A collision warning system

Abstract

The application discloses a collision warning system for improving the accuracy of vehicle collision risk prediction. The application screens target vehicle pairs according to preset screening conditions. For each target vehicle pair: a collision time set of the target vehicle pair is determined based on the current position information of each vehicle in the target vehicle pair; whether a collision will occur in the vehicle in the target vehicle pair is determined based on the collision time set; and if it is determined that a collision will occur, an alarm indication is sent to the vehicle in the target vehicle pair. Before the vehicle is given a collision warning, the vehicle is screened through the preset screening conditions, and it is first determined whether the vehicle meets the triggering condition, thereby avoiding the waste of computing resources caused by giving all vehicles a collision warning. Whether a collision will occur in the vehicle is determined through the current position information of the vehicle, and the high-precision map information and the information reported by the vehicle are fully combined, so that the warning for the vehicle is more accurate.

Description

Technical Field

[0001] This invention relates to the field of intelligent transportation technology, and in particular to a collision warning system. Background Technology

[0002] With the development of intelligent transportation technology, the intelligent systems in vehicles are becoming more and more mature. In order to provide early warnings of potential collisions, collision avoidance warning schemes have been proposed. These schemes mainly determine whether there is a collision risk based on the lane information of the vehicle. However, the accuracy of this method in predicting vehicle collision risks needs to be improved. Summary of the Invention

[0003] In view of this, this application provides a collision warning system to improve the accuracy of vehicle collision risk prediction.

[0004] In a first aspect, embodiments of this application provide a collision warning system, the system comprising:

[0005] The data access module is used to acquire vehicle data of vehicles in the target area;

[0006] The data aggregation module is used to filter the vehicle data to obtain target vehicle data;

[0007] The Target Classify (TC) module is used to filter target vehicle pairs from the target vehicle data according to preset filtering conditions; the target vehicle pair includes two vehicles with collision risk.

[0008] The Target Analyze (TA) module is used to perform the following for each target vehicle pair:

[0009] The collision time set of the target vehicle pair is determined based on the current position information of each vehicle in the target vehicle pair;

[0010] Based on the collision time set, determine whether a collision will occur between the vehicles in the target vehicle pair;

[0011] If it is determined that a collision will occur between the vehicles in the target vehicle pair, an alarm instruction is issued to the vehicles in the target vehicle pair.

[0012] In this application, before issuing a collision warning to a vehicle, vehicles are screened by preset filtering conditions to determine whether the vehicle meets the triggering conditions, thus avoiding the waste of computing resources caused by issuing collision warnings to all vehicles. Secondly, in this application, the vehicle's current position and speed information are used to predict the vehicle's driving path to determine whether a collision will occur. This fully combines high-precision map information and information reported by the vehicle, making the vehicle warning more accurate.

[0013] In some possible embodiments, the TC module is specifically used for:

[0014] The vehicles in the target area are grouped according to a preset grouping method to obtain at least one pair of vehicles to be processed; wherein each pair of vehicles to be processed includes two vehicles, and at least one vehicle in every two pairs of vehicles to be processed is different.

[0015] Perform the following for each pair of vehicles to be processed:

[0016] Determine whether the lanes where the two vehicles in the vehicle pair to be processed are located are in a preset lane group set; and determine whether the state of the two vehicles in the vehicle pair to be processed is a preset vehicle state; and determine whether the predicted collision time of the two vehicles in the vehicle pair to be processed is less than a first time threshold.

[0017] If it is determined that the vehicles in the pair of vehicles to be processed are in the preset lane group set, and the state of the two vehicles is the preset vehicle state, and the collision time of the two vehicles is less than the first time threshold.

[0018] The vehicle pair to be processed is then taken as the target vehicle pair.

[0019] In this application, the presence of a collision hazard is determined based on the vehicle's lane, the vehicle's status, and the predicted collision time, thus avoiding the waste of computing resources caused by issuing collision avoidance warnings to all vehicles.

[0020] In some possible embodiments, the TC module is specifically used for:

[0021] Based on the lanes where the two vehicles in the vehicle pair to be processed are respectively located, the lane group corresponding to the vehicle pair to be processed is obtained.

[0022] If the lane group set includes the lane group, then it is determined that the lanes containing the two vehicles in the vehicle pair to be processed are in the preset lane group set.

[0023] In this application, lane information is used to perform coarse-grained initial screening of vehicles in the target area, and vehicles that do not meet the lane requirements are removed, thus saving the resources consumed when providing precise warnings for vehicles.

[0024] In some possible embodiments, the TC module is specifically used for:

[0025] Determine whether the vehicle pair to be processed contains both a vehicle in the first state and a vehicle in the second state simultaneously.

[0026] If it is determined that a vehicle in the first state and a vehicle in the second state exist simultaneously in the vehicle pair to be processed, then the states of the two vehicles in the vehicle pair to be processed are determined to be the preset vehicle states.

[0027] In this application, vehicles in the target area are filtered by their status, and vehicles whose status does not meet the requirements are removed, thus saving the resources consumed when making accurate warnings for vehicles.

[0028] In some possible embodiments, the TC module is further configured to:

[0029] Obtain the current speed and current position information of the two vehicles in the vehicle pair to be processed;

[0030] Based on the current speed and current position information of the two vehicles in the vehicle pair to be processed, the predicted collision time of the vehicle pair to be processed is obtained.

[0031] In this application, the predicted collision time of the vehicle pair is determined based on the vehicle's current speed and current location information, ensuring the accuracy of the obtained predicted collision time.

[0032] In some possible embodiments, the TC module is specifically used for:

[0033] Based on the current location information of the two vehicles in the vehicle pair to be processed, the first distance between the two vehicles in the vehicle pair to be processed is obtained;

[0034] Based on the current speeds of the two vehicles in the vehicle pair to be processed, the speed difference between the two vehicles in the vehicle pair to be processed is obtained;

[0035] The ratio of the first distance to the speed difference is used as the predicted collision time.

[0036] In this application, the predicted collision time of the vehicle pair is determined based on the vehicle's current speed and current location information, ensuring the accuracy of the obtained predicted collision time.

[0037] In some possible embodiments, the TC module is specifically used for:

[0038] The vehicles in the target area are sorted according to preset rules to obtain a vehicle sequence;

[0039] For each vehicle in the vehicle sequence, the vehicle is designated as a first target vehicle, and the target vehicle is combined with a second target vehicle to obtain a vehicle pair to be processed; wherein the second target vehicle is the vehicle located after the target vehicle in the vehicle sequence.

[0040] In this application, by grouping the vehicles in the target area, it is ensured that the calculation results can cover the possibility of collisions between all vehicles in the target area.

[0041] In some possible embodiments, if the first state is a left-turn state and the second state is a straight-ahead state, then the TA module is specifically used for:

[0042] The vehicle in the target vehicle pair that is turning left is designated as the first vehicle, and the vehicle in the target vehicle pair that is going straight is designated as the second vehicle.

[0043] Based on the first current position of the first vehicle and the first preset radius, the first center coordinates of the circle the first vehicle enters are obtained; and based on the second preset position and the second preset radius, the second center coordinates of the circle the first vehicle exits are obtained;

[0044] Based on the first center coordinates and the first preset radius, a first tangent point is obtained; and based on the second center coordinates and the second preset radius, a second tangent point is obtained.

[0045] The collision point is obtained based on the second preset position and the second preset radius;

[0046] Based on the first current location information, the first tangent point, the second tangent point, and the collision point, the first driving distance corresponding to the first vehicle is obtained; and based on the second current location information of the second vehicle and the collision point, the second driving distance corresponding to the second vehicle is obtained.

[0047] The collision time set is obtained based on the first travel distance, the second travel distance, the current speed of the first vehicle, and the current speed of the second vehicle.

[0048] In this application, when calculating the collision time set of the target vehicle pair, the vehicle position information and the speed information reported by the vehicle are fully combined, making the calculated collision time set more accurate.

[0049] In some possible embodiments, the TA module is specifically used for:

[0050] The second center coordinates of the exit circle corresponding to the first vehicle are obtained based on the second preset position and the second preset radius;

[0051] The collision point is obtained based on the second current position information of the second vehicle and the second center coordinates.

[0052] In some possible embodiments, when the TA module performs the operation of obtaining the first tangent point based on the first center coordinates and the first preset radius, it is specifically used for:

[0053] Based on the coordinates of the first center and the coordinates of the second center, a first vector is obtained;

[0054] The second vector is obtained based on the first preset tangent point and the second preset tangent point;

[0055] Based on the first vector and the second vector, the normal vector corresponding to the second vector is obtained;

[0056] The first tangent point is obtained based on the normal vector, the coordinates of the first circle center, and the first preset radius.

[0057] In some possible embodiments, the TA module is specifically used for:

[0058] Based on the coordinates of the first center and the coordinates of the second center, a first vector is obtained;

[0059] The second vector is obtained based on the first preset tangent point and the second preset tangent point;

[0060] Based on the first vector and the second vector, the normal vector corresponding to the second vector is obtained;

[0061] The second tangent point is obtained based on the normal vector, the coordinates of the second circle center, and the second preset radius.

[0062] In some possible embodiments, the TA module is specifically used for:

[0063] Based on the first current location information, the first tangent point, the first preset radius, and the first preset formula, the first sub-distance is obtained;

[0064] The distance between the first tangent point and the second tangent point is taken as the second sub-distance;

[0065] Based on the second tangent point, the collision point, the second preset radius, and the second preset formula, the third sub-distance is obtained;

[0066] The sum of the first sub-distance, the second sub-distance, and the third sub-distance is taken as the first driving distance.

[0067] In some possible embodiments, the TA module is specifically used for:

[0068] The second current location information and the distance between the collision point are used as the second driving distance.

[0069] In some possible embodiments, the TA module is specifically used for:

[0070] Obtain the first body length corresponding to the first vehicle and the second body length corresponding to the second vehicle;

[0071] The first moment and the second moment are obtained based on the first vehicle body length, the first travel distance, and the current speed of the first vehicle;

[0072] The third and fourth moments are obtained based on the second vehicle body length, the second travel distance, and the current speed of the second vehicle;

[0073] The collision time set is obtained based on the first time point, the second time point, the third time point, and the fourth time point.

[0074] In some possible embodiments, the TA module is specifically used for:

[0075] Determine a first difference between the first driving distance and the first vehicle length, and determine a first sum of the first driving distance and the first vehicle length;

[0076] The ratio of the first difference to the current speed of the first vehicle is taken as the first moment.

[0077] The ratio of the first sum to the current speed of the first vehicle is taken as the second moment.

[0078] In some possible embodiments, the TA module is specifically used for:

[0079] Determine a second difference between the second travel distance and the second vehicle length, and determine a second sum of the second travel distance and the second vehicle length;

[0080] The ratio of the second difference to the current speed of the second vehicle is taken as the third moment.

[0081] The ratio of the second sum to the current speed of the second vehicle is taken as the fourth moment.

[0082] In some possible embodiments, the TA module is specifically used for:

[0083] If it is determined that the first time point is before the third time point and the first time point is determined to be after the fourth time point, then it is determined that a collision will occur between the vehicles in the target vehicle pair.

[0084] If it is determined that the third moment is before the first moment and the third moment is after the second moment, then it is determined that a collision will occur between the vehicles in the target vehicle pair.

[0085] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0086] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments 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.

[0087] Figure 1 A schematic diagram of the system framework of a collision warning system provided in an embodiment of this application;

[0088] Figure 2 This is a schematic flowchart of a collision warning system provided in an embodiment of this application;

[0089] Figure 3 This is a schematic diagram of the target area of ​​a collision warning system provided in an embodiment of this application;

[0090] Figure 4 A schematic diagram illustrating the process of determining a target vehicle pair in a collision warning system provided in an embodiment of this application;

[0091] Figure 5 This is a schematic diagram illustrating the process of determining whether a pair of vehicles to be processed is in a lane group set in a collision warning system provided in an embodiment of this application;

[0092] Figure 6 A schematic diagram of a vehicle and lanes for a collision warning system provided in an embodiment of this application;

[0093] Figure 7 This is a schematic diagram illustrating the process of determining whether a collision warning system is in a preset vehicle state, as provided in an embodiment of this application.

[0094] Figure 8A schematic diagram illustrating the process of determining the predicted collision time in a collision warning system provided in an embodiment of this application;

[0095] Figure 9 A schematic flowchart illustrating the process of determining a collision time set for an embodiment of this application;

[0096] Figure 10 This is a schematic diagram illustrating vehicle trajectory prediction for a collision warning system provided in an embodiment of this application.

[0097] Figure 11 This is a schematic diagram of the process for determining the first tangent point in a collision warning system provided in an embodiment of this application;

[0098] Figure 12 This is a schematic diagram illustrating the process of determining the second tangent point in a collision warning system according to an embodiment of this application.

[0099] Figure 13 A schematic diagram illustrating the process of determining a first driving distance using a collision warning system provided in an embodiment of this application;

[0100] Figure 14 This is a schematic diagram illustrating the process of obtaining a collision time set in a collision warning system provided in an embodiment of this application. Detailed Implementation

[0101] To better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0102] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0103] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0104] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0105] The inventors discovered that with the development of intelligent transportation technology, the intelligent systems in vehicles are becoming more and more mature. In order to provide early warnings of potential collisions, collision avoidance warning schemes have been proposed in related technologies. These schemes mainly determine whether there is a collision risk based on the lane information of the vehicle. However, the accuracy of this method in predicting vehicle collision risks needs to be improved.

[0106] To address the aforementioned problems, this application provides a collision warning system to solve these issues. The inventive concept of this application can be summarized as follows: acquiring vehicle data of vehicles in a target area, filtering the vehicle data to obtain target vehicle data, and selecting target vehicle pairs from the target vehicle data according to preset filtering conditions; each target vehicle pair includes two vehicles with collision risk; for each target vehicle pair, the following steps are performed: determining the collision time set of the target vehicle pair based on the current position information of each vehicle in the target vehicle pair; determining whether a collision will occur between the vehicles in the target vehicle pair based on the collision time set; and issuing an alarm instruction to the vehicles in the target vehicle pair if a collision is determined to occur. In this application, before issuing a collision warning, vehicles are filtered according to preset filtering conditions to determine whether the vehicles meet the triggering conditions, avoiding the waste of computing resources caused by issuing collision warnings to all vehicles. Furthermore, this application uses information such as the vehicle's current position and speed to predict the vehicle's driving path to determine whether a collision will occur, fully combining high-precision map information and information reported by the vehicles, making the vehicle warning more accurate.

[0107] For ease of understanding, the collision warning system provided in this application embodiment will be described in detail below with reference to the accompanying drawings:

[0108] like Figure 1 The diagram shown is a schematic representation of the system architecture of a collision warning system according to an embodiment of this application. The diagram includes: a data access module 10, a data aggregation module 20, a TC module 30, and a TA module; wherein:

[0109] Data access module 10 is used to acquire vehicle data of vehicles in the target area;

[0110] The data aggregation module 20 is used to filter vehicle data to obtain target vehicle data;

[0111] The TC module 30 filters target vehicle pairs from the target vehicle data according to preset filtering conditions; the target vehicle pair includes two vehicles with collision risk.

[0112] TA module 40 performs the following for each target vehicle pair: determines the collision time set of the target vehicle pair based on the current position information of each vehicle in the target vehicle pair; determines whether a collision will occur between the vehicles in the target vehicle pair based on the collision time set; and if it is determined that a collision will occur between the vehicles in the target vehicle pair, issues an alarm instruction to the vehicles in the target vehicle pair.

[0113] The description in this application focuses only on a single data access module 10, data aggregation module 20, transportation community TC module 30, and TA module. However, those skilled in the art should understand that the illustrated data access module 10, data aggregation module 20, transportation community TC module 30, and TA module are intended to illustrate the operation of these modules involved in the technical solution of this application, and not to imply any limitations on the number, type, or location of the data access module 10, data aggregation module 20, transportation community TC module 30, and TA module. It should be noted that adding additional modules to or removing individual modules from the illustrated environment will not change the underlying concept of the exemplary embodiments of this application. Furthermore, those skilled in the art will understand that the transmission and reception of the aforementioned data also needs to be achieved through a network.

[0114] The collision warning system described in this application is implemented on Multi-access Edge Computing (MEC). It processes real vehicle data from all access platforms in the covered area and target object data from roadside fusion perception, supports multiple types of collaborative warning services, and provides MEC cloud warning services for autonomous vehicles and connected vehicles.

[0115] The collision warning system provided in this application adopts a distributed architecture design, including a data access module, a data aggregation module, a Traffic Community (TC) module, and a Traffic Acquisition (TA) module.

[0116] To facilitate a further understanding of the collision warning system provided in the embodiments of this application, each part of the collision warning system will be described below:

[0117] 1. Data Access Module

[0118] In some possible implementations, one approach is to access real vehicle data from the platform. These vehicles report their data to the Netty server, an asynchronous event-driven network application framework, via national / industry standard protocols. Another approach is to use roadside fusion sensing data. This involves processing fusion sensing data from devices such as cameras and millimeter-wave radar, and then reporting the fused target data to the road-cloud gateway via the industry standard road-cloud protocol and the Message Queuing Telemetry Transport (MQTT) protocol.

[0119] 2. Data aggregation module

[0120] In some possible embodiments, the data aggregation section performs unified processing on the vehicle data acquired by the data access module, mainly including functional modules such as data cleaning, timestamp synchronization, data deduplication, intersection attribution, and lane assignment. These functional modules are executed sequentially to complete the main processing steps of data cleaning, time synchronization, intersection attribution, and lane positioning, and finally, each vehicle is assigned to a specific lane.

[0121] 3. TC module

[0122] The TC module is mainly used to filter target vehicle pairs from vehicles in the target area according to preset filtering conditions; the target vehicle pair includes two vehicles with collision risk.

[0123] In some possible embodiments, in order to save computing resources, this application first filters out target vehicle pairs from vehicles in the target area according to preset filtering conditions. The target vehicle pairs that meet the preset filtering conditions are then further processed. When filtering out target vehicle pairs from vehicles in the target area according to preset filtering conditions, the vehicles in the target area are first grouped according to a preset grouping method to obtain at least one pair of vehicles to be processed. Each pair of vehicles to be processed includes two vehicles, and at least one vehicle in each pair of vehicles to be processed is different. Specifically, this can be implemented as follows: the vehicles in the target area are sorted according to preset rules to obtain a vehicle sequence; for each vehicle in the vehicle sequence, the vehicle is designated as a first target vehicle, and the target vehicle is combined with a second target vehicle to obtain a pair of vehicles to be processed; the second target vehicle is the vehicle located after the target vehicle in the vehicle sequence.

[0124] For example: Figure 3As shown, the target area includes vehicles A, B, C, D, and E. The preset rule is random sorting, resulting in the vehicle sequence: Vehicle C, Vehicle D, Vehicle E, Vehicle A, Vehicle B. Taking vehicle C as the first target vehicle, the second target vehicles are: Vehicle D, Vehicle E, Vehicle A, Vehicle B. The resulting pairs of vehicles to be processed are: Vehicle C, Vehicle D; Vehicle C, Vehicle E; Vehicle C, Vehicle A; Vehicle C, Vehicle B. Taking vehicle D as the first target vehicle, the second target vehicles are: Vehicle E, Vehicle A, Vehicle B. The resulting pairs of vehicles to be processed are: Vehicle D, Vehicle E; Vehicle D, Vehicle A. Vehicles D and B; with vehicle E as the first target vehicle, the second target vehicles are: vehicle A and vehicle B, resulting in the following vehicle pairs to be processed: vehicle E and vehicle A, vehicle E and vehicle B; with vehicle A as the first target vehicle, the second target vehicle is: vehicle B, resulting in the following vehicle pairs to be processed: vehicle A and vehicle B; in summary, the following vehicle pairs to be processed for the target area are: vehicle C and vehicle D, vehicle C and vehicle E, vehicle C and vehicle A, vehicle C and vehicle B, vehicle D and vehicle E, vehicle D and vehicle A, vehicle D and vehicle B, vehicle E and vehicle A, vehicle E and vehicle B, vehicle A and vehicle B.

[0125] It should be noted that this application does not limit the preset rules used for sorting. The above is only one embodiment. In specific implementation, vehicles in the target area can also be sorted according to lanes or according to the arrival time of vehicles in the target area. The specific sorting rules can be set by the technician according to the actual situation.

[0126] In some possible embodiments, after obtaining the pairs of vehicles to be processed, the following can be implemented for each pair of vehicles to be processed: Figure 4 The steps shown are as follows:

[0127] In step 401: determine whether the lanes where the two vehicles in the vehicle pair to be processed are located are in a preset lane group set; and determine whether the state of the two vehicles in the vehicle pair to be processed is a preset vehicle state; and determine whether the predicted collision time of the two vehicles in the vehicle pair to be processed is less than a first time threshold.

[0128] In some possible embodiments, determining whether the lanes containing the two vehicles in the vehicle pair to be processed are in a preset set of lane groups can be implemented as follows: Figure 5 The steps shown are as follows:

[0129] In step 501: the lane group corresponding to the vehicle pair to be processed is obtained based on the lanes where the two vehicles in the vehicle pair to be processed are located.

[0130] In step 502: If the lane group set includes lane groups, then it is determined that the lanes of the two vehicles in the vehicle pair to be processed are in the preset lane group set.

[0131] For example: Figure 6 The diagram shows the vehicles in target area A. The resulting pairs of vehicles to be processed include: vehicle pair 1 (vehicle A, vehicle B), vehicle pair 2 (vehicle A, vehicle C), vehicle pair 3 (vehicle A, vehicle D), vehicle pair 4 (vehicle A, vehicle E), vehicle pair 5 (vehicle B, vehicle C), vehicle pair 6 (vehicle B, vehicle D), vehicle pair 7 (vehicle B, vehicle E), vehicle pair 8 (vehicle C, vehicle D), vehicle pair 9 (vehicle C, vehicle E), and vehicle pair 10 (vehicle D, vehicle E).

[0132] The lane groups included in the lane group set are: (Lane 2, Lane 4), (Lane 2, Lane 6), (Lane 2, Lane 8), (Lane 4, Lane 6), (Lane 4, Lane 8), (Lane 6, Lane 8).

[0133] according to Figure 6 The lanes where the vehicles are located can be identified as follows: lane group 1 for vehicle pair 1 is (lane 2, lane 4), lane group 2 for vehicle pair 2 is (lane 2, lane 6), lane group 3 for vehicle pair 3 is (lane 2, lane 8), lane group 4 for vehicle pair 4 is (lane 1, lane 2), lane group 5 for vehicle pair 5 is (lane 4, lane 6), lane group 6 for vehicle pair 6 is (lane 4, lane 8), lane group 7 for vehicle pair 7 is (lane 4, lane 1), lane group 8 for vehicle pair 8 is (lane 6, lane 8), lane group 9 for vehicle pair 9 is (lane 6, lane 1), and lane group 10 for vehicle pair 10 is (lane 8, lane 1).

[0134] Furthermore, it can be determined that the lanes containing two vehicles in vehicle pair 1, vehicle pair 2, vehicle pair 3, vehicle pair 5, vehicle pair 6, and vehicle pair 8 are in a preset lane group set.

[0135] It should be noted that the lane group set given in this application is only one embodiment and is not intended to limit the lane groups included in the lane group set. In specific implementation, those skilled in the art can set the lane groups included in the lane group set themselves.

[0136] In some possible embodiments, determining whether the states of the two vehicles in the vehicle pair to be processed are preset vehicle states can be implemented as follows: Figure 7 The steps shown are as follows:

[0137] In step 701: Determine whether the vehicle pair to be processed contains both a vehicle in the first state and a vehicle in the second state.

[0138] In step 702: If it is determined that there are vehicles in the first state and vehicles in the second state in the vehicle pair to be processed, then the states of the two vehicles in the vehicle pair to be processed are determined to be preset vehicle states.

[0139] Continue with Figure 6 Taking an example, let's assume the first state is a left turn state and the second state is a straight-ahead state. For instance, based on the information obtained from each vehicle, we determine that vehicle A is in a left turn state, vehicle B is in a straight-ahead state, vehicle C is in a left turn state, vehicle D is in a straight-ahead state, and vehicle E is in a straight-ahead state. Then, we can determine the pairs of vehicles to be processed whose states are preset: vehicle pair 1 (vehicle A, vehicle B), vehicle pair 3 (vehicle A, vehicle D), vehicle pair 4 (vehicle A, vehicle E), vehicle pair 5 (vehicle B, vehicle C), vehicle pair 8 (vehicle C, vehicle D), and vehicle pair 9 (vehicle C, vehicle E).

[0140] In some possible embodiments, before determining whether the predicted collision time of the two vehicles in the vehicle pair to be processed is less than a first time threshold, the current speed and current position information of the two vehicles in the vehicle pair to be processed are first obtained; then, based on the current speed and current position information of the two vehicles in the vehicle pair to be processed, the predicted collision time of the vehicle pair to be processed is obtained. Specifically, this can be implemented as follows: Figure 8 The steps shown are as follows:

[0141] In step 801: Based on the current position information of the two vehicles in the vehicle pair to be processed, the first distance between the two vehicles in the vehicle pair to be processed is obtained.

[0142] For example: if the coordinates of vehicle A in the world coordinate system are determined to be (x1, y1) and the coordinates of vehicle B in the world coordinate system are (x2, y2), then the distance between vehicle A and vehicle B can be obtained according to the distance formula between coordinates, and denoted as L1.

[0143] In step 802: Based on the current speeds of the two vehicles in the vehicle pair to be processed, the speed difference between the two vehicles in the vehicle pair to be processed is obtained.

[0144] For example: Determine the speed of vehicle A in vehicle pair 1 as V1 and the speed of vehicle B as V2, and take the absolute value of the difference between V1 and V2 as the speed difference of vehicle pair 1.

[0145] In step 803: the ratio of the first distance to the speed difference is used as the predicted collision time.

[0146] For example: continue with Figure 6Taking this as an example, the predicted collision time for vehicle 1 is determined to be 3 seconds, for vehicle 2 to be 3.5 seconds, for vehicle 3 to be 4 seconds, for vehicle 4 to be 2 seconds, for vehicle 5 to be 5 seconds, for vehicle 6 to be 3 seconds, for vehicle 7 to be 2 seconds, for vehicle 8 to be 2 seconds, for vehicle 9 to be 4 seconds, and for vehicle 10 to be 5 seconds. Furthermore, the first time threshold is determined to be 3.5 seconds. Therefore, the vehicle pairs whose predicted collision times are less than the first time threshold are: vehicle pair 1, vehicle pair 4, vehicle pair 6, vehicle pair 7, and vehicle pair 8.

[0147] It should be noted that the first time threshold given in this application is only one embodiment. In specific implementation, technicians can set the specific value of the first time threshold according to the actual situation.

[0148] In step 402: If it is determined that the two vehicles in the vehicle pair to be processed are in a preset lane group set, and the state of the two vehicles is a preset vehicle state, and the collision time of the two vehicles is less than the first time threshold.

[0149] In step 403: the vehicle pair to be processed is then taken as the target vehicle pair.

[0150] Continue with Figure 6 For example, the target vehicle pairs can be obtained through the above calculations as: vehicle pair 1 (vehicle A, vehicle B) and vehicle pair 8 (vehicle C, vehicle D).

[0151] In some possible embodiments, after identifying the target vehicle pair, the TC module determines the warning scenario to which the target vehicle pair belongs based on the state of each vehicle in the target vehicle pair. For example, if the target vehicle pair includes vehicles in a left-turn state and a straight-ahead state, then the warning scenario to which the target vehicle pair belongs is determined to be a left-turn warning; if the target vehicle pair includes vehicles in a right-turn state and a straight-ahead state, then the warning scenario to which the target vehicle pair belongs is determined to be a right-turn warning.

[0152] It is important to know that the TC module uses the definition of each scenario in the China Society of Automotive Engineers standard T / CSAE 53-2017 to determine the collision scenario of a vehicle.

[0153] 4. TA module

[0154] The TA module performs the following actions for each target vehicle: Figure 2 The steps shown are as follows:

[0155] In step 201: the collision time set of the target vehicle pair is determined based on the current position information of each vehicle in the target vehicle pair.

[0156] In step 202: Determine whether a collision will occur between the vehicles in the target vehicle pair based on the collision time set.

[0157] In step 203: If it is determined that a collision will occur between the vehicles in the target vehicle pair, an alarm instruction is issued to the vehicles in the target vehicle pair.

[0158] In some possible embodiments, after identifying the target vehicle pair, if the warning scenario to which the target vehicle pair belongs is a left-turn warning, then for each target vehicle pair, the collision time set of the target vehicle pair is determined based on the current position information of each vehicle in the target vehicle pair. This can be implemented as follows: Figure 9 The steps shown are as follows:

[0159] In step 901: the vehicle in the left-turning state of the target vehicle pair is designated as the first vehicle, and the vehicle in the straight-going state of the target vehicle pair is designated as the second vehicle.

[0160] For example: targeting Figure 6 The identified target vehicle pairs are vehicle pair 1 and vehicle pair 8. In vehicle pair 1, vehicle A is in a left-turning state, so vehicle A is designated as the first vehicle. In vehicle pair 8, vehicle B is in a straight-going state, so vehicle B is designated as the second vehicle. In vehicle pair 8, vehicle C is in a left-turning state, so vehicle C is designated as the first vehicle. In vehicle pair 8, vehicle D is in a straight-going state, so vehicle D is designated as the second vehicle.

[0161] In step 902: the first center coordinates of the entering circle corresponding to the first vehicle are obtained based on the first current position of the first vehicle and the first preset radius; and the second center coordinates of the exit circle corresponding to the first vehicle are obtained based on the second preset position and the second preset radius.

[0162] For example: Figure 10 As shown, the radius of the circle into which the vehicle enters is a first preset radius r1, which is a preset value, i.e., r1 is a known number. Based on the first position information reported by the first vehicle, the coordinates (x, y) of point a can be obtained. a ,y a Given that the second preset radius r2 of the circle is a preset value (i.e., r2 is a known value) and the second preset position is a preset value, the coordinates (x, y) of point b can be obtained. b ,y b Based on this first position information, the angle between the first vehicle and the horizontal line can be determined and denoted as θ. a According to the second preset position, the angle between point b and the horizontal line can be denoted as θ. b Then, according to the formula for the center of a circle, we can obtain Formula 1:

[0163]

[0164] Where: (xo1 y o1 (x) is the coordinate of the first circle center. a ,y a Let α be the coordinates of the first vehicle. a =θ a -90°, θ a The angle between the first vehicle and the horizontal line.

[0165] Based on Formula 1, the coordinates of the first center can be obtained as o1 = (x a -r1*sinθ a y a +r1*cosθ a Based on the same calculation method, the coordinates of the second circle center can be obtained as o2 = (x b -r2*sinθ b y b +r2*cosθ b ).

[0166] In step 903: the first tangent point is obtained based on the first center coordinates and the first preset radius; and the second tangent point is obtained based on the second center coordinates and the second preset radius.

[0167] In some possible embodiments, obtaining the first tangent point based on the coordinates of the first center and the first preset radius can be implemented as follows: Figure 11 The steps shown are as follows:

[0168] In step 1101: Based on the coordinates of the first center and the second center, the first vector is obtained.

[0169] For example: Figure 10 As shown, the first vector formed by the coordinates of the first center o1 and the coordinates of the second center o2 is denoted as...

[0170] In step 1102: the second vector is obtained based on the first preset tangent point and the second preset tangent point.

[0171] For example: Figure 10 As shown, the first preset tangent point is g1, and the second preset tangent point is g2. Both the first and second preset tangent points are set by the technicians themselves. Based on the first and second preset tangent points, a second vector can be obtained, which is denoted as g2.

[0172] In step 1103: the normal vector corresponding to the second vector is obtained based on the first vector and the second vector.

[0173] For example: Figure 10 As shown, the normal vector of the second vector is denoted as... Then you can get Perpendicular to Then you can get Based on the vector relationships of quadrilaterals, we can obtain Formula 2:

[0174]

[0175] Based on geometric relationships in mathematics, we can obtain... Therefore, according to Formula 2, we can obtain Formula 3:

[0176]

[0177] Multiply both sides of Formula 3 by the normal vector. Formula 4 can be obtained:

[0178]

[0179] Simplifying formula 4, we get formula 5:

[0180]

[0181] Will Let the modulus be D, then for You can get by calling the unit. Dividing both sides of formula 5 by D, we get formula 6:

[0182]

[0183] because and Since all are unit vectors, Equation 6 can be simplified to:

[0184] Based on the modulus calculation method and the simplified formula of Formula 6, Formula 7 can be obtained:

[0185]

[0186] Where: γ is and The angle between them.

[0187] Will Let it be m, then according to formula 7 we can get

[0188] because and It is a known number obtained from the coordinates of the first and second centers of the circle, where D is... The modulus can then be obtained Will The corresponding coordinates are (v 1nx ,v1ny ); then according to The normal vector can be obtained from the corresponding coordinates and Formula 7. The coordinates are shown in Formula 8:

[0189]

[0190] In step 1104: the first tangent point is obtained based on the normal vector, the coordinates of the first circle center, and the first preset radius.

[0191] In some possible embodiments, after obtaining the normal vector, starting from the first center coordinate o1, along the vector... The first tangent point g1 is the distance traveled along the direction of the first preset radius r1. The coordinates of the first tangent point g1 are denoted as (x...). g1 ,y g1 If the coordinates of the first tangent point are as shown in Formula 9:

[0192]

[0193] In some possible embodiments, obtaining the second tangent point based on the second center coordinates and the second preset radius can be implemented as follows: Figure 12 The steps shown are as follows:

[0194] In step 1201: Based on the coordinates of the first center and the second center, the first vector is obtained.

[0195] In step 1202: the second vector is obtained based on the first preset tangent point and the second preset tangent point.

[0196] In step 1203: the normal vector corresponding to the second vector is obtained based on the first vector and the second vector.

[0197] In some possible embodiments, the method for obtaining the first vector, the second vector, and the normal vector is similar to... Figure 11 The same applies here, so I will not repeat it here.

[0198] In step 1204: the second tangent point is obtained based on the normal vector, the coordinates of the second circle center, and the second preset radius.

[0199] In some possible embodiments, after obtaining the normal vector, starting from the second center coordinate o2, along the vector... The second tangent point g2 is the distance traveled along the direction of the second preset radius r2. The coordinates of the second tangent point g2 are then defined as follows: The coordinates of the second tangent point are shown in Formula 10:

[0200]

[0201] In step 904: the collision point is obtained based on the second preset position and the second preset radius.

[0202] In some possible embodiments, obtaining the collision point based on the second preset position and the second preset radius can be implemented as follows: obtaining the second center coordinates of the exit circle corresponding to the first vehicle based on the second preset position and the second preset radius; obtaining the collision point based on the second current position information of the second vehicle and the second center coordinates.

[0203] For example: Figure 10 As shown, the second preset position is point b, and the coordinates of point b are (x...). b ,y b Based on the second location information reported by the second vehicle, the coordinates of the second current location point c can be obtained as (x...). c ,y c ,θ c Based on the second preset position information and the second preset radius r2, the equation corresponding to the exit circle can be obtained, as shown in Formula 11:

[0204]

[0205] Based on the coordinates of the second current position c, the equation for the path of the second vehicle can be obtained as shown in Formula 12:

[0206] y=x·tanθ, (Formula 12)

[0207] The collision point k can be obtained from formulas 11 and 12, and is denoted as (x k y k The collision point can be determined using a common method.

[0208] Equation 13 represents:

[0209]

[0210] In step 905: Based on the first current location information, the first tangent point, the second tangent point, and the collision point, the first driving distance corresponding to the first vehicle is obtained; and based on the second current location information of the second vehicle and the collision point, the second driving distance corresponding to the second vehicle is obtained.

[0211] In some possible embodiments, obtaining the first driving distance corresponding to the first vehicle based on the first current location information, the first tangent point, the second tangent point, and the collision point can be implemented as follows: Figure 13 The steps shown are as follows:

[0212] In step 1301: Based on the first current position information, the first tangent point, the first preset radius, and the first preset formula, the first sub-distance is obtained.

[0213] For example: Let s denote the distance traveled by the first vehicle on the entering circle as the first sub-distance. According to Formula 14, the first sub-distance can be obtained as:

[0214]

[0215] Where: r1 is the first preset radius, a is the first position information, and g1 is the first tangent point.

[0216] In step 1302: the distance between the first tangent point and the second tangent point is taken as the second sub-distance.

[0217] For example, if we denote the straight-line travel length of the first vehicle as the second sub-distance as p, then according to the distance formula between the first tangent point, the second tangent point, and the coordinates, we can obtain p = |g1g2|.

[0218] In step 1303: Based on the second tangent point, collision point, second preset radius, and second preset formula, the third sub-distance is obtained.

[0219] For example: Let q denote the distance traveled by the first vehicle on the exit circle, i.e., the third sub-distance. According to Formula 15, the second sub-distance can be obtained as:

[0220]

[0221] Where: r2 is the second preset radius, k is the collision point, and g2 is the second tangent point.

[0222] In step 1304: the sum of the first sub-distance, the second sub-distance, and the third sub-distance is taken as the first driving distance.

[0223] For example, based on the above, we can obtain the first travel distance l1 = s + p + q.

[0224] In some possible embodiments, obtaining the second driving distance of the second vehicle based on the second current location information of the second vehicle and the collision point can be implemented by taking the distance between the second current location information and the collision point as the second driving distance.

[0225] For example: Figure 10 As shown, the second current position information is c, and the collision point is k. Then, according to the distance formula between coordinates, the second driving distance l2 = |kc| can be obtained.

[0226] In step 906: Based on the first travel distance, the second travel distance, the current speed of the first vehicle, and the current speed of the second vehicle, a collision time set is obtained.

[0227] In this application, the collision time set is determined by geometric calculations to ensure the accuracy of the obtained collision time set.

[0228] In some possible embodiments, a collision time set is obtained based on the first travel distance, the second travel distance, the current speed of the first vehicle, and the current speed of the second vehicle. Specifically, this can be implemented as follows: Figure 14 The steps shown are as follows:

[0229] In step 1401: obtain the first body length corresponding to the first vehicle and the second body length corresponding to the second vehicle.

[0230] In step 1402: the first moment and the second moment are obtained based on the first vehicle body length, the first travel distance and the current speed of the first vehicle.

[0231] In some possible embodiments, possible collision scenarios include: the first vehicle arriving at the collision area while the second vehicle simultaneously arrives at the edge of the collision area; the first vehicle arriving at the collision area while the second vehicle has not yet left the collision area; the second vehicle arriving at the collision area while the first vehicle simultaneously arrives at the edge of the collision area; and the second vehicle arriving at the collision area while the first vehicle has not yet left the collision area. The collision area is a circular region with a radius equal to a specified distance from the point of collision.

[0232] Therefore, the arrival and departure times of the first and second vehicles from the collision area can be used to determine whether a collision will occur between them. Determining the first and second moments can be achieved by: determining a first difference between the first travel distance and the first vehicle length, and determining a first sum of the first travel distance and the first vehicle length; using the ratio of the first difference to the current speed of the first vehicle as the first moment, and using the ratio of the first sum to the current speed of the first vehicle as the second moment.

[0233] For example: Determine the vehicle length as l e1 If the first distance traveled is l1 and the current speed of the first vehicle is V1, then the first moment t1 = l1 - l e1 / V1; Second time t2=l1+l e1 / V1.

[0234] In step 1403: the third and fourth moments are obtained based on the second vehicle length, the second travel distance, and the current speed of the second vehicle.

[0235] In some possible embodiments, determining the third and fourth moments can be implemented as follows: determining a second difference between the second travel distance and the second vehicle length, and determining a second sum of the second travel distance and the second vehicle length; taking the ratio of the second difference to the current speed of the second vehicle as the third moment; and taking the ratio of the second sum to the current speed of the second vehicle as the fourth moment.

[0236] For example: Determine the vehicle length as l e2If the second travel distance is l2 and the current speed of the second vehicle is V2, then the third time t3 = l2 - l e2 / V2; Fourth time t4=l2+l e2 / V2.

[0237] In step 1404: the collision time set is obtained based on the first time, the second time, the third time and the fourth time.

[0238] In some possible embodiments, after obtaining the collision time set, it is determined whether a collision will occur between vehicles in the target vehicle pair based on the collision time set. Specifically, this can be implemented as follows: if it is determined that the first moment is before the third moment and after the fourth moment, then it is determined that a collision will occur between vehicles in the target vehicle pair; if it is determined that the third moment is before the first moment and after the second moment, then it is determined that a collision will occur between vehicles in the target vehicle pair. That is, the collision condition is: t3 <t1<t4;t1<t3<t2。

[0239] In some possible embodiments, when it is determined that a collision is about to occur, a warning instruction is issued to the vehicle. In this application, the warning instruction can be in the form of a voice broadcast or displayed as a pop-up on the vehicle screen. In specific implementation, technicians can set the prompting method of the warning instruction according to their needs, and this application does not limit it.

[0240] Those skilled in the art will clearly understand that the techniques in the embodiments of the present invention can be implemented using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions in the embodiments of the present invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the system described in various embodiments or some parts of the embodiments of the present invention.

[0241] The same or similar parts between the various embodiments in this specification can be referred to mutually. In particular, the device embodiments and terminal embodiments are basically similar to the method embodiments, so the description is relatively simple, and the relevant parts can be referred to the description in the method embodiments.

Claims

1. A collision warning system, characterized in that, The system is deployed on MEC, and the system includes: The data access module is used to acquire vehicle data of vehicles in the target area; The data aggregation module is used to filter the vehicle data to obtain target vehicle data; The target classification and filtering (TC) module is used to filter target vehicle pairs from the target vehicle data according to preset filtering conditions; each target vehicle pair includes two vehicles with a collision risk; the TC module is specifically used for: The vehicles in the target area are grouped according to a preset grouping method to obtain at least one pair of vehicles to be processed; wherein each pair of vehicles to be processed includes two vehicles, and at least one vehicle in every two pairs of vehicles to be processed is different. Perform the following for each pair of vehicles to be processed: Determine whether the lanes where the two vehicles in the vehicle pair to be processed are located are in a preset lane group set; and determine whether the state of the two vehicles in the vehicle pair to be processed is a preset vehicle state; and determine whether the predicted collision time of the two vehicles in the vehicle pair to be processed is less than a first time threshold. If it is determined that the vehicles in the pair of vehicles to be processed are in the preset lane group set, and the state of the two vehicles is the preset vehicle state, and the collision time of the two vehicles is less than the first time threshold. The vehicle pair to be processed is then taken as the target vehicle pair; wherein, determining whether the state of the two vehicles in the vehicle pair to be processed is a preset vehicle state includes: determining whether the vehicle pair to be processed contains both a vehicle in a first state and a vehicle in a second state; if it is determined that the vehicle pair to be processed contains both a vehicle in a first state and a vehicle in a second state, then the state of the two vehicles in the vehicle pair to be processed is determined to be the preset vehicle state. The Target Analysis (TA) module is used to perform the following for each target vehicle pair: If the first state is a left-turn state and the second state is a straight-ahead state, then the vehicle in the left-turn state of the target vehicle pair is designated as the first vehicle, and the vehicle in the straight-ahead state of the target vehicle pair is designated as the second vehicle; based on the first current position and the first preset radius of the first vehicle, the first center coordinates of the entering circle corresponding to the first vehicle are obtained; and based on the second preset position and the second preset radius, the second center coordinates of the exit circle corresponding to the first vehicle are obtained; based on the first center coordinates and the first preset radius, a first tangent point is obtained; and based on the second center coordinates and the second preset radius, a second tangent point is obtained; based on the second preset position and the second preset radius, a collision point is obtained; based on the first current position information, the first tangent point, the second tangent point, and the collision point, a first travel distance corresponding to the first vehicle is obtained; and based on the second current position information of the second vehicle and the collision point, a second travel distance corresponding to the second vehicle is obtained; based on the first travel distance, the second travel distance, the current speed of the first vehicle, and the current speed of the second vehicle, the collision time set is obtained; Based on the collision time set, determine whether a collision will occur between the vehicles in the target vehicle pair; If it is determined that a collision will occur between the vehicles in the target vehicle pair, an alarm instruction is issued to the vehicles in the target vehicle pair.

2. The system according to claim 1, characterized in that, The TC module is specifically used for: Based on the lanes where the two vehicles in the vehicle pair to be processed are respectively located, the lane group corresponding to the vehicle pair to be processed is obtained. If the lane group set includes the lane group, then it is determined that the lanes containing the two vehicles in the vehicle pair to be processed are in the preset lane group set.

3. The system according to claim 1, characterized in that, The TC module is also used for: Obtain the current speed and current position information of the two vehicles in the vehicle pair to be processed; Based on the current speed and current position information of the two vehicles in the vehicle pair to be processed, the predicted collision time of the vehicle pair to be processed is obtained.

4. The system according to claim 3, characterized in that, The TC module is specifically used for: Based on the current location information of the two vehicles in the vehicle pair to be processed, the first distance between the two vehicles in the vehicle pair to be processed is obtained; Based on the current speeds of the two vehicles in the vehicle pair to be processed, the speed difference between the two vehicles in the vehicle pair to be processed is obtained; The ratio of the first distance to the speed difference is used as the predicted collision time.

5. The system according to claim 1, characterized in that, The TC module is specifically used for: The vehicles in the target area are sorted according to preset rules to obtain a vehicle sequence; For each vehicle in the vehicle sequence, the vehicle is designated as a first target vehicle, and the target vehicle is combined with a second target vehicle to obtain a vehicle pair to be processed; wherein the second target vehicle is the vehicle located after the target vehicle in the vehicle sequence.

6. The system according to claim 1, characterized in that, The TA module is specifically used for: The second center coordinates of the exit circle corresponding to the first vehicle are obtained based on the second preset position and the second preset radius; The collision point is obtained based on the second current position information of the second vehicle and the second center coordinates.

7. The system according to claim 1, characterized in that, The TA module is specifically used for: Based on the coordinates of the first center and the coordinates of the second center, a first vector is obtained; The second vector is obtained based on the first preset tangent point and the second preset tangent point; Based on the first vector and the second vector, the normal vector corresponding to the second vector is obtained; The first tangent point is obtained based on the normal vector, the coordinates of the first circle center, and the first preset radius.

8. The system according to claim 1, characterized in that, The TA module is specifically used for: Based on the coordinates of the first center and the coordinates of the second center, a first vector is obtained; The second vector is obtained based on the first preset tangent point and the second preset tangent point; Based on the first vector and the second vector, the normal vector corresponding to the second vector is obtained; The second tangent point is obtained based on the normal vector, the coordinates of the second circle center, and the second preset radius.

9. The system according to claim 1, characterized in that, The TA module is specifically used for: Based on the first current location information, the first tangent point, the first preset radius, and the first preset formula, the first sub-distance is obtained; The distance between the first tangent point and the second tangent point is taken as the second sub-distance; Based on the second tangent point, the collision point, the second preset radius, and the second preset formula, the third sub-distance is obtained; The sum of the first sub-distance, the second sub-distance, and the third sub-distance is taken as the first driving distance.

10. The system according to claim 1, characterized in that, The TA module is specifically used for: The second current location information and the distance between the collision point are used as the second driving distance.

11. The system according to claim 1, characterized in that, The TA module is specifically used for: Obtain the first body length corresponding to the first vehicle and the second body length corresponding to the second vehicle; The first moment and the second moment are obtained based on the first vehicle body length, the first travel distance, and the current speed of the first vehicle; The third and fourth moments are obtained based on the second vehicle body length, the second travel distance, and the current speed of the second vehicle; The collision time set is obtained based on the first time point, the second time point, the third time point, and the fourth time point.

12. The system according to claim 11, characterized in that, The TA module is specifically used for: Determine a first difference between the first driving distance and the first vehicle length, and determine a first sum of the first driving distance and the first vehicle length; The ratio of the first difference to the current speed of the first vehicle is taken as the first moment. The ratio of the first sum to the current speed of the first vehicle is taken as the second moment.

13. The system according to claim 11, characterized in that, The TA module is specifically used for: Determine a second difference between the second travel distance and the second vehicle length, and determine a second sum of the second travel distance and the second vehicle length; The ratio of the second difference to the current speed of the second vehicle is taken as the third moment. The ratio of the second sum to the current speed of the second vehicle is taken as the fourth moment.

14. The system according to claim 11, characterized in that, The TA module is specifically used for: If it is determined that the first time point is before the third time point and the first time point is determined to be after the fourth time point, then it is determined that a collision will occur between the vehicles in the target vehicle pair. If it is determined that the third moment is before the first moment and the third moment is after the second moment, then it is determined that a collision will occur between the vehicles in the target vehicle pair.

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