect ratio. The area of ​​the rectangle is equal to the no-parking area, or the area of ​​the rectangle is equal to the no-parking area enlarged by a preset ratio.

[0016] Calculate the first distance from the current position of each vehicle to the two long sides of the rectangle, and take the maximum value of the first distance;

[0017] Calculate the second distance from the current position of each vehicle to the two wide sides of the rectangle, and take the maximum value of the second distance;

[0018] If the maximum value of the first distance of the vehicle is less than or equal to the sum of the width of the rectangle and half the width of the vehicle, and the maximum value of the second distance of the vehicle is less than or equal to the sum of the length of the rectangle and half the length of the vehicle, then the vehicle is determined to be in a no-parking zone.

[0019] If the current speed of the vehicle is less than the preset speed, then the vehicle is determined to be the target vehicle.

[0020] In one embodiment, the road reference information includes vehicle status information of each vehicle within the perception area and map information within the perception area; based on the road reference information, determining designated vehicles within the perception area that pose an accident risk to the target vehicle includes:

[0021] Based on the vehicle status information and map information of each vehicle, identify the designated vehicles within the perception area that are on the same road segment, in the same lane, and traveling in the same direction as the target vehicle and that pose a collision risk.

[0022] Alternatively, based on the vehicle status information of each vehicle and the map information, a designated vehicle within the perception area that is at an intersection with the target vehicle and poses a collision risk upon intersection can be identified.

[0023] In one embodiment, the vehicle status information includes vehicle length, vehicle width, current position, driving direction, and current speed; based on the vehicle status information of each vehicle and the map information, designated vehicles within the perception area that are on the same road segment, in the same lane, and traveling in the same direction as the target vehicle and pose a collision risk are identified, including:

[0024] Based on the current location of each vehicle and the map information, the road segment where each vehicle is located is determined;

[0025] Vehicles that are on the same road segment as the target vehicle are selected from other vehicles and designated as first candidate vehicles;

[0026] Obtain a first distance from the centerline of the first candidate vehicle to the centerline of the target vehicle, and select vehicles from the set of first candidate vehicles whose first distance is less than the safe distance between the two vehicles as second candidate vehicles. The safe distance between the two vehicles = the average of the width of the target vehicle and the width of the first candidate vehicle + a preset safe distance value.

[0027] Based on the driving direction and current position of the target vehicle and the second candidate vehicle, a vehicle located behind the target vehicle and traveling in the same direction as the target vehicle is selected from the set of the second candidate vehicles as the third candidate vehicle.

[0028] The collision time is calculated based on the length, current position, and current speed of the target vehicle and the third candidate vehicle. The collision time is calculated as follows: (real-time distance between the target vehicle and the third candidate vehicle - average length of the target vehicle and the third candidate vehicle) / (current speed of the third candidate vehicle - current speed of the target vehicle).

[0029] If the collision time is less than the preset collision time, then the third candidate vehicle is a designated vehicle with a collision risk.

[0030] In one embodiment, the vehicle status information includes current speed, current position, and driving direction; based on the road reference information, identifying designated vehicles within the perception area that are at an intersection with the target vehicle and pose a collision risk upon intersection includes:

[0031] Based on the current location of each vehicle and the map information, the road segment where each vehicle is located is determined;

[0032] Obtain the upstream and downstream nodes of the road segment where the target vehicle is located, and obtain the upstream and downstream nodes of the road segments where other vehicles are located. The upstream node is the node that is ahead of the target vehicle in the direction of travel, and the downstream node is the node that is behind the target vehicle in the direction of travel.

[0033] From the other vehicles, select vehicles whose upstream node is the same as the upstream node of the road segment where the target vehicle is located, and whose downstream node is different from the downstream node of the road segment where the target vehicle is located, as the first candidate vehicles;

[0034] Based on the current speed, current position, and direction of travel of the first candidate vehicle and the target vehicle, calculate the minimum meeting time between the first candidate vehicle and the target vehicle;

[0035] Using the target vehicle as the center, calculate the closest intersection point between the first candidate vehicle and the target vehicle;

[0036] If the minimum encounter time is less than the preset collision time, and it is confirmed that the first candidate vehicle overlaps with the target vehicle at the closest point of intersection, then the first candidate vehicle is a designated vehicle with a collision risk.

[0037] In one embodiment, the vehicle status information includes current position and current speed; based on the vehicle status information of each vehicle and map information, determining the target vehicle that is parked on the road segment includes:

[0038] Based on the current location of each vehicle and the map information, the road segment where each vehicle is located is determined;

[0039] Based on the map information, if the road segment where the vehicle is located is a driving segment and the current speed of the vehicle is less than a preset speed, then the vehicle is determined to be a target vehicle parked on the driving segment.

[0040] In one embodiment, vehicles that are on the same road segment as the target vehicle are selected from the other vehicles as first candidate vehicles, including:

[0041] Obtain the upstream and downstream nodes of the road segment where the target vehicle is located, and obtain the upstream and downstream nodes of the road segments where other vehicles are located. The upstream node is the node in front of the target vehicle in the direction of travel, and the downstream node is the node in the downstream vehicle in the direction of travel.

[0042] From the other vehicles, select vehicles whose upstream node is the same as the upstream node of the road segment where the target vehicle is located, and whose downstream node is the same as the downstream node of the road segment where the target vehicle is located, as the first candidate vehicles.

[0043] In one embodiment, the minimum meeting time between the first candidate vehicle and the target vehicle is calculated based on their current speed, current position, and direction of travel; the closest intersection point between the first candidate vehicle and the target vehicle is calculated with the target vehicle as the center, including:

[0044] Calculate the distance between the two vehicles based on the current positions of the first candidate vehicle and the target vehicle.

[0045] The heading angle and azimuth angle of the first candidate vehicle are determined based on the driving direction of the first candidate vehicle, and the heading angle and azimuth angle of the target vehicle are determined based on the driving direction of the target vehicle.

[0046] Based on the current speeds and heading angles of the first candidate vehicle and the target vehicle, the relative speed is calculated as follows: the relative speed = the square root of the sum of the squares of the relative speed vectors in the east direction and the squares of the relative speed vectors in the north direction; the relative speed vector in the east direction = the current speed of the second candidate vehicle * the sine of the heading angle of the second candidate vehicle - the current speed of the target vehicle * the sine of the heading angle of the target vehicle; the relative speed vector in the north direction = the current speed of the second candidate vehicle * the cosine of the heading angle of the second candidate vehicle - the current speed of the target vehicle * the cosine of the heading angle of the target vehicle.

[0047] Calculate the relative heading angle based on the relative velocity vectors in the due east direction and the due north direction. The relative heading angle = arctan(relative velocity vector in the due east direction / relative velocity vector in the due north direction).

[0048] Calculate the relative azimuth angle based on the azimuth angles of the first candidate vehicle and the target vehicle;

[0049] Calculate the minimum meeting time: Minimum meeting time = Distance between the two vehicles * cos(Relative heading angle - Relative azimuth angle - π) / Relative speed;

[0050] Calculate the nearest encounter distance: Nearest encounter distance = distance between the two vehicles * sin(relative heading angle - relative azimuth angle - π);

[0051] Based on the distance between the two vehicles, the nearest meeting distance, the relative azimuth angle, and the relative heading angle, the closest intersection point between the first candidate vehicle and the target vehicle is calculated with the target vehicle as the center.

[0052] In one embodiment, the vehicle status information further includes vehicle width and vehicle length; confirming that the first candidate vehicle overlaps with the target vehicle at the closest intersection point includes:

[0053] Based on the driving direction, vehicle width, and vehicle length, with the position of the target vehicle at the closest intersection point as the center, determine the four vertices of the second rectangle representing the target vehicle and the four vertices of the first rectangle representing the first candidate vehicle.

[0054] Select two sides of the first rectangle that intersect at the vertex of the first rectangle that is farthest from the second rectangle, and select two sides of the second rectangle that intersect at the vertex of the second rectangle that is farthest from the first rectangle, and construct four projection axes using the selected four sides.

[0055] The first rectangle is projected onto each of the projection axes to obtain a first projection; the second rectangle is projected onto each of the projection axes to obtain a second projection.

[0056] If the first projection and the second projection on all four projection axes overlap, then it is confirmed that the first candidate vehicle overlaps with the target vehicle at the closest intersection point.

[0057] In one embodiment, based on the current location of each vehicle and the map information, the road segment where each vehicle is located is determined, including:

[0058] Two nodes for each road segment are obtained from the map information to form a node set;

[0059] Determine any two nodes in the node set as the first candidate node pair;

[0060] Calculate the squares of the distances from the vehicle's current position to the two nodes in the first candidate node pair to obtain the first distance value and the second distance value; and calculate the squares of the distance between the two nodes in the first candidate node pair to obtain the third distance value.

[0061] Determine whether the sum of the first distance value and the third distance value is greater than or equal to the second distance value, or whether the sum of the second distance value and the third distance value is greater than or equal to the first distance value. If so, determine the first candidate node pair as the second candidate node pair.

[0062] Calculate the vertical distance between the vehicle and the line connecting the two nodes in the second candidate node pair, and determine the second candidate node pair whose vertical distance is less than the preset road segment width as the third candidate node pair;

[0063] The heading angle of the vehicle is determined based on the driving direction of the vehicle status information;

[0064] The angle between the line connecting the two nodes in the third candidate node pair and the driving direction, as well as the vertical distance, are weighted to obtain a weight value. The weight value R = W1 * vertical distance + W2 * angle, where W1 is the weight coefficient of the distance feature, W2 is the weight coefficient of the angle feature, and W1 + W2 = 1.

[0065] The road segment to which the third candidate node with the minimum weight belongs is determined as the road segment where the vehicle is located.

[0066] Secondly, embodiments of this application provide a parking violation warning device, including:

[0067] The receiving module is used to receive road reference information from roadside sensing devices;

[0068] The target determination module is used to determine, based on the road reference information, a target vehicle illegally parked within the sensing area of ​​the roadside sensing device; and is also used to determine, based on the road reference information, a designated vehicle within the sensing area that poses an accident risk to the target vehicle.

[0069] The sending module is used to send warning information to the vehicle-mounted terminal of the designated vehicle.

[0070] Thirdly, embodiments of this application provide a parking violation warning system, including: a parking violation warning device and a roadside sensing device;

[0071] The roadside sensing device is used to acquire road reference information and send the road reference information to the illegal parking warning device;

[0072] The illegal parking warning device is used to determine whether there is a target vehicle illegally parked based on the road reference information; it is also used to identify a designated vehicle that poses an accident risk to the target vehicle based on the road reference information.

[0073] In one embodiment, the illegal parking warning system further includes an on-board terminal, and the roadside sensing device includes a roadside detection module and a roadside communication terminal;

[0074] The vehicle-mounted terminal is communicatively connected to the roadside communication terminal and is used to send vehicle-mounted information to the roadside communication terminal; it is also used to receive warning information from the roadside communication terminal.

[0075] The roadside detection module is communicatively connected to the roadside communication terminal and is used to send the detected sensing information to the illegal parking warning device through the roadside communication terminal.

[0076] The roadside communication terminal is communicatively connected to the illegal parking warning device and is used to send the received road reference information to the illegal parking warning device. The road reference information includes the sensing information and the vehicle-side information. It is also used to receive warning information from the illegal parking warning device and to send the warning information to the vehicle-mounted terminal.

[0077] Fourthly, embodiments of this application 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 executes the computer program to implement the method as described in any of the first aspects.

[0078] Fifthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method as described in any of the first aspects.

[0079] Sixthly, embodiments of this application provide a computer program product that, when run on a terminal device, causes the terminal device to execute the method described in any one of the first aspects.

[0080] It is understood that the beneficial effects of the second to sixth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here.

[0081] The beneficial effects of this application's embodiments compared to existing technologies are as follows: By using road reference information from roadside sensing devices, it identifies illegally parked target vehicles within the sensing area of ​​the roadside sensing devices, and identifies designated vehicles within the sensing area that pose an accident risk to the target vehicles, so as to send warning information to the on-board terminals of the designated vehicles. This application can promptly detect illegally parked vehicles on the road, specifically locate designated vehicles affected by illegally parked vehicles, and send warnings to them, greatly reducing the risk to normally driving vehicles. At the same time, it will not disturb other unaffected vehicles, which is conducive to maintaining traffic order and stability. Attached Figure Description

[0082] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0083] Figure 1 This is a schematic flowchart of a method for issuing a warning of illegal parking provided in an embodiment of this application;

[0084] Figure 2 This is a schematic diagram of a method for determining whether a vehicle is in a no-parking zone according to an embodiment of this application;

[0085] Figure 3 This is a flowchart illustrating a method for determining a specific vehicle according to an embodiment of this application;

[0086] Figure 4 This is a schematic diagram of a method for determining the road segment where a vehicle is located according to an embodiment of this application;

[0087] Figure 5 This is a schematic diagram of a method for determining vehicles traveling in the same lane and in the same direction according to an embodiment of this application;

[0088] Figure 6 This is a flowchart illustrating a method for determining a specific vehicle according to another embodiment of this application;

[0089] Figure 7 This is a schematic diagram of a method for determining the overlap of two vehicles provided in an embodiment of this application;

[0090] Figure 8 This is a schematic diagram of the illegal parking warning device provided in the embodiments of this application;

[0091] Figure 9 This is a structural example diagram of the illegal parking warning system provided in the embodiments of this application;

[0092] Figure 10 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0093] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0094] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0095] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0096] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0097] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0098] The illegal parking warning method provided in this application can be applied to road traffic safety management scenarios. This method is executed by an illegal parking warning device, which consists of software and / or hardware and is generally integrated into an electronic device. The electronic device includes, but is not limited to, desktop computers, laptops, handheld computers, and cloud servers. This electronic device has the ability to communicate with in-vehicle devices and roadside sensing devices. The communication method can be one or more of wireless network communication, ETC communication, and V2X communication. In-vehicle devices include car central control units, navigation devices, driving recorders, ETC in-vehicle units, or V2X in-vehicle units, and can also be devices held by drivers and passengers, such as smartphones. Roadside sensing devices include one or more of radar, cameras, ETC roadside units, or V2X roadside units.

[0099] Figure 1 This is a flowchart illustrating a method for issuing a warning of illegal parking according to an embodiment of this application. Figure 1 As shown, the method includes the following steps:

[0100] S11 receives road reference information from roadside sensing devices.

[0101] Road reference information includes vehicle status information of each vehicle on the target road within the sensing area of ​​the roadside sensing equipment, as well as map information of the target road. The vehicle status information of each vehicle includes the position and driving parameters of each vehicle (such as driving direction, current speed, etc.), and may also include information such as vehicle type and external dimensions (such as vehicle length, vehicle width, etc.).

[0102] Among them, vehicle status information is provided to roadside sensing devices by on-board equipment or intelligent devices on the vehicle. The roadside sensing devices collect target detection results from radar and audio and video data from cameras to obtain road reference information.

[0103] S12, based on road reference information, identify the target vehicles illegally parked within the sensing area of ​​the roadside sensing equipment.

[0104] The circumstances under which a vehicle is determined to be illegally parked include, but are not limited to, the following:

[0105] First, based on the vehicle status information and map information of each vehicle, the target vehicles parked in the no-parking area are determined, as follows:

[0106] The road reference information includes map information such as no-parking locations and corresponding no-parking areas. Vehicle status information includes vehicle length x2 and vehicle width y2. The presence of a target vehicle within a no-parking area includes two scenarios: the vehicle is completely within the no-parking area, and the vehicle is partially within the no-parking area.

[0107] Figure 2 This is a schematic diagram illustrating a method for determining whether a vehicle is in a no-parking zone, according to an embodiment of this application. Figure 2 As shown, a rectangle 20 is constructed with the no-stopping position Q as the center and a preset aspect ratio. The area of ​​rectangle 20 is equal to the no-stopping area. Alternatively, rectangle 20 is enlarged according to a preset ratio to obtain rectangle 21. The area of ​​rectangle 21 is equal to the no-stopping area enlarged by the preset ratio. The length of rectangles 20 and 21 is represented by x1, and the width is represented by y1.

[0108] Taking rectangle 20 as an example, calculate the first distance n1 or n2 from the current position P of each vehicle to the two longer sides of rectangle 20, and take the maximum value of the first distance. Figure 2 Take n2);

[0109] Calculate the second distance m1 or m2 from the current position P of each vehicle to the two wide sides of rectangle 20, and take the maximum value of the second distance. Figure 2 Take m1 from the middle);

[0110] If the maximum value of the first distance of the vehicle n2 is less than or equal to the width of rectangle 20 y1 + 1 / 2 vehicle width y2, and the maximum value of the second distance of the vehicle m1 is less than or equal to the length of rectangle 20 x1 + 1 / 2 vehicle length x2, then the vehicle is determined to be in the no-parking zone.

[0111] If the vehicle's current speed is less than the preset speed, then the vehicle is identified as the target vehicle.

[0112] In other embodiments, the no-parking area can also be represented by marking a region in the map information. In this case, the outer rectangle of the no-parking area can be constructed according to a preset aspect ratio, or the no-parking area can be divided into several sub-areas, and the outer rectangle of each sub-area can be constructed. For each sub-area's outer rectangle, it can be determined whether the vehicle is within its area.

[0113] Secondly, based on the vehicle status information and map information of each vehicle, the target vehicles to be parked on the driving route are determined, as follows:

[0114] Taking into full account abnormal parking situations such as traffic congestion and accidents, the system determines the road segment where each vehicle is located based on its current location and map information. If the road segment where a vehicle is located is a driving segment and the vehicle's current speed is less than the preset speed, then the vehicle is identified as the target vehicle parked on the driving segment.

[0115] If necessary, even if a vehicle is not illegally parked while waiting at a red light at an intersection, there is still a possibility of collision with the vehicle waiting at the red light from behind. Therefore, the vehicle waiting at the red light can be considered as the target vehicle, and a stop warning can be issued.

[0116] It should be noted that if the target vehicle's current speed is less than the preset speed, that is, when its speed is very low, even if it has not come to a complete stop, it will be considered a safety hazard and treated as a stopped vehicle.

[0117] S13, based on road reference information, identify designated vehicles within the perception area that pose an accident risk to the target vehicle.

[0118] For example, based on the vehicle status information and map information of each vehicle, a designated vehicle within the perception area that is on the same road segment, in the same lane, and traveling in the same direction as the target vehicle and has a collision risk is identified; or, based on the vehicle status information and map information of each vehicle, a designated vehicle within the perception area that is on an intersecting road segment with the target vehicle and has a collision risk when they meet is identified.

[0119] S14, send warning information to the vehicle terminal of the designated vehicle.

[0120] If there is a designated vehicle that may collide with the target vehicle, decision information is generated. This decision information is used to notify the designated vehicle to take evasive action, such as slowing down or changing lanes.

[0121] Furthermore, this embodiment refines the method for selecting designated vehicles based on the above embodiments.

[0122] Figure 3 This is a flowchart illustrating a method for determining a specific vehicle according to an embodiment of this application. Figure 3 As shown, based on the vehicle status information and map information of each vehicle, designated vehicles within the perception area that are on the same road segment, in the same lane, and traveling in the same direction as the target vehicle and pose a collision risk are identified, including:

[0123] S1311, based on the current location of each vehicle and map information, determines the road segment where each vehicle is located.

[0124] Obtain two nodes (start and end points) for each road segment from the map information to form a node set; determine any two nodes in the node set as the first candidate node pair; calculate the square of the distance from the vehicle's current position to each of the two nodes in the first candidate node pair to obtain the first distance value and the second distance value, and calculate the square of the distance between the two nodes in the first candidate node pair to obtain the third distance value; determine whether the sum of the first distance value and the third distance value is greater than or equal to the second distance value, or whether the sum of the second distance value and the third distance value is greater than or equal to the first distance value. If so, determine the first candidate node pair as the second candidate node pair.

[0125] Calculate the vertical distance between the vehicle and the line connecting the two nodes in the second candidate node pair, and determine the second candidate node pair whose vertical distance is less than the preset road segment width as the third candidate node pair.

[0126] The weighted calculation is performed on the angle and perpendicular distance between the line connecting the two nodes in the third candidate node pair and the driving direction to obtain the weight value. The weight value R = W1 * the value of the perpendicular distance + W2 * the value of the angle, where W1 is the weight coefficient of the distance feature and W2 is the weight coefficient of the angle feature, and W1 + W2 = 1.

[0127] The vertical distance and the included angle are weighted and calculated. The resulting weight represents the probability that a vehicle is far from the line connecting that node; the smaller the weight, the closer the vehicle is to the line connecting the node. The weight of the vehicle and each third candidate node pair is calculated, and the road segment to which the third candidate node pair with the smallest weight belongs is determined as the road segment where the vehicle is located. Understandably, the unit of measurement for the vertical distance from each vehicle to each node should be standardized before calculation.

[0128] Figure 4 This is a schematic diagram of a method for determining the road segment where a vehicle is located, provided in an embodiment of this application. For example... Figure 4 As shown, (B1, B2) is one of the first candidate node pairs formed by any two nodes. The current position A of the vehicle includes several cases: A1, A2, A3, and A4. Among them, for vehicles A1, A2, and A4, AB1 is satisfied. 2 +B1B2 2 ≥AB2 2 Or AB2 2 +B1B2 2 ≥AB1 2 If (B1, B2) is determined as the second candidate node pair for vehicles A1, A2, and A4, then (B1, B2) does not satisfy the above formula and is not the second candidate node pair for A3. d1 is the vertical distance from A1 to road segment B1B2, and d2 is the vertical distance from A2 to road segment B1B2. If d1 < preset road segment width < d2, then for vehicle A1, (B1, B2) can be determined as the third candidate node pair. If there are multiple third candidate node pairs for A1, the road segment corresponding to the third candidate node pair with the smallest weight is determined by calculating the weight. If (B1, B2) is the third candidate node pair corresponding to the smallest weight, then A1 is determined to be on road segment B1B2.

[0129] S1312, Select vehicles from other vehicles that are on the same road segment as the target vehicle as the first candidate vehicle.

[0130] An upstream node is the node ahead of the other two nodes in the direction of travel on a road segment, and a downstream node is the node behind the other two nodes in the direction of travel on a road segment. Continuing with the previous example, for road segment B1B2, if vehicle A1 travels from B1 to B2, then B1 is the downstream node and B2 is the upstream node.

[0131] Obtain the upstream and downstream nodes of the road segment where the target vehicle is located, obtain the upstream and downstream nodes of the road segments where other vehicles are located, and select the vehicles from the other vehicles whose upstream nodes are the same as the upstream nodes of the road segment where the target vehicle is located, and whose downstream nodes are the same as the downstream nodes of the road segment where the target vehicle is located, as the first candidate vehicles.

[0132] S1313, obtain the first distance from the centerline of the first candidate vehicle to the centerline of the target vehicle, and select vehicles from the set of first candidate vehicles whose first distance is less than the safe distance between the two vehicles as the second candidate vehicles.

[0133] Figure 5 This is a schematic diagram of a method for determining vehicles traveling in the same lane and in the same direction, provided in an embodiment of this application. Figure 5 As shown, a Cartesian coordinate system is constructed with the target vehicle C as the origin and the driving direction of the target vehicle as the positive vertical axis. Based on the current position of the first candidate vehicle D, the coordinate values ​​(x, y) of the first candidate vehicle D in this coordinate system are obtained. The absolute value of the x-coordinate of the first candidate vehicle D is the first distance from the central axis of the first candidate vehicle D to the central axis of the target vehicle C.

[0134] If |x|≤ the safe distance between the two vehicles, then the first candidate vehicle D and the target vehicle C are in the same lane, and can be used as the second candidate vehicle.

[0135] The safe distance between the two vehicles = the average of the width of the target vehicle and the width of the first candidate vehicle + the preset safe distance value; the preset safe distance value is generally the distance at which the two vehicles can avoid collision, for example, at least the sum of the widths of the side mirrors of the two vehicles.

[0136] S1314, Based on the driving direction and current position of the target vehicle and the second candidate vehicle, select the vehicle located behind the target vehicle and driving in the same direction as the target vehicle from the set of second candidate vehicles as the third candidate vehicle.

[0137] If the ordinate y of the second candidate vehicle D in the above coordinate system is less than zero, then it can be determined that the second candidate vehicle is behind the target vehicle C.

[0138] Based on the direction of travel of the second candidate vehicle, a third candidate vehicle traveling in the same direction as the target vehicle can be selected.

[0139] S1315, calculate the collision time based on the length, current position, and current speed of the target vehicle and the third candidate vehicle.

[0140] Collision time = (Real-time distance between the target vehicle and the third candidate vehicle - Average length of the target vehicle and the third candidate vehicle) / (Current speed of the third candidate vehicle - Current speed of the target vehicle).

[0141] S1316 If the collision time is less than the preset collision time, the third candidate vehicle is the designated vehicle with a collision risk.

[0142] If the collision time is less than the preset collision time, it is considered a lower-level warning indicating a possible forward collision with the target vehicle; if the collision time is less than the preset collision time / 3, it is considered a higher-level warning indicating a possible forward collision with the target vehicle. The preset collision time can be calculated based on the current speeds of both vehicles, determining the shortest time required for the target vehicle to brake to a stop or avoid a collision using its current acceleration.

[0143] In both of these scenarios, the third candidate vehicle can be considered to pose a risk of colliding (rear-end collision) with the target vehicle. The third candidate vehicle is then designated as the designated vehicle, and lane-changing or deceleration suggestions can be issued to the designated vehicle to avoid the risk.

[0144] Figure 6 This is a flowchart illustrating a method for determining a specific vehicle according to another embodiment of this application. Figure 6 As shown, based on road reference information, designated vehicles within the perception area that are intersecting with the target vehicle and pose a collision risk upon intersection are identified, including:

[0145] S1321, based on the current location of each vehicle and map information, determine the road segment where each vehicle is located.

[0146] S1322, Select vehicles from other vehicles whose upstream node is the same as the upstream node of the road segment where the target vehicle is located, and whose downstream node is different from the downstream node of the road segment where the target vehicle is located, as the first candidate vehicles.

[0147] If the upstream node of another vehicle is the same as the upstream node of the road segment where the target vehicle is located, but the downstream node is different from the downstream node of the road segment where the target vehicle is located, then the road segment where the other vehicle is located and the road segment where the target vehicle is located are intersecting road segments. The other vehicle is a vehicle that comes from a different road than the target vehicle but will converge on the same road, and is considered the first candidate vehicle.

[0148] S1323, Calculate the minimum meeting time between the first candidate vehicle and the target vehicle based on their current speed, current position, and direction of travel.

[0149] The distance between the two vehicles is calculated in real time based on the current positions of the first candidate vehicle and the target vehicle.

[0150] The heading angle and azimuth angle of the first candidate vehicle are determined based on the driving direction of the first candidate vehicle, and the heading angle and azimuth angle of the target vehicle are determined based on the driving direction of the target vehicle.

[0151] Based on the current speed V of the first candidate vehicleb and heading angle b, current speed V of the target vehicle a Given the heading angle α, calculate the relative velocity V. r ;

[0152] The relative velocity vector between the first candidate vehicle and the target vehicle in the due east direction is V. x The relative velocity vector between the second candidate vehicle and the target vehicle in the due north direction is V. y The relative velocity vector in the east direction = the current velocity of the second candidate vehicle * the sine of the heading angle of the second candidate vehicle - the current velocity of the target vehicle * the sine of the heading angle of the target vehicle; the relative velocity vector in the north direction = the current velocity of the second candidate vehicle * the cosine of the heading angle of the second candidate vehicle - the current velocity of the target vehicle * the cosine of the heading angle of the target vehicle. Therefore, V x =V b *sin(b)-V a *sin(a), V y =V b *cos(b)-V a *cos(a);

[0153] Relative velocity = the square root of the sum of the squares of the relative velocity vectors in the east direction and the squares of the relative velocity vectors in the north direction, expressed as...

[0154] Calculate the relative heading angle φ based on the relative velocity vectors in the east and north directions. r The relative heading angle = arctan(relative velocity vector in the due east direction / relative velocity vector in the due north direction), expressed as...

[0155] Calculate the relative azimuth angle based on the azimuth angles of the first candidate vehicle and the target vehicle;

[0156] Calculate the minimum meeting time: Minimum meeting time = distance between the two vehicles * cos(relative heading angle - relative azimuth angle - π) / relative speed.

[0157] S1324, with the target vehicle as the center, calculate the closest intersection point between the first candidate vehicle and the target vehicle.

[0158] Calculate the nearest encounter distance: Nearest encounter distance = distance between the two vehicles * sin(relative heading angle - relative azimuth angle - π);

[0159] Based on the distance between the two vehicles, the closest meeting distance, the relative azimuth angle, and the relative heading angle, the closest intersection point between the first candidate vehicle and the target vehicle is calculated with the target vehicle as the center.

[0160] S1325, if the minimum encounter time is less than the preset collision time, and it is confirmed that the first candidate vehicle overlaps with the target vehicle at the closest point of intersection, then the first candidate vehicle is the designated vehicle with a collision risk.

[0161] Confirm that the first candidate vehicle overlaps with the target vehicle at the closest point of intersection, including:

[0162] Based on the driving direction, vehicle width, and vehicle length, with the position of the target vehicle at the closest intersection point as the center, determine the four vertices of the second rectangle representing the target vehicle and the four vertices of the first rectangle representing the first candidate vehicle.

[0163] Select two sides of the first rectangle that intersect at the vertex of the first rectangle that is farthest from the second rectangle, and select two sides of the second rectangle that intersect at the vertex of the second rectangle that is farthest from the first rectangle. Construct four projection axes using the selected four sides.

[0164] The first rectangle is projected onto each projection axis to obtain the first projection; the second rectangle is projected onto each projection axis to obtain the second projection.

[0165] If the first projection and the second projection on all four projection axes overlap, then it is confirmed that the first candidate vehicle overlaps with the target vehicle at the closest intersection point.

[0166] Figure 7 This is a schematic diagram of a method for determining the overlap of two vehicles according to an embodiment of this application. Figure 7 As shown, a Cartesian coordinate system is established with the target vehicle C at the closest intersection point as the center and the target vehicle C's travel direction as the positive Y-axis. On this coordinate system, the four vertices of the rectangle representing the target vehicle C and the four vertices of the rectangle representing the first candidate vehicle E are determined. Four projection axes, Axis1, Axis2, Axis3, and Axis4, are established by taking the two outer sides of each rectangle. The four vertices of both vehicles are projected onto Axis1, yielding the scalar values ​​of each vertex on Axis1. By comparing these values, the maximum and minimum values ​​of the projected points are obtained. If Y... minE >Y maxC (Indicates that E precedes C after the intersection) or Y maxE <Y minC (This indicates that E is after C after the intersection), which means there is no risk of collision between the two vehicles; otherwise, it means that the projections of the two vehicles overlap on the Axis1 axis, and C and E will collide after the intersection; similarly, continue to calculate whether the projection points overlap on Axis2, Axis3, and Axis4 according to the above method. If they overlap, it means there is a risk of collision between the two vehicles.

[0167] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. Steps with the same or similar content can be referred to each other and will not be described again.

[0168] Corresponding to the illegal parking warning method in the above embodiment, Figure 8 The diagram shows a structural block diagram of the illegal parking warning device provided in the embodiments of this application. For ease of explanation, only the parts related to the embodiments of this application are shown.

[0169] Reference Figure 8 The device 70 includes:

[0170] Receiver module 71 is used to receive road reference information from roadside sensing devices;

[0171] The target determination module 72 is used to determine the target vehicles illegally parked within the sensing area of ​​the roadside sensing device based on road reference information; it is also used to determine the designated vehicles within the sensing area that pose an accident risk to the target vehicles based on road reference information.

[0172] The sending module 73 is used to send warning information to the vehicle terminal of the designated vehicle.

[0173] Furthermore, Figure 9 This is a structural example diagram of the illegal parking warning system provided in the embodiments of this application. Figure 9 As shown, the illegal parking warning system includes: an illegal parking warning device 70 and a roadside sensing device 80;

[0174] The roadside sensing device 80 is used to acquire road reference information and send the road reference information to the illegal parking warning device 70;

[0175] The illegal parking warning device 70 is used to determine whether there is a target vehicle driving abnormally based on road reference information; it is also used to identify designated vehicles that pose an accident risk to the target vehicle based on road reference information.

[0176] The illegal parking warning system also includes an on-board terminal 90, and the roadside sensing device 80 includes a roadside detection module and a roadside communication terminal.

[0177] The vehicle-mounted terminal 90 includes a GNSS module, an antenna module, a central processing module, a security authentication module, and a CAN module, etc. It is connected to the roadside communication terminal to send vehicle-mounted information to the roadside communication terminal; it is also used to receive early warning information from the roadside communication terminal.

[0178] The roadside detection module includes a radar module, a camera module, etc., and is connected to the roadside communication terminal to send the detected perception information to the illegal parking warning device 70 through the roadside communication terminal.

[0179] The roadside communication terminal is connected to the illegal parking warning device 70 and is used to send the received road reference information to the illegal parking warning device 70. The road reference information includes perception information and vehicle information. It is also used to receive warning information from the illegal parking warning device 70 and to send the warning information to the vehicle terminal 90.

[0180] It should be noted that the information interaction and execution process between the above-mentioned devices / modules are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0181] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0182] Figure 10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 10 As shown, the electronic device of this embodiment includes: at least one processor 60 ( Figure 10 (Only one is shown in the diagram), memory 61, and computer program 62 stored in said memory 61 and executable on said at least one processor 60, which, when executed, implements the steps in any of the above method embodiments.

[0183] The electronic device may be a desktop computer, laptop, handheld computer, or cloud server, etc. Those skilled in the art will understand that... Figure 9 This is merely an example of the electronic device and does not constitute a limitation thereof. It may include more or fewer components than shown, or combine certain components, or different components, such as input / output devices, network access devices, etc.

[0184] The processor 60 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0185] In some embodiments, the memory 61 may be an internal storage unit of the electronic device, such as a hard disk or RAM. In other embodiments, the memory 61 may be an external storage device of the electronic device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, or a Flash Card. Furthermore, the memory 61 may include both internal and external storage units. The memory 61 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 61 can also be used to temporarily store data that has been output or will be output.

[0186] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the various method embodiments above.

[0187] This application provides a computer program product that, when run on a mobile terminal, enables the mobile terminal to implement the steps described in the above-described method embodiments.

[0188] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a photographing device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0189] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0190] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0191] In the embodiments provided in this application, it should be understood that the disclosed apparatus / devices and methods can be implemented in other ways. For example, the apparatus / device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0192] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0193] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for issuing early warnings of illegal parking, characterized in that, include: Receive road reference information from roadside sensing devices; Based on the road reference information, the target vehicles illegally parked within the sensing area of ​​the roadside sensing device are identified; Based on the road reference information, identify designated vehicles within the perception area that pose an accident risk to the target vehicle; Send a warning message to the vehicle's onboard terminal; The road reference information includes vehicle status information of each vehicle within the sensing area and map information within the sensing area. The vehicle status information is provided to the roadside sensing device by onboard equipment or intelligent devices. The roadside sensing device collects target detection results from radar and audio / video data from cameras to obtain the road reference information. Based on the road reference information, the system identifies illegally parked target vehicles within the sensing area of ​​the roadside sensing device, including: Based on the vehicle status information and map information of each vehicle, the target vehicles to be parked in the no-parking area are determined; Based on the vehicle status information and map information of each vehicle, the target vehicle to be parked on the driving section is determined. The vehicle status information includes vehicle length, vehicle width, current position, and current speed; the map information includes no-parking locations and corresponding no-parking areas; based on the vehicle status information and map information, target vehicles to be parked within the no-parking areas are determined, including: A rectangle is constructed with the no-parking position as the center and a preset aspect ratio. The area of ​​the rectangle is equal to the no-parking area, or the area of ​​the rectangle is equal to the no-parking area enlarged by a preset ratio. Calculate the first distance from the current position of each vehicle to the two long sides of the rectangle, and take the maximum value of the first distance; Calculate the second distance from the current position of each vehicle to the two wide sides of the rectangle, and take the maximum value of the second distance; If the maximum value of the first distance of the vehicle is less than or equal to the sum of the width of the rectangle and half the width of the vehicle, and the maximum value of the second distance of the vehicle is less than or equal to the sum of the length of the rectangle and half the length of the vehicle, then the vehicle is determined to be in a no-parking zone. If the current speed of the vehicle is less than the preset speed, then the vehicle is determined to be the target vehicle.

2. The illegal parking warning method as described in claim 1, characterized in that, The road reference information includes the vehicle status information of each vehicle within the perception area and the map information within the perception area; Based on the road reference information, designated vehicles within the perception area that pose an accident risk to the target vehicle are identified, including: Based on the vehicle status information and map information of each vehicle, identify the designated vehicles within the perception area that are on the same road segment, in the same lane, and traveling in the same direction as the target vehicle and that pose a collision risk. Alternatively, based on the vehicle status information of each vehicle and the map information, a designated vehicle within the perception area that is at an intersection with the target vehicle and poses a collision risk upon intersection can be identified.

3. The illegal parking warning method as described in claim 2, characterized in that, The vehicle status information includes vehicle length, vehicle width, current position, driving direction, and current speed; based on the vehicle status information of each vehicle and the map information, designated vehicles within the perception area that are on the same road segment, in the same lane, and traveling in the same direction as the target vehicle and pose a collision risk are identified, including: Based on the current location of each vehicle and the map information, the road segment where each vehicle is located is determined; Vehicles that are on the same road segment as the target vehicle are selected from other vehicles and designated as first candidate vehicles; Obtain a first distance from the centerline of the first candidate vehicle to the centerline of the target vehicle, and select vehicles from the set of first candidate vehicles whose first distance is less than the safe distance between the two vehicles as second candidate vehicles; Based on the driving direction and current position of the target vehicle and the second candidate vehicle, a vehicle located behind the target vehicle and traveling in the same direction as the target vehicle is selected from the set of the second candidate vehicles as the third candidate vehicle. Calculate the collision time based on the length, current position, and current speed of the target vehicle and the third candidate vehicle; If the collision time is less than the preset collision time, then the third candidate vehicle is a designated vehicle with a collision risk.

4. The illegal parking warning method as described in claim 2, characterized in that, The vehicle status information includes current speed, current position, and direction of travel; based on the road reference information, designated vehicles within the perception area that are intersecting with the target vehicle and pose a collision risk upon intersection are identified, including: Based on the current location of each vehicle and the map information, the road segment where each vehicle is located is determined; Obtain the upstream and downstream nodes of the road segment where the target vehicle is located, and obtain the upstream and downstream nodes of the road segments where other vehicles are located. The upstream node is the node that is ahead of the target vehicle in the direction of travel, and the downstream node is the node that is behind the target vehicle in the direction of travel. From the other vehicles, select vehicles whose upstream node is the same as the upstream node of the road segment where the target vehicle is located, and whose downstream node is different from the downstream node of the road segment where the target vehicle is located, as the first candidate vehicles; Based on the current speed, current position, and direction of travel of the first candidate vehicle and the target vehicle, calculate the minimum meeting time between the first candidate vehicle and the target vehicle; Using the target vehicle as the center, calculate the closest intersection point between the first candidate vehicle and the target vehicle; If the minimum encounter time is less than the preset collision time, and it is confirmed that the first candidate vehicle overlaps with the target vehicle at the closest point of intersection, then the first candidate vehicle is a designated vehicle with a collision risk.

5. A parking violation warning device, characterized in that, include: The receiving module is used to receive road reference information from roadside sensing devices; The target determination module is used to determine the target vehicles illegally parked within the sensing area of ​​the roadside sensing device based on the road reference information. It is also used to determine, based on the road reference information, designated vehicles within the sensing area that pose an accident risk to the target vehicle; The sending module is used to send warning information to the vehicle-mounted terminal of the designated vehicle; The road reference information includes vehicle status information of each vehicle within the sensing area and map information within the sensing area. The vehicle status information is provided to the roadside sensing device by onboard equipment or intelligent devices in the vehicles. The roadside sensing device collects target detection results from radar and audio / video data from cameras to obtain the road reference information. Based on the road reference information, the system determines illegally parked target vehicles within the sensing area of ​​the roadside sensing device, including: determining target vehicles parked in no-parking zones based on vehicle status information and map information; and determining target vehicles parked on the driving section based on vehicle status information and map information. The vehicle status information includes vehicle length, vehicle width, current position, and current speed. The map information includes no-parking locations and corresponding no-parking areas. Based on the vehicle status information and map information, the target vehicle parked within the no-parking area is determined, including: constructing a rectangle centered on the no-parking location according to a preset aspect ratio, where the area of ​​the rectangle is equal to the no-parking area, or the area of ​​the rectangle is equal to the no-parking area enlarged by a preset ratio; calculating a first distance from the current position of each vehicle to the two longer sides of the rectangle, and taking the maximum value of the first distance; calculating a second distance from the current position of each vehicle to the two shorter sides of the rectangle, and taking the maximum value of the second distance; if the maximum value of the first distance of the vehicle is less than or equal to the sum of the width of the rectangle and half the vehicle width, and the maximum value of the second distance of the vehicle is less than or equal to the sum of the length of the rectangle and half the vehicle length, then the vehicle is determined to be within the no-parking area; if the current speed of the vehicle is less than a preset speed, then the vehicle is determined to be the target vehicle.

6. A parking violation warning system, characterized in that, include: Illegal parking warning devices and roadside sensing equipment; The roadside sensing device is used to acquire road reference information and send the road reference information to the illegal parking warning device; The illegal parking warning device is used to determine whether there is a target vehicle illegally parked based on the road reference information; It is also used to determine, based on the road reference information, designated vehicles that pose an accident risk to the target vehicle; The road reference information includes vehicle status information of each vehicle within the sensing area and map information within the sensing area. The vehicle status information is provided to the roadside sensing device by onboard equipment or intelligent devices in the vehicles. The roadside sensing device collects target detection results from radar and audio / video data from cameras to obtain the road reference information. Based on the road reference information, determining whether there are illegally parked target vehicles includes: identifying target vehicles parked in no-parking areas based on the vehicle status information and map information; and identifying target vehicles parked on the driving section based on the vehicle status information and map information. The vehicle status information includes vehicle length, vehicle width, current position, and current speed. The map information includes no-parking locations and corresponding no-parking areas. Based on the vehicle status information and map information, the target vehicle parked within the no-parking area is determined, including: constructing a rectangle centered on the no-parking location according to a preset aspect ratio, where the area of ​​the rectangle is equal to the no-parking area, or the area of ​​the rectangle is equal to the no-parking area enlarged by a preset ratio; calculating a first distance from the current position of each vehicle to the two longer sides of the rectangle, and taking the maximum value of the first distance; calculating a second distance from the current position of each vehicle to the two shorter sides of the rectangle, and taking the maximum value of the second distance; if the maximum value of the first distance of the vehicle is less than or equal to the sum of the width of the rectangle and half the vehicle width, and the maximum value of the second distance of the vehicle is less than or equal to the sum of the length of the rectangle and half the vehicle length, then the vehicle is determined to be within the no-parking area; if the current speed of the vehicle is less than a preset speed, then the vehicle is determined to be the target vehicle.

7. The illegal parking warning system as described in claim 6, characterized in that, It also includes an on-board terminal, and the roadside sensing device includes a roadside detection module and a roadside communication terminal; The vehicle-mounted terminal is communicatively connected to the roadside communication terminal and is used to send vehicle-mounted information to the roadside communication terminal; it is also used to receive warning information from the roadside communication terminal. The roadside detection module is communicatively connected to the roadside communication terminal and is used to send the detected sensing information to the illegal parking warning device through the roadside communication terminal. The roadside communication terminal is communicatively connected to the illegal parking warning device and is used to send the received road reference information to the illegal parking warning device. The road reference information includes the sensing information and the vehicle-side information. It is also used to receive warning information from the illegal parking warning device and to send the warning information to the vehicle-mounted terminal.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 4.

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