A method and device for inter-vehicle early warning, a vehicle and a storage medium

Abstract

The application discloses a kind of vehicle early warning method, device, equipment and storage medium.The method comprises: using the camera equipment of current vehicle to determine whether the vehicle enters preset dangerous section;If yes, the driving information of current vehicle is broadcasted to the first target vehicle in preset range, and the driving information sent by the first target vehicle is received;According to the driving information of current vehicle and the driving information of the first target vehicle, the priority vehicle that first passes through preset dangerous section is determined, and the driving mode prompt information of current vehicle is determined according to the priority vehicle.The technical scheme of the embodiment of the application, when the vehicle enters preset dangerous section, the driving information of current vehicle is broadcasted to the vehicle in preset range, realizes the mutual sharing of driving information between vehicles in close range, so that the vehicle perceives the road condition information that conventional sensor cannot perceive in advance, improves the safety of driving.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving control technology, and in particular to a method, device, vehicle, and storage medium for inter-vehicle early warning. Background Technology

[0002] With the continuous development of information technology, vehicles equipped with autonomous driving systems or advanced driver assistance systems (ADAS) are becoming increasingly powerful. Autonomous driving systems offer functions such as automatic vehicle wake-up and start-up, automatic parking and entry / exit from parking lots, automatic washing, automatic driving, automatic parking, automatic door opening and closing, and automatic fault recovery. Advanced driver assistance systems utilize various sensors installed on the vehicle to continuously sense the surrounding environment while driving, combining this information with navigation map data to perform system calculations and analyses. This allows the driver to anticipate potential dangers, effectively increasing driving comfort and safety.

[0003] However, when a car equipped with autonomous driving or advanced driver assistance features passes other vehicles at an intersection where the view is obstructed by buildings or other obstructions, the camera and radar sensors on the vehicle are often unable to perceive the road conditions ahead, thus creating potential safety hazards. Summary of the Invention

[0004] This invention provides a method, apparatus, device, and storage medium for inter-vehicle early warning, in order to solve the problem that vehicles cannot perceive road conditions ahead due to obstructions.

[0005] In a first aspect, the present invention provides a method for inter-vehicle early warning, comprising:

[0006] Use the vehicle's camera equipment to determine whether the vehicle has entered a pre-set dangerous section of road;

[0007] If so, the driving information of the current vehicle is broadcast to the first target vehicle within the preset range, and the driving information sent by the first target vehicle is received.

[0008] Based on the current vehicle's driving information and the first target vehicle's driving information, the priority vehicle that will pass through the preset dangerous road section first is determined, and the driving mode prompt information for the current vehicle is determined based on the priority vehicle.

[0009] Secondly, the present invention provides a vehicle-to-vehicle early warning device, comprising:

[0010] The road segment entry determination module is used to determine whether the vehicle has entered a preset dangerous road segment using the vehicle's camera equipment;

[0011] An information broadcasting and receiving module is used to broadcast the current vehicle's driving information to a first target vehicle within a preset range and receive the driving information sent by the first target vehicle if the information returned by the road segment entry determination module is yes.

[0012] The prompt information determination module is used to determine the priority vehicle that will pass through the preset dangerous road section first, based on the driving information of the current vehicle and the driving information of the first target vehicle, and to determine the driving mode prompt information of the current vehicle based on the priority vehicle.

[0013] Thirdly, the present invention provides a vehicle comprising:

[0014] At least one processor and at least one camera device;

[0015] and memory that is communicatively connected to at least one processor;

[0016] The memory stores a computer program that can be executed by at least one processor, which enables the at least one processor to perform the vehicle-to-vehicle early warning method described in the first aspect.

[0017] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a processor to execute the vehicle-to-vehicle early warning method described in the first aspect.

[0018] The vehicle-to-vehicle early warning scheme provided by this invention utilizes the vehicle's camera to determine whether it has entered a preset dangerous road section. If so, it broadcasts the vehicle's driving information to a first target vehicle within a preset range and receives driving information from the first target vehicle. Based on the driving information of the current vehicle and the first target vehicle, it determines the priority vehicle that will pass through the preset dangerous road section first, and then determines the current vehicle's driving mode prompt information based on the priority vehicle. By adopting the above technical solution, if the current vehicle enters a preset dangerous road section, it broadcasts its driving information to vehicles within a preset range, enabling vehicles within a short distance to share driving information. This allows vehicles with autonomous driving or advanced driver assistance functions to perceive road conditions that conventional sensors cannot detect in advance, improving driving safety.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart of a vehicle-to-vehicle early warning method according to Embodiment 1 of the present invention;

[0022] Figure 2 This is a flowchart of a method for inter-vehicle early warning provided according to Embodiment 2 of the present invention;

[0023] Figure 3 This is a schematic diagram of a vehicle-to-vehicle warning system at an intersection according to Embodiment 2 of the present invention;

[0024] Figure 4 This is a flowchart of another vehicle-to-vehicle early warning method provided according to Embodiment 3 of the present invention;

[0025] Figure 5 This is a schematic diagram of a vehicle-to-vehicle warning system for overtaking, provided according to Embodiment 3 of the present invention;

[0026] Figure 6 This is a schematic diagram of a vehicle-to-vehicle early warning system under dangerous road conditions provided in Embodiment 3 of the present invention;

[0027] Figure 7 This is a schematic diagram of an inter-vehicle early warning system in a vehicle malfunction scenario according to Embodiment 3 of the present invention;

[0028] Figure 8 This is a schematic diagram of the structure of a vehicle-to-vehicle early warning device according to Embodiment 4 of the present invention;

[0029] Figure 9 This is a structural schematic diagram of a vehicle provided according to Embodiment 5 of the present invention. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist; for example, A and / or B can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0032] Example 1

[0033] Figure 1 The flowchart of a method for inter-vehicle early warning provided in Embodiment 1 of the present invention is applicable to situations where vehicles provide mutual early warnings based on road conditions. The method can be executed by an inter-vehicle early warning device, which can be implemented in hardware and / or software. The inter-vehicle early warning device can be configured in a vehicle, which can be composed of two or more physical entities.

[0034] like Figure 1 As shown, the method for inter-vehicle early warning provided in Embodiment 1 of the present invention specifically includes the following steps:

[0035] S101. Use the vehicle's camera equipment to determine whether the vehicle has entered a pre-set dangerous section of road.

[0036] In this embodiment, the camera equipment equipped in the current vehicle (hereinafter referred to as the vehicle) can be used to acquire environmental images around the vehicle. Then, a first preset method and the environmental images are used to determine whether the vehicle has entered a preset dangerous road section. For example, the environmental images can be input into a preset environmental recognition model, and the output road section recognition results can be used to determine whether the vehicle has entered a preset dangerous road section. The preset dangerous road section can be understood as a dangerous road section where the driver's field of vision is limited, such as an intersection where the view is blocked by buildings and there are no traffic lights.

[0037] S102. If so, broadcast the current vehicle's driving information to the first target vehicle within the preset range, and receive the driving information sent by the first target vehicle.

[0038] In this embodiment, if it is determined that the vehicle has entered a preset dangerous road section, short-range wireless communication technology can be used to broadcast the vehicle's driving information to vehicles within a preset range (the first target vehicle). This serves as a notification to other vehicles about to pass through the preset dangerous road section, indicating that the vehicle will also be passing through the preset dangerous road section and will receive driving information sent by the first target vehicle. For example, a wireless transceiver module can be configured in the vehicle's microcontroller unit (MCU). This module can receive the vehicle's coordinates and time information from the vehicle's global navigation satellite module, determine the vehicle's position, speed, and direction of travel, and broadcast this information through the vehicle's radio frequency module. The preset range can be understood as the communication range within which the broadcast information can be received, such as an area within a 300-meter radius of the vehicle. The first target vehicle can be understood as any other vehicle within the preset range besides the vehicle itself. The driving information can include real-time speed, real-time direction of travel, and real-time position information.

[0039] S103. Based on the driving information of the current vehicle and the driving information of the first target vehicle, determine the priority vehicle that will pass through the preset dangerous road section first, and determine the driving mode prompt information of the current vehicle based on the priority vehicle.

[0040] In this embodiment, based on the driving information of the current vehicle and the driving information of the first target vehicle, the (priority) vehicle that will pass through the preset dangerous road section first can be calculated. For example, if the preset dangerous road section is an intersection where the view is obstructed by buildings and there are no traffic lights, the time t1 that the current vehicle will take to pass through the preset dangerous road section can be calculated based on the speed and position of the current vehicle. The time t2 that the first target vehicle will take to pass through the preset dangerous road section can be calculated based on the speed and position of the first target vehicle. If t1 is less than t2, the current vehicle can be determined as the priority vehicle. When the current vehicle is the priority vehicle, the current vehicle's driving mode prompt information M1 can be determined, such as prompting the current vehicle to pass first. When the current vehicle is not the priority vehicle, the current vehicle's driving mode prompt information M2 can be determined, such as prompting the current vehicle to slow down and give way. The driving mode prompt information must comply with relevant traffic regulations.

[0041] The vehicle-to-vehicle early warning method provided in this embodiment of the invention utilizes the camera equipment of the current vehicle to determine whether the vehicle has entered a preset dangerous road section. If so, the method broadcasts the current vehicle's driving information to a first target vehicle within a preset range and receives driving information sent by the first target vehicle. Based on the driving information of the current vehicle and the first target vehicle, the method determines the priority vehicle that will pass through the preset dangerous road section first, and determines the current vehicle's driving mode prompt information based on the priority vehicle. This technical solution of the present invention, by broadcasting the current vehicle's driving information to vehicles within a preset range if the current vehicle enters a preset dangerous road section, enables vehicles within a short distance to share driving information, allowing vehicles with autonomous driving or advanced driver assistance functions to perceive road conditions that conventional sensors cannot detect in advance, thereby improving driving safety.

[0042] Example 2

[0043] Figure 2 This is a flowchart of a method for mutual early warning between vehicles provided in Embodiment 2 of the present invention. The technical solution of the present invention is further optimized based on the above-mentioned optional technical solutions, and provides a specific way for vehicles to provide mutual early warning based on road conditions.

[0044] Optionally, determining the priority vehicle to pass the preset dangerous road section first based on the current vehicle's driving information and the first target vehicle's driving information includes: using the current vehicle's driving direction to filter target driving information from multiple received first target vehicle driving information, wherein the driving information includes location information, driving direction, and speed, and the target driving information is the driving information of a vehicle that will meet the current vehicle; determining the first vehicle to enter the preset dangerous road section first based on the location information and speed in the received target driving information and the current vehicle's location information and speed, and identifying the first vehicle as the priority vehicle to pass the preset dangerous road section first. The advantage of this setup is that by receiving driving information from other vehicles, it is possible to filter out the driving information of vehicles that will meet the current vehicle and pose a collision risk, and then using this driving information and the current vehicle's driving information, a reasonable priority vehicle to pass through the road section can be determined.

[0045] Optionally, determining the driving mode prompt information for the current vehicle based on the priority vehicle includes: if the current vehicle is a priority vehicle, outputting a priority passage prompt; if the current vehicle is not a priority vehicle, outputting a deceleration and yielding prompt. The advantage of this setting is that, based on the relationship between the priority vehicle and the current vehicle, differentiated output prompt information reasonably recommends a safe driving mode for the current vehicle.

[0046] like Figure 2As shown, the method for inter-vehicle early warning provided in Embodiment 2 of the present invention specifically includes the following steps:

[0047] S201. Use the vehicle's camera equipment to determine whether the vehicle has entered a preset dangerous section; if yes, proceed to step 202; otherwise, end the process.

[0048] S202. Broadcast the current vehicle's driving information to a first target vehicle within a preset range, and receive the driving information sent by the first target vehicle.

[0049] S203. Using the current driving direction of the vehicle, filter out the target driving information from the multiple driving information of the first target vehicle received.

[0050] The driving information includes location information, driving direction and vehicle speed, and the target driving information is the driving information of the vehicle that will meet the current vehicle.

[0051] Optionally, the preset dangerous road sections include at least intersections without traffic lights and with obstructions, as well as curves with obstructions; the broadcast frequency is positively correlated with the current vehicle speed. The advantage of this setting is that high-frequency broadcasts in high-speed scenarios ensure driving safety and avoid the problem of excessive broadcast information congestion in congested scenarios such as parking lots.

[0052] Specifically, to ensure the safety of this vehicle, the frequency of the vehicle's broadcast can be positively correlated with the vehicle's speed; that is, the faster the vehicle is, the faster the broadcast frequency should be.

[0053] For example, Figure 3 This is a schematic diagram of a vehicle-to-vehicle warning system at an intersection, such as... Figure 3 As shown, if the preset dangerous section is an intersection without traffic lights and with obstructions, this vehicle (i.e., Figure 3 The direction of travel for car number 1 is D1 (i.e., Figure 3 (due east in the middle), due to the driving direction perpendicular to D1 (i.e. Figure 3 Vehicles corresponding to the due north direction (i.e.) Figure 3 There is a risk of collision between vehicle No. 2 and this vehicle, so the driving information corresponding to the driving direction perpendicular to D1 can be determined as the target driving information.

[0054] For example, if the preset dangerous road section is a curve with obstructions, and the vehicle's driving direction is D2, since there is a risk of collision between the vehicle and the vehicle corresponding to the driving direction opposite to D2, the driving information corresponding to the driving direction opposite to D2 can be determined as the target driving information.

[0055] S204. Based on the location information and vehicle speed in the received target driving information, and the location information and vehicle speed of the current vehicle, determine the first vehicle that first enters the preset dangerous road section, and determine the first vehicle as the priority vehicle that first passes through the preset dangerous road section.

[0056] For example, such as Figure 3 As shown, if the preset dangerous section is an intersection without traffic lights and with obstructions, based on the location information and speed in the target driving information, i.e. Figure 3 Based on the coordinates of vehicle number 2 (113.47, 23.1233) and a speed of 50 km / h, the time of entry into the intersection is determined to be 10:00:00. According to the vehicle's location information and speed, ... Figure 3 Given the coordinates of vehicle number 2 (113.45, 23.1234) and its speed of 40 km / h, and the time it entered the intersection at 10:00:05, we can determine that the first vehicle is the vehicle corresponding to the target driving information, and this vehicle is the priority vehicle.

[0057] S205. Determine whether the current vehicle is a priority vehicle. If yes, proceed to step 206; otherwise, proceed to step 207.

[0058] S206, Output priority pass prompt message.

[0059] Specifically, when this vehicle has priority, it can output a priority passage prompt message through the display device or speaker device inside the vehicle, such as "This vehicle has priority passage, please pay attention to the surrounding road conditions".

[0060] Optionally, if the vehicle is equipped with autonomous driving capabilities, when the vehicle is a priority vehicle, it can send information that the vehicle is a priority vehicle to the vehicle's autonomous driving controller, and directly control the vehicle to pass through the preset dangerous road section, provided that safety is guaranteed.

[0061] S207, Output deceleration and avoidance warning information.

[0062] Specifically, when the vehicle is not a priority vehicle, it can output a slow-down and avoidance warning message through the vehicle's display equipment or speaker equipment, such as "A vehicle will be passing from the Y direction ahead, please slow down and give way." Here, the Y direction is the travel direction of the priority vehicle.

[0063] Optionally, if the vehicle is equipped with autonomous driving capabilities, when the vehicle is not a priority vehicle, it can send information that the vehicle is not a priority vehicle to the vehicle's autonomous driving controller and directly control the vehicle to decelerate.

[0064] The vehicle-to-vehicle early warning method provided in this embodiment of the invention can receive the driving information of other vehicles, filter out the driving information of vehicles that are about to meet the vehicle and pose a collision risk, and then use the driving information of the vehicle and the vehicle's driving information to reasonably determine the vehicles that have priority to pass through the road segment. Based on the relationship between the priority vehicles and the vehicle, the method recommends a safe driving mode for the vehicle by outputting differentiated prompt information, thereby ensuring the driving safety of the vehicle.

[0065] Example 3

[0066] Figure 4 This is a flowchart of another vehicle-to-vehicle early warning method provided in Embodiment 3 of the present invention. The technical solution of the present invention is further optimized based on the above-mentioned optional technical solutions, and provides another specific way for vehicles to provide mutual early warning based on road conditions.

[0067] Optionally, the method further includes: if the current vehicle receives overtaking information from a second target vehicle behind it before overtaking, then outputting a rear overtaking prompt message; if the current vehicle does not receive overtaking information from the second target vehicle before overtaking, then broadcasting the current vehicle's overtaking information to a third target vehicle within a preset range, wherein the second target vehicle is part of the third target vehicle. The advantage of this configuration is that determining whether overtaking information from other vehicles is received before overtaking and promptly broadcasting the overtaking information of the vehicle to be overtaken to other vehicles can prevent traffic accidents caused by multiple vehicles overtaking simultaneously.

[0068] Optionally, the method further includes: using the camera device to determine whether a preset dangerous road condition appears within a preset distance ahead; if it appears, determining the type of dangerous road condition ahead, and broadcasting the current vehicle's driving information and the dangerous road condition type to a fourth target vehicle within the preset range. The advantage of this setup is that when a vehicle ahead encounters a dangerous road condition, broadcasting the dangerous road condition type and the vehicle's driving information can effectively remind surrounding vehicles to slow down and avoid the section of road corresponding to the dangerous road condition.

[0069] Optionally, the method further includes: if the current vehicle malfunctions, broadcasting the current vehicle's driving information to a fifth target vehicle within the preset range to prompt the fifth target vehicle traveling in the same direction as the current vehicle to slow down and give way. The advantage of this setup is that when a vehicle malfunctions, broadcasting its driving information can effectively prompt surrounding vehicles to slow down and give way to the malfunctioning vehicle on the road section where it is located.

[0070] like Figure 4 As shown, the method for inter-vehicle early warning provided in Embodiment 3 of the present invention specifically includes the following steps:

[0071] S301. Before the current vehicle overtakes, determine whether the current vehicle has received overtaking information from the second target vehicle behind it. If yes, proceed to step 302; otherwise, proceed to step 303.

[0072] Specifically, before attempting to overtake, the vehicle can first determine whether the broadcast information it receives contains overtaking information sent by a vehicle behind it (the second target). If so, it indicates that a vehicle behind it intends to overtake. The second target vehicle can be understood as a vehicle within the communication range of the vehicle's broadcast during the overtaking scenario, located behind it. The overtaking information includes overtaking markers, location information, direction of travel, and speed. The overtaking marker is used to indicate that the information is for overtaking.

[0073] S302, Output overtaking warning information.

[0074] For example, if a vehicle behind wants to overtake, the vehicle can output a rear overtaking warning message through its display device or speaker, such as "A vehicle is about to overtake at a distance of S meters behind, please be aware," where S can be determined by the vehicle's position information and the position information of the second target vehicle.

[0075] S303. Broadcast the overtaking information of the current vehicle to a third target vehicle within a preset range.

[0076] The second target vehicle is a subset of the third target vehicle.

[0077] For example, Figure 5 This is a schematic diagram of a vehicle-to-vehicle warning system for overtaking, such as... Figure 5 As shown, if no vehicle behind intends to overtake, then this vehicle ( Figure 5 Vehicle No. 1 in the middle can move towards the (third target) vehicle within the preset range. Figure 5 Vehicles 2 and 3 in the diagram broadcast their overtaking information to alert a third target vehicle that they are about to overtake. The third target vehicle can be understood as any vehicle within the communication range of this vehicle's broadcast during the overtaking scenario.

[0078] S304. Use the camera equipment to determine whether a preset dangerous road condition appears within a preset distance ahead. If a preset dangerous road condition appears within a preset distance ahead, proceed to step 305. If not, end the process.

[0079] Specifically, the vehicle's camera system can be used to acquire an image of the environment ahead. Using a second preset method and this image, it can be determined whether a preset dangerous road condition exists within a preset distance ahead. If the image is input into a preset dangerous road condition recognition model, the model's output road condition recognition result determines whether a preset dangerous road condition exists ahead. If so, the distance between the dangerous road condition and the vehicle is then determined. Preset dangerous road conditions can be understood as road conditions with a collision risk, and can include dangerous road condition types such as collapsed buildings, deep pits, and standing water.

[0080] S305. Determine the type of dangerous road condition ahead, and broadcast the current vehicle's driving information and the type of dangerous road condition to the fourth target vehicle within a preset range.

[0081] Specifically, Figure 6 This is a schematic diagram illustrating a vehicle-to-vehicle warning system for hazardous road conditions. As mentioned above, a pre-set hazardous road condition recognition model can be used to determine the type of hazardous road condition appearing ahead. Figure 6 As shown, when this vehicle (i.e. Figure 6 When vehicle number 1 encounters a deep pit, it can move towards the vehicle within the preset range (the fourth target). Figure 6 Vehicles No. 2 and No. 3 broadcast their driving information and the type of hazardous road condition (i.e., Figure 6 The broadcast information (in the vehicle's system) is used to alert the fourth target vehicle to slow down and to indicate the location of the dangerous road condition. The fourth target vehicle can be understood as any vehicle within the communication range of this vehicle's broadcast during the dangerous road condition scenario.

[0082] S306. Determine whether the current vehicle has a malfunction. If yes, proceed to step 307; otherwise, end the process.

[0083] S307. Broadcast the driving information of the current vehicle to the fifth target vehicle within a preset range to prompt the fifth target vehicle traveling in the same direction as the current vehicle to slow down and give way.

[0084] Specifically, Figure 7 This is a schematic diagram illustrating inter-vehicle early warning in a vehicle malfunction scenario, such as... Figure 7 As shown, when this vehicle (i.e. Figure 7 When vehicle number 1 in the system malfunctions, it can promptly contact the vehicle within the preset range (the fifth target vehicle). Figure 7 Vehicles 2 and 3 broadcast their own driving information to alert a fifth target vehicle traveling in the same direction to their position and to promptly slow down and avoid it. The fifth target vehicle can be understood as any vehicle within the communication range of this vehicle's broadcast in the scenario of a vehicle malfunctioning.

[0085] S308. Use the vehicle's camera equipment to determine whether the vehicle has entered a preset dangerous section. If yes, proceed to step 309; otherwise, end the process.

[0086] S309. Broadcast the current vehicle's driving information to a first target vehicle within a preset range, and receive the driving information sent by the first target vehicle.

[0087] S310. Using the current driving direction of the vehicle, filter out the target driving information from the multiple driving information of the first target vehicle received.

[0088] S311. Based on the location information and vehicle speed in the received target driving information, and the location information and vehicle speed of the current vehicle, determine the first vehicle that first enters the preset dangerous road section, and determine the first vehicle as the priority vehicle that first passes through the preset dangerous road section.

[0089] S312. Determine whether the current vehicle is a priority vehicle. If yes, proceed to step 313; otherwise, proceed to step 314.

[0090] S313, Output priority pass prompt message.

[0091] S314, Output deceleration and avoidance warning information.

[0092] The vehicle-to-vehicle warning method provided in this invention determines whether it receives overtaking information from other vehicles before overtaking and promptly broadcasts the overtaking information of the vehicle to be overtaken to other vehicles. This can avoid traffic accidents caused by multiple vehicles overtaking simultaneously. When a vehicle ahead encounters a dangerous road condition, broadcasting the type of dangerous road condition and the vehicle's driving information can effectively remind surrounding vehicles to slow down and give way in the corresponding road section. When a vehicle malfunctions, broadcasting the vehicle's driving information can effectively prompt surrounding vehicles to slow down and give way in the road section where the malfunctioning vehicle is located. This enables vehicles within a short distance to share driving information, allowing cars with autonomous driving or advanced driver assistance functions to perceive road condition information that conventional sensors cannot detect in advance, thus improving driving safety.

[0093] Example 4

[0094] Figure 8 This is a schematic diagram of a vehicle-to-vehicle early warning device provided in Embodiment 4 of the present invention. Figure 8 As shown, the device includes: a road segment entry determination module 401, an information broadcasting and receiving module 402, and a prompt information determination module 403, wherein:

[0095] The road segment entry determination module is used to determine whether the vehicle has entered a preset dangerous road segment using the vehicle's camera equipment;

[0096] An information broadcasting and receiving module is used to broadcast the current vehicle's driving information to a first target vehicle within a preset range and receive the driving information sent by the first target vehicle if the information returned by the road segment entry determination module is yes.

[0097] The prompt information determination module is used to determine the priority vehicle that will pass through the preset dangerous road section first, based on the driving information of the current vehicle and the driving information of the first target vehicle, and to determine the driving mode prompt information of the current vehicle based on the priority vehicle.

[0098] The vehicle-to-vehicle early warning device provided in this embodiment of the invention broadcasts the current vehicle's driving information to vehicles within a preset dangerous road section, so as to realize the sharing of driving information between vehicles within a close range. This enables vehicles with autonomous driving functions or advanced driver assistance functions to perceive road condition information that conventional sensors cannot perceive in advance, thereby improving driving safety.

[0099] Optionally, the prompt message confirmation module includes:

[0100] The target information determination unit is used to filter target driving information from multiple received driving information of the first target vehicle using the driving direction of the current vehicle. The driving information includes location information, driving direction and speed. The target driving information is the driving information of a vehicle that will meet the current vehicle.

[0101] The priority vehicle determination unit is used to determine the first vehicle that first enters the preset dangerous road section based on the location information and vehicle speed in the received target driving information and the location information and vehicle speed of the current vehicle, and to determine the first vehicle as the priority vehicle that first passes through the preset dangerous road section.

[0102] Optionally, the prompt message confirmation module includes:

[0103] The first prompt information determination unit is used to output priority passage prompt information if the current vehicle is a priority vehicle;

[0104] The second prompt information determination unit is used to output deceleration and avoidance prompt information if the current vehicle is not a priority vehicle.

[0105] Optionally, the device may also include:

[0106] The third prompt information determination module is used to output a rear overtaking prompt information if the current vehicle receives overtaking driving information sent by the second target vehicle behind it before the current vehicle overtakes.

[0107] The first broadcast module is configured to broadcast the overtaking information of the current vehicle to a third target vehicle within a preset range if the current vehicle has not received the overtaking information sent by the second target vehicle before the current vehicle overtakes, wherein the second target vehicle is a third target vehicle.

[0108] Optionally, the device may also include:

[0109] The hazardous road condition determination module is used to determine whether a preset hazardous road condition occurs within a preset distance ahead using the camera device;

[0110] The determination module is used to determine the type of dangerous road condition ahead if the information returned by the dangerous road condition determination module is "occurrence", and broadcast the current vehicle's driving information and the dangerous road condition type to the fourth target vehicle within the preset range.

[0111] Optionally, the device may also include:

[0112] The second broadcast module is used to broadcast the driving information of the current vehicle to the fifth target vehicle within the preset range if the current vehicle malfunctions, so as to prompt the fifth target vehicle traveling in the same direction as the current vehicle to slow down and give way.

[0113] Optionally, the preset dangerous road sections include at least intersections without traffic lights and with obstructions, as well as curves with obstructions; the broadcast frequency is positively correlated with the current vehicle speed.

[0114] The vehicle-to-vehicle early warning device provided in the embodiments of the present invention can execute the vehicle-to-vehicle early warning method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the method.

[0115] Example 5

[0116] Figure 9 A schematic diagram of the structure of a vehicle 50 that can be used to implement embodiments of the present invention is shown. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the invention described and / or claimed herein.

[0117] like Figure 9As shown, the vehicle 50 includes at least one processor 51 and at least one camera device 52, as well as a memory 53, such as a read-only memory (ROM) or a random access memory (RAM), communicatively connected to the at least one processor 51. The camera device 52 is used to determine whether the vehicle has entered a preset dangerous road section. The memory stores a computer program executable by the at least one processor. The processor 51 can perform various appropriate actions and processes based on the computer program stored in the read-only memory (ROM) or a computer program loaded from a storage unit into the random access memory (RAM). The RAM may also store various programs and data required for the operation of the vehicle 50.

[0118] Processor 51 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 51 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 51 performs the various methods and processes described above, such as inter-vehicle warning methods.

[0119] In some embodiments, the inter-vehicle warning method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as a storage unit. In some embodiments, part or all of the computer program may be loaded and / or installed on vehicle 50 via ROM and / or a communication unit. When the computer program is loaded into RAM and executed by processor 51, one or more steps of the inter-vehicle warning method described above may be performed. Alternatively, in other embodiments, processor 51 may be configured to perform the inter-vehicle warning method by any other suitable means (e.g., by means of firmware).

[0120] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0121] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0122] The computer equipment provided above can be used to execute the vehicle-to-vehicle early warning method provided in any of the above embodiments, and has the corresponding functions and beneficial effects.

[0123] Example 6

[0124] In the context of this invention, a computer-readable storage medium may be a tangible medium, wherein the computer-executable instructions, when executed by a computer processor, are used to perform a method for inter-vehicle warning, the method comprising determining, using the current vehicle's camera equipment, whether the vehicle has entered a preset dangerous road section;

[0125] If so, the driving information of the current vehicle is broadcast to the first target vehicle within the preset range, and the driving information sent by the first target vehicle is received.

[0126] Based on the current vehicle's driving information and the first target vehicle's driving information, the priority vehicle that will pass through the preset dangerous road section first is determined, and the driving mode prompt information for the current vehicle is determined based on the priority vehicle.

[0127] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by, or in conjunction with, an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0128] The computer equipment provided above can be used to execute the vehicle-to-vehicle early warning method provided in any of the above embodiments, and has the corresponding functions and beneficial effects.

[0129] It is worth noting that in the embodiments of the above-mentioned vehicle-to-vehicle warning device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0130] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A method of inter-vehicle pre-warning, characterized in that, include: The vehicle's camera equipment is used to determine whether the vehicle has entered a preset dangerous road section. The preset dangerous road section includes at least an intersection without traffic lights and with obstructions, as well as a curve with obstructions. If so, the vehicle broadcasts its current driving information to a first target vehicle within a preset range and receives driving information sent by the first target vehicle. The broadcast frequency is positively correlated with the current vehicle's speed to ensure driving safety in high-speed scenarios and avoid broadcast information congestion in traffic congestion scenarios. Based on the current vehicle's driving information and the first target vehicle's driving information, the vehicle that will pass through the preset dangerous road section first is determined, and the current vehicle's driving mode prompt information is determined based on the vehicle that will pass through the preset dangerous road section. The step of determining the priority vehicle to pass through the preset dangerous road section first, based on the current vehicle's driving information and the first target vehicle's driving information, includes: Using the current vehicle's driving direction, target driving information is filtered from multiple received driving information of the first target vehicle. The driving information includes location information, driving direction, and vehicle speed. The target driving information is the driving information of a vehicle that will meet the current vehicle. Based on the location information and speed in the received target driving information and the location information and speed of the current vehicle, the first vehicle that first enters the preset dangerous road section is determined, and the first vehicle is determined as the priority vehicle that first passes through the preset dangerous road section.

2. The method according to claim 1, characterized in that, The step of determining the driving mode prompt information of the current vehicle based on the priority vehicle includes: If the current vehicle is a priority vehicle, then output a priority passage prompt message; If the current vehicle is not a priority vehicle, a deceleration and avoidance prompt message is output.

3. The method according to claim 1, characterized in that, Also includes: If the current vehicle receives overtaking information from a second target vehicle behind it before the current vehicle overtakes, then an overtaking warning message will be output. If the overtaking information sent by the second target vehicle is not received before the current vehicle overtakes, the overtaking information of the current vehicle is broadcast to the third target vehicle within the preset range, wherein the second target vehicle is a third target vehicle.

4. The method according to claim 1, characterized in that, Also includes: The camera device is used to determine whether a preset dangerous road condition appears within a preset distance ahead; If such a situation occurs, the type of dangerous road condition ahead is determined, and the current vehicle's driving information and the type of dangerous road condition are broadcast to the fourth target vehicle within the preset range.

5. The method according to claim 1, characterized in that, Also includes: If the current vehicle malfunctions, its driving information is broadcast to the fifth target vehicle within the preset range to prompt the fifth target vehicle traveling in the same direction as the current vehicle to slow down and give way.

6. A device for inter-vehicle early warning, characterized in that, include: The road segment entry determination module is used to determine whether the vehicle has entered a preset dangerous road segment using the vehicle's camera equipment. The preset dangerous road segment includes at least an intersection without traffic lights and with obstructions, as well as a curve with obstructions. The information broadcasting and receiving module is used to broadcast the current vehicle's driving information to a first target vehicle within a preset range if the information returned by the road segment entry determination module is yes, and to receive the driving information sent by the first target vehicle. The broadcasting frequency is positively correlated with the current vehicle's speed, so as to ensure driving safety in high-speed scenarios and avoid broadcasting information congestion in traffic congestion scenarios. The prompt information determination module is used to determine the priority vehicle that will pass through the preset dangerous road section first based on the driving information of the current vehicle and the driving information of the first target vehicle, and to determine the driving mode prompt information of the current vehicle based on the priority vehicle. The prompt information determination module includes: The target information determination unit is used to filter target driving information from multiple received driving information of the first target vehicle using the driving direction of the current vehicle. The driving information includes location information, driving direction and speed. The target driving information is the driving information of a vehicle that will meet the current vehicle. The priority vehicle determination unit is used to determine the first vehicle that first enters the preset dangerous road section based on the location information and speed in the received target driving information and the location information and speed of the current vehicle, and to determine the first vehicle as the priority vehicle that first passes through the preset dangerous road section.

7. A vehicle, characterized in that, The vehicles include: At least one processor and at least one camera device; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, which enables the at least one processor to perform the inter-vehicle early warning method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the inter-vehicle early warning method according to any one of claims 1-5.

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