Method and device for determining a safe area for a vehicle with a fault, electronic device and medium

Abstract

The application discloses a kind of determination methods, device, electronic equipment and medium of safe area of fault vehicle, method includes: according to the vehicle posture of vehicle relative lane line, establish coordinate system and determine the outline of the vehicle;According to the outline, determine standing area, and determine relevant personnel in the standing area;According to the position of the vehicle relative lane line and the standing area, determine the boundary of safe area.Have beneficial effect: according to the vehicle posture of vehicle relative lane line, establish coordinate system and determine the outline of the vehicle;According to the outline, determine standing area, and determine personnel in the standing area;According to the position of the vehicle relative lane line and the standing area, determine the boundary of safe area, it is convenient for subsequent to surrounding vehicle broadcast warning area of fault vehicle.Effectively reduce the risk of traffic safety accident because of subsequent vehicle braking not in time due to stationary fault vehicle in road.

Description

Technical Field

[0001] This invention relates to the field of automotive technology, and in particular to a method, apparatus, electronic device, and medium for determining a safe zone of a faulty vehicle. Background Technology

[0002] With the increase in car ownership, the number of sudden vehicle breakdowns is also increasing. Stationary vehicles that break down on highways, especially urban elevated roads, pose a significant safety hazard to other vehicles. Most elevated roads lack designated safety lanes, and given the high speeds of vehicles, if a broken-down vehicle doesn't provide adequate warning, and passengers lack the necessary safety awareness and stand behind the vehicle or in other dangerous areas, serious traffic accidents can occur. Summary of the Invention

[0003] In view of the above-mentioned defects or improvement needs of the prior art, the purpose of the present invention is to provide a method, device, electronic device and medium for determining the safe area of ​​a faulty vehicle.

[0004] To achieve this objective, the present invention adopts the following technical solution:

[0005] In a first aspect, a method for determining a safe area for a disabled vehicle is characterized by comprising the following steps:

[0006] Based on the vehicle's posture relative to the lane lines, a coordinate system is established and the vehicle's outline is determined;

[0007] The standing area is determined based on the outline, and the relevant personnel are identified within the standing area;

[0008] The boundary of the safe zone is determined based on the position of the vehicle relative to the lane lines and the standing area.

[0009] The step of determining the boundary of the safe zone based on the vehicle's position relative to the lane lines and the standing area includes:

[0010] Determine the position of the vehicle relative to the lane lines, the position including one of the left, right and middle of the road.

[0011] In the preferred embodiment of the above-mentioned method for determining the safe area of ​​a disabled vehicle, the step of establishing a coordinate system and determining the outline of the vehicle based on the vehicle's posture relative to the lane lines includes:

[0012] Identify lane lines, and establish a planar coordinate system xoy with the center of the rear of the vehicle as the origin of the coordinate system, wherein the lane lines are in the same direction as ox;

[0013] Based on the aforementioned planar coordinate system xoy, determine the coordinates P of the four preset vertices of the vehicle. FL P FR PRL and P RR .

[0014] In a preferred embodiment of the above-described method for determining a safe area for a disabled vehicle, the step of determining the standing area based on the contour includes:

[0015]

[0016] in, This indicates the coordinate range of the standing area along the lane line. This indicates the range of coordinates along the direction perpendicular to the lane lines.

[0017] In a preferred embodiment of the above-described method for determining the safe zone for a disabled vehicle, the safe zone includes:

[0018] A first region is used to encompass the standing area;

[0019] The second area consists of line segments and road edges, extending along the ox direction from the front of the vehicle to the rear of the vehicle.

[0020] The third area is for placing warning signs.

[0021] In the preferred embodiment of the above method for determining the safe zone of a disabled vehicle, when the location is on the left side, the boundary of the first zone is determined according to the following formula:

[0022] ;

[0023] Where d is the distance between the center point of the rear of the vehicle and the edge of the road; This is the velocity gain coefficient;

[0024] The boundary of the second region is determined according to the following formula:

[0025] ;

[0026] The boundary of the third region is determined according to the following formula:

[0027] ;

[0028] in This serves as a warning buffer distance.

[0029] In the preferred embodiment of the above method for determining the safe zone for disabled vehicles, when the location is in the middle of the road, the boundary of the first zone is determined according to the following formula:

[0030]

[0031] The boundary of the second region is determined according to the following formula:

[0032]

[0033] The boundary of the third region is determined according to the following formula:

[0034] .

[0035] In the preferred embodiment of the above method for determining the safe zone of a disabled vehicle, when the location is on the right side, the boundary of the first zone is determined according to the following formula:

[0036]

[0037] The boundary of the second region is determined according to the following formula:

[0038]

[0039] The boundary of the third region is determined according to the following formula:

[0040]

[0041] Secondly, a device for determining a safe area for a disabled vehicle, characterized in that it comprises:

[0042] The first module is used to establish a coordinate system and determine the outline of the vehicle based on the vehicle's posture relative to the lane lines.

[0043] The second module is used to determine the standing area based on the outline and to identify the relevant personnel within the standing area;

[0044] The third module is used to determine the boundary of the safe zone based on the position of the vehicle relative to the lane line and the standing area.

[0045] Thirdly, an electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the method for determining a safe area for a faulty vehicle as described above.

[0046] Fourthly, a computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions that cause the computer to perform the method for determining a safe area of ​​a faulty vehicle as described above.

[0047] The beneficial effects of this invention are:

[0048] The methods, devices, electronic equipment, and media for determining the safe zone for disabled vehicles involve establishing a coordinate system and defining the vehicle's outline based on its position relative to the lane lines; determining the standing area based on the outline and identifying personnel within that area; and defining the boundaries of the safe zone based on the vehicle's position relative to the lane lines and the standing area. This facilitates broadcasting warnings about the disabled vehicle's location to surrounding vehicles. This effectively reduces the risk of traffic accidents caused by delayed braking of following vehicles due to a stationary disabled vehicle on the road.

[0049] Additional aspects and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of this application. Attached Figure Description

[0050] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0051] Figure 1 This is a schematic diagram of an application scenario provided in this embodiment;

[0052] Figure 2 This is a flowchart illustrating the method for determining the safe zone of a faulty vehicle provided in this embodiment;

[0053] Figure 3 yes Figure 1 A schematic diagram showing the establishment of a coordinate system based on the vehicle's posture;

[0054] Figure 4 This is a schematic diagram of the safe area when a vehicle is parked on the left side of the road, as provided in this embodiment;

[0055] Figure 5 This is a schematic diagram of the safe area when a vehicle is parked in the middle of the road, as provided in this embodiment;

[0056] Figure 6 This is a schematic diagram of the safe area when a vehicle is parked on the right side of the road, as provided in this embodiment;

[0057] Figure 7 This is a schematic diagram of the structure of the device for determining the safe area of ​​a faulty vehicle provided in this embodiment;

[0058] Figure 8 This is a schematic diagram of the structure of the electronic device provided in this embodiment. Detailed Implementation

[0059] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0060] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0061] Those skilled in the art will understand that, unless otherwise stated, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the word “comprising” as used in the specification of this application means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof.

[0062] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as in the embodiments of this application.

[0063] This embodiment provides a method for determining the safe zone of a disabled vehicle. This method is applicable to fields such as mapping, navigation, autonomous driving, intelligent vehicle control, vehicle networking, intelligent transportation, and cloud computing, such as intelligent traffic systems (ITS) in the transportation field.

[0064] The parking positioning control method provided in this application can be executed by a server or a terminal. The server can be a standalone physical server, a server cluster or distributed system consisting of multiple physical servers, or a cloud server providing cloud computing services. The terminal can be a smartphone, tablet, laptop, desktop computer, smart speaker, smartwatch, in-vehicle terminal, smart TV, etc., and the specific device can be determined based on the actual application scenario requirements, without limitation here.

[0065] This method is applied to Figure 1 In the scene shown.

[0066] like Figure 1As shown, after the vehicle malfunctions, it should be parked on the left side of the road, with the vehicle's direction forming an angle with the direction the road extends. At this time, occupants of the vehicle will be required to stand in a designated area in front of the vehicle.

[0067] like Figure 2 As shown, the method includes steps S10-S30.

[0068] Step S10 includes: establishing a coordinate system and determining the outline of the vehicle based on the vehicle's posture relative to the lane lines.

[0069] Specifically, step S10 includes: identifying lane lines, establishing a planar coordinate system xoy with the center of the rear of the vehicle as the origin of the coordinate system, wherein the lane lines are in the same direction as ox.

[0070] It is understandable that, except at curves, lane lines generally extend in a straight line. This embodiment takes a straight lane as an example. Figure 1 , Figure 3 and Figure 4 As shown, the lane line extends in the north-south direction. In the plane coordinate system xoy, the ox axis is in the north-south direction and the oy axis is in the east-west direction.

[0071] Using the center of the rear of the vehicle as the origin of the coordinate system, in this embodiment, a locator can be preset at the center of the rear of the vehicle, and this locator can be used as the origin of the coordinate system. For example, the geometric center of the vehicle logo at the rear of the vehicle can be used as the origin of the coordinate system.

[0072] Step S10 further includes: determining the coordinates P of the four preset vertices of the vehicle according to the planar coordinate system xoy. FL P FR P RL and P RR .

[0073] In this embodiment, the four preset vertices of the vehicle are the left edge of the left front headlight, the right edge of the right front headlight, the left edge of the left taillight, and the right edge of the right taillight.

[0074] Step S20: Determine the standing area based on the outline, and identify the relevant personnel within the standing area.

[0075] The step of determining the standing area based on the contour includes:

[0076]

[0077] in, This indicates the coordinate range of the standing area along the lane line. This represents the coordinate range along the direction perpendicular to the lane lines. It can be understood that the standing area is a quadrilateral region.

[0078] Furthermore, in step S20, determining the relevant personnel includes the information and number of personnel identified during the driving process. For example, the information of the driver and passengers can be determined using facial recognition equipment on the vehicle. After parking, it is confirmed again that all personnel (driver and passengers) are within the safe area.

[0079] Furthermore, after determining the safe area, the following steps are also included:

[0080] Determine whether there are people staying within a preset area outside the vehicle.

[0081] Understandably, the preset range is the outside of the safe area; if personnel are detected lingering there, an alarm will be triggered. The alarm method is not limited to voice, music, or ringtone.

[0082] Step S30: Determine the boundary of the safe zone based on the vehicle's position relative to the lane lines and the standing area.

[0083] Specifically, determine the vehicle's position relative to the lane lines, including the left, right, and middle of the road.

[0084] Furthermore, the safe zone includes:

[0085] The first area is used to encompass the standing area;

[0086] The second area consists of line segments and road edges, extending along the ox direction from the front of the vehicle to the rear of the vehicle.

[0087] The third area is for placing warning signs.

[0088] like Figure 4 As shown, when the parking position is on the left, the boundary S1 of the first area is determined according to the following formula:

[0089] ;

[0090] Where d is the distance between the center point of the rear of the vehicle and the edge of the road; Let be the gain coefficient. The above formula describes the gain coefficient. With the center of the circle, The circular envelope with radius (in meters).

[0091] It is understandable that the boundary of the first area also includes the road edge, and the first area is defined by the aforementioned boundary S1 and the road edge.

[0092] The boundary S2 of the second region is determined according to the following formula:

[0093] ;

[0094] It is understandable that the boundary of the second region also includes the road edge, and the second region is defined by the aforementioned boundary S2 and the road edge.

[0095] The boundary S3 of the third region is determined according to the following formula:

[0096] ;

[0097] in To establish a warning buffer distance, The value ranges from 5 meters to 10 meters. In this embodiment, 8 meters is preferred.

[0098] It is understandable that the boundary of the third region also includes the road edge, and the third region is defined by the aforementioned boundary S3 and the road edge. For example... Figure 4 As shown, the road edges in the first, second, and third areas are continuous.

[0099] like Figure 5 As shown, the disabled vehicle is parked in the middle of the road, and the first, second, and third zones are divided into three sections. Figure 5 S1-S5 are limited in the range.

[0100] The expression for curve S1 in the xoy coordinate system is:

[0101]

[0102] The expression for line segment S2 in the xoy coordinate system is:

[0103]

[0104] The expression for line segment S3 in the xoy coordinate system is:

[0105]

[0106] The expression for line segment S4 in the xoy coordinate system is:

[0107]

[0108] The expression for line segment S5 in the xoy coordinate system is:

[0109] .

[0110] like Figure 6 The disabled vehicle is parked on the right side of the road. In this embodiment, the boundary S1 of the first area is determined according to the following formula:

[0111]

[0112] The boundary S2 of the second region is determined according to the following formula:

[0113]

[0114] The boundary S3 of the third region is determined according to the following formula:

[0115]

[0116] Figure 6 The curve S1, line segments S2 and S3, and the right edge of the road together form the safety zone in this situation.

[0117] It should be noted that the onboard radar unit of the intelligent vehicle determines the speed of other approaching vehicles and determines the gain coefficient based on different speed distributions. .

[0118]

[0119] The method for determining the safe zone for a disabled vehicle provided in this embodiment establishes a coordinate system and determines the vehicle's outline based on the vehicle's posture relative to the lane lines; it then determines the standing area based on the outline and identifies personnel within that area; finally, it determines the boundary of the safe zone based on the vehicle's position relative to the lane lines and the standing area, facilitating the subsequent broadcast of the disabled vehicle's warning area to surrounding vehicles. This effectively reduces the risk of traffic accidents caused by subsequent vehicles failing to brake in time due to a stationary disabled vehicle on the road.

[0120] This embodiment also provides a device for determining the safe zone of a disabled vehicle. Figure 7 This is a schematic diagram of the structure of the device for determining the safe area of ​​a faulty vehicle provided in this embodiment. The device for determining the safe area of ​​a faulty vehicle includes a first module 10, a second module 20 and a third module 30.

[0121] The first module 10 is used to establish a coordinate system and determine the outline of the vehicle based on the vehicle's posture relative to the lane lines.

[0122] The second module 20 is used to determine the standing area based on the outline and to identify the relevant personnel within the standing area.

[0123] The third module 30 is used to determine the boundary of the safety zone based on the vehicle's position relative to the lane lines and the standing area.

[0124] It should be noted that the device for determining the safe area of ​​a disabled vehicle provided in this embodiment can also be a computer program (including program code) running on a computer device. For example, the device for determining the safe area of ​​a disabled vehicle can be used as an application program to execute the corresponding steps in the control method provided in this embodiment.

[0125] In some feasible implementations, the device for determining the safe area of ​​a disabled vehicle provided in this embodiment can be implemented using a combination of hardware and software. As an example, the device for determining the safe area of ​​a disabled vehicle in this embodiment can be a processor in the form of a hardware decoding processor, which is programmed to execute the device for determining the safe area of ​​a disabled vehicle provided in this embodiment. For example, the processor in the form of a hardware decoding processor can be one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0126] The device for determining the safe zone for a disabled vehicle provided in this embodiment establishes a coordinate system and determines the vehicle's outline based on the vehicle's posture relative to the lane lines; it determines the standing area based on the outline and identifies personnel within that area; and it determines the boundary of the safe zone based on the vehicle's position relative to the lane lines and the standing area, facilitating the subsequent broadcast of the disabled vehicle's warning area to surrounding vehicles. This effectively reduces the risk of traffic accidents caused by subsequent vehicles failing to brake in time due to a stationary disabled vehicle on the road.

[0127] In some feasible implementations, the device for determining the safe area of ​​a disabled vehicle provided in this embodiment can be implemented in software. It can be software in the form of programs and plug-ins, and includes a series of modules to implement the method for determining the safe area of ​​a disabled vehicle provided in the above embodiment.

[0128] This application also provides an electronic device. Figure 8 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application, such as... Figure 8As shown, the electronic device 1000 in this embodiment may include: a processor 1001, a network interface 1004, and a memory 1005. Furthermore, the electronic device 1000 may also include: a user interface 1003, and at least one communication bus 1002. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen and a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1004 may be a high-speed RAM or non-volatile memory, such as at least one disk storage device. The memory 1005 may optionally be at least one storage device located remotely from the processor 1001. Figure 8 As shown, the memory 1005, which is a computer-readable storage medium, may include an operating system, a network communication module, a user interface module, and a device control application.

[0129] like Figure 8 In the electronic device 1000 shown, the network interface 1004 provides network communication functions; the user interface 1003 is mainly used to provide an input interface for users; and the processor 1001 can be used to call the device control application stored in the memory 1005 to implement the above steps 1-11.

[0130] It should be understood that in some feasible implementations, the processor 1001 described above may be a central processing unit (CPU), which may also be other general-purpose processors, DSPs, ASICs, FPGAs, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor. The memory may include read-only memory and random access memory, and provides instructions and data to the processor. A portion of the memory may also include non-volatile random access memory. For example, the memory may also store device type information.

[0131] In practice, the aforementioned electronic device 1000 can execute the implementation methods provided by the various steps of the control method described above through its built-in functional modules. For details, please refer to the implementation methods provided by the various steps described above, which will not be repeated here.

[0132] The electronic device provided in this embodiment establishes a coordinate system and determines the vehicle's outline based on the vehicle's posture relative to the lane lines; it determines the standing area based on the outline and confirms that the person is within the standing area; and it determines the boundary of the safety zone based on the vehicle's position relative to the lane lines and the standing area, facilitating the subsequent broadcast of the warning area of ​​the disabled vehicle to surrounding vehicles. This effectively reduces the risk of traffic accidents caused by subsequent vehicles failing to brake in time due to a stationary disabled vehicle on the road.

[0133] This application also provides a computer-readable storage medium storing a computer program that is executed by a processor to implement the various steps in the method for determining the safe area of ​​a faulty vehicle in the above embodiments. For details, please refer to the implementation methods provided for the above steps, which will not be repeated here.

[0134] The computer-readable storage medium provided in this embodiment establishes a coordinate system and determines the vehicle's outline based on the vehicle's posture relative to the lane lines; it determines the standing area based on the outline and identifies personnel within that area; and it determines the boundary of the safety zone based on the vehicle's position relative to the lane lines and the standing area, facilitating the subsequent broadcast of warnings about the disabled vehicle's location to surrounding vehicles. This effectively reduces the risk of traffic accidents caused by subsequent vehicles failing to brake in time due to a stationary disabled vehicle on the road.

[0135] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0136] The above description is only a partial embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method of determining a safe area for a disabled vehicle, characterized by, The method comprises the following steps: According to the vehicle position relative to the lane line, a coordinate system is established and the outline of the vehicle is determined, and the step of establishing the coordinate system and determining the outline of the vehicle comprises: Identifying the lane line, establishing a plane coordinate system xoy with the center of the vehicle tail as the origin of the coordinate system, wherein the lane line is the same as the ox direction; According to the plane coordinate system xoy, the coordinates P of four preset vertices of the vehicle are determined FL , P FR , P RL and P RR ; According to the outline, a standing area is determined, and it is determined that the relevant personnel are in the standing area, and the step of determining the standing area according to the outline comprises: wherein, represents a coordinate range of the standing area in the lane line direction, represents a coordinate range in a direction perpendicular to the lane line direction; According to the position of the vehicle relative to the lane line and the standing area, the boundary of the safety area is determined; The step of determining the boundary of the safety area according to the position of the vehicle relative to the lane line and the standing area comprises: The position of the vehicle relative to the lane line comprises one of the left side, the right side and the middle of the road.

2. The method of determining a safe area for a disabled vehicle according to claim 1, wherein, The safety area comprises: A first area for containing the standing area; A second area composed of a line segment and a road edge, extending from the front of the vehicle to the rear of the vehicle along the ox direction; A third area for placing warning signs.

3. The method of determining a safe area for a disabled vehicle according to claim 2, wherein, When the position is the left side, the boundary of the first area is determined according to the following formula: ； where d is the distance from the center point of the vehicle's tail to the edge of the road; is the speed gain coefficient; The boundary of the second area is determined according to the following formula: ； The boundary of the third area is determined according to the following formula: ； wherein is the warning buffer distance.

4. The method of determining a safe area for a disabled vehicle according to claim 3, wherein, When the position is the middle of the road, the boundary of the first area is determined according to the following formula: The boundary of the second area is determined according to the following formula: The boundary of the third area is determined according to the following formula: 。 5. The method of determining a safe area for a disabled vehicle according to claim 3, wherein, When the position is the right side, the boundary of the first area is determined according to the following formula: The boundary of the second area is determined according to the following formula: The boundary of the third area is determined according to the following formula: 。 6. A device for determining a safe area for a vehicle with a malfunction, characterized in that The method comprises: A first module for establishing a coordinate system according to the vehicle position relative to the lane line and determining the outline of the vehicle, and the step of establishing the coordinate system and determining the outline of the vehicle comprises: Identifying the lane line, establishing a plane coordinate system xoy with the center of the vehicle tail as the origin of the coordinate system, wherein the lane line is the same as the ox direction; According to the plane coordinate system xoy, the coordinates P of four preset vertices of the vehicle are determined FL , P FR , P RL and P RR ; A second module for determining a standing area according to the outline, and determining that the relevant personnel are in the standing area, and the step of determining the standing area according to the outline comprises: wherein, represents a coordinate range of the standing area in the lane line direction, represents a coordinate range in a direction perpendicular to the lane line direction; A third module for determining the boundary of the safety area according to the position of the vehicle relative to the lane line and the standing area; The step of determining the boundary of the safety area according to the position of the vehicle relative to the lane line and the standing area comprises: The position of the vehicle relative to the lane line comprises one of the left side, the right side and the middle of the road.

7. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to realize the method for determining the safety area of the broken-down vehicle according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions, and the computer instructions enable the computer to execute the method for determining the safety area of the broken-down vehicle according to any one of claims 1 to 5.

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