A vehicle collision warning method, device and vehicle-mounted terminal

Abstract

This invention provides a vehicle collision warning method, device, and vehicle-mounted terminal, relating to the field of vehicle networking technology. The method includes: when the speed of a first vehicle, where a first OBU is located, is greater than or equal to a first threshold, determining whether there is at least one target vehicle in the same lane as the first vehicle and located in front of the first vehicle within the communication range of the first OBU; if the target vehicle exists within the communication range, determining a collision value corresponding to the first vehicle, the collision value being related to one or more of the target vehicle's position, speed, and acceleration; and if the collision value is less than or equal to the collision threshold, sending a collision warning message. This invention solves the problem of existing technologies being unable to provide timely and effective collision warnings for sudden traffic situations ahead.

Description

Technical Field

[0001] This invention relates to the field of vehicle networking technology, and in particular to a vehicle collision warning method, device and vehicle terminal. Background Technology

[0002] In traditional solutions, visual or radar detection methods are generally used to obtain state information such as the distance and speed difference between the two vehicles in front and behind, thereby calculating the time-to-collision (TTC) between the two vehicles. Then, the TTC threshold is used as a key indicator to judge the risk of a forward collision, thereby realizing the forward collision warning function in the Advanced Driving Assistance System (ADAS).

[0003] However, in real-world scenarios, unexpected traffic situations may arise. For example, if the driver of the vehicle in front fails to react accurately to the traffic situation ahead and applies emergency braking, it could pose a significant collision risk to the vehicle in front. Traditional forward collision warning systems are ill-equipped to provide timely and effective collision warnings for such unexpected traffic situations ahead. Summary of the Invention

[0004] This invention provides a vehicle collision warning method, device, and vehicle terminal, which solves the problem that existing technologies cannot provide timely and effective collision warnings for sudden traffic situations ahead.

[0005] In a first aspect, embodiments of the present invention provide a vehicle collision warning method, applied to a first on-board unit (OBU), comprising:

[0006] If the speed of the first vehicle where the first OBU is located is greater than or equal to a first threshold, determine whether there is at least one target vehicle in the same lane as the first vehicle and located in front of the first vehicle within the communication range of the first OBU.

[0007] If the target vehicle is present within the communication range, a collision value corresponding to the first vehicle is determined, wherein the collision value is related to one or more of the target vehicle's position, speed, and acceleration.

[0008] If the collision value is less than or equal to the collision threshold, a collision alarm message is sent.

[0009] In a second aspect, embodiments of the present invention provide a vehicle collision warning device applied to a first OBU, comprising:

[0010] The first processing module is used to determine whether there is at least one target vehicle in the same lane as the first vehicle and located in front of the first vehicle within the communication range of the first OBU when the vehicle speed of the first vehicle where the first OBU is located is greater than or equal to a first threshold.

[0011] The second processing module is used to determine the collision value corresponding to the first vehicle when the target vehicle is present within the communication range. The collision value is related to one or more of the target vehicle's position, speed, and acceleration.

[0012] The collision warning module is used to send a collision warning message when the collision value is less than or equal to the collision threshold.

[0013] Thirdly, embodiments of the present invention provide an in-vehicle terminal, including: a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the vehicle collision warning method as described in the first aspect.

[0014] Fourthly, embodiments of the present invention provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle collision warning method as described in the first aspect.

[0015] The beneficial effects of the above-mentioned technical solution of the present invention are:

[0016] In an embodiment of the present invention, when a target vehicle is located in front of the first vehicle in the lane where the first vehicle is located, a collision value corresponding to the first vehicle is determined. If the collision value is less than or equal to the collision threshold, a collision warning message is sent to remind the driver that there is a risk of the vehicle colliding with a vehicle in the traffic flow ahead. Since the collision value is related to one or more of the target vehicle's position, speed, and acceleration, timely and effective collision warnings can be provided for sudden traffic situations ahead based on the collision value. Attached Figure Description

[0017] Figure 1 A flowchart illustrating the vehicle collision warning method according to an embodiment of the present invention;

[0018] Figure 2 This diagram illustrates the position of a vehicle in the vehicle collision warning method according to an embodiment of the present invention.

[0019] Figure 3 This diagram illustrates the operation of each module of the OBU in an embodiment of the present invention.

[0020] Figure 4 A flowchart illustrating a vehicle collision warning method according to another embodiment of the present invention;

[0021] Figure 5 A structural block diagram illustrating a vehicle collision warning device according to an embodiment of the present invention;

[0022] Figure 6 This is a structural block diagram illustrating an embodiment of the vehicle-mounted terminal of the present invention. Detailed Implementation

[0023] To make the technical problems, technical solutions, and advantages of this invention clearer, a detailed description will be provided below in conjunction with the accompanying drawings and specific embodiments. In the following description, specific details such as particular configurations and components are provided merely to aid in a comprehensive understanding of the embodiments of this invention. Therefore, those skilled in the art should understand that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this invention. Furthermore, for clarity and brevity, descriptions of known functions and structures have been omitted.

[0024] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the invention. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0025] In various embodiments of the present invention, it should be understood that the sequence number of each process described below does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0026] In addition, the terms "system" and "network" are often used interchangeably in this article.

[0027] In the embodiments provided in this application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined based on A. However, it should also be understood that determining B based on A does not mean that B is determined solely based on A; B can also be determined based on A and / or other information.

[0028] In this embodiment of the invention, the form of the access network is not limited, and can include access networks such as macro base stations, micro base stations, Node Bs (a term for 3G mobile base stations), enhanced base stations (eNBs), home enhanced base stations (Femto eNBs, Home eNode Bs, Home eNBs, or HeNBs), relay stations, access points, RRUs (Remote Radio Units), and RRHs (Remote Radio Heads). The user terminal can be a mobile phone (or cell phone), or other devices capable of sending or receiving wireless signals, including user equipment, personal digital assistants (PDAs), wireless modems, wireless communication devices, handheld devices, laptops, cordless phones, wireless local loop (WLL) stations, CPEs (Customer Premise Equipment) or mobile smart hotspots capable of converting mobile signals into WiFi signals, smart home appliances, or other devices that can spontaneously communicate with the mobile communication network without human intervention.

[0029] Specifically, embodiments of the present invention provide a vehicle collision warning method, device, and vehicle terminal, which solves the problem that the prior art is unable to provide timely and effective collision warnings for sudden traffic situations ahead.

[0030] First Embodiment

[0031] like Figure 1 As shown, an embodiment of the present invention provides a vehicle collision warning method, applied to a first on-board unit (OBU), specifically including the following steps:

[0032] Step 11: If the speed of the first vehicle where the first OBU is located is greater than or equal to the first threshold, determine whether there is at least one target vehicle in the same lane as the first vehicle and located in front of the first vehicle within the communication range of the first OBU.

[0033] It should be noted that the first OBU can receive the MAP message of the current road (that is, the road on which the first vehicle is traveling), and the first OBU will broadcast and receive BSM in real time.

[0034] The BSM message includes at least one of the following: lon (longitude field), lat (latitude field), heading (heading angle field), speed (speed field), acceleration (acceleration field), and vehicleClass (vehicle classification field); the MAP message refers to the map message, and the MAP message includes at least one of the following: linkWidth (road width field), laneWidth (lane width field), lon (longitude field), lat (latitude field), and linkClass (road type field).

[0035] Step 12: If the target vehicle is present within the communication range, determine the collision value corresponding to the first vehicle. The collision value is related to one or more of the target vehicle's position, speed, and acceleration.

[0036] Step 13: If the collision value is less than or equal to the collision threshold, send a collision alarm message.

[0037] Specifically, the first OBU can send collision warning information to the vehicle display device via WIFI. The vehicle display device can then provide forward collision warnings based on the collision warning information, such as alerting the vehicle user through sound, light, and electricity.

[0038] In the above steps, the first OBU can analyze the impact of each vehicle in the adjacent traffic flow ahead on the current vehicle based on the obtained BSM and MAP messages and the collision warning method provided in this embodiment of the invention. Specifically, if the first OBU determines, after analysis, that a vehicle in the traffic flow ahead poses a potential collision risk to the first vehicle, it can send a collision warning message, thereby achieving a collision warning.

[0039] In this embodiment, when a target vehicle is located in front of the first vehicle in the lane where the first vehicle is located, the collision value corresponding to the first vehicle is determined. If the collision value is less than or equal to the collision threshold, a collision warning message is sent to remind the driver that there is a risk of the vehicle colliding with a vehicle in the traffic flow ahead. Since the collision value is related to one or more of the target vehicle's position, speed and acceleration, timely and effective collision warnings can be provided for sudden traffic situations ahead based on the collision value.

[0040] The vehicle collision warning method provided in this embodiment of the invention can realize the forward collision warning function of multi-vehicle cooperation in an intelligent connected environment.

[0041] Optionally, determining the collision value corresponding to the first vehicle includes:

[0042] Obtain at least one Basic Safety Message (BSM) corresponding to the target vehicle at the first moment;

[0043] Based on the BSM, collision information between the target vehicle and the first vehicle is determined, wherein the collision information includes: collision time TTC and collision action coefficient;

[0044] Based on the collision information, the collision value corresponding to the first vehicle is determined.

[0045] In this embodiment, the first OBU can obtain the BSM corresponding to the target vehicle at the first moment, and determine the collision information (TTC and collision action coefficient) between the target vehicle and the first vehicle based on the BSM. It can further determine the collision value corresponding to the first vehicle based on the collision information, so as to send collision warning information when collision warning is required according to the size of the collision threshold.

[0046] Optionally, determining the TTC between the target vehicle and the first vehicle based on the BSM includes:

[0047] Based on the BSM corresponding to the target vehicle at the first moment, determine the first position and first speed of the target vehicle at the first moment;

[0048] Based on the first position and the first vehicle speed, determine the first distance difference and the first speed difference between the target vehicle and the first vehicle at the first moment;

[0049] The TTC between the target vehicle and the first vehicle is determined based on the first distance difference and the first speed difference.

[0050] As an optional embodiment, the ratio of the first distance difference to the first speed difference can be determined as the TTC between the target vehicle and the first vehicle.

[0051] In this embodiment, the distance difference and speed difference between the target vehicle and the first vehicle are used when determining the TTC. In this way, more timely and effective collision warning can be achieved by using these two pieces of data that are important for collision warning.

[0052] Optionally, determining the collision coefficient between the target vehicle and the first vehicle based on the BSM includes:

[0053] Based on the BSM of the target vehicle at the first moment, determine the first position and the first acceleration of the target vehicle at the first moment;

[0054] Based on the first position, determine the first distance difference between the target vehicle and the first vehicle at the first moment;

[0055] Based on the first acceleration, determine the first acceleration difference between the target vehicle and the first vehicle at the first moment;

[0056] The collision coefficient between the target vehicle and the first vehicle is determined based on the first distance difference and the first acceleration difference.

[0057] As an optional embodiment, the collision coefficient between the second vehicle and the first vehicle can be determined based on the product of the first distance difference and the first acceleration difference.

[0058] For example, assuming there are N-1 target vehicles in front of the first vehicle, namely vehicle 2, vehicle 3, ... and vehicle N, then the collision coefficient (κ) of the TTC between vehicle 2 and the first vehicle at time t is... 12 (t) is:

[0059]

[0060] The collision coefficient (κ) between vehicle 3 and vehicle 1 at time t. 13 (t) is:

[0061]

[0062] Similarly, at time t, the collision coefficient (κ) between vehicle N and the first vehicle in the TTC is... 1n (t) is:

[0063]

[0064] Among them, A 12 (t), A 13 (t), A 1n (t) represent the collision risk factors of vehicles 2, 3, and N on the first vehicle at time t, respectively:

[0065] A 12 (t)=Δa 12 (t)*Δd 1n (t)

[0066] A 13 (t)=Δa 13 (t)*Δd 1n-1 (t)

[0067] A 1n (t)=Δa 1n (t)*Δd 12 (t)

[0068] Where, Δa 12 (t), Δa13 (t), Δa 1n (t) represents the acceleration difference between vehicle 2, vehicle 3, and vehicle N and the first vehicle at time t, respectively, Δd 12 (t), Δd 13 (t), Δd 1n (t) represents the distance (i.e., the distance difference) between vehicle 2, vehicle 3, and vehicle N and the first vehicle at time t.

[0069] In this embodiment, the mixed weight of the acceleration difference between multiple vehicles and the distance between vehicles (i.e., the distance difference) is used as the key factor affecting TTC, which can more accurately and effectively determine the collision action coefficient between vehicles, thereby better realizing vehicle collision warning.

[0070] Optionally, determining the collision value corresponding to the first vehicle based on the collision information includes:

[0071] The product of the TTC and the collision action coefficient between each of the at least one of the target vehicles and the first vehicle is used as an addend, and the summation is performed to obtain the collision value corresponding to the first vehicle.

[0072] In the above embodiments, TTC is related to the distance difference and the first speed difference, while the collision action coefficient is related to the distance difference and the acceleration difference. Thus, by incorporating the speed and acceleration factors of multiple vehicles into the TTC model (which can be used to determine the collision value corresponding to the first vehicle), the OBU can perceive traffic change trends on a larger scale ahead in advance. This allows for a comprehensive assessment of the impact of these traffic change trends on the first vehicle from multiple dimensions, making the forward collision warning function more predictive. Therefore, this embodiment of the invention, through intelligent connectivity, can expand the perception boundary of the forward collision warning scenario.

[0073] The following provides specific examples of the solutions provided in the embodiments of this application.

[0074] like Figure 2 As shown, in an optional embodiment, the specific process for determining the collision value corresponding to the first vehicle is as follows:

[0075] Assume the current vehicle (i.e., the first vehicle) is Figure 2 The first vehicle shown can receive BSM messages from the second to the Nth vehicles ahead in the same lane through vehicle-to-vehicle (V2V) communication.

[0076] Here, the collision value of the first vehicle in multi-vehicle cooperation is represented by TTC1(t), then:

[0077] TTC1(t)=κ 12(t)*TTC 12 (t)+κ 13 (t)*TTC 13 (t)+…+κ 1n (t)*TTC 1n (t)

[0078] Among them, TTC 12 (t), TTC 13 (t), TTC 1n (t) represents the TTC time of the second car (vehicle 2), the third car (vehicle 3), and the Nth car (vehicle N) relative to the first car at time t, respectively. 12 (t), κ 13 (t), κ 1n (t) represent the collision coefficients of the 2nd, 3rd, and Nth vehicles at time t on the first vehicle's TTC.

[0079] Furthermore, the TTC time and TTC action coefficient are shown below:

[0080]

[0081]

[0082]

[0083] Where, Δd 12 (t), Δd 13 (t), Δd 1n (t) represents the distance (i.e., the distance difference) between the second, third, and Nth vehicles and the first vehicle at time t, respectively. 12 (t), Δv 13 (t), Δv 1n (t) represent the speed differences between the 2nd, 3rd, and Nth vehicles and the first vehicle at time t, respectively. 12 (t), A 13 (t), A 1n (t) represent the collision risk impact factors of the 2nd, 3rd, and Nth vehicles on the 1st vehicle at time t, respectively. The collision risk impact factors can be calculated using the following formula:

[0084] A 12 (t)=Δa 12 (t)*Δd 1n (t)

[0085] A 13 (t)=Δa 13 (t)*Δd 1n-1 (t)

[0086] A 1n (t)=Δa 1n (t)*Δd 12 (t)

[0087] Here, collision risk impact factor A 12 (t), A 13 (t), A 1n (t) mainly reflects the impact of the instantaneous motion state changes of vehicles in the traffic flow ahead on the first vehicle, mainly including two factors: acceleration difference and distance difference.

[0088] On the one hand, Δa 12 (t), Δa 13 (t), Δa 1n (t) represents the acceleration difference between the second, third, and Nth vehicles ahead and the first vehicle at time t, respectively. This difference reflects the impact of the driving states of the second, third, and Nth vehicles ahead on the collision risk posed by the first vehicle at time t. It mainly depends on the difference in the changing trends of the driving states of the second, third, and Nth vehicles ahead compared to the first vehicle (i.e., the acceleration difference); on the other hand, Δd 1n (t), Δd 1n-1 (t), Δd 12 (t) represents the physical distances between the 2nd, 3rd, and Nth vehicles ahead and the first vehicle, respectively. This value serves as a weighting factor for the impact of the acceleration changes of the 2nd, 3rd, and Nth vehicles on the first vehicle, reflecting the degree of impact of the acceleration changes of vehicles at a certain physical point ahead in the current lane on the collision risk of the first vehicle: the greater the distance difference between the two vehicles, the smaller the impact; the smaller the distance difference between the two vehicles, the greater the impact.

[0089] The collision value determined by the above method can reflect the impact of irrational driving behavior of vehicles in the traffic flow ahead (e.g., instantaneous emergency braking caused by dealing with traffic accidents) on the current vehicle (i.e., the first vehicle), which is helpful for the current vehicle to make a reasonable forward collision warning when considering multiple vehicles driving ahead.

[0090] In the above embodiments, the system can perceive the traffic flow ahead through network connectivity, expand the impact of multiple vehicles ahead in the current vehicle's lane on the current vehicle, and identify the impact of irrational driving behaviors such as instantaneous emergency braking by vehicles in the traffic flow ahead on the current vehicle through a rationalized TTC model. This helps the current vehicle to make reasonable forward collision warnings when considering the driving behaviors of multiple vehicles ahead.

[0091] Compared to the traditional TTC model, the multi-vehicle cooperative TTC model of this invention can expand the scope of forward collision warning in an intelligent connected environment. For example, if a vehicle in the adjacent traffic flow in front of the current vehicle exhibits abnormal instantaneous braking or other driving behavior, and the current vehicle is obstructed by the vehicle in front or the vehicle in front fails to brake in time, the current vehicle can still use the vehicle collision warning method of this invention to issue a timely and efficient forward collision warning.

[0092] Optionally, before determining whether there is at least one target vehicle in the same lane as the first vehicle and located in front of the first vehicle within the communication range of the first OBU, the method further includes:

[0093] The first threshold is determined based on the road type of the target road, where the target road is the road on which the first vehicle travels.

[0094] It is understandable that different road types have different characteristics. For example, the probability of a collision differs when a vehicle travels at the same speed on different road types. Therefore, determining the first threshold based on the road type of the target road allows for differentiated collision warnings on different roads, enabling more accurate and reasonable collision warnings for vehicles.

[0095] Optionally, determining the first threshold based on the road type of the target road includes at least one of the following:

[0096] When the target road is a first type of road, the first preset speed value is determined as the first threshold.

[0097] When the target road is a second type of road, the second preset speed value is determined as the first threshold.

[0098] The maximum speed limit of the first road is higher than that of the second road, and the first preset speed value is greater than the second preset speed value.

[0099] In one optional example, if the first road is a highway and the second road is an urban road, then the first preset speed value can be 80 km / h and the second preset speed value can be 40 km / h. That is, if the first vehicle is traveling on a highway, and its speed is greater than or equal to 80 km / h, the first OBU can determine whether there is a target vehicle (i.e., a vehicle in the same lane as the first vehicle and located in front of the first vehicle), thus triggering the forward collision warning function of the first OBU; if the first vehicle is traveling on an urban road, and its speed is greater than or equal to 40 km / h, the aforementioned forward collision warning function can be triggered.

[0100] The application of the embodiments of the present invention will be described below with reference to specific scenarios:

[0101] like Figure 3 As shown, the OBU (e.g., the first OBU) in this embodiment of the invention may specifically include the following modules: a Vehicle to Everything (V2X) communication module, a WIFI communication module, a warning decision module, and an HMI module. The V2X communication module is mainly responsible for receiving MAP messages from the road and receiving and broadcasting BSM messages. The warning decision module is mainly responsible for filtering the BSM messages of each vehicle (i.e., the target vehicle) in the traffic flow ahead of the current vehicle (i.e., the vehicle where the OBU is located, taking the first vehicle where the first OBU is located as an example) based on the MAP and BSM messages provided by the V2X communication module, and using the vehicle collision warning method of this embodiment of the invention to determine whether the driving behavior of each vehicle ahead in the current lane will cause a collision risk to the current vehicle (if the collision value corresponding to the first vehicle is less than or equal to the collision threshold, then a collision risk is considered to exist). The HMI module is mainly responsible for generating an HMI scene for human-machine interaction based on the collision risk situation analyzed by the warning decision module. The WIFI communication module is mainly responsible for sending the human-machine interaction HMI scene generated by the HMI module to the in-vehicle display device so that the in-vehicle display device can use sound, light, electricity, and other methods to alert the user that there is a collision risk.

[0102] like Figure 4 As shown, the vehicle collision warning method of this embodiment of the invention specifically includes the following steps:

[0103] S401: The OBUs of each vehicle on the road (e.g., the first OBU on the first vehicle) receive the MAP message of the current road (e.g., the target road) sent by the cloud platform and / or RSU, and broadcast the BSM message of the vehicle where the OBU is located (e.g., the first OBU broadcasts the BSM message of the first vehicle).

[0104] This step can be specifically performed by the V2X communication module in the OBU.

[0105] S402: Within the V2X communication range of the OBU, the OBU receives BSM messages sent by other OBUs. For example, the first OBU on the first vehicle receives BSM messages from all vehicles.

[0106] This step can be specifically performed by the V2X communication module in the OBU.

[0107] The following steps are explained using the example of the first OBU on the first vehicle.

[0108] S403: The first OBU, based on the speed field in the BSM message and the linkClass field in the MAP message, can obtain the speed of the first vehicle and the road conditions (i.e., the road type of the target road) of the first vehicle, and determine whether to activate the forward collision warning function. If yes, then trigger S404; otherwise, execute S402.

[0109] This step can be specifically executed by the early warning decision module in the first OBU.

[0110] S404: The first OBU can preprocess the received BSM messages and filter out the BSM messages of vehicles (i.e., target vehicles) located in front of the first vehicle in the current lane (that is, the lane where the first vehicle is located).

[0111] Specifically, the first OBU filters out the BSM messages of the target vehicle based on the lon (longitude field), lat (latitude field), and heading (heading angle field) fields in the BSM message, and the linkWidth (road width field), laneWidth (lane width field), lon (longitude field), and lat (latitude field) fields in the MAP message.

[0112] This step can be specifically executed by the early warning decision module in the first OBU.

[0113] S405: The first OBU determines whether there is a vehicle in front of the first vehicle in the lane where the first vehicle is located (i.e., whether there is a target vehicle) based on the BSM message and MAP message. If yes, proceed to S406; otherwise, proceed to S402.

[0114] This step can be specifically executed by the early warning decision module in the first OBU.

[0115] S406: The first OBU calculates the differences in motion states such as distance, speed, and acceleration of each vehicle ahead in the lane and executes S7.

[0116] The first OBU calculates the distance difference, speed difference, and acceleration difference between each target vehicle and the first vehicle based on the BSM message of the target vehicle and the longitude field, latitude field, speed field, and acceleration field in the BSM message of the first vehicle itself.

[0117] This step can be specifically executed by the early warning decision module in the first OBU.

[0118] S407: Calculate the collision value based on the data obtained in the above steps (such as distance difference, velocity difference, and acceleration difference).

[0119] This step can be specifically executed by the early warning decision module in the first OBU.

[0120] S408: The first OBU determines whether the collision value is less than or equal to the collision threshold; if so, execute S409; otherwise, execute S402.

[0121] This step can be specifically executed by the early warning decision module in the first OBU.

[0122] S409: The first OBU generates corresponding collision alarm information based on the collision value. This collision alarm information can be a forward collision warning human machine interface (HMI) scenario.

[0123] This step can be specifically executed by the HMI module in the first OBU.

[0124] S410: The first OBU can send the HMI scene to the vehicle display device via WIFI for forward collision warning.

[0125] For example, the first OBU sends the generated HMI scene to the in-vehicle display device, which is used to present the human-machine interaction function of the forward collision warning scene. It can perform forward collision warning reminders, such as prompting the user through sound, light, and electricity.

[0126] This step can be specifically performed by the WIFI module in the first OBU.

[0127] In the above steps, by gaining a full understanding of the overall traffic ahead in a connected environment, it is possible to more proactively optimize the forward collision warning for the current vehicle.

[0128] In this embodiment of the invention, when a target vehicle is located in front of the first vehicle in the lane where the first vehicle is located, the collision value corresponding to the first vehicle is determined. If the collision value is less than or equal to the collision threshold, a collision warning message is sent to remind the driver that there is a risk of the vehicle colliding with a vehicle in the traffic flow ahead. Since the collision value is related to one or more of the target vehicle's position, speed, and acceleration, timely and effective collision warnings can be provided for sudden traffic situations ahead based on the collision value, which can expand the perception boundary of the forward collision warning scenario.

[0129] Second Embodiment

[0130] like Figure 5 As shown, this embodiment of the invention provides a vehicle collision warning device 500, applied to a first OBU, comprising:

[0131] The first processing module 501 is used to determine whether there is at least one target vehicle in the same lane as the first vehicle and located in front of the first vehicle when the speed of the first vehicle where the first OBU is located is greater than or equal to a first threshold.

[0132] The second processing module 502 is used to determine the collision value corresponding to the first vehicle when the target vehicle is present within the communication range. The collision value is related to one or more of the target vehicle's position, speed and acceleration.

[0133] The collision warning module 503 is used to send a collision warning message when the collision value is less than or equal to the collision threshold.

[0134] In this embodiment, when a target vehicle is located in front of the first vehicle in the lane where the first vehicle is located, the collision value corresponding to the first vehicle is determined. If the collision value is less than or equal to the collision threshold, a collision warning message is sent to remind the driver that there is a risk of the vehicle colliding with a vehicle in the traffic flow ahead. Since the collision value is related to one or more of the target vehicle's position, speed and acceleration, timely and effective collision warnings can be provided for sudden traffic situations ahead based on the collision value.

[0135] Optionally, the second processing module 502 includes:

[0136] The first acquisition submodule is used to acquire at least one Basic Safety Message (BSM) corresponding to the target vehicle at a first moment.

[0137] The first processing submodule is used to determine the collision information between the target vehicle and the first vehicle based on the BSM, wherein the collision information includes: collision time TTC and collision action coefficient;

[0138] The second processing submodule is used to determine the collision value corresponding to the first vehicle based on the collision information.

[0139] Optionally, the first processing submodule includes:

[0140] The first processing unit is configured to determine the first position and first speed of the target vehicle at the first time based on the BSM corresponding to the target vehicle at the first time.

[0141] The second processing unit is configured to determine, based on the first position and the first vehicle speed, the first distance difference and the first speed difference between the target vehicle and the first vehicle at the first moment;

[0142] The third processing unit is used to determine the TTC between the target vehicle and the first vehicle based on the first distance difference and the first speed difference.

[0143] Optionally, the first processing submodule includes:

[0144] The fourth processing unit is used to determine the first position and the first acceleration of the target vehicle at the first time based on the BSM corresponding to the target vehicle at the first time.

[0145] The fifth processing unit is configured to determine, based on the first position, the first distance difference between the target vehicle and the first vehicle at the first moment;

[0146] The sixth processing unit is configured to determine, based on the first acceleration, the first acceleration difference between the target vehicle and the first vehicle at the first moment;

[0147] The seventh processing unit is used to determine the collision coefficient between the target vehicle and the first vehicle based on the first distance difference and the first acceleration difference.

[0148] Optionally, the second processing submodule includes:

[0149] The eighth processing unit is used to sum the product of the TTC and the collision action coefficient between each of the at least one of the target vehicles and the first vehicle, and obtain the collision value corresponding to the first vehicle.

[0150] Optionally, the device 500 further includes:

[0151] The third processing module is used to determine the first threshold based on the road type of the target road, wherein the target road is the road on which the first vehicle travels.

[0152] Optionally, the third processing module includes:

[0153] The first threshold determination submodule is used to determine the first preset speed value as the first threshold when the road type of the target road is a first road.

[0154] The second threshold determination submodule is used to determine the second preset speed value as the first threshold when the road type of the target road is the second road.

[0155] The maximum speed limit of the first road is higher than that of the second road, and the first preset speed value is greater than the second preset speed value.

[0156] The second embodiment of the present invention corresponds to the method of the first embodiment described above. All the implementation means in the first embodiment described above are applicable to the embodiments of the vehicle collision warning device and can achieve the same technical effect.

[0157] Third Embodiment

[0158] To better achieve the above objectives, such as Figure 6 As shown, a third embodiment of the present invention also provides a vehicle-mounted terminal, comprising:

[0159] The processor 600; and the memory 620 connected to the processor 600 via a bus interface, the memory 620 being used to store programs and data used by the processor 600 during operation, and the processor 600 calling and executing the programs and data stored in the memory 620.

[0160] The transceiver 610 is connected to a bus interface and is used to receive and send data under the control of the processor 600; the processor 600 is used to read the program in the memory 620 and execute the following steps:

[0161] If the speed of the first vehicle where the first OBU is located is greater than or equal to a first threshold, determine whether there is at least one target vehicle in the same lane as the first vehicle and located in front of the first vehicle within the communication range of the first OBU.

[0162] If the target vehicle is present within the communication range, a collision value corresponding to the first vehicle is determined, wherein the collision value is related to one or more of the target vehicle's position, speed, and acceleration.

[0163] If the collision value is less than or equal to the collision threshold, a collision alarm message is sent.

[0164] In this embodiment, when a target vehicle is located in front of the first vehicle in the lane where the first vehicle is located, the collision value corresponding to the first vehicle is determined. If the collision value is less than or equal to the collision threshold, a collision warning message is sent to remind the driver that there is a risk of the vehicle colliding with a vehicle in the traffic flow ahead. Since the collision value is related to one or more of the target vehicle's position, speed and acceleration, timely and effective collision warnings can be provided for sudden traffic situations ahead based on the collision value.

[0165] Among them, Figure 6In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (processor 600) and memory (memory 620). The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 610 can be multiple elements, including transmitters and transceivers, providing a unit for communicating with various other devices over a transmission medium. For different terminals, the user interface 630 can also be an interface capable of connecting external or internal devices, including but not limited to keypads, displays, speakers, microphones, joysticks, etc. The processor 600 is responsible for managing the bus architecture and general processing, and the memory 620 can store data used by the processor 600 during operation.

[0166] Optionally, when determining the collision value corresponding to the first vehicle, the processor 600 is specifically used to:

[0167] Obtain at least one Basic Safety Message (BSM) corresponding to the target vehicle at the first moment;

[0168] Based on the BSM, collision information between the target vehicle and the first vehicle is determined, wherein the collision information includes: collision time TTC and collision action coefficient;

[0169] Based on the collision information, the collision value corresponding to the first vehicle is determined.

[0170] Optionally, when the processor 600 determines the TTC between the target vehicle and the first vehicle based on the BSM, it is specifically configured to:

[0171] Based on the BSM corresponding to the target vehicle at the first moment, determine the first position and first speed of the target vehicle at the first moment;

[0172] Based on the first position and the first vehicle speed, determine the first distance difference and the first speed difference between the target vehicle and the first vehicle at the first moment;

[0173] The TTC between the target vehicle and the first vehicle is determined based on the first distance difference and the first speed difference.

[0174] Optionally, when determining the collision coefficient between the target vehicle and the first vehicle based on the BSM, the processor 600 specifically performs the following:

[0175] Based on the BSM of the target vehicle at the first moment, determine the first position and the first acceleration of the target vehicle at the first moment;

[0176] Based on the first position, determine the first distance difference between the target vehicle and the first vehicle at the first moment;

[0177] Based on the first acceleration, determine the first acceleration difference between the target vehicle and the first vehicle at the first moment;

[0178] The collision coefficient between the target vehicle and the first vehicle is determined based on the first distance difference and the first acceleration difference.

[0179] Optionally, when the processor 600 determines the collision value corresponding to the first vehicle based on the collision information, it is specifically used for:

[0180] The product of the TTC and the collision action coefficient between each of the at least one of the target vehicles and the first vehicle is used as an addend, and the summation is performed to obtain the collision value corresponding to the first vehicle.

[0181] Optionally, before determining whether there is at least one target vehicle in the same lane as the first vehicle and located in front of the first vehicle within the communication range of the first OBU, the processor 600 is further configured to:

[0182] The first threshold is determined based on the road type of the target road, where the target road is the road on which the first vehicle travels.

[0183] Optionally, when the processor 600 determines the first threshold based on the road type of the target road, it is specifically used to:

[0184] When the target road is a first type of road, the first preset speed value is determined as the first threshold.

[0185] When the target road is a second type of road, the second preset speed value is determined as the first threshold.

[0186] The maximum speed limit of the first road is higher than that of the second road, and the first preset speed value is greater than the second preset speed value.

[0187] It should be noted that the vehicle terminal provided in this embodiment of the invention can implement all the method steps implemented in the above embodiment of the vehicle collision warning method applied to the first OBU, and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0188] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a computer program instructing the relevant hardware to implement them. The computer program includes instructions to perform some or all of the steps of the above methods; and the computer program can be stored in a readable storage medium, which can be any form of storage medium.

[0189] In addition, specific embodiments of the present invention also provide a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the method as described in the first embodiment above. This achieves the same technical effect, and to avoid repetition, will not be repeated here.

[0190] Furthermore, it should be noted that in the apparatus and method of the present invention, it is obvious that the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered equivalent solutions of the present invention. Moreover, the steps performing the above-described series of processes can naturally be executed in the order described, but are not necessarily required to be executed in chronological order; some steps can be executed in parallel or independently of each other. Those skilled in the art will understand that all or any step or component of the method and apparatus of the present invention can be implemented in any computing device (including processors, storage media, etc.) or network of computing devices, in hardware, firmware, software, or a combination thereof. This is something that those skilled in the art can achieve by using their basic programming skills after reading the description of the present invention.

[0191] Therefore, the object of the present invention can also be achieved by running a program or a set of programs on any computing device. The computing device can be a known general-purpose device. Therefore, the object of the present invention can also be achieved simply by providing a program product containing program code implementing the method or apparatus. That is, such a program product also constitutes the present invention, and the storage medium storing such a program product also constitutes the present invention. Obviously, the storage medium can be any known storage medium or any storage medium developed in the future. It should also be noted that in the apparatus and method of the present invention, it is obvious that the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered equivalent to the present invention. Furthermore, the steps performing the above series of processes can naturally be performed in the order described, but are not necessarily required to be performed in chronological order. Some steps can be performed in parallel or independently of each other.

[0192] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A vehicle collision warning method, characterized in that, Applied to the first vehicle-mounted terminal OBU, including: If the speed of the first vehicle where the first OBU is located is greater than or equal to a first threshold, determine whether there is at least one target vehicle in the same lane as the first vehicle and located in front of the first vehicle within the communication range of the first OBU. If the target vehicle is present within the communication range, a collision value corresponding to the first vehicle is determined, wherein the collision value is related to one or more of the target vehicle's position, speed, and acceleration. If the collision value is less than or equal to the collision threshold, a collision alarm message is sent. The step of determining the collision value corresponding to the first vehicle includes: Obtain at least one Basic Safety Message (BSM) corresponding to the target vehicle at the first moment; Based on the BSM, collision information between the target vehicle and the first vehicle is determined, wherein the collision information includes: collision time TTC and collision action coefficient; Based on the collision information, determine the collision value corresponding to the first vehicle; The step of determining the collision value corresponding to the first vehicle based on the collision information includes: The product of the TTC and the collision action coefficient between each of the at least one of the target vehicles and the first vehicle is used as an addend, and the summation is performed to obtain the collision value corresponding to the first vehicle. The determination of the collision coefficient between the target vehicle and the first vehicle based on the BSM includes: Based on the BSM of the target vehicle at the first moment, determine the first position and the first acceleration of the target vehicle at the first moment; Based on the first position, determine the first distance difference between the target vehicle and the first vehicle at the first moment; Based on the first acceleration, determine the first acceleration difference between the target vehicle and the first vehicle at the first moment; The collision coefficient between the target vehicle and the first vehicle is determined based on the first distance difference and the first acceleration difference.

2. The method according to claim 1, characterized in that, Determining the TTC between the target vehicle and the first vehicle based on the BSM includes: Based on the BSM corresponding to the target vehicle at the first moment, determine the first position and first speed of the target vehicle at the first moment; Based on the first position and the first vehicle speed, determine the first distance difference and the first speed difference between the target vehicle and the first vehicle at the first moment; The TTC between the target vehicle and the first vehicle is determined based on the first distance difference and the first speed difference.

3. The method according to claim 1, characterized in that, Before determining whether there is at least one target vehicle in the same lane as the first vehicle and located in front of the first vehicle within the communication range of the first OBU, the method further includes: The first threshold is determined based on the road type of the target road, where the target road is the road on which the first vehicle travels.

4. The method according to claim 3, characterized in that, Determining the first threshold based on the road type of the target road includes at least one of the following: When the target road is a first type of road, the first preset speed value is determined as the first threshold. When the target road is a second type of road, the second preset speed value is determined as the first threshold. The maximum speed limit of the first road is higher than that of the second road, and the first preset speed value is greater than the second preset speed value.

5. A vehicle collision warning device, characterized in that, Applied to the first OBU, including: The first processing module is used to determine whether there is at least one target vehicle in the same lane as the first vehicle and located in front of the first vehicle when the speed of the first vehicle where the first OBU is located is greater than or equal to a first threshold. The second processing module is used to determine the collision value corresponding to the first vehicle when the target vehicle is present within the communication range. The collision value is related to one or more of the target vehicle's position, speed and acceleration. The collision warning module is used to send a collision warning message when the collision value is less than or equal to the collision threshold. The second processing module includes: The first acquisition submodule is used to acquire at least one Basic Safety Message (BSM) corresponding to the target vehicle at a first moment. The first processing submodule is used to determine the collision information between the target vehicle and the first vehicle based on the BSM, wherein the collision information includes: collision time TTC and collision action coefficient; The second processing submodule is used to determine the collision value corresponding to the first vehicle based on the collision information. The second processing submodule includes: The eighth processing unit is used to sum the product of the TTC and the collision action coefficient between each of the at least one of the target vehicles and the first vehicle as an addend to obtain the collision value corresponding to the first vehicle. The first processing submodule includes: The fourth processing unit is used to determine the first position and the first acceleration of the target vehicle at the first time based on the BSM corresponding to the target vehicle at the first time. The fifth processing unit is configured to determine, based on the first position, the first distance difference between the target vehicle and the first vehicle at the first moment; The sixth processing unit is configured to determine, based on the first acceleration, the first acceleration difference between the target vehicle and the first vehicle at the first moment; The seventh processing unit is used to determine the collision coefficient between the target vehicle and the first vehicle based on the first distance difference and the first acceleration difference.

6. A vehicle-mounted terminal, comprising: A transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the computer program, it implements the steps of the vehicle collision warning method as described in any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the vehicle collision warning method as described in any one of claims 1 to 4.

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