Abnormal vehicle warning method and related device

Abstract

Embodiments of the present disclosure provide an abnormal vehicle warning method and related equipment. The method comprises: receiving first vehicle information and second vehicle information, wherein the first vehicle information is sent by a first vehicle and / or a roadside perception facility, and the second vehicle information is sent by a second vehicle and / or a roadside perception facility; determining an abnormal vehicle and abnormal vehicle information from the second vehicle according to the second vehicle information; and sending abnormal vehicle warning information to the first vehicle according to the first vehicle information and the abnormal vehicle information, wherein the abnormal vehicle is located in the same or adjacent lane in front of the first vehicle. The embodiments of the present disclosure can be applied to the field of transportation, and can improve the reliability and timeliness of abnormal vehicle warning.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of communication and computer technology, in particular, to an abnormal vehicle warning method, an abnormal vehicle warning device, a computer device, a computer readable storage medium and a computer program product. BACKGROUND

[0002] In the related art, an abnormal vehicle warning system based on LTE (Long Term Evolution)-V2X (vehicle to everything, also known as vehicle wireless communication technology) assumes that both the abnormal vehicle and the surrounding vehicles are equipped with OBU (On board Unit). The abnormal vehicle sends a message to the surrounding vehicles through the LTE-V2X OBU installed thereon, and the surrounding vehicles receive the message sent by the abnormal vehicle through the LTE-V2X OBU installed thereon.

[0003] In the above related art, it is assumed that all vehicles are equipped with LTE-V2X OBU, but in actual situations, the penetration of LTE-V2X OBU is slow, and the vehicles driving on the road basically do not have this device, so it is impossible to realize the discovery of a large number of stock vehicles for abnormal vehicles, thereby reducing the reliability and timeliness of abnormal vehicle early warning, and leading to the occurrence of traffic accidents. SUMMARY

[0004] The embodiments of the present disclosure provide an abnormal vehicle warning method, an abnormal vehicle warning device, a computer device, a computer readable storage medium and a computer program product, which can improve the reliability and timeliness of abnormal vehicle early warning.

[0005] The embodiments of the present disclosure provide an abnormal vehicle warning method, which comprises: receiving first vehicle information and second vehicle information, the first vehicle information being sent by a first vehicle and / or a roadside perception facility, and the second vehicle information being sent by a second vehicle and / or a roadside perception facility; determining an abnormal vehicle and abnormal vehicle information from the second vehicle according to the second vehicle information; and sending abnormal vehicle early warning information to the first vehicle according to the first vehicle information and the abnormal vehicle information, the abnormal vehicle being located in the same or adjacent lane in front of the first vehicle.

[0006] The embodiments of the present disclosure provide an abnormal vehicle warning method, which comprises: receiving abnormal vehicle early warning information from a vehicle communication server by a first vehicle, the abnormal vehicle corresponding to the abnormal vehicle early warning information being located in the same or adjacent lane in front of the first vehicle.

[0007] The embodiment of the present disclosure provides an abnormal vehicle warning method, which comprises the following steps: transmitting second vehicle information by a second vehicle to a vehicle communication server; the second vehicle information is used for instructing the vehicle communication server to determine an abnormal vehicle in the second vehicle and abnormal vehicle information; and the abnormal vehicle information is used for instructing the vehicle communication server to send abnormal vehicle early warning information to a first vehicle, wherein the abnormal vehicle is located in the same or adjacent lane in front of the first vehicle.

[0008] The embodiment of the present disclosure provides an abnormal vehicle warning device, which comprises: a receiving unit configured to receive first vehicle information and second vehicle information, wherein the first vehicle information is sent by a first vehicle and / or a roadside perception facility, and the second vehicle information is sent by a second vehicle and / or a roadside perception facility; a processing unit configured to determine an abnormal vehicle and abnormal vehicle information from the second vehicle according to the second vehicle information; and a sending unit configured to send abnormal vehicle early warning information to the first vehicle according to the first vehicle information and the abnormal vehicle information, wherein the abnormal vehicle is located in the same or adjacent lane in front of the first vehicle.

[0009] The embodiment of the present disclosure provides a computer device, which comprises: one or more processors; and a memory configured to store one or more programs, when the one or more programs are executed by the one or more processors, the computer device implements the abnormal vehicle warning method as described in the above embodiment.

[0010] The embodiment of the present disclosure provides a computer readable storage medium, which stores a computer program, when the program is executed by a processor, the abnormal vehicle warning method as described in the above embodiment is implemented.

[0011] The embodiment of the present disclosure provides a computer program product, which comprises a computer program, when the computer program is executed by a processor, the abnormal vehicle warning method as described in the above embodiment is implemented.

[0012] The abnormal vehicle warning method, abnormal vehicle warning device, computer device, computer readable storage medium and computer program product provided in some embodiments of the present disclosure receive first vehicle information and second vehicle information, wherein the first vehicle information can be sent by a first vehicle or a roadside sensing facility, and the second vehicle information can be sent by a second vehicle or a roadside sensing facility, that is, the first vehicle information and the second vehicle information can be received from multiple directions, without being limited to requiring that the abnormal vehicle and the surrounding vehicles (for example, the first vehicle located in the same or adjacent lane behind the abnormal vehicle) must be simultaneously equipped with LTE-V2X OBU, so as to improve the timeliness and accuracy of abnormal vehicle determination and abnormal vehicle early warning when the first vehicle information and the second vehicle information are used to determine and warn the abnormal vehicle, quickly find abnormal information in the second vehicle, improve the timeliness and reliability of abnormal vehicle early warning information transmission, reduce the probability of traffic accidents, and enable a large number of stock vehicles without LTE-V2X OBU to also realize abnormal vehicle early warning, so that the surrounding vehicles of the abnormal vehicle can predict the danger in advance, avoid traffic accidents, and ensure traffic safety. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 FIG. 1 is a system architecture diagram of an operating environment of an abnormal vehicle warning method in an embodiment of the present disclosure.

[0014] Figure 2 FIG. 2 schematically shows a flowchart of an abnormal vehicle warning method according to an embodiment of the present disclosure.

[0015] Figure 3 FIG. 3 schematically shows a scene diagram of an abnormal vehicle warning method according to an embodiment of the present disclosure.

[0016] Figure 4 FIG. 4 schematically shows another scene diagram of an abnormal vehicle warning method according to an embodiment of the present disclosure.

[0017] Figure 5 FIG. 5 schematically shows another scene diagram of an abnormal vehicle warning method according to an embodiment of the present disclosure.

[0018] Figure 6 FIG. 6 schematically shows another scene diagram of an abnormal vehicle warning method according to an embodiment of the present disclosure.

[0019] Figure 7 FIG. 7 schematically shows another scene diagram of an abnormal vehicle warning method according to an embodiment of the present disclosure.

[0020] Figure 8 FIG. 8 schematically shows a flowchart of an abnormal vehicle warning method according to another embodiment of the present disclosure.

[0021] Figure 9 A flowchart of an abnormal vehicle warning method according to another embodiment of the present disclosure is schematically shown.

[0022] Figure 10 A block diagram of an abnormal vehicle warning device according to an embodiment of the present disclosure is schematically shown.

[0023] Figure 11 A schematic structural diagram of a computer device according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0024] Example implementations will now be described more fully with reference to the accompanying drawings. Example implementations may, however, be implemented in many different forms and should not be construed as limited to the examples set forth herein; rather, these implementations are provided so that this disclosure will be thorough and complete, and will fully convey the scope of example implementations to those skilled in the art.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the disclosure.

[0026] Before the example embodiments of the present disclosure are further described, the terms and names involved in the example embodiments of the present disclosure are explained, and the terms and names involved in the example embodiments of the present disclosure are applicable to the following explanations.

[0027] Lane: refers to a carriageway in a fork where vehicles travel, also known as a traffic lane, and is generally divided by solid or dashed lines on the road. The lanes near the intersection are generally divided into lanes for different driving directions through the intersection, such as left-turn lanes, straight lanes, right-turn lanes, U-turn lanes, or composite direction lanes, such as left-turn and straight lanes, straight and right-turn lanes, left-turn and U-turn lanes, etc.

[0028] Abnormal vehicle: refers to a vehicle with abnormal behavior compared to other vehicles normally driving on the road, for example, can include a vehicle that has broken down, referred to as a broken-down vehicle; or a vehicle that is stationary in the road or drives at a slow speed or at an ultra-high speed. Slow speed in the example embodiments of the present disclosure refers to a vehicle driving speed that is significantly lower than the driving speed of other vehicles around it, or a vehicle driving speed that is significantly lower than the minimum speed limit specified for the road it is currently on, which can be determined according to the specific road scene. Ultra-high speed in the example embodiments of the present disclosure refers to a vehicle driving speed that is significantly higher than the driving speed of other vehicles around it, or a vehicle driving speed that is significantly higher than the maximum speed limit specified for the road it is currently on.

[0029] V2X: vehicle wireless communication technology, including but not limited to vehicle to vehicle (V2V), vehicle to infrastructure (V2I), vehicle to pedestrian (V2P), vehicle to network (V2N) communication between vehicle units.

[0030] RV: remote vehicle.

[0031] HV: host vehicle.

[0032] In the embodiments of the present disclosure, please refer to Figure 1 , Figure 1 is a network interaction architecture diagram of an abnormal vehicle warning method provided by the embodiments of the present disclosure, and the abnormal vehicle warning method provided by the embodiments of the present disclosure can be implemented by a server 101 and / or a terminal device and the like. Among them, the terminal device can upload data to the server 101, the server 101 can process the received data to obtain a processing result, and the obtained processing result can be returned to the terminal device for display or control.

[0033] For example, the server 101 can: receive first vehicle information and second vehicle information, the first vehicle information is sent by a first vehicle and / or a roadside sensing facility, and the second vehicle information is sent by a second vehicle and / or a roadside sensing facility; according to the second vehicle information, determine an abnormal vehicle and abnormal vehicle information from the second vehicle; according to the first vehicle information and the abnormal vehicle information, send abnormal vehicle warning information to the first vehicle, and the abnormal vehicle is located in the same or adjacent lane in front of the first vehicle.

[0034] Among them, the terminal device can be any electronic device, which can optionally include a first vehicle-mounted terminal 102 in a first vehicle 103, and the first vehicle 103 can report first vehicle information to the server 101 through the first vehicle-mounted terminal 102. Optionally, the first vehicle 103 can also receive the abnormal vehicle warning information returned by the server 101 through the first vehicle-mounted terminal 102 arranged thereon, and display it through the first vehicle-mounted terminal 102, for example, on a display screen, or broadcast it through voice.

[0035] Optionally, the first vehicle terminal 102 in the embodiments of the present disclosure can install various types of mobile Internet applications, such as APP (application) and mini program, and the APP and mini program installed on the first vehicle terminal 102 (also referred to as vehicle machine) can be referred to as vehicle mobile Internet application.

[0036] Optionally, the terminal device can further include a second vehicle terminal 104 in a second vehicle 105, and the second vehicle 105 can report second vehicle information to the server 101 through the second vehicle terminal 104.

[0037] Optionally, the second vehicle terminal 104 in the embodiments of the present disclosure can install various types of mobile Internet applications, such as APP (application) and mini program, and the APP and mini program installed on the second vehicle terminal 104 (also referred to as vehicle machine) can be referred to as vehicle mobile Internet application.

[0038] Optionally, the terminal device can further include a Road Side Unit (RSU, also referred to as road side unit) 106, and one or more RSUs 106 can be arranged at each of a plurality of traffic intersections. Through the RSU 106 arranged at each traffic intersection, the RSU 106 can report the first vehicle information and / or the second vehicle information monitored by the RSU 106 to the server 101.

[0039] Optionally, the RSU 106 can communicate with the first vehicle 103 through the first vehicle terminal 102, receive the first vehicle information from the first vehicle 103, and then send the received first vehicle information to the server 101.

[0040] Optionally, the RSU 106 can communicate with the second vehicle 105 through the second vehicle terminal 104, receive the second vehicle information from the second vehicle 105, and then send the received second vehicle information to the server 101.

[0041] In some embodiments, the terminal device can be a smart phone, a tablet computer, a notebook computer, a desktop computer, or a smart watch, etc. The server (server 101) can be configured as a standalone physical server, or as a server cluster or distributed system composed of multiple physical servers, or as a cloud server providing cloud service, cloud database, cloud computing, cloud function, cloud storage, network service, cloud communication, middleware service, domain name service, security service, CDN (Content Delivery Network), and basic cloud computing services such as big data and artificial intelligence platform.

[0042] In the embodiments of the present disclosure, when the server 101 is a cloud server, it can also be referred to as a V2X cloud platform or a vehicle communication server.

[0043] The scheme provided by the embodiments of the present disclosure can be applied to an intelligent transportation system and / or an intelligent vehicle infrastructure cooperative system.

[0044] The intelligent transportation system (ITS) is also referred to as an intelligent transportation system (Intelligent Transportation System). Advanced science and technology (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operations research, artificial intelligence, etc.) are effectively integrated into transportation, service control and vehicle manufacturing to strengthen the connection between vehicles, roads and users, thereby forming a comprehensive transportation system that ensures safety, improves efficiency, improves the environment and saves energy.

[0045] The intelligent vehicle infrastructure cooperative system (IVICS) is also referred to as a vehicle infrastructure cooperative system. The vehicle infrastructure cooperative system is a development direction of the intelligent transportation system (ITS). The vehicle infrastructure cooperative system uses advanced wireless communication and new generation Internet technologies to implement dynamic real-time information interaction between vehicles and roads in all directions. On the basis of full-time and space dynamic traffic information collection and fusion, vehicle active safety control and road cooperative management are carried out, and effective cooperation between people, vehicles and roads is fully realized to ensure traffic safety and improve traffic efficiency, thereby forming a safe, efficient and environmentally friendly road transportation system.

[0046] Figure 2 The method provided by the embodiments can be executed by any computer device, for example, the server 101 in the above embodiments, but the present disclosure is not limited thereto, for example, the method can also be executed by a terminal device. Figure 1

[0047] As shown in FIG. 1, the method provided by the embodiments of the present disclosure can include the following steps. Figure 2

[0048] In S210, first vehicle information and second vehicle information are received. The first vehicle information can be sent by a first vehicle and / or a road side perception facility, and the second vehicle information can be sent by a second vehicle and / or a road side perception facility.

[0049] ​​In the embodiments of the present disclosure, the first vehicle information refers to any information related to the first vehicle, and the content of the first vehicle information can be determined according to actual needs. For example, the first vehicle information can include any one or more of the license plate number, the first identity (ID), the first speed, the first position (which can include the first latitude and longitude, and optionally can also include the first altitude, etc.), the first heading angle, the first acceleration, etc. of the first vehicle. When the first vehicle can directly communicate with the server 101, the first vehicle can periodically send the first vehicle information to the server 101 in a time manner, or the first vehicle information can be collected through the RSU, sent to the server 101 through the RSU, or when the first vehicle can directly communicate with the RSU, the first vehicle can first send the first vehicle information to the corresponding RSU, and then send the first vehicle information to the server 101 through the RSU, that is, the server 101 can obtain the first vehicle information in multiple ways, so as to ensure the timeliness and accuracy of the obtained first vehicle information.

[0050] In the embodiments of the present disclosure, when the server 101 obtains the first vehicle information through multiple ways at the same time, it can be compared whether the first vehicle information obtained through different ways is consistent. If the first vehicle information obtained through different ways is consistent, the first vehicle information obtained through any one of the ways can be used for subsequent processing.

[0051] If the first vehicle information obtained through different ways is inconsistent, the first vehicle information obtained through a default reliable way can be selected for subsequent processing. The default reliable way can be, for example, the first vehicle information obtained through the first vehicle.

[0052] If the first vehicle information obtained through different ways is inconsistent, the first vehicle information obtained by the server 101 from the RSU can be further analyzed, that is, whether the first vehicle information is sent by the first vehicle to the RSU or actively collected by the RSU itself to analyze the road traffic situation. That is, the first vehicle information sent by the RSU to the server 101 can add an identifier, which can be used to indicate whether the first vehicle information is sent by the first vehicle to the RSU or actively collected by the RSU itself. In this way, when the server 101 obtains the first vehicle information from the first vehicle and the RSU at the same time, the source of the first vehicle information obtained from the RSU can be distinguished through the identifier. If the first vehicle information of the RSU comes from the first vehicle, the first vehicle information sent by the first vehicle can be selected. This is because the first vehicle information forwarded by the RSU has a delay compared with the first vehicle information directly sent by the first vehicle to the server, and the first vehicle information directly sent by the first vehicle to the server can be considered to be more real-time and more accurate.

[0053] If the first vehicle information sent by the RSU to the server is inconsistent with the first vehicle information sent by the first vehicle to the server, and the first vehicle information of the RSU is collected by the RSU itself, then the credibility of the first vehicle information sent by the RSU and the credibility of the first vehicle information sent by the first vehicle can be further determined according to the communication mode, the communication network condition and other information between the RSU and the server, and between the first vehicle and the server, and the first vehicle information with high credibility can be selected for subsequent processing.

[0054] In the embodiments of the present disclosure, the second vehicle information refers to any information related to the second vehicle, and the content of the second vehicle information can be determined according to actual needs. For example, the second vehicle information can include any one or more of the license plate number, the second number, the second driving speed, the second position (which can include the second latitude and longitude, and optionally can also include the second altitude, etc.), the second heading angle, the second acceleration, etc. of the second vehicle. When the second vehicle can directly communicate with the server 101, the second vehicle can periodically send the second vehicle information to the server 101 in a time manner, or the second vehicle information can be collected by the RSU regardless of whether the second vehicle can directly communicate with the server 101, and the collected second vehicle information can be sent to the server 101 by the RSU, or when the second vehicle can directly communicate with the RSU, the second vehicle can first send the second vehicle information to the corresponding RSU, and then send the second vehicle information to the server 101 through the RSU, that is, the server 101 can obtain the second vehicle information in multiple ways, so as to ensure the timeliness and accuracy of the obtained second vehicle information, and no longer simply rely on the direct communication between the first vehicle and the second vehicle.

[0055] In the embodiments of the present disclosure, when the server 101 obtains the second vehicle information in multiple ways at the same time, whether the second vehicle information obtained by different ways is consistent can be compared. If the second vehicle information obtained by different ways is consistent, then the second vehicle information obtained by any one of the ways can be used for subsequent processing.

[0056] If the second vehicle information obtained by different ways is inconsistent, then the second vehicle information obtained by a default reliable way can be selected for subsequent processing. The default reliable way can be, for example, the second vehicle information obtained by the second vehicle.

[0057] If the second vehicle information obtained by different manners is inconsistent, the second vehicle information obtained by the server 101 from the RSU can be further analyzed, whether the second vehicle information is sent by the second vehicle to the RSU, or whether the RSU actively collects the road traffic condition to analyze, that is, the second vehicle information sent by the RSU to the server 101 can add an identifier, which can be used to indicate whether the second vehicle information is sent by the second vehicle to the RSU, or whether the RSU actively collects. When the server 101 obtains the second vehicle information from the second vehicle and the RSU at the same time, the source of the second vehicle information obtained from the RSU can be distinguished by the identifier. If the second vehicle information of the RSU comes from the second vehicle, the second vehicle information sent by the second vehicle can be selected, which is considered that the second vehicle information sent by the second vehicle through the RSU has a delay compared with the second vehicle information sent by the second vehicle directly to the server, and it is considered that the second vehicle information sent by the second vehicle directly to the server is more real-time and more accurate.

[0058] If the second vehicle information sent by the RSU to the server is inconsistent with the second vehicle information sent by the second vehicle to the server, and the second vehicle information of the RSU comes from the RSU itself, the credibility of the second vehicle information sent by the RSU and the credibility of the second vehicle information sent by the second vehicle can be further judged according to the communication manner, the communication network condition and other information between the RSU and the server, and between the second vehicle and the server, and the second vehicle information with high credibility is selected for subsequent processing.

[0059] In an example embodiment, receiving the second vehicle information can include receiving the second vehicle information sent by the second vehicle. The second vehicle information can include fault alarm lamp opening information, which can be used to indicate that the fault alarm lamp of the second vehicle has been opened. In the embodiment of the present disclosure, when the second vehicle fails, the fault alarm lamp installed on the second vehicle can be opened. At this time, the second vehicle can send the second vehicle information to the server 101, and the fault alarm lamp opening information can be carried in the second vehicle information to inform the server 101 that the second vehicle has opened the fault alarm lamp, so that the server 101 can obtain that the corresponding second vehicle is a fault vehicle according to the fault alarm lamp opening information carried in the second vehicle information.

[0060] In other embodiments, when the second vehicle fails, the fault alarm lamp can also not be opened (for example, the fault alarm lamp is damaged), at this time, the second vehicle can report the second vehicle information to the server 101, and the second vehicle information carries the fault indication information, which informs the server 101 that the second vehicle has failed.

[0061] In an example embodiment, receiving the second vehicle information can comprise receiving the second vehicle information sent by the second vehicle. The second vehicle information can comprise a second driving speed of the second vehicle. In the embodiments of the present disclosure, whether the second vehicle is an abnormal vehicle or not, the second vehicle can periodically report its second vehicle information to the server 101, and the second vehicle information can carry the real-time second driving speed of the second vehicle. The server 101 can determine whether the second vehicle is an abnormal vehicle according to the second driving speed carried in the second vehicle information.

[0062] For example, the second vehicle information can further comprise a second position of the second vehicle. The server 101 can determine the real-time position of the second vehicle according to the second position. The server 101 can determine the surrounding vehicles of the second vehicle according to the real-time position of the second vehicle. The vehicle information of the surrounding vehicles can comprise the positions and driving speeds of the surrounding vehicles, which can be reported by the corresponding RSUs or the surrounding vehicles themselves. The server 101 can determine whether the second driving speed of the second vehicle is significantly lower than the driving speeds of the surrounding vehicles according to the second vehicle information and the positions and driving speeds of the surrounding vehicles. Thus, the server 101 can determine whether the second vehicle is an abnormal vehicle. If the second driving speed of the second vehicle is significantly lower than the driving speeds of the surrounding vehicles, the server 101 determines that the second vehicle is an abnormal vehicle. Otherwise, the server 101 determines that the second vehicle is a normal vehicle.

[0063] For another example, the server 101 can determine whether the second vehicle is stationary according to the second driving speed. If the second vehicle is stationary, the server 101 determines that the second vehicle is an abnormal vehicle. If the second vehicle is not stationary, the server 101 can continue to determine whether the second driving speed of the second vehicle is significantly lower than the driving speeds of the surrounding vehicles.

[0064] For another example, the second vehicle information can further comprise a second position of the second vehicle. The server 101 can determine the real-time position of the second vehicle according to the second position. The server 101 can determine the surrounding vehicles of the second vehicle. The vehicle information of the surrounding vehicles can comprise the positions and driving speeds of the surrounding vehicles, which can be reported by the corresponding RSUs or the surrounding vehicles themselves. The server 101 can determine whether the second driving speed of the second vehicle is significantly higher than the driving speeds of the surrounding vehicles according to the second vehicle information and the positions and driving speeds of the surrounding vehicles. Thus, the server 101 can determine whether the second vehicle is an abnormal vehicle. If the second driving speed of the second vehicle is significantly higher than the driving speeds of the surrounding vehicles, the server 101 determines that the second vehicle is an abnormal vehicle. Otherwise, the server 101 determines that the second vehicle is a normal vehicle.

[0065] For another example, the second vehicle information can further include a second position of the second vehicle in real time, according to which the server 101 can determine the real-time position of the second vehicle, and determine the surrounding vehicles of the second vehicle according to the real-time position of the second vehicle. The vehicle information of the surrounding vehicles reported by the corresponding RSU or the surrounding vehicles themselves can include the positions and speeds of the surrounding vehicles. The server 101 can determine whether the second speed of the second vehicle is significantly higher or lower than the speeds of the surrounding vehicles according to the second vehicle information and the positions and speeds of the surrounding vehicles, so as to determine whether the second vehicle is an abnormal vehicle. If the second speed of the second vehicle is significantly higher or lower than the speeds of the surrounding vehicles, the second vehicle is determined to be an abnormal vehicle; otherwise, the second vehicle is determined to be a normal vehicle.

[0066] In an example embodiment, receiving the second vehicle information can include receiving the second vehicle information sent by a roadside sensing facility. The second vehicle information can include abnormal indication information of the second vehicle, which can be used to indicate that a fault warning light of the second vehicle has been turned on and / or the second vehicle is in a stationary state or a low-speed driving state.

[0067] In the embodiments of the present disclosure, the RSU can sense the second vehicle information on the road, which can include, for example, a fault warning light image / video of the second vehicle. Image recognition processing is performed on the fault warning light image / video of the second vehicle to determine whether the fault warning light of the second vehicle has been turned on. If it is determined that the fault warning light of the second vehicle has been turned on, the RSU can generate abnormal indication information of the second vehicle, which indicates that the fault warning light of the second vehicle has been turned on, and send the abnormal indication information of the second vehicle in the second vehicle information to the server 101. Optionally, the second vehicle information can further include a second speed of the second vehicle. The RSU can determine whether the second vehicle is stationary, or in a low-speed driving state, or in a high-speed driving state according to the second speed. If it is determined that the second vehicle is in a stationary state or in a low-speed driving state or in a high-speed driving state, the RSU can generate abnormal indication information of the second vehicle, which indicates that the second vehicle is in a stationary state or in a low-speed driving state or in a high-speed driving state, so that the server 101 can directly determine that the second vehicle is an abnormal vehicle according to the second vehicle information reported by the RSU.

[0068] In the embodiments of the present disclosure, whether the second vehicle is in a stationary state can be determined by judging whether the second speed is 0 or approximately 0. Whether the second vehicle is in a low-speed driving state can be determined by judging whether the second speed of the second vehicle is significantly lower than the speed of the vehicles around the second vehicle. Alternatively, whether the second vehicle is in a low-speed driving state can also be determined according to the real-time road condition in which the second vehicle is located. For example, assuming that the second position of the second vehicle is currently located on a highway with a minimum speed limit of 90 km / h, if the second speed of the second vehicle is lower than 50 km / h, it can be determined that the second vehicle is in a low-speed driving state.

[0069] In the embodiments of the present disclosure, whether the second vehicle is in a high-speed driving state can be determined by judging whether the second speed of the second vehicle is significantly higher than the speed of the vehicles around the second vehicle. Alternatively, whether the second vehicle is in a high-speed driving state can also be determined according to the real-time road condition in which the second vehicle is located. For example, assuming that the second position of the second vehicle is currently located on a highway with a maximum speed limit of 120 km / h, if the second speed of the second vehicle is higher than 130 km / h, it can be determined that the second vehicle is in a high-speed driving state.

[0070] In some embodiments, the RSU can sense the second vehicle information on the road, such as one or more of the second position, the second speed, the second heading angle, the fault warning light image / video of the second vehicle, and the like, and can report the sensed second vehicle information to the server 101. The server 101 determines whether the second vehicle is an abnormal vehicle according to the received second vehicle information. For example, the server 101 can perform image recognition processing on the fault warning light image / video of the second vehicle to determine whether the fault warning light of the second vehicle is turned on, and further determine whether the second vehicle is a fault vehicle.

[0071] In the example embodiments, receiving the second vehicle information can include receiving the second vehicle information sent by the roadside perception facility. The second vehicle information can include fault warning light opening information, which can be used to indicate that the fault warning light of the second vehicle is turned on. In the embodiments of the present disclosure, when the second vehicle fails, the fault warning light of the second vehicle can be turned on. Then, the second vehicle information can be generated, the fault warning light opening information can be carried in the second vehicle information, and then the second vehicle information can be sent (which can be directional sending or broadcasting, which is not limited in the present disclosure) to the corresponding RSU, such as the nearest RSU, and the second vehicle information is sent to the server 101 through the RSU.

[0072] In S220, an abnormal vehicle and abnormal vehicle information are determined from the second vehicle according to the second vehicle information.

[0073] The specific manner in which the server 101 determines whether the second vehicle is an abnormal vehicle according to the second vehicle information can refer to the description above. After determining the abnormal vehicle, the server 101 can generate abnormal vehicle information according to the second vehicle information of the second vehicle determined as the abnormal vehicle. The abnormal vehicle information can include, for example, the second vehicle information of the second vehicle determined as the abnormal vehicle.

[0074] In S230, abnormal vehicle warning information is sent to the first vehicle according to the first vehicle information and the abnormal vehicle information, the abnormal vehicle being located in the same or adjacent lane ahead of the first vehicle.

[0075] In an example embodiment, the first vehicle information can include a first position, a first speed, and a first heading angle of the first vehicle at a first time, and the like. In the embodiments of the present disclosure, the first time can be periodic timing or non-periodic, which is not limited in the present disclosure. The first heading angle can be used to determine the direction of travel of the first vehicle.

[0076] In an example embodiment, the abnormal vehicle information can include position information, speed information, and heading angle information of the abnormal vehicle at the first time.

[0077] In an example embodiment, sending abnormal vehicle warning information to the first vehicle according to the first vehicle information and the abnormal vehicle information can include: determining the distance between the first vehicle and the abnormal vehicle at the first time according to the first position and the position information; obtaining the estimated time for the first vehicle to reach the abnormal vehicle according to the distance, the first speed, the first heading angle, the speed information, and the heading angle information; and sending the abnormal vehicle warning information to the first vehicle when the estimated time is less than a time threshold. In the embodiments of the present disclosure, the time threshold can be set according to actual needs, as long as it can ensure that the first vehicle has enough time to take measures to avoid traffic accidents after receiving the abnormal vehicle warning information. By calculating the estimated time for the first vehicle to reach the abnormal vehicle, the abnormal vehicle warning information can be sent to the first vehicle in time when the estimated time is less than the time threshold, and at the same time, it can also avoid sending the abnormal vehicle warning information that does not affect the safe driving of the first vehicle to the first vehicle, reducing the interference of frequent abnormal vehicle warning information to the first vehicle.

[0078] In an example embodiment, the first vehicle information can further include at least one of a first position confidence, a first vehicle body size, a first acceleration, a first angular velocity, and a first lane of the first vehicle at the first time.

[0079] In the embodiments of the present disclosure, the first position confidence is used to indicate the accuracy of the obtained first position. According to any one or more of the first position confidence, the first vehicle body size, the first acceleration, the first angular velocity, etc., the estimated time for the first vehicle to reach the abnormal vehicle can be more accurately estimated, so as to further guarantee the timeliness and reliability of the sent abnormal vehicle warning information.

[0080] In the exemplary embodiments, the abnormal vehicle warning information can include at least one of abnormal vehicle risk reminder, abnormal vehicle relative distance, risk level, and abnormal state information, etc.

[0081] In the embodiments of the present disclosure, the vehicle risk reminder can be used to inform the first vehicle that there is an abnormal vehicle in the same or adjacent lane in front of the first vehicle, and to pay attention to avoid. The abnormal vehicle relative distance is used to inform the first vehicle of the relative distance between the abnormal vehicle and the first position currently occupied by the first vehicle, so as to more accurately let the first vehicle know when to take what kind of avoidance measures. The risk level is used to indicate the severity of the traffic accident between the first vehicle and the abnormal vehicle. The abnormal state information can be used to indicate the abnormal state currently occupied by the abnormal vehicle, for example, whether a failure occurs, or is stationary, or is in a low-speed driving state, or is in a high-speed driving state, etc.

[0082] The abnormal vehicle warning method provided by the embodiments of the present disclosure receives the first vehicle information and the second vehicle information, wherein the first vehicle information can be sent by the first vehicle or by the roadside sensing facility, and the second vehicle information can be sent by the second vehicle or by the roadside sensing facility, that is, the first vehicle information and the second vehicle information can be received from multiple directions, and it is not limited to requiring that the abnormal vehicle and the surrounding vehicles (for example, the first vehicle located in the same or adjacent lane behind the abnormal vehicle) must be equipped with LTE-V2X OBU at the same time, so that when the first vehicle information and the second vehicle information are used to determine the abnormal vehicle and to warn the abnormal vehicle, the timeliness and accuracy of the abnormal vehicle determination are improved, the abnormal information in the second vehicle is quickly found, the timeliness and reliability of the abnormal vehicle warning information sending are improved, the probability of traffic accidents is reduced, and a large number of stock vehicles without LTE-V2X OBU can also realize abnormal vehicle warning, so that the surrounding vehicles of the abnormal vehicle can predict the danger in advance, avoid traffic accidents, and ensure traffic safety.

[0083] Figure 3 、 Figure 4 and Figure 5This embodiment uses a vehicle communication server as an example of a V2X cloud platform, and assumes that the first vehicle is an HV and the second vehicle is an RV. The vehicle-side or mobile smart terminal corresponding to the HV has 4G / 5G access capabilities, and can therefore be called a 4G / 5G terminal, which can access the vehicle-road cooperative platform of the cloud, i.e., the V2X cloud platform. The 4G / 5G universal access capability terminal of the HV can be an in-vehicle terminal T-BOX, an APP on the vehicle's infotainment system, an APP on the smart rearview mirror, an APP or mini-program on a mobile phone, etc.

[0084] In this embodiment of the disclosure, the abnormal vehicles can be divided into two categories based on whether they actively send abnormal messages (e.g., second vehicle information including information about the activation of the malfunction warning lights):

[0085] 1. Abnormal vehicles proactively report abnormal information, such as hazard warning lights being on. For example, when a remote vehicle (RV) turns on its hazard warning lights while driving, it sends an abnormal message indicating that the hazard warning lights are on. This abnormal message can be broadcast via LTE-V2X or reported to the V2X cloud platform via 4G / 5G networks.

[0086] 2. The RSU detects an abnormal vehicle. For example, the RSU detects an RV that is stationary or moving slowly (significantly slower than other vehicles in the vicinity) and identifies it as an abnormal vehicle.

[0087] The V2X cloud platform detects an abnormal vehicle by identifying it based on information from the second vehicle proactively reported by the RV or information from the second vehicle sensed by the RSU, and sends an alert message to the HV, such as an abnormal vehicle warning message.

[0088] In this embodiment of the disclosure, based on the different communication capabilities of HV and RV, the following three cases can be distinguished:

[0089] Sub-scenario 1: The HV has 4G / 5G universal access capabilities and runs vehicle-road cooperative applications, while the roadside RSU has RSU functionality.

[0090] like Figure 3 As shown, HV 350 has a 4G / 5G terminal 351, which enables HV 350 to communicate with V2X cloud platform 310 through 4G / 5G network 320, such as sending first vehicle information and receiving abnormal vehicle warning information. Assuming that RV 340 is an abnormal vehicle, roadside sensing facility 330 can sense second vehicle information of RV 340 and report the second vehicle information to V2X cloud platform 310. V2X cloud platform 310 can decide whether to send abnormal vehicle warning information to HV 350 based on the received first vehicle information and second vehicle information.

[0091] Figure 3In this embodiment, the arrows indicate the driving directions of RV 340 and HV 350. The direction along this driving direction is forward, and the direction opposite is backward; that is, RV 340 is in front of HV 350. Figure 3 In this embodiment, it is assumed that RV 340 and HV 350 are in the same lane.

[0092] Sub-scenario 2: The HV has 4G / 5G universal access capability and runs vehicle-road cooperative applications, the RV has an on-board LTE-V2X OBU, and the roadside has an LTE-V2X network. The corresponding RSU is called LTE-V2X RSU.

[0093] like Figure 4 As shown, assuming RV 450 and HV 440 are in the same lane, and that RV 450 is an abnormal vehicle. RV 450 has an LTE-V2X OBU 451, therefore, RV 450 can communicate with the LTE-V2X RSU 430 through the LTE-V2X OBU 451 to send the second vehicle information to the LTE-V2X RSU 430. The LTE-V2X RSU 430 then reports the second vehicle information to the V2X cloud platform 410. HV 440 has a 4G / 5G terminal 441, which can report the first vehicle information to the V2X cloud platform 410 through the 4G / 5G network 420. The V2X cloud platform 410 can determine whether RV 450 is an abnormal vehicle and whether to send an abnormal vehicle warning to HV 440 based on the received first and second vehicle information. When the V2X cloud platform 410 sends an abnormal vehicle warning to the HV 440, the HV 440 can receive the abnormal vehicle warning through its 4G / 5G terminal 441 and 4G / 5G network 420.

[0094] Sub-scenario 3: The HV has 4G / 5G universal access capability and runs vehicle-road cooperative applications, and the RV has 4G / 5G universal access capability and runs vehicle-road cooperative applications.

[0095] like Figure 5As shown, it is also assumed that the HV 530 and the RV 540 are in the same lane, the RV 540 is an abnormal vehicle, the RV 540 has a 4G / 5G terminal 541, the 4G / 5G terminal 541 sends the second vehicle information to the V2X cloud platform 510, the HV 530 has a 4G / 5G terminal 531, the 4G / 5G terminal 531 sends the first vehicle information to the V2X cloud platform 510 through the 4G / 5G network 520, and the V2X cloud platform 510 can determine whether the RV 540 is an abnormal vehicle according to the received first vehicle information and the second vehicle information, and whether to send abnormal vehicle warning information to the HV 530. When the V2X cloud platform 510 sends the abnormal vehicle warning information to the HV 530, the HV 530 can receive the abnormal vehicle warning information through the 4G / 5G terminal 531 thereon and the 4G / 5G network 520.

[0096] As shown in FIG. 6, it is assumed that the RV 610 is an abnormal vehicle, and the abnormal vehicle turns on the fault alarm light: Figure 6

[0097] 1) The HV 620 normally drives on the road, and the RV 610 is in the same or adjacent lane in front of the HV 620.

[0098] 2) For the above sub-scenario 2, the RV 610 turns on the fault alarm light and carries the “fault alarm light on / fault alarm light has been turned on” information in the externally broadcasted message.

[0099] For the above sub-scenario 3, the RV 610 driver selects to trigger the turning on of the fault alarm light in the cooperative vehicle infrastructure application, and the cooperative vehicle infrastructure application of the RV 610 reports the “fault alarm light on” information to the cooperative vehicle infrastructure V2X cloud platform.

[0100] 3) The cooperative vehicle infrastructure V2X cloud platform issues a warning to the driver of the nearby HV 620, reminding the driver that there is an abnormal vehicle in front.

[0101] The warning timing needs to ensure that the driver of the HV 620 has enough time to take measures after receiving the warning to avoid collision with the RV 610.

[0102] As shown in FIG. 7, it is assumed that the abnormal vehicle does not turn on the fault alarm light: Figure 7

[0103] 1) The HV 720 normally drives on the road, and the RV 710 is in the same or adjacent lane in front of the HV 720.

[0104] 2) For the above sub-scenario 1, the roadside perception facility perceives the RV 710 as a stationary or slow vehicle and reports to the cooperative vehicle infrastructure V2X cloud platform.

[0105] ​​For the above sub-scenario 2, the RV 710 is a stationary or slow vehicle, and the second position, the second driving speed, the second heading angle, and the like of the RV 710 are carried in the message broadcasted to the outside.

[0106] For the above sub-scenario 3, the RV 710 constantly reports the second position and the like to the vehicle-road cooperative V2X cloud platform.

[0107] 3) The vehicle-road cooperative V2X cloud platform determines, according to the second vehicle information reported by the road-side sensing facility or the RV 710, that the RV 710 is a stationary vehicle or a slow vehicle (the speed of the RV 710 is significantly lower than the speeds of other vehicles in the surrounding area), and sends a warning to the driver of the HV 720 to remind the driver that there is an abnormal vehicle driving in front.

[0108] The timing of the warning needs to ensure that the driver of the HV 720 has enough time to take measures to avoid a collision with the RV 710 after receiving the warning.

[0109] When the identified abnormal vehicle may affect the driving route of the HV, the abnormal vehicle warning application reminds the driver of the HV. The method provided in the embodiments of the present disclosure can be applied to abnormal vehicle warning in the environments such as the intersection of urban and suburban ordinary roads and highways, the entrance of a roundabout, the entrance of a highway, and the like, and does not require that both the HV and the RV have LTE-V2X communication capabilities.

[0110] In the embodiments of the present disclosure, the HV can periodically (for example, at a frequency of 10 Hz, but the present disclosure is not limited thereto) report first vehicle information such as the first position and the like to the vehicle-road cooperative V2X cloud platform. The first vehicle information can include the information in Table 1 below:

[0111] Table 1

[0112]

[0113]

[0114] The position confidence in the embodiments of the present disclosure can be represented using the long semi-axis, the short semi-axis, the angle of the long axis, and the angle of the north direction of the error ellipse of the GNSS (Global Navigation Satellite System) reception output of the terminal.

[0115] In the embodiments of the present disclosure, the vehicle-road cooperative V2X cloud platform can be configured to perform the following operations:

[0116] For the above sub-scenario 1, the abnormal vehicle RV is found according to the real-time sensing data of the road-side sensing facility, such as the second vehicle information.

[0117] The roadside perception facility can be any one or more of a camera, a millimeter wave radar, a laser radar, etc., and can obtain information such as a second position, a second heading angle, and a second driving speed of the RV.

[0118] Alternatively, for the sub-scenario 2 or the sub-scenario 3: according to the second vehicle information uploaded by the RV to the platform, an abnormal vehicle RV is found, and the second vehicle information can include the information in Table 2 below:

[0119] Table 2

[0120]

[0121]

[0122] In the embodiments of the present disclosure, the vehicle-road cooperation V2X cloud platform can calculate the distance between the HV and the abnormal vehicle RV according to the first position of the HV and the second position of the RV (if necessary, in combination with map information such as a curve), and obtain the estimated time for the HV to reach the abnormal vehicle RV. When the estimated time for the HV to reach the abnormal vehicle RV is less than a certain time threshold, the vehicle-road cooperation V2X cloud platform can timely issue an abnormal vehicle warning information to the HV to warn the driver of the HV. The abnormal vehicle warning information can be as shown in Table 3 below:

[0123] Table 3

[0124]

[0125] The embodiments of the present disclosure also propose an abnormal vehicle warning system. The system is a fusion and cooperation of a vehicle end (including a first vehicle and a second vehicle), a mobile intelligent terminal (including a 4G / 5G terminal on the first vehicle, and optionally, a 4G / 5G terminal on the second vehicle), a roadside perception system (including an RSU), and a cloud V2X cloud platform. Since the 4G / 5G terminal is more popular, the system can achieve rapid discovery of abnormal vehicles and rapid and full push of abnormal vehicle warning information from multiple directions, so that the first vehicle around the abnormal vehicle can predict the danger in advance, avoid traffic accidents, and ensure traffic safety.

[0126] In the embodiments of the present disclosure, the V2X cloud platform can be implemented based on a public cloud or a private cloud, which is not limited by the present disclosure.

[0127] Figure 8 The method provided by the embodiments can be executed by the first vehicle, but the present disclosure is not limited thereto, and can be executed by any computer device.

[0128] As Figure 8 shown, the method provided by the embodiments of the present disclosure can include:

[0129] In S810, the first vehicle receives, from a vehicle communication server, abnormal vehicle warning information, where the abnormal vehicle corresponding to the abnormal vehicle warning information is located in the same or adjacent lane in front of the first vehicle.

[0130] Figure 8 Other contents of the embodiments can refer to the above-mentioned other embodiments.

[0131] Figure 9 The method provided by the embodiments can be executed by the second vehicle, but the disclosure is not limited thereto, and can actually be executed by any computer device.

[0132] As Figure 9 shown, the method provided by the embodiments of the disclosure can include:

[0133] In S910, the second vehicle transmits, to a vehicle communication server, second vehicle information.

[0134] The second vehicle information can be used to instruct the vehicle communication server to determine an abnormal vehicle in the second vehicle and abnormal vehicle information.

[0135] The abnormal vehicle information can be used to instruct the vehicle communication server to send abnormal vehicle warning information to a first vehicle, where the abnormal vehicle is located in the same or adjacent lane in front of the first vehicle.

[0136] Figure 9 Other contents of the embodiments can refer to the above-mentioned other embodiments.

[0137] As Figure 10 shown, Figure 10 The abnormal vehicle warning device 1000 provided by the embodiments can be arranged in any computer device, for example Figure 1 the server 101 in the embodiments, but the disclosure is not limited thereto.

[0138] Referring to Figure 10 , the abnormal vehicle warning device 1000 can include a receiving unit 1010, a processing unit 1020, and a sending unit 1030.

[0139] The receiving unit 1010 can be used to receive first vehicle information and second vehicle information, where the first vehicle information is sent by a first vehicle and / or sent by a roadside perception facility, and the second vehicle information is sent by a second vehicle and / or sent by a roadside perception facility.

[0140] The processing unit 1020 can be used to determine an abnormal vehicle and abnormal vehicle information from the second vehicle according to the second vehicle information.

[0141] The sending unit 1030 can be configured to send, to the first vehicle, abnormal vehicle warning information according to the first vehicle information and the abnormal vehicle information, the abnormal vehicle being located in the same lane or an adjacent lane in front of the first vehicle.

[0142] In an example embodiment, the receiving unit 1010 can be configured to receive the second vehicle information sent by the second vehicle. The second vehicle information can include fault alarm light opening information, the fault alarm light opening information being used to indicate that a fault alarm light of the second vehicle has been turned on.

[0143] In an example embodiment, the receiving unit 1010 can be configured to receive the second vehicle information sent by the second vehicle. The second vehicle information can include a second driving speed of the second vehicle.

[0144] In an example embodiment, the receiving unit 1010 can be configured to receive the second vehicle information sent by a roadside perception facility. The second vehicle information can include abnormal indication information of the second vehicle, the abnormal indication information being used to indicate that a fault alarm light of the second vehicle has been turned on and / or the second vehicle is in a stationary state or a low-speed driving state.

[0145] In an example embodiment, the receiving unit 1010 can be configured to receive the second vehicle information sent by a roadside perception facility. The second vehicle information can include fault alarm light opening information, the fault alarm light opening information being used to indicate that a fault alarm light of the second vehicle has been turned on.

[0146] In an example embodiment, the first vehicle information can include a first position, a first driving speed, and a first heading angle of the first vehicle at a first time point.

[0147] The abnormal vehicle information can include position information, driving speed information, and heading angle information of the abnormal vehicle at the first time point.

[0148] The processing unit 1020 can be further configured to determine a distance between the first vehicle and the abnormal vehicle at the first time point according to the first position and the position information, and obtain a predicted time for the first vehicle to reach the abnormal vehicle according to the distance, the first driving speed, the first heading angle, the driving speed information, and the heading angle information. The sending unit 1030 can be further configured to send the abnormal vehicle warning information to the first vehicle when the predicted time is less than a time threshold.

[0149] In an example embodiment, the first vehicle information can further include at least one of a first position confidence, a first vehicle body size, a first acceleration, a first angular velocity, a first lane, and the like of the first vehicle at the first time point.

[0150] In an example embodiment, the abnormal vehicle warning information can include at least one of an abnormal vehicle risk reminder, an abnormal vehicle relative distance, a risk level, and abnormal state information, and the like.

[0151] Figure 10 Other contents of the embodiments can refer to the above-mentioned other embodiments.

[0152] Further, the embodiments of the present disclosure further provide an abnormal vehicle warning device, which can be arranged in any computer device, for example Figure 1 The first vehicle 103 in the embodiments, but the present disclosure is not limited thereto.

[0153] The abnormal vehicle warning device provided by the embodiments of the present disclosure can include a receiving unit, which can be configured to receive abnormal vehicle warning information from a vehicle communication server by a first vehicle, wherein the abnormal vehicle corresponding to the abnormal vehicle warning information is located in the same or adjacent lane in front of the first vehicle.

[0154] Further, the embodiments of the present disclosure further provide an abnormal vehicle warning device, which can be arranged in any computer device, for example Figure 1 The second vehicle 105 in the embodiments, but the present disclosure is not limited thereto.

[0155] The abnormal vehicle warning device provided by the embodiments of the present disclosure can include a transmitting unit, which can be configured to transmit second vehicle information to a vehicle communication server by a second vehicle.

[0156] The second vehicle information is used to instruct the vehicle communication server to determine an abnormal vehicle in the second vehicle and abnormal vehicle information.

[0157] The abnormal vehicle information is used to instruct the vehicle communication server to send abnormal vehicle warning information to a first vehicle, wherein the abnormal vehicle is located in the same or adjacent lane in front of the first vehicle.

[0158] Referring to Figure 11 , Figure 11 is a structural schematic diagram of a computer device provided by the embodiments of the present disclosure. As shown in Figure 11As shown, the computer device in the embodiment of the present disclosure can include one or more processors 1101, a memory 1102 and an input output interface 1103. The processor 1101, the memory 1102 and the input output interface 1103 are connected through a bus 1104. The memory 1102 is used to store a computer program, the computer program including program instructions, the input output interface 1103 is used to receive data and output data, such as for data interaction between the host and the computer device, or for data interaction between various virtual machines in the host; the processor 1101 is used to execute the program instructions stored in the memory 1102.

[0159] The processor 1101 can perform the following operations: receiving first vehicle information and second vehicle information, the first vehicle information being sent by a first vehicle and / or a roadside perception facility, and the second vehicle information being sent by a second vehicle and / or a roadside perception facility; determining an abnormal vehicle and abnormal vehicle information from the second vehicle according to the second vehicle information; and sending abnormal vehicle warning information to the first vehicle according to the first vehicle information and the abnormal vehicle information, the abnormal vehicle being located in the same or adjacent lane in front of the first vehicle.

[0160] Alternatively, the processor 1101 can perform the following operations: receiving abnormal vehicle warning information from a vehicle communication server by a first vehicle, the abnormal vehicle corresponding to the abnormal vehicle warning information being located in the same or adjacent lane in front of the first vehicle.

[0161] Alternatively, the processor 1101 can perform the following operations: transmitting second vehicle information to a vehicle communication server by a second vehicle; the second vehicle information being used to instruct the vehicle communication server to determine an abnormal vehicle in the second vehicle and abnormal vehicle information; and the abnormal vehicle information being used to instruct the vehicle communication server to send abnormal vehicle warning information to a first vehicle, the abnormal vehicle being located in the same or adjacent lane in front of the first vehicle.

[0162] The memory 1102 can include read-only memory and random access memory, and provide instructions and data to the processor 1101 and the input output interface 1103. A part of the memory 1102 can also include non-volatile random access memory. For example, the memory 1102 can also store device type information.

[0163] In specific implementations, the computer device can execute the implementation manners provided by each step in the above embodiments through various functional modules built therein, and specific implementation manners can be referred to the implementation manners provided by each step in the above embodiments, which will not be described here.

[0164] The embodiment of the present disclosure provides a computer device, which comprises a processor, an input and output interface, and a memory. The computer program in the memory is acquired by the processor, and each step of the method shown in the above embodiment is executed.

[0165] The embodiment of the present disclosure also provides a computer readable storage medium, which stores a computer program. The computer program is suitable for being loaded by the processor and executing the abnormal vehicle warning method provided by each step of the above embodiment. For details, refer to the implementation manner provided by each step of the above embodiment, which will not be described here. In addition, the beneficial effects of using the same method will not be described here. For technical details not disclosed in the embodiment of the computer readable storage medium involved in the present disclosure, refer to the description of the method embodiment of the present disclosure. As an example, the computer program can be deployed to execute on one computer device, or execute on multiple computer devices located in one place, or execute on multiple computer devices distributed in multiple places and interconnected through a communication network.

[0166] The computer readable storage medium can be an internal storage unit of the computer device, such as a hard disk or a memory of the computer device, or the abnormal vehicle warning device provided by any of the above embodiments. The computer readable storage medium can also be an external storage device of the computer device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the computer readable storage medium can include both the internal storage unit and the external storage device of the computer device. The computer readable storage medium is used to store the computer program and other programs and data required by the computer device. The computer readable storage medium can also be used to temporarily store data that has been output or will be output.

[0167] The embodiment of the present disclosure also provides a computer program product or a computer program, which comprises computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method provided in each of the various optional manners of the above embodiments.

Claims

1. A method for alerting abnormal vehicles, characterized in that, include: Receive first vehicle information and second vehicle information, wherein the first vehicle information is sent by the first vehicle and the roadside sensing facility, and the second vehicle information is sent by the second vehicle and / or the roadside sensing facility. When the first vehicle information obtained through different methods is inconsistent, if the first vehicle information of the roadside sensing facility comes from the first vehicle, then the first vehicle information sent by the first vehicle shall be selected as the reliable information. If the first vehicle information of the roadside sensing facility is collected by the roadside sensing facility itself, then the first vehicle information with higher reliability is selected. Based on the second vehicle information, identify abnormal vehicles and abnormal vehicle information from the second vehicle; Based on the first vehicle information and the abnormal vehicle information, an abnormal vehicle warning message is sent to the first vehicle, wherein the abnormal vehicle is located in the same or adjacent lane in front of the first vehicle.

2. The method according to claim 1, characterized in that, Receive information about the second vehicle, including: Receive the second vehicle information sent by the second vehicle; The second vehicle information includes fault alarm light activation information, which indicates that the fault alarm light of the second vehicle has been activated.

3. The method according to claim 1, characterized in that, Receive information about the second vehicle, including: Receive the second vehicle information sent by the second vehicle; The second vehicle information includes the second vehicle's second driving speed.

4. The method according to claim 1, characterized in that, Receive information about the second vehicle, including: Receive the second vehicle information sent by the roadside sensing facility; The second vehicle information includes abnormal indication information of the second vehicle, which is used to indicate that the fault warning light of the second vehicle is turned on and / or that the second vehicle is stationary or traveling at low speed.

5. The method according to claim 1, characterized in that, Receive information about the second vehicle, including: Receive the second vehicle information sent by the roadside sensing facility; The second vehicle information includes fault alarm light activation information, which indicates that the fault alarm light of the second vehicle has been activated.

6. The method according to claim 1, characterized in that, The first vehicle information includes the first vehicle's first position, first speed, and first heading angle at a first moment; The abnormal vehicle information includes the abnormal vehicle's position information, speed information, and heading angle information at the first moment; Specifically, based on the first vehicle information and the abnormal vehicle information, sending abnormal vehicle warning information to the first vehicle includes: Based on the first location and the location information, determine the distance between the first vehicle and the abnormal vehicle at the first moment; Based on the distance, the first driving speed, the first heading angle, the driving speed information, and the heading angle information, the estimated time for the first vehicle to reach the abnormal vehicle is obtained; When the estimated time is less than the time threshold, the abnormal vehicle warning information is sent to the first vehicle.

7. The method according to claim 6, characterized in that, The first vehicle information also includes at least one of the following: the first position confidence of the first vehicle at the first time, the first vehicle size, the first acceleration, the first angular velocity, and the first lane in which it is located.

8. The method according to claim 6, characterized in that, The abnormal vehicle warning information includes at least one of the following: abnormal vehicle risk alert, relative distance to the abnormal vehicle, risk level, and abnormal status information.

9. A method for alerting abnormal vehicles, characterized in that, include: The second vehicle information is transmitted to the vehicle communication server via the second vehicle and roadside sensing facilities. When the second vehicle information obtained through different methods is inconsistent, if the second vehicle information of the roadside sensing facility comes from the second vehicle, then the second vehicle information sent by the second vehicle shall be accepted. If the second vehicle information of the roadside sensing facility is collected by the roadside sensing facility itself, then the second vehicle information with higher reliability is selected. The second vehicle information is used to instruct the vehicle communication server to identify abnormal vehicles and abnormal vehicle information among the second vehicles; The abnormal vehicle information is used to instruct the vehicle communication server to send an abnormal vehicle warning to the first vehicle, wherein the abnormal vehicle is located in the same or adjacent lane in front of the first vehicle.

10. An abnormal vehicle warning device, characterized in that, include: The receiving unit is used to receive first vehicle information and second vehicle information, wherein the first vehicle information is sent by the first vehicle and the roadside sensing facility, and the second vehicle information is sent by the second vehicle and / or the roadside sensing facility. The processing unit is used to select and accept the first vehicle information sent by the first vehicle if the first vehicle information obtained by the roadside sensing facility comes from the first vehicle when the first vehicle information obtained by different means is inconsistent. If the first vehicle information of the roadside sensing facility is collected by the roadside sensing facility itself, then the first vehicle information with high reliability is selected; based on the second vehicle information, abnormal vehicles and abnormal vehicle information are identified from the second vehicles. The sending unit is configured to send abnormal vehicle warning information to the first vehicle based on the first vehicle information and the abnormal vehicle information, wherein the abnormal vehicle is located in the same or adjacent lane in front of the first vehicle.

11. A computer device, characterized in that, include: One or more processors; A memory configured to store one or more programs, which, when executed by one or more processors, cause the computer device to perform the method as described in any one of claims 1 to 8; or, The method as described in claim 9.

12. A computer-readable storage medium storing a computer program, characterized in that, The computer program causes the computer device to perform the method as described in any one of claims 1 to 8; or... The method as described in claim 9.

13. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the method of any one of claims 1 to 8; or... The method as described in claim 9.

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