A vehicle collision warning method, device, terminal and cloud control platform

Abstract

The application provides a vehicle collision warning method, device, terminal and cloud control platform. The vehicle collision warning method is applied to a target terminal, and the method comprises the following steps: acquiring first motion state data of a target collision object sent by a cloud control platform; the target collision object is a collision object located in an influence range of the target terminal; obtaining a target time length of collision between the target terminal and the target collision object according to the first motion state data and second motion state data; the second motion state data is motion state data of the target terminal; and generating warning information of collision between the target terminal and the target collision object according to the target time length. The application scheme can expand the sensing range, reduce the blind spots of sensing data, and reduce the omission of the judgment result of the collision risk.

Description

Technical Field

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

[0002] Vehicle collisions refer to the contact and conflict between a vehicle and one or more objects, and are the main focus of research in the field of traffic accidents. Vehicle collisions are categorized by collision direction (head-on collision, front-side collision, side-to-side collision, etc.) and by collision target (vehicle-to-vehicle collision, vehicle-to-non-motorized vehicle collision, vehicle-to-pedestrian collision, vehicle-to-other obstacle collision, etc.). Vehicle-to-vehicle, vehicle-to-non-motorized vehicle, and vehicle-to-pedestrian collisions are collectively referred to as vehicle-to-traffic participant collisions, while vehicle-to-non-motorized vehicle and vehicle-to-pedestrian collisions are collectively referred to as vehicle-to-vulnerable traffic participant collisions.

[0003] Determining and predicting the potential collision risk between a vehicle and surrounding road users and obstacles is crucial for vehicle safety. With the development of autonomous driving and vehicle-to-everything (V2X) technologies, it has become possible for vehicles to receive real-time motion data from surrounding road users and obstacles. Based on this data, a collision risk can be assessed in real time. Most existing collision risk assessment methods rely on algorithms based on fundamental principles of kinematics and dynamics. These methods use real-time motion data of the vehicle and surrounding road users and obstacles to determine and predict collisions. This motion data includes, but is not limited to, position, lateral velocity, longitudinal velocity, lateral acceleration, longitudinal acceleration, and heading angle.

[0004] Real-time motion data of surrounding traffic participants and obstacles can be categorized into two types: One type is single-vehicle environmental perception technology. This relies on various sensors in connected or autonomous vehicles, such as visual sensors, ultrasonic radar, lidar, and millimeter-wave radar, to acquire motion data of surrounding traffic participants and obstacles within the sensor's detection range. This method requires the vehicle to be equipped with multiple sensors and possess surrounding environmental perception capabilities. The other type is vehicle-to-infrastructure (V2I) technology. This mainly includes vehicle-to-vehicle (V2V) communication, vehicle-to-infrastructure (V2I) communication, and vehicle-to-network (V2N) communication. Real-time motion data of surrounding traffic participants and obstacles can come from surrounding connected vehicles, roadside perception data, and cloud-transmitted data, based on which the likelihood of a collision is assessed and predicted. The development of 5G technology has significantly reduced the latency of data transmission in V2I scenarios and improved the reliability of data transmission.

[0005] However, in the existing technology, the data obtained based on single-vehicle perception environment technology has a limited perception range and blind spots. It cannot obtain data on all surrounding traffic participants such as motor vehicles, non-motor vehicles, and pedestrians, which may lead to omissions in the collision risk assessment results based on single-vehicle perception data. Summary of the Invention

[0006] This invention provides a vehicle collision warning method, device, terminal, and cloud control platform to address the problem that the collision risk assessment results based on single-vehicle perception data may have omissions in the prior art.

[0007] To address the aforementioned technical problems, the embodiments of the present invention provide the following technical solutions:

[0008] In a first aspect, embodiments of the present invention provide a vehicle collision warning method, applied to a target terminal, the method comprising:

[0009] Acquire the first motion state data of the target collision object sent by the cloud control platform; the target collision object is a collision object located within the influence range of the target terminal;

[0010] Based on the first motion state data and the second motion state data, the target duration of the collision between the target terminal and the target colliding object is obtained; the second motion state data is the motion state data of the target terminal.

[0011] Based on the target duration, a warning message is generated indicating that the target terminal and the target colliding object will collide.

[0012] The influence range is determined based on a preset distance, the second motion state data, and the third motion state data; the third motion state data is the motion state data of the colliding object located within a preset range of the target terminal.

[0013] Optionally, obtaining the target duration of the collision between the target terminal and the target colliding object based on the first motion state data and the second motion state data includes:

[0014] Based on the first motion state data and the second motion state data, the first duration of the collision between the target terminal and the target colliding object along the tangential direction of the meridian is obtained;

[0015] Based on the first motion state data and the second motion state data, the second duration of the collision between the target terminal and the target colliding object along the tangential direction of the latitude line is obtained;

[0016] The target duration is obtained based on the first duration and the second duration.

[0017] Optionally, obtaining the first duration of the collision between the target terminal and the target colliding object along the tangential direction of the meridian, based on the first motion state data and the second motion state data, includes:

[0018] The first initial value is obtained based on the first velocity, first acceleration, first distance, first size influence factor and first heading angle of the target terminal, and the second velocity, second acceleration, second distance, second size influence factor and second heading angle of the target colliding object;

[0019] The value greater than or equal to zero in the first initial value is used as the value of the first duration;

[0020] Wherein, the first velocity is the component of the velocity of the target terminal along the tangent direction of the meridian;

[0021] The first acceleration is the component of the acceleration of the target terminal along the tangent direction of the meridian;

[0022] The first distance is determined based on the current position of the target terminal and the predicted collision location between the target terminal and the target colliding object;

[0023] The first size influence factor is determined based on the collision type of the target terminal colliding with the target colliding object, the length of the target terminal, and the width of the target terminal;

[0024] The first motion state data includes the first velocity, the first acceleration, and the first heading angle;

[0025] The second velocity is the component of the velocity of the target colliding object along the tangent direction of the meridian;

[0026] The second acceleration is the component of the acceleration of the target colliding object along the tangent direction of the meridian;

[0027] The second distance is determined based on the current position of the target collider and the predicted collision point between the target terminal and the target collider;

[0028] The second size influence factor is determined based on the collision type of the target terminal colliding with the target collider, the length of the target collider, and the width of the target collider;

[0029] The second motion state data includes the second velocity, the second acceleration, and the second heading angle;

[0030] The predicted collision location is the location where the target terminal and the target colliding object will collide within a preset time period without changing their heading angle, speed, and acceleration.

[0031] Optionally, obtaining the second duration of the collision between the target terminal and the target colliding object along the tangential direction of the latitude line based on the first motion state data and the second motion state data includes:

[0032] The second initial value is obtained based on the third velocity, third acceleration, first distance, first size influence factor and first heading angle of the target terminal, and the fourth velocity, fourth acceleration, second distance, second size influence factor and second heading angle of the target colliding object;

[0033] Use the value greater than or equal to zero in the second initial value as the value of the second duration;

[0034] Wherein, the third velocity is the component of the target terminal's velocity along the tangent direction of the parallel of latitude;

[0035] The third acceleration is the component of the target terminal's acceleration along the tangent direction of the parallel;

[0036] The first distance is determined based on the current position of the target terminal and the predicted collision location between the target terminal and the target colliding object;

[0037] The first size influence factor is determined based on the collision type of the target terminal colliding with the target colliding object, the length of the target terminal, and the width of the target terminal;

[0038] The first motion state data includes the third velocity, the third acceleration, and the first heading angle;

[0039] The fourth velocity is the component of the velocity of the target colliding object along the tangent direction of the latitude line;

[0040] The fourth acceleration is the component of the acceleration of the target colliding object along the tangent direction of the latitude line;

[0041] The second distance is determined based on the current position of the target collider and the predicted collision point between the target terminal and the target collider;

[0042] The second size influence factor is determined based on the collision type of the target terminal colliding with the target collider, the length of the target collider, and the width of the target collider;

[0043] The second motion state data includes the fourth velocity, the fourth acceleration, and the second heading angle;

[0044] The predicted collision location is the location where the target terminal and the target colliding object will collide within a preset time period without changing their heading angle, speed, and acceleration.

[0045] Optionally, the collision type is determined based on the first heading angle of the target terminal, the second heading angle of the target colliding object, and the lateral distance between the target terminal and the target colliding object;

[0046] The lateral distance is determined based on the distance between the target terminal and the target collision object, and the absolute value of the difference between the first heading angle and the second heading angle.

[0047] Optionally, generating a warning message about a collision between the target terminal and the target colliding object based on the target duration includes:

[0048] The warning information is generated based on the preset collision warning sensitivity and the target duration.

[0049] Optionally, generating the warning information based on a preset collision warning sensitivity and the target duration includes at least one of the following:

[0050] When the preset collision warning sensitivity is set to high collision warning sensitivity, and the target duration is less than or equal to a first preset duration and greater than a second preset duration, the warning information is generated.

[0051] When the preset collision warning sensitivity is medium, and the target duration is less than or equal to the second preset duration and greater than the third preset duration, the warning information is generated.

[0052] The warning information is generated when the preset collision warning sensitivity is low and the target duration is less than or equal to the third preset duration.

[0053] Wherein, the first preset duration is greater than the second preset duration, and the second preset duration is greater than the third preset duration.

[0054] Optionally, the method further includes:

[0055] If both the first and second durations are less than the fourth preset duration, the warning information will not be generated.

[0056] Wherein, the first duration is the duration of the collision between the target terminal and the target colliding object along the tangential direction of the meridian, obtained based on the first motion state data and the second motion state data;

[0057] The second duration is the duration of the collision between the target terminal and the target colliding object along the tangent direction of the latitude line, obtained based on the first motion state data and the second motion state data.

[0058] Secondly, embodiments of the present invention also provide a vehicle collision warning method, applied to a cloud control platform, the method comprising:

[0059] Send the first motion state data of the target collision object to the target terminal, so that the target terminal can obtain the target duration of the collision between the target terminal and the target collision object based on the first motion state data and the second motion state data, and generate a warning message of the collision between the target terminal and the target collision object based on the target duration;

[0060] Wherein, the target collision object is a collision object located within the influence range of the target terminal;

[0061] The second motion state data is the motion state data of the target terminal;

[0062] The range of influence is determined based on a preset distance, the second motion state data, and the third motion state data;

[0063] The third motion state data is the motion state data of the colliding object located within a preset range of the target terminal.

[0064] Optionally, before sending the first motion state data of the target colliding object to the target terminal, the method further includes:

[0065] Acquire data from roadside sensing devices and data from mobile terminals.

[0066] The data from the sensing device and the mobile terminal are processed to obtain fused data;

[0067] The fused data includes the first motion state data.

[0068] Thirdly, embodiments of the present invention also provide a vehicle collision warning device, applied to a target terminal, the device comprising:

[0069] The first acquisition module is used to acquire the first motion state data of the target collision object sent by the cloud control platform; the target collision object is a collision object located within the influence range of the target terminal;

[0070] The determining module is used to obtain the target duration of the collision between the target terminal and the target colliding object based on the first motion state data and the second motion state data; the second motion state data is the motion state data of the target terminal.

[0071] The early warning module is used to generate early warning information about a collision between the target terminal and the target colliding object based on the target duration.

[0072] The influence range is determined based on a preset distance, the second motion state data, and the third motion state data; the third motion state data is the motion state data of the colliding object located within a preset range of the target terminal.

[0073] Optionally, the determining module includes:

[0074] The first determining unit is used to obtain, based on the first motion state data and the second motion state data, the first duration of the collision between the target terminal and the target colliding object along the tangential direction of the meridian;

[0075] The second determining unit is used to obtain, based on the first motion state data and the second motion state data, the second duration of the collision between the target terminal and the target colliding object along the tangential direction of the latitude line;

[0076] The third determining unit is used to obtain the target duration based on the first duration and the second duration.

[0077] Optionally, the first determining unit is specifically used for:

[0078] The first initial value is obtained based on the first velocity, first acceleration, first distance, first size influence factor and first heading angle of the target terminal, and the second velocity, second acceleration, second distance, second size influence factor and second heading angle of the target colliding object;

[0079] The value greater than or equal to zero in the first initial value is used as the value of the first duration;

[0080] Wherein, the first velocity is the component of the velocity of the target terminal along the tangent direction of the meridian;

[0081] The first acceleration is the component of the acceleration of the target terminal along the tangent direction of the meridian;

[0082] The first distance is determined based on the current position of the target terminal and the predicted collision location between the target terminal and the target colliding object;

[0083] The first size influence factor is determined based on the collision type of the target terminal colliding with the target colliding object, the length of the target terminal, and the width of the target terminal;

[0084] The first motion state data includes the first velocity, the first acceleration, and the first heading angle;

[0085] The second velocity is the component of the velocity of the target colliding object along the tangent direction of the meridian;

[0086] The second acceleration is the component of the acceleration of the target colliding object along the tangent direction of the meridian;

[0087] The second distance is determined based on the current position of the target collider and the predicted collision point between the target terminal and the target collider;

[0088] The second size influence factor is determined based on the collision type of the target terminal colliding with the target collider, the length of the target collider, and the width of the target collider;

[0089] The second motion state data includes the second velocity, the second acceleration, and the second heading angle;

[0090] The predicted collision location is the location where the target terminal and the target colliding object will collide within a preset time period without changing their heading angle, speed, and acceleration.

[0091] Optionally, the second determining unit is specifically used for:

[0092] The second initial value is obtained based on the third velocity, third acceleration, first distance, first size influence factor and first heading angle of the target terminal, and the fourth velocity, fourth acceleration, second distance, second size influence factor and second heading angle of the target colliding object;

[0093] Use the value greater than or equal to zero in the second initial value as the value of the second duration;

[0094] Wherein, the third velocity is the component of the target terminal's velocity along the tangent direction of the parallel of latitude;

[0095] The third acceleration is the component of the target terminal's acceleration along the tangent direction of the parallel;

[0096] The first distance is determined based on the current position of the target terminal and the predicted collision location between the target terminal and the target colliding object;

[0097] The first size influence factor is determined based on the collision type of the target terminal colliding with the target colliding object, the length of the target terminal, and the width of the target terminal;

[0098] The first motion state data includes the third velocity, the third acceleration, and the first heading angle;

[0099] The fourth velocity is the component of the velocity of the target colliding object along the tangent direction of the latitude line;

[0100] The fourth acceleration is the component of the acceleration of the target colliding object along the tangent direction of the latitude line;

[0101] The second distance is determined based on the current position of the target collider and the predicted collision point between the target terminal and the target collider;

[0102] The second size influence factor is determined based on the collision type of the target terminal colliding with the target collider, the length of the target collider, and the width of the target collider;

[0103] The second motion state data includes the fourth velocity, the fourth acceleration, and the second heading angle;

[0104] The predicted collision location is the location where the target terminal and the target colliding object will collide within a preset time period without changing their heading angle, speed, and acceleration.

[0105] Optionally, the collision type is determined based on the first heading angle of the target terminal, the second heading angle of the target colliding object, and the lateral distance between the target terminal and the target colliding object;

[0106] The lateral distance is determined based on the distance between the target terminal and the target collision object, and the absolute value of the difference between the first heading angle and the second heading angle.

[0107] Optionally, the early warning module includes:

[0108] The early warning unit is used to generate the early warning information based on the preset collision warning sensitivity and the target duration.

[0109] Optionally, the warning unit is specifically used for at least one of the following:

[0110] When the preset collision warning sensitivity is set to high collision warning sensitivity, and the target duration is less than or equal to a first preset duration and greater than a second preset duration, the warning information is generated.

[0111] When the preset collision warning sensitivity is medium, and the target duration is less than or equal to the second preset duration and greater than the third preset duration, the warning information is generated.

[0112] The warning information is generated when the preset collision warning sensitivity is low and the target duration is less than or equal to the third preset duration.

[0113] Wherein, the first preset duration is greater than the second preset duration, and the second preset duration is greater than the third preset duration.

[0114] Optionally, the device further includes:

[0115] The processing module is configured not to generate the warning information if both the first duration and the second duration are less than the fourth preset duration.

[0116] Wherein, the first duration is the duration of the collision between the target terminal and the target colliding object along the tangential direction of the meridian, obtained based on the first motion state data and the second motion state data;

[0117] The second duration is the duration of the collision between the target terminal and the target colliding object along the tangent direction of the latitude line, obtained based on the first motion state data and the second motion state data.

[0118] Fourthly, embodiments of the present invention also provide a vehicle collision warning device applied to a cloud control platform, the device comprising:

[0119] The sending module is used to send the first motion state data of the target collision object to the target terminal, so that the target terminal can obtain the target duration of the collision between the target terminal and the target collision object based on the first motion state data and the second motion state data, and generate a warning message of the collision between the target terminal and the target collision object based on the target duration;

[0120] Wherein, the target collision object is a collision object located within the influence range of the target terminal;

[0121] The second motion state data is the motion state data of the target terminal;

[0122] The range of influence is determined based on a preset distance, the second motion state data, and the third motion state data;

[0123] The third motion state data is the motion state data of the colliding object located within a preset range of the target terminal.

[0124] Optionally, the device further includes:

[0125] The second acquisition module is used to acquire sensing device data sent by roadside sensing devices and mobile terminal data sent by mobile terminals.

[0126] The processing module is used to process the data from the sensing device and the data from the mobile terminal to obtain fused data;

[0127] The fused data includes the first motion state data.

[0128] Fifthly, embodiments of the present invention also provide a terminal, the terminal being a target terminal, comprising: a processor, a memory, and a program stored in the memory and executable on the processor, wherein when the program is executed by the processor, it implements the steps of the vehicle collision warning method as described in any one of the first aspects.

[0129] In a sixth aspect, embodiments of the present invention also provide a cloud control platform, including: a processor, a memory, and a program stored in the memory and executable on the processor, wherein when the program is executed by the processor, it implements the steps of the vehicle collision warning method as described in the second aspect.

[0130] In a seventh aspect, embodiments of the present invention also provide a readable storage medium storing a program that, when executed by a processor, implements the steps of the vehicle collision warning method as described in any one of the first aspects, or implements the steps of the vehicle collision warning method as described in the second aspect.

[0131] The beneficial effects of this invention are:

[0132] The present invention can expand the perception range and reduce blind spots in perception data by acquiring the first motion state data of the target collision object sent by the cloud control platform. Based on the first motion state data of the target collision object and the second motion state data of the target terminal, the target duration is obtained. Based on the target duration, a warning message of collision between the target terminal and the target collision object is generated, which can reduce the problem of omissions in the collision risk judgment results. Attached Figure Description

[0133] Figure 1 A flowchart illustrating the vehicle collision warning method applied to a target terminal provided in an embodiment of the present invention;

[0134] Figure 2 This is a schematic diagram of the structure of the vehicle collision warning system provided in an embodiment of the present invention;

[0135] Figure 3 This is a flowchart illustrating the specific process of the vehicle collision warning method provided in this embodiment of the invention.

[0136] Figure 4 This is a flowchart illustrating the specific process of generating early warning information provided in an embodiment of the present invention.

[0137] Figure 5 A flowchart illustrating the vehicle collision warning method applied to a cloud control platform provided in an embodiment of the present invention;

[0138] Figure 6This is a schematic diagram illustrating the structure of a vehicle collision warning device applied to a target terminal according to an embodiment of the present invention;

[0139] Figure 7 This is a schematic diagram of the structure of a vehicle collision warning device applied to a cloud control platform provided in an embodiment of the present invention;

[0140] Figure 8 This is a schematic diagram of the structure of the terminal provided in an embodiment of the present invention;

[0141] Figure 9 This is a schematic diagram illustrating the structure of the cloud control platform provided in an embodiment of the present invention. Detailed Implementation

[0142] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0143] This invention addresses the problem that existing technologies may have omissions in collision risk assessment based on single-vehicle perception data, by providing a vehicle collision warning method, device, terminal, and cloud control platform.

[0144] like Figure 1 As shown, this embodiment of the invention provides a vehicle collision warning method, applied to a target terminal, the method comprising:

[0145] Step 101: Obtain the first motion state data of the target collision object sent by the cloud control platform; the target collision object is a collision object located within the influence range of the target terminal.

[0146] The influence range is determined based on a preset distance, the second motion state data, and the third motion state data; the third motion state data is the motion state data of the colliding object located within a preset range of the target terminal.

[0147] It should be noted that the target terminal and cloud control platform provided in this embodiment of the invention belong to a vehicle collision warning system, and the structural schematic diagram of the vehicle collision warning system is shown below. Figure 2 As shown, the vehicle collision warning system includes: a cloud control platform, roadside equipment, a Mobile Edge Computing (MEC) module, and a terminal.

[0148] The cloud control platform can be a central cloud platform or an edge cloud platform. A central cloud platform refers to the cloud control platform deployed in a central cloud, while an edge cloud platform refers to the cloud control platform deployed near the roadside. Both the central and edge cloud platforms are responsible for collecting data from roadside sensing devices and mobile terminals, processing it, and then forwarding it to the target terminal requesting the data. It should be noted that the choice between the central and edge cloud platforms depends on the specific scenario's requirements for collision latency and sensitivity. For collision scenarios with low latency and high collision sensitivity, the cloud control platform is located in the edge cloud; for collision scenarios with high latency and low collision sensitivity, the cloud control platform is located in the central cloud.

[0149] The cloud control platform is equipped with a data processing module. This module is responsible for preprocessing the data received from sensing devices and mobile terminals, including deduplication, fusion, and cleaning, and then sending the first motion state data of the target collision object within the vehicle's influence range to the target terminal. The first motion state data of the target collision object includes the motion state data of surrounding traffic participants within the target terminal's influence range, the motion state data of obstacles, and the motion state data of terminals located within the target terminal's influence range.

[0150] Roadside equipment includes lidar, millimeter-wave radar, cameras, etc., deployed along the roadside.

[0151] The fusion-sensing MEC module connects to roadside equipment. Through post-fusion sensing technology, it fuses, cleans, and deduplicates the data from the roadside equipment, outputting structured motion state data of traffic participants and obstacles. To ensure the accuracy and stability of collision detection data, roadside equipment must be all-weather, have wide coverage, high precision, multiple functions, and low cost. The accuracy of the input structured data (including data from sensing devices) needs to be greater than 90%, and the tracking rate needs to be higher than 70%.

[0152] The terminal is a mobile terminal device with cellular connectivity, also known as a mobile smart terminal. It can be equipped with a designed 5G app and utilizes the 5G network and cloud control platform for uplink and downlink data transmission. Uplink transmission can report the current vehicle's motion status data to the platform, while downlink transmission can request the cloud control platform to send motion status data of surrounding traffic participants, obstacles, and other terminals (target collision objects) within the terminal's influence range. Upon receiving the first motion status data of the target collision object from the cloud control platform, and based on the current vehicle's motion status data (second motion status data), a collision risk assessment algorithm is used to calculate and assess the collision risk in real time and generate a collision warning. The target terminal is one of the aforementioned terminals.

[0153] The target terminal is equipped with a collision warning module, which assesses the risk of a collision between the vehicle and the target object in real time and issues a warning.

[0154] The cloud control platform and the terminal communicate via a 5G network, with the 5G network handling data transmission between them. Leveraging the high bandwidth, low latency, and wide connectivity of the 5G network, the real-time performance and stability of the data are guaranteed. The data transmission between the terminal and the cloud control platform is bidirectional. The terminal reports its own motion status data via the 5G module, while the cloud control platform transmits motion status data of traffic participants and obstacles within the terminal's influence range, as well as motion status data from other terminals, to the terminal via the 5G Uu port.

[0155] In this step, the fusion perception MEC module outputs structured fusion perception data and reports the motion status data of traffic participants and obstacles to the cloud control platform in real time at a frequency of 10Hz.

[0156] The motion status data of traffic participants and obstacles includes the following information: id i , representing the identity document (ID) of the i-th traffic participant or obstacle at time T; type i , represents the type of traffic participant or obstacle at time T, where the types of traffic participants include motor vehicles, non-motor vehicles, pedestrians, etc.; w i , representing the width (in meters) of the i-th traffic participant or obstacle at time T; i , representing the length (in meters) of the i-th traffic participant at time T; lon i The longitude of the i-th traffic participant at time T is represented by the coordinate system WGS84; lat i θ represents the latitude and position of the i-th traffic participant or obstacle at time T, in WGS84 coordinate system; i , represents the heading angle of the i-th traffic participant or obstacle at time T, which is the angle between the i-th traffic participant and the due north direction clockwise; a represents the speed of the i-th traffic participant at time T, in m / s; i , representing the acceleration of the i-th traffic participant at time T, in m / s². 2 .

[0157] The terminal reports the vehicle's motion status data to the cloud control platform in real time via the 5G Uu port at a frequency of 10Hz.

[0158] It should be noted that the vehicle motion status data includes information that is essentially the same as the motion status data of traffic participants and obstacles mentioned above. To ensure the quality of the reported vehicle motion status data, the terminal is equipped with a high-precision positioning module, which can achieve sub-meter level high-precision positioning.

[0159] The cloud control platform performs preprocessing such as deduplication, fusion, and cleaning on the motion status data of surrounding traffic participants and obstacles, as well as the motion status data of the vehicle where the terminal is located. It then sends the motion status data of surrounding traffic participants, obstacles, and the terminal within the influence range of the target terminal (i.e., the first motion status data of the target obstacle) point-to-point to the target terminal requesting the data.

[0160] The "range of influence" refers to the area beyond which changes in the motion state of traffic participants, obstacles, or other terminals will not affect the current motion state of the target terminal.

[0161] The process of determining the scope of influence is as follows: A preset range is set. Preferably, the preset range is a relatively large area. The motion state data of traffic participants, obstacles, or other terminals within this preset range are determined, i.e., third motion state data. This third motion state data, the second motion state data of the target terminal, and a preset distance are used to determine the scope of influence. Specifically, based on the third and second motion state data, assuming that the traffic participants, obstacles, or other terminals within the preset range do not change their current motion state, a portion of the traffic participants, obstacles, or other terminals that will collide with the target terminal within a certain time period, or whose distance to the target terminal is less than the preset distance, are identified. The scope of influence is then determined based on the motion state data and current position of this portion of the traffic participants, obstacles, or other terminals.

[0162] Step 102: Based on the first motion state data and the second motion state data, obtain the target duration of the collision between the target terminal and the target colliding object; the second motion state data is the motion state data of the target terminal.

[0163] In this step, the collision warning module of the target terminal obtains the target duration based on the first motion state data of the target obstacle and the second motion state data of the target terminal sent by the cloud control platform and based on the preset collision algorithm. This allows the collision warning module to determine whether there is a risk of collision based on the target duration.

[0164] Step 103: Based on the target duration, generate a warning message indicating that the target terminal and the target colliding object will collide.

[0165] In this step, the collision warning module of the target terminal determines whether there is a risk of collision based on the target duration. If a collision risk is determined, a warning message is generated and displayed. If no collision risk is determined, no warning message is generated and displayed.

[0166] Optionally, obtaining the target duration of the collision between the target terminal and the target colliding object based on the first motion state data and the second motion state data includes:

[0167] Based on the first motion state data and the second motion state data, the first duration of the collision between the target terminal and the target colliding object along the tangential direction of the meridian is obtained;

[0168] Based on the first motion state data and the second motion state data, the second duration of the collision between the target terminal and the target colliding object along the tangential direction of the latitude line is obtained;

[0169] The target duration is obtained based on the first duration and the second duration.

[0170] The target terminal traverses the first motion state data of the target obstacle and the second motion state data of the target terminal, calculates the first duration of the collision between the target obstacle and the target terminal along the longitude direction, and the second duration of the collision between the target obstacle and the target terminal along the latitude direction, and determines whether the target terminal and the target collision object may collide based on the time range of the first duration and the second duration or the time difference between the first duration and the second duration, that is, the target duration.

[0171] The longitude direction refers to the tangent direction along the meridian, and the latitude direction refers to the tangent direction along the parallel. The meridian direction points due north, and the meridian direction and the latitude direction are perpendicular.

[0172] Optionally, obtaining the first duration of the collision between the target terminal and the target colliding object along the tangential direction of the meridian, based on the first motion state data and the second motion state data, includes:

[0173] The first initial value is obtained based on the first velocity, first acceleration, first distance, first size influence factor and first heading angle of the target terminal, and the second velocity, second acceleration, second distance, second size influence factor and second heading angle of the target colliding object;

[0174] The value greater than or equal to zero in the first initial value is used as the value of the first duration;

[0175] Wherein, the first velocity is the component of the velocity of the target terminal along the tangent direction of the meridian;

[0176] The first acceleration is the component of the acceleration of the target terminal along the tangent direction of the meridian;

[0177] The first distance is determined based on the current position of the target terminal and the predicted collision location between the target terminal and the target colliding object;

[0178] The first size influence factor is determined based on the collision type of the target terminal colliding with the target colliding object, the length of the target terminal, and the width of the target terminal;

[0179] The first motion state data includes the first velocity, the first acceleration, and the first heading angle;

[0180] The second velocity is the component of the velocity of the target colliding object along the tangent direction of the meridian;

[0181] The second acceleration is the component of the acceleration of the target colliding object along the tangent direction of the meridian;

[0182] The second distance is determined based on the current position of the target collider and the predicted collision point between the target terminal and the target collider;

[0183] The second size influence factor is determined based on the collision type of the target terminal colliding with the target collider, the length of the target collider, and the width of the target collider;

[0184] The second motion state data includes the second velocity, the second acceleration, and the second heading angle;

[0185] The predicted collision location is the location where the target terminal and the target colliding object will collide within a preset time period without changing their heading angle, speed, and acceleration.

[0186] Optionally, obtaining the second duration of the collision between the target terminal and the target colliding object along the tangential direction of the latitude line based on the first motion state data and the second motion state data includes:

[0187] The second initial value is obtained based on the third velocity, third acceleration, first distance, first size influence factor and first heading angle of the target terminal, and the fourth velocity, fourth acceleration, second distance, second size influence factor and second heading angle of the target colliding object;

[0188] Use the value greater than or equal to zero in the second initial value as the value of the second duration;

[0189] Wherein, the third velocity is the component of the target terminal's velocity along the tangent direction of the parallel of latitude;

[0190] The third acceleration is the component of the target terminal's acceleration along the tangent direction of the parallel;

[0191] The first distance is determined based on the current position of the target terminal and the predicted collision location between the target terminal and the target colliding object;

[0192] The first size influence factor is determined based on the collision type of the target terminal colliding with the target colliding object, the length of the target terminal, and the width of the target terminal;

[0193] The first motion state data includes the third velocity, the third acceleration, and the first heading angle;

[0194] The fourth velocity is the component of the velocity of the target colliding object along the tangent direction of the latitude line;

[0195] The fourth acceleration is the component of the acceleration of the target colliding object along the tangent direction of the latitude line;

[0196] The second distance is determined based on the current position of the target collider and the predicted collision point between the target terminal and the target collider;

[0197] The second size influence factor is determined based on the collision type of the target terminal colliding with the target collider, the length of the target collider, and the width of the target collider;

[0198] The second motion state data includes the fourth velocity, the fourth acceleration, and the second heading angle;

[0199] The predicted collision location is the location where the target terminal and the target colliding object will collide within a preset time period without changing their heading angle, speed, and acceleration.

[0200] The following details the process by which the target terminal calculates the first duration of the collision between the target obstacle and the target terminal along the longitude direction, and the second duration of the collision between the target obstacle and the target terminal along the latitude direction:

[0201] First, define the heading angle θ of the target terminal A. A and the heading angle θ of the target obstacle B .

[0202] The first speed is the speed of target terminal A. Components along the tangent direction of the meridian

[0203] The first acceleration is the acceleration a of the target terminal A. AThe component a along the tangent direction of the meridian lonA ;

[0204] The second velocity is the velocity of the target colliding object B. Components along the tangent direction of the meridian

[0205] The second acceleration is the acceleration a of the target colliding object B. B The component a along the tangent direction of the meridian lonB ;

[0206] The third speed is the speed of target terminal A. Components along the tangent direction of the parallel of latitude

[0207] The third acceleration is the acceleration a of the target terminal A. A The component a along the tangent direction of the parallel of latitude latA ;

[0208] The fourth velocity is the velocity of the target colliding object B. Components along the tangent direction of the parallel of latitude

[0209] The fourth acceleration is the acceleration a of the target colliding object B. B The component a along the tangent direction of the parallel of latitude latB .

[0210] The specific calculation formula is as follows:

[0211]

[0212]

[0213]

[0214]

[0215] By combining the above formulas, the first velocity can be calculated. First acceleration a lonA Second speed Second acceleration a lonB Third speed Third acceleration a latA Fourth speed and the fourth acceleration a latB .

[0216] By combining indicators such as heading angle, velocity, and acceleration, and using the equation of motion, the first duration of the collision between target terminal A and target colliding object B along the longitude direction, and the second duration of the collision between target terminal A and target colliding object B along the latitude direction are calculated.

[0217] The specific equations of motion are as follows:

[0218]

[0219]

[0220]

[0221]

[0222] Among them, L AC This represents the first distance, which is the distance between the current position of target terminal A and the predicted conflict position C of the collision point between target terminal A and target collider B. The predicted conflict position C is the position where the collision would occur if target terminal A and target collider B did not change their heading angle, velocity, and acceleration within a short, continuous period of time (preset duration). L BC This represents the second distance, which is the distance between the current position of target collision object B and the predicted conflict position C of the collision point between target terminal A and target collision object B. The predicted conflict position C is the position where the collision would occur if target terminal A and target collision object B did not change their heading angle, velocity, and acceleration within a short period of time (preset duration). A This represents the first size influence factor, m. B This represents the second-size influence factor.

[0223] Solving the above equations of motion, we obtain the first duration T1 and the second duration T2. ​​Each duration T1 and the second duration T2 has two solutions. The two solutions for the first duration T1 are the first initial values, and the two solutions for the second duration T2 are the second initial values. We select the value greater than or equal to 0 from the first initial values ​​as the value of the first duration T1, and select the value greater than or equal to 0 from the second initial values ​​as the value of the second duration T2.

[0224] Optionally, the collision type is determined based on the first heading angle of the target terminal, the second heading angle of the target colliding object, and the lateral distance between the target terminal and the target colliding object;

[0225] The lateral distance is determined based on the distance between the target terminal and the target collision object, and the absolute value of the difference between the first heading angle and the second heading angle.

[0226] It should be noted that, considering the potentially large size difference between target terminal A and target colliding object B, which could affect the calculation of collision duration, a first size influence factor m is introduced into the above formula. A Second size influence factor m B .

[0227] First size influence factor m A Second size influence factor m B All calculations need to consider the collision type when target terminal A and target colliding object B collide. Specifically, collision types are divided into: head-on collision, head-on side collision, and side-on side collision.

[0228] A head-on collision refers to a collision between the front of target terminal A and the front of target collision object B; a head-on side collision refers to a collision between the front of target terminal A and the side of target collision object B, or a collision between the side of target terminal A and the front of target collision object B; a side-to-side collision refers to a collision between the side of target terminal A and the side of target collision object B.

[0229] The angle between the first heading angle and the second heading angle is determined as the absolute value of the difference between the first heading angle and the second heading angle, Δθ = |θ A -θ B |, based on the included angle and the distance l between target terminal A and target colliding object B AB Determine the lateral distance d = l between target terminal A and target colliding object B. AB *sinΔα.

[0230] The process of determining the collision type based on the included angle and lateral distance is as follows:

[0231] If Δθ satisfies Δθ∈[352°,8°) or Δθ∈[172°,188°) and d<3.65m, the collision type is determined to be a head-on collision; if Δθ satisfies Δθ∈[352°,8°) or Δθ∈[188°,352°) and d≥3.65m, the collision type is determined to be a side-to-side collision.

[0232] Furthermore, the first size influence factor m A Second size influence factor m B The values ​​are as follows for different collision types:

[0233] When the collision type is head-on collision, the first size influence factor Second size influence factor When the collision type is a frontal-side collision, the first size influence factor Second size influence factor When the collision type is side-to-side collision, the first size influence factor Second size influence factor

[0234] Among them, l A The length of target terminal A is represented by l.B w represents the length of the target colliding object B. A w represents the width of the target terminal A. B This represents the width of the target colliding object B.

[0235] Optionally, generating a warning message about a collision between the target terminal and the target colliding object based on the target duration includes:

[0236] The warning information is generated based on the preset collision warning sensitivity and the target duration.

[0237] It should be noted that the preset collision sensitivity can be set by the user according to different risk preferences, and warning information will be generated based on different collision warning sensitivities and target durations.

[0238] Optionally, generating the warning information based on a preset collision warning sensitivity and the target duration includes at least one of the following:

[0239] When the preset collision warning sensitivity is set to high collision warning sensitivity, and the target duration is less than or equal to a first preset duration and greater than a second preset duration, the warning information is generated.

[0240] When the preset collision warning sensitivity is medium, and the target duration is less than or equal to the second preset duration and greater than the third preset duration, the warning information is generated.

[0241] The warning information is generated when the preset collision warning sensitivity is low and the target duration is less than or equal to the third preset duration.

[0242] Wherein, the first preset duration is greater than the second preset duration, and the second preset duration is greater than the third preset duration.

[0243] The process of generating the warning information based on the preset collision warning sensitivity and target duration is as follows:

[0244] First, calculate the absolute value of the difference between the first duration T1 and the second duration T2, ΔT = |T1-T2|. ΔT represents the probability of a collision between target terminal A and target collision object B. The larger ΔT is, the lower the risk of a collision between target terminal A and target collision object B.

[0245] If there is a risk of collision, a collision warning will be generated. Users can select the collision warning sensitivity on the target terminal according to their risk preferences. After selection, the collision warning notification can be adjusted according to the user's choice. If the user selects "High" collision sensitivity (high collision warning sensitivity), it means that the user has a low risk tolerance and is risk-averse. When 10s < ΔT ≤ 15s, a collision warning will pop up for the user, i.e., a warning message will be generated. If the user selects "Medium" collision sensitivity (medium collision warning sensitivity), it means that the user has a moderate risk tolerance and is risk-neutral. When 5s < ΔT ≤ 10s, a collision warning will pop up for the user, i.e., a warning message will be generated. If the user selects "Low" collision sensitivity (low collision warning sensitivity), it means that the user has a high risk tolerance and is risk-seeking. When ΔT ≤ 5s, a collision warning will pop up for the user, i.e., a warning message will be generated.

[0246] Optionally, the method further includes:

[0247] If both the first and second durations are less than the fourth preset duration, the warning information will not be generated.

[0248] Wherein, the first duration is the duration of the collision between the target terminal and the target colliding object along the tangential direction of the meridian, obtained based on the first motion state data and the second motion state data;

[0249] The second duration is the duration of the collision between the target terminal and the target colliding object along the tangent direction of the latitude, obtained based on the first motion state data and the second motion state data.

[0250] Preferably, the fourth preset duration is 30s. If the first duration T1 of the collision between target terminal A and target colliding object B in the meridian direction is greater than or equal to 0s and less than 30s, and the second duration T2 of the collision between target terminal A and target colliding object B in the parallel direction is greater than or equal to 0s and less than 30s, it is considered that target terminal A and target colliding object B are unlikely to have a collision risk in a short period of time, and no collision information is generated.

[0251] The process of determining the value of the first duration T1 and the value of the second duration T2 is as described above and will not be repeated here.

[0252] The following is combined with Figure 3 This section provides a detailed explanation of the specific procedures for vehicle collision warning methods.

[0253] The MEC module outputs structured fusion sensing data, reporting the motion status data of traffic participants and obstacles to the cloud control platform in real time at a frequency of 10Hz. The terminal reports the motion status data of the vehicle it is located in to the cloud control platform in real time at a frequency of 10Hz via the 5G Uu port. The cloud control platform performs fusion, cleaning and other preprocessing on the motion status data of traffic participants and obstacles reported by the MEC module and the motion status data of the vehicle reported by the terminal. Then, it sends the motion status data of the target obstacle within the influence range of the target terminal to the target terminal that requested the data. The target terminal determines whether there is a risk of collision with the target obstacle. If there is a risk of collision, it generates a warning message according to the collision warning sensitivity set by different users based on their risk preferences.

[0254] The following is combined with Figure 4 The specific process for generating early warning information will be explained in detail.

[0255] To determine the collision type when target terminal A and target collision object B collide, the velocity and acceleration of target terminal A are decomposed into the meridian and parallel directions, respectively, as are the velocity and acceleration of target collision object B. Motion equations considering size influence factors are established for the meridian and parallel directions, respectively. By solving the simultaneous motion equations, the first duration T1 and the second duration T2 of the collision between target terminal A and target collision object B along the meridian direction are obtained. It is then determined whether both the first duration T1 and the second duration T2 are less than 30 seconds. If not, it indicates no risk of collision. If so, the absolute value of the difference between the first duration T1 and the second duration T2 is calculated. This value represents the probability of a lateral collision between target terminal A and target collision object B. Based on different users' risk preferences, early warning information is generated.

[0256] The vehicle collision warning method provided in this invention improves the user experience of collision warning scenarios for consumers, particularly in the field of vehicle-road cooperation, within the context of intelligent transportation. As a crucial component of the current intelligent transportation industry, accurate warnings and presentation of collision scenarios for consumers are a hot topic pursued by various manufacturers. This invention improves the refinement and personalization of collision warning scenarios in the intelligent transportation industry, thereby promoting industry development.

[0257] The vehicle collision warning system provided in this invention includes a central cloud platform or edge cloud platform, roadside equipment, a fusion sensing MEC module, terminals, a 5G network, and a data processing module. This system improves the comprehensiveness and accuracy of the data required for collision judgment methods. The cloud control platform can receive data from roadside equipment and mobile terminal data, and perform data fusion, cleaning, and preprocessing operations. This solves problems such as limited sensing range, blind spots in sensing data, and applicability to long-tail scenarios, obtaining truly comprehensive data on all surrounding traffic participants, such as motor vehicles, non-motor vehicles, and pedestrians, avoiding omissions. For the target terminal requesting data, the cloud control platform can send point-to-point motion status data of target obstacles within the target terminal's influence range, reducing invalid and redundant information received by the target terminal, reducing the difficulty and latency of collision risk judgment, and improving the precision and universality of collision judgment methods and collision warnings. This invention also considers the types of traffic participants and the impact of size on collision judgment. Therefore, when calculating the duration of a collision, the size influence factor is taken into account, and the risk preferences of different users are also considered. Users with different risk preferences need to set different collision warning sensitivities to improve the practicality and refinement of the algorithm. The vehicle collision warning method provided by this invention has a low installation threshold and low installation cost, requiring only the installation of an APP on the target terminal. It features small size, convenient installation, and comprehensive functions, and its lightweight design enables ordinary non-connected vehicles to judge their own collision risk in real time.

[0258] like Figure 5 As shown, this embodiment of the invention also provides a vehicle collision warning method applied to a cloud control platform, the method comprising:

[0259] Step 501: Send the first motion state data of the target collision object to the target terminal, so that the target terminal can obtain the target duration of the collision between the target terminal and the target collision object based on the first motion state data and the second motion state data, and generate a warning message of the collision between the target terminal and the target collision object based on the target duration;

[0260] Wherein, the target collision object is a collision object located within the influence range of the target terminal;

[0261] The second motion state data is the motion state data of the target terminal;

[0262] The range of influence is determined based on a preset distance, the second motion state data, and the third motion state data;

[0263] The third motion state data is the motion state data of the colliding object located within a preset range of the target terminal.

[0264] In this embodiment of the invention, by sending the first motion state data of the target colliding object to the target terminal requesting data, the target terminal can obtain the target duration of the collision between the target terminal and the target colliding object based on the first motion state data and the second motion state data, and generate early warning information of the collision between the target terminal and the target colliding object based on the target duration, which can reduce the problem of omissions in the collision risk judgment results.

[0265] Optionally, before sending the first motion state data of the target colliding object to the target terminal, the method further includes:

[0266] Acquire data from roadside sensing devices and data from mobile terminals.

[0267] The data from the sensing device and the mobile terminal are processed to obtain fused data;

[0268] The fused data includes the first motion state data.

[0269] Please continue reading. Figure 2 The cloud control platform can receive data from roadside devices and mobile terminal data, and perform data fusion, cleaning and preprocessing. It can solve the problems of limited sensing range, blind spots in sensing data and suitability for long-tail scenarios, and obtain data on all surrounding traffic participants such as motor vehicles, non-motor vehicles and pedestrians, avoiding omissions.

[0270] The cloud control platform can send motion status data of target obstacles within the target terminal's influence range point-to-point to the target terminal requesting data. This reduces the amount of invalid and redundant information received by the target terminal, reduces the difficulty and latency in judging collision risks, and improves the precision and universality of collision judgment methods and collision warnings.

[0271] like Figure 6 As shown, this embodiment of the invention also provides a vehicle collision warning device, applied to a target terminal, the device comprising:

[0272] The first acquisition module 601 is used to acquire the first motion state data of the target collision object sent by the cloud control platform; the target collision object is a collision object located within the influence range of the target terminal;

[0273] The determining module 602 is used to obtain the target duration of the collision between the target terminal and the target colliding object based on the first motion state data and the second motion state data; the second motion state data is the motion state data of the target terminal.

[0274] The early warning module 603 is used to generate early warning information about a collision between the target terminal and the target colliding object based on the target duration;

[0275] The influence range is determined based on a preset distance, the second motion state data, and the third motion state data; the third motion state data is the motion state data of the colliding object located within a preset range of the target terminal.

[0276] In this embodiment of the invention, by acquiring the first motion state data of the target collision object sent by the cloud control platform, the perception range can be expanded and the blind spots in the perception data can be reduced. Based on the first motion state data of the target collision object and the second motion state data of the target terminal, the target duration can be obtained. Based on the target duration, a warning message of a collision between the target terminal and the target collision object can be generated, which can reduce the problem of omissions in the collision risk judgment results.

[0277] Optionally, the determining module 602 includes:

[0278] The first determining unit is used to obtain, based on the first motion state data and the second motion state data, the first duration of the collision between the target terminal and the target colliding object along the tangential direction of the meridian;

[0279] The second determining unit is used to obtain, based on the first motion state data and the second motion state data, the second duration of the collision between the target terminal and the target colliding object along the tangential direction of the latitude line;

[0280] The third determining unit is used to obtain the target duration based on the first duration and the second duration.

[0281] Optionally, the first determining unit is specifically used for:

[0282] The first initial value is obtained based on the first velocity, first acceleration, first distance, first size influence factor and first heading angle of the target terminal, and the second velocity, second acceleration, second distance, second size influence factor and second heading angle of the target colliding object;

[0283] The value greater than or equal to zero in the first initial value is used as the value of the first duration;

[0284] Wherein, the first velocity is the component of the velocity of the target terminal along the tangent direction of the meridian;

[0285] The first acceleration is the component of the acceleration of the target terminal along the tangent direction of the meridian;

[0286] The first distance is determined based on the current position of the target terminal and the predicted collision location between the target terminal and the target colliding object;

[0287] The first size influence factor is determined based on the collision type of the target terminal colliding with the target colliding object, the length of the target terminal, and the width of the target terminal;

[0288] The first motion state data includes the first velocity, the first acceleration, and the first heading angle;

[0289] The second velocity is the component of the velocity of the target colliding object along the tangent direction of the meridian;

[0290] The second acceleration is the component of the acceleration of the target colliding object along the tangent direction of the meridian;

[0291] The second distance is determined based on the current position of the target collider and the predicted collision point between the target terminal and the target collider;

[0292] The second size influence factor is determined based on the collision type of the target terminal colliding with the target collider, the length of the target collider, and the width of the target collider;

[0293] The second motion state data includes the second velocity, the second acceleration, and the second heading angle;

[0294] The predicted collision location is the location where the target terminal and the target colliding object will collide within a preset time period without changing their heading angle, speed, and acceleration.

[0295] Optionally, the second determining unit is specifically used for:

[0296] The second initial value is obtained based on the third velocity, third acceleration, first distance, first size influence factor and first heading angle of the target terminal, and the fourth velocity, fourth acceleration, second distance, second size influence factor and second heading angle of the target colliding object;

[0297] Use the value greater than or equal to zero in the second initial value as the value of the second duration;

[0298] Wherein, the third velocity is the component of the target terminal's velocity along the tangent direction of the parallel of latitude;

[0299] The third acceleration is the component of the target terminal's acceleration along the tangent direction of the parallel;

[0300] The first distance is determined based on the current position of the target terminal and the predicted collision location between the target terminal and the target colliding object;

[0301] The first size influence factor is determined based on the collision type of the target terminal colliding with the target colliding object, the length of the target terminal, and the width of the target terminal;

[0302] The first motion state data includes the third velocity, the third acceleration, and the first heading angle;

[0303] The fourth velocity is the component of the velocity of the target colliding object along the tangent direction of the latitude line;

[0304] The fourth acceleration is the component of the acceleration of the target colliding object along the tangent direction of the latitude line;

[0305] The second distance is determined based on the current position of the target collider and the predicted collision point between the target terminal and the target collider;

[0306] The second size influence factor is determined based on the collision type of the target terminal colliding with the target collider, the length of the target collider, and the width of the target collider;

[0307] The second motion state data includes the fourth velocity, the fourth acceleration, and the second heading angle;

[0308] The predicted collision location is the location where the target terminal and the target colliding object will collide within a preset time period without changing their heading angle, speed, and acceleration.

[0309] Optionally, the collision type is determined based on the first heading angle of the target terminal, the second heading angle of the target colliding object, and the lateral distance between the target terminal and the target colliding object;

[0310] The lateral distance is determined based on the distance between the target terminal and the target collision object, and the absolute value of the difference between the first heading angle and the second heading angle.

[0311] Optionally, the early warning module 603 includes:

[0312] The early warning unit is used to generate the early warning information based on the preset collision warning sensitivity and the target duration.

[0313] Optionally, the warning unit is specifically used for at least one of the following:

[0314] When the preset collision warning sensitivity is set to high collision warning sensitivity, and the target duration is less than or equal to a first preset duration and greater than a second preset duration, the warning information is generated.

[0315] When the preset collision warning sensitivity is medium, and the target duration is less than or equal to the second preset duration and greater than the third preset duration, the warning information is generated.

[0316] The warning information is generated when the preset collision warning sensitivity is low and the target duration is less than or equal to the third preset duration.

[0317] Wherein, the first preset duration is greater than the second preset duration, and the second preset duration is greater than the third preset duration.

[0318] Optionally, the device further includes:

[0319] The processing module is configured not to generate the warning information if both the first duration and the second duration are less than the fourth preset duration.

[0320] Wherein, the first duration is the duration of the collision between the target terminal and the target colliding object along the tangential direction of the meridian, obtained based on the first motion state data and the second motion state data;

[0321] The second duration is the duration of the collision between the target terminal and the target colliding object along the tangent direction of the latitude line, obtained based on the first motion state data and the second motion state data.

[0322] It should be noted that the vehicle collision warning device provided in the embodiments of the present invention is a device capable of executing the above-described vehicle collision warning method applied to a target terminal. Therefore, all embodiments of the above-described vehicle collision warning method applied to a target terminal are applicable to this device and can achieve the same or similar technical effects.

[0323] like Figure 7 As shown, this embodiment of the invention also provides a vehicle collision warning device applied to a cloud control platform, the device comprising:

[0324] The sending module 701 is used to send first motion state data of the target collision object to the target terminal, so that the target terminal can obtain the target duration of the collision between the target terminal and the target collision object based on the first motion state data and the second motion state data, and generate early warning information of the collision between the target terminal and the target collision object based on the target duration;

[0325] Wherein, the target collision object is a collision object located within the influence range of the target terminal;

[0326] The second motion state data is the motion state data of the target terminal;

[0327] The range of influence is determined based on a preset distance, the second motion state data, and the third motion state data;

[0328] The third motion state data is the motion state data of the colliding object located within a preset range of the target terminal.

[0329] In this embodiment of the invention, by sending the first motion state data of the target colliding object to the target terminal requesting data, the target terminal can obtain the target duration of the collision between the target terminal and the target colliding object based on the first motion state data and the second motion state data, and generate early warning information of the collision between the target terminal and the target colliding object based on the target duration, which can reduce the problem of omissions in the collision risk judgment results.

[0330] Optionally, the device further includes:

[0331] The second acquisition module is used to acquire sensing device data sent by roadside sensing devices and mobile terminal data sent by mobile terminals.

[0332] The processing module is used to process the data from the sensing device and the data from the mobile terminal to obtain fused data;

[0333] The fused data includes the first motion state data.

[0334] It should be noted that the vehicle collision warning device provided in this embodiment of the invention is a device capable of executing the above-described vehicle collision warning method applied to a cloud control platform. Therefore, all embodiments of the above-described vehicle collision warning method applied to a cloud control platform are applicable to this device and can achieve the same or similar technical effects.

[0335] like Figure 8 As shown, this embodiment of the invention also provides a vehicle dispatching device, including: a processor 801, a memory 802, and a program stored in the memory 802 and executable on the processor 801. When the program is executed by the processor 801, it implements the above-described vehicle collision warning method.

[0336] Optionally, it also includes a transceiver 803, which is used to receive and send data under the control of the processor 801.

[0337] Specifically, the processor 801 is configured to: acquire first motion state data of the target collision object sent by the cloud control platform; the target collision object is a collision object located within the influence range of the target terminal;

[0338] Based on the first motion state data and the second motion state data, the target duration of the collision between the target terminal and the target colliding object is obtained; the second motion state data is the motion state data of the target terminal.

[0339] Based on the target duration, a warning message is generated indicating that the target terminal and the target colliding object will collide.

[0340] The influence range is determined based on a preset distance, the second motion state data, and the third motion state data; the third motion state data is the motion state data of the colliding object located within a preset range of the target terminal.

[0341] Optionally, the processor 801 is specifically used for:

[0342] Based on the first motion state data and the second motion state data, the first duration of the collision between the target terminal and the target colliding object along the tangential direction of the meridian is obtained;

[0343] Based on the first motion state data and the second motion state data, the second duration of the collision between the target terminal and the target colliding object along the tangential direction of the latitude line is obtained;

[0344] The target duration is obtained based on the first duration and the second duration.

[0345] Optionally, the processor 801 is specifically used for:

[0346] The first initial value is obtained based on the first velocity, first acceleration, first distance, first size influence factor and first heading angle of the target terminal, and the second velocity, second acceleration, second distance, second size influence factor and second heading angle of the target colliding object;

[0347] The value greater than or equal to zero in the first initial value is used as the value of the first duration;

[0348] Wherein, the first velocity is the component of the velocity of the target terminal along the tangent direction of the meridian;

[0349] The first acceleration is the component of the acceleration of the target terminal along the tangent direction of the meridian;

[0350] The first distance is determined based on the current position of the target terminal and the predicted collision location between the target terminal and the target colliding object;

[0351] The first size influence factor is determined based on the collision type of the target terminal colliding with the target colliding object, the length of the target terminal, and the width of the target terminal;

[0352] The first motion state data includes the first velocity, the first acceleration, and the first heading angle;

[0353] The second velocity is the component of the velocity of the target colliding object along the tangent direction of the meridian;

[0354] The second acceleration is the component of the acceleration of the target colliding object along the tangent direction of the meridian;

[0355] The second distance is determined based on the current position of the target collider and the predicted collision point between the target terminal and the target collider;

[0356] The second size influence factor is determined based on the collision type of the target terminal colliding with the target collider, the length of the target collider, and the width of the target collider;

[0357] The second motion state data includes the second velocity, the second acceleration, and the second heading angle;

[0358] The predicted collision location is the location where the target terminal and the target colliding object will collide within a preset time period without changing their heading angle, speed, and acceleration.

[0359] Optionally, the processor 801 is specifically used for:

[0360] The second initial value is obtained based on the third velocity, third acceleration, first distance, first size influence factor and first heading angle of the target terminal, and the fourth velocity, fourth acceleration, second distance, second size influence factor and second heading angle of the target colliding object;

[0361] Use the value greater than or equal to zero in the second initial value as the value of the second duration;

[0362] Wherein, the third velocity is the component of the target terminal's velocity along the tangent direction of the parallel of latitude;

[0363] The third acceleration is the component of the target terminal's acceleration along the tangent direction of the parallel;

[0364] The first distance is determined based on the current position of the target terminal and the predicted collision location between the target terminal and the target colliding object;

[0365] The first size influence factor is determined based on the collision type of the target terminal colliding with the target colliding object, the length of the target terminal, and the width of the target terminal;

[0366] The first motion state data includes the third velocity, the third acceleration, and the first heading angle;

[0367] The fourth velocity is the component of the velocity of the target colliding object along the tangent direction of the latitude line;

[0368] The fourth acceleration is the component of the acceleration of the target colliding object along the tangent direction of the latitude line;

[0369] The second distance is determined based on the current position of the target collider and the predicted collision point between the target terminal and the target collider;

[0370] The second size influence factor is determined based on the collision type of the target terminal colliding with the target collider, the length of the target collider, and the width of the target collider;

[0371] The second motion state data includes the fourth velocity, the fourth acceleration, and the second heading angle;

[0372] The predicted collision location is the location where the target terminal and the target colliding object will collide within a preset time period without changing their heading angle, speed, and acceleration.

[0373] Optionally, the collision type is determined based on the first heading angle of the target terminal, the second heading angle of the target colliding object, and the lateral distance between the target terminal and the target colliding object;

[0374] The lateral distance is determined based on the distance between the target terminal and the target collision object, and the absolute value of the difference between the first heading angle and the second heading angle.

[0375] Optionally, the processor 801 is specifically used for:

[0376] The warning information is generated based on the preset collision warning sensitivity and the target duration.

[0377] Optionally, the processor 801 is specifically used for at least one of the following:

[0378] When the preset collision warning sensitivity is set to high collision warning sensitivity, and the target duration is less than or equal to a first preset duration and greater than a second preset duration, the warning information is generated.

[0379] When the preset collision warning sensitivity is medium, and the target duration is less than or equal to the second preset duration and greater than the third preset duration, the warning information is generated.

[0380] The warning information is generated when the preset collision warning sensitivity is low and the target duration is less than or equal to the third preset duration.

[0381] Wherein, the first preset duration is greater than the second preset duration, and the second preset duration is greater than the third preset duration.

[0382] Optionally, the processor 801 is further configured to:

[0383] If both the first and second durations are less than the fourth preset duration, the warning information will not be generated.

[0384] Wherein, the first duration is the duration of the collision between the target terminal and the target colliding object along the tangential direction of the meridian, obtained based on the first motion state data and the second motion state data;

[0385] The second duration is the duration of the collision between the target terminal and the target colliding object along the tangent direction of the latitude line, obtained based on the first motion state data and the second motion state data.

[0386] Among them, Figure 8 In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (processor 801) and memory (memory 802). The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. A bus interface provides a user interface 804. A transceiver 803 can be multiple elements, including transmitters and receivers, providing a unit for communicating with various other devices over a transmission medium. Processor 801 is responsible for managing the bus architecture and general processing, and memory 802 can store data used by processor 801 during operation.

[0387] like Figure 9 As shown, this embodiment of the invention also provides a vehicle dispatching device, including: a processor 901, a memory 902, and a program stored in the memory 902 and executable on the processor 901. When the program is executed by the processor 901, it implements the above-described vehicle collision warning method.

[0388] Optionally, it also includes a transceiver 903, which is used to receive and send data under the control of the processor 901.

[0389] Specifically, the transceiver 903 is used for:

[0390] Send the first motion state data of the target collision object to the target terminal, so that the target terminal can obtain the target duration of the collision between the target terminal and the target collision object based on the first motion state data and the second motion state data, and generate a warning message of the collision between the target terminal and the target collision object based on the target duration;

[0391] Wherein, the target collision object is a collision object located within the influence range of the target terminal;

[0392] The second motion state data is the motion state data of the target terminal;

[0393] The range of influence is determined based on a preset distance, the second motion state data, and the third motion state data;

[0394] The third motion state data is the motion state data of the colliding object located within a preset range of the target terminal.

[0395] Optionally, the processor 901 is configured to:

[0396] Acquire data from roadside sensing devices and data from mobile terminals.

[0397] The data from the sensing device and the mobile terminal are processed to obtain fused data;

[0398] The fused data includes the first motion state data.

[0399] Among them, Figure 9 In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (processor 901) and memory (memory 902). The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. A bus interface provides a user interface 904. A transceiver 903 can be multiple elements, including transmitters and receivers, providing a unit for communicating with various other devices over a transmission medium. Processor 901 is responsible for managing the bus architecture and general processing, and memory 902 can store data used by processor 901 during operation.

[0400] In addition, specific embodiments of the present invention also provide a readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the steps in the vehicle collision warning method as described above.

[0401] The above describes the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also within the scope of protection of the present invention.

Claims

1. A vehicle collision warning method, characterized in that, Applied to a target terminal, the method includes: Acquire the first motion state data of the target collision object sent by the cloud control platform; the target collision object is a collision object located within the influence range of the target terminal; Based on the first motion state data and the second motion state data, the target duration of the collision between the target terminal and the target colliding object is obtained; the second motion state data is the motion state data of the target terminal. Based on the target duration, a warning message is generated indicating that the target terminal and the target colliding object will collide. The influence range is determined based on a preset distance, the second motion state data, and the third motion state data; the third motion state data is the motion state data of the colliding object located within the preset range of the target terminal. The step of obtaining the target duration of the collision between the target terminal and the target colliding object based on the first motion state data and the second motion state data includes: Based on the first motion state data and the second motion state data, the first duration of the collision between the target terminal and the target colliding object along the tangential direction of the meridian is obtained. Based on the first motion state data and the second motion state data, the second duration of the collision between the target terminal and the target colliding object along the tangential direction of the latitude line is obtained; The target duration is obtained based on the first duration and the second duration; The step of obtaining the first duration of the collision between the target terminal and the target colliding object along the tangential direction of the meridian, based on the first motion state data and the second motion state data, includes: The first initial value is obtained based on the first velocity, first acceleration, first distance, first size influence factor and first heading angle of the target terminal, and the second velocity, second acceleration, second distance, second size influence factor and second heading angle of the target colliding object; The value greater than or equal to zero in the first initial value is used as the value of the first duration; Wherein, the first velocity is the component of the target terminal's velocity along the tangent direction of the meridian; the first acceleration is the component of the target terminal's acceleration along the tangent direction of the meridian; the first distance is determined based on the current position of the target terminal and the predicted collision point between the target terminal and the target collider; the first size influence factor is determined based on the collision type of the target terminal and the target collider, the length of the target terminal, and the width of the target terminal; the first motion state data includes the first velocity, the first acceleration, and the first heading angle; the second velocity is the component of the target collider's velocity along the tangent direction of the meridian. The second acceleration is the component of the acceleration of the target colliding object along the tangent direction of the meridian; the second distance is determined based on the current position of the target colliding object and the predicted conflict position of the collision point between the target terminal and the target colliding object; the second size influence factor is determined based on the collision type of the collision between the target terminal and the target colliding object, the length of the target colliding object, and the width of the target colliding object; the second motion state data includes the second velocity, the second acceleration, and the second heading angle; the predicted conflict position is the position where the target terminal and the target colliding object collide within a preset time period without changing their heading angle, velocity, and acceleration.

2. The vehicle collision warning method according to claim 1, characterized in that, The step of obtaining the second duration of the collision between the target terminal and the target colliding object along the tangential direction of the latitude line based on the first motion state data and the second motion state data includes: The second initial value is obtained based on the third velocity, third acceleration, first distance, first size influence factor and first heading angle of the target terminal, and the fourth velocity, fourth acceleration, second distance, second size influence factor and second heading angle of the target colliding object; Use the value greater than or equal to zero in the second initial value as the value of the second duration; Wherein, the third velocity is the component of the target terminal's velocity along the tangent direction of the parallel of latitude; The third acceleration is the component of the target terminal's acceleration along the tangent direction of the parallel; The first distance is determined based on the current position of the target terminal and the predicted collision location between the target terminal and the target colliding object; The first size influence factor is determined based on the collision type of the target terminal colliding with the target colliding object, the length of the target terminal, and the width of the target terminal; The first motion state data includes the third velocity, the third acceleration, and the first heading angle; The fourth velocity is the component of the velocity of the target colliding object along the tangent direction of the latitude line; The fourth acceleration is the component of the acceleration of the target colliding object along the tangent direction of the latitude line; The second distance is determined based on the current position of the target collider and the predicted collision point between the target terminal and the target collider; The second size influence factor is determined based on the collision type of the target terminal colliding with the target collider, the length of the target collider, and the width of the target collider; The second motion state data includes the fourth velocity, the fourth acceleration, and the second heading angle; The predicted collision location is the location where the target terminal and the target colliding object will collide within a preset time period without changing their heading angle, speed, and acceleration.

3. The vehicle collision warning method according to claim 1 or 2, characterized in that, The collision type is determined based on the first heading angle of the target terminal, the second heading angle of the target colliding object, and the lateral distance between the target terminal and the target colliding object; The lateral distance is determined based on the distance between the target terminal and the target collision object, and the absolute value of the difference between the first heading angle and the second heading angle.

4. The vehicle collision warning method according to claim 1, characterized in that, The step of generating a warning message about a collision between the target terminal and the target colliding object based on the target duration includes: The warning information is generated based on the preset collision warning sensitivity and the target duration.

5. The vehicle collision warning method according to claim 4, characterized in that, The step of generating the warning information based on the preset collision warning sensitivity and the target duration includes at least one of the following: When the preset collision warning sensitivity is set to high collision warning sensitivity, and the target duration is less than or equal to a first preset duration and greater than a second preset duration, the warning information is generated. When the preset collision warning sensitivity is medium, and the target duration is less than or equal to the second preset duration and greater than the third preset duration, the warning information is generated. The warning information is generated when the preset collision warning sensitivity is low and the target duration is less than or equal to the third preset duration. Wherein, the first preset duration is greater than the second preset duration, and the second preset duration is greater than the third preset duration.

6. The vehicle collision warning method according to claim 1, characterized in that, The method further includes: If both the first and second durations are less than the fourth preset duration, the warning information will not be generated. Wherein, the first duration is the duration of the collision between the target terminal and the target colliding object along the tangential direction of the meridian, obtained based on the first motion state data and the second motion state data; The second duration is the duration of the collision between the target terminal and the target colliding object along the tangent direction of the latitude line, obtained based on the first motion state data and the second motion state data.

7. A vehicle collision warning method, characterized in that, Applied to a cloud control platform, the method includes: Send the first motion state data of the target collision object to the target terminal, so that the target terminal can obtain the target duration of the collision between the target terminal and the target collision object based on the first motion state data and the second motion state data, and generate a warning message of the collision between the target terminal and the target collision object based on the target duration; Wherein, the target collision object is a collision object located within the influence range of the target terminal; the second motion state data is the motion state data of the target terminal; the influence range is determined based on a preset distance, the second motion state data, and the third motion state data; the third motion state data is the motion state data of a collision object located within a preset range of the target terminal; The step of obtaining the target duration of the collision between the target terminal and the target colliding object based on the first motion state data and the second motion state data includes: Based on the first motion state data and the second motion state data, the first duration of the collision between the target terminal and the target colliding object along the tangential direction of the meridian is obtained. Based on the first motion state data and the second motion state data, the second duration of the collision between the target terminal and the target colliding object along the tangential direction of the latitude line is obtained; The target duration is obtained based on the first duration and the second duration; The step of obtaining the first duration of the collision between the target terminal and the target colliding object along the tangential direction of the meridian, based on the first motion state data and the second motion state data, includes: The first initial value is obtained based on the first velocity, first acceleration, first distance, first size influence factor and first heading angle of the target terminal, and the second velocity, second acceleration, second distance, second size influence factor and second heading angle of the target colliding object; The value greater than or equal to zero in the first initial value is used as the value of the first duration; Wherein, the first velocity is the component of the target terminal's velocity along the tangent direction of the meridian; the first acceleration is the component of the target terminal's acceleration along the tangent direction of the meridian; the first distance is determined based on the current position of the target terminal and the predicted collision point between the target terminal and the target collider; the first size influence factor is determined based on the collision type of the target terminal and the target collider, the length of the target terminal, and the width of the target terminal; the first motion state data includes the first velocity, the first acceleration, and the first heading angle; the second velocity is the component of the target collider's velocity along the tangent direction of the meridian. The second acceleration is the component of the acceleration of the target colliding object along the tangent direction of the meridian; the second distance is determined based on the current position of the target colliding object and the predicted conflict position of the collision point between the target terminal and the target colliding object; the second size influence factor is determined based on the collision type of the collision between the target terminal and the target colliding object, the length of the target colliding object, and the width of the target colliding object; the second motion state data includes the second velocity, the second acceleration, and the second heading angle; the predicted conflict position is the position where the target terminal and the target colliding object collide within a preset time period without changing their heading angle, velocity, and acceleration.

8. The vehicle collision warning method according to claim 7, characterized in that, Before sending the first motion state data of the target colliding object to the target terminal, the method further includes: Acquire data from roadside sensing devices and data from mobile terminals. The data from the sensing device and the mobile terminal are processed to obtain fused data; The fused data includes the first motion state data.

9. A vehicle collision warning device, characterized in that, Applied to a target terminal, the device includes: The first acquisition module is used to acquire the first motion state data of the target collision object sent by the cloud control platform; the target collision object is a collision object located within the influence range of the target terminal; The determining module is used to obtain the target duration of the collision between the target terminal and the target colliding object based on the first motion state data and the second motion state data; the second motion state data is the motion state data of the target terminal. The early warning module is used to generate early warning information about a collision between the target terminal and the target colliding object based on the target duration. The influence range is determined based on a preset distance, the second motion state data, and the third motion state data; the third motion state data is the motion state data of the colliding object located within the preset range of the target terminal. The determining module includes: The first determining unit is used to obtain, based on the first motion state data and the second motion state data, the first duration of the collision between the target terminal and the target colliding object along the tangential direction of the meridian; The second determining unit is used to obtain, based on the first motion state data and the second motion state data, the second duration of the collision between the target terminal and the target colliding object along the tangential direction of the latitude line; The third determining unit is used to obtain the target duration based on the first duration and the second duration; The first determining unit is specifically used for: The first initial value is obtained based on the first velocity, first acceleration, first distance, first size influence factor and first heading angle of the target terminal, and the second velocity, second acceleration, second distance, second size influence factor and second heading angle of the target colliding object; The value greater than or equal to zero in the first initial value is used as the value of the first duration; Wherein, the first velocity is the component of the target terminal's velocity along the tangent direction of the meridian; the first acceleration is the component of the target terminal's acceleration along the tangent direction of the meridian; the first distance is determined based on the current position of the target terminal and the predicted collision point between the target terminal and the target collider; the first size influence factor is determined based on the collision type of the target terminal and the target collider, the length of the target terminal, and the width of the target terminal; the first motion state data includes the first velocity, the first acceleration, and the first heading angle; the second velocity is the component of the target collider's velocity along the tangent direction of the meridian. The second acceleration is the component of the acceleration of the target colliding object along the tangent direction of the meridian; the second distance is determined based on the current position of the target colliding object and the predicted conflict position of the collision point between the target terminal and the target colliding object; the second size influence factor is determined based on the collision type of the collision between the target terminal and the target colliding object, the length of the target colliding object, and the width of the target colliding object; the second motion state data includes the second velocity, the second acceleration, and the second heading angle; the predicted conflict position is the position where the target terminal and the target colliding object collide within a preset time period without changing their heading angle, velocity, and acceleration.

10. A vehicle collision warning device, characterized in that, The device, applied to a cloud control platform, includes: The sending module is used to send the first motion state data of the target collision object to the target terminal, so that the target terminal can obtain the target duration of the collision between the target terminal and the target collision object based on the first motion state data and the second motion state data, and generate a warning message of the collision between the target terminal and the target collision object based on the target duration; Wherein, the target collision object is a collision object located within the influence range of the target terminal; The second motion state data is the motion state data of the target terminal; The range of influence is determined based on a preset distance, the second motion state data, and the third motion state data; The third motion state data is the motion state data of the colliding object located within a preset range of the target terminal; The step of obtaining the target duration of the collision between the target terminal and the target colliding object based on the first motion state data and the second motion state data includes: Based on the first motion state data and the second motion state data, the first duration of the collision between the target terminal and the target colliding object along the tangential direction of the meridian is obtained. Based on the first motion state data and the second motion state data, the second duration of the collision between the target terminal and the target colliding object along the tangential direction of the latitude line is obtained; The target duration is obtained based on the first duration and the second duration; The step of obtaining the first duration of the collision between the target terminal and the target colliding object along the tangential direction of the meridian, based on the first motion state data and the second motion state data, includes: The first initial value is obtained based on the first velocity, first acceleration, first distance, first size influence factor and first heading angle of the target terminal, and the second velocity, second acceleration, second distance, second size influence factor and second heading angle of the target colliding object; The value greater than or equal to zero in the first initial value is used as the value of the first duration; Wherein, the first velocity is the component of the target terminal's velocity along the tangent direction of the meridian; the first acceleration is the component of the target terminal's acceleration along the tangent direction of the meridian; the first distance is determined based on the current position of the target terminal and the predicted collision point between the target terminal and the target collider; the first size influence factor is determined based on the collision type of the target terminal and the target collider, the length of the target terminal, and the width of the target terminal; the first motion state data includes the first velocity, the first acceleration, and the first heading angle; the second velocity is the component of the target collider's velocity along the tangent direction of the meridian. The second acceleration is the component of the acceleration of the target colliding object along the tangent direction of the meridian; the second distance is determined based on the current position of the target colliding object and the predicted conflict position of the collision point between the target terminal and the target colliding object; the second size influence factor is determined based on the collision type of the collision between the target terminal and the target colliding object, the length of the target colliding object, and the width of the target colliding object; the second motion state data includes the second velocity, the second acceleration, and the second heading angle; the predicted conflict position is the position where the target terminal and the target colliding object collide within a preset time period without changing their heading angle, velocity, and acceleration.

11. A terminal, wherein the terminal is a target terminal, characterized in that, include: A processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the steps of the vehicle collision warning method as described in any one of claims 1 to 6.

12. A cloud control platform, characterized in that, include: A processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the steps of the vehicle collision warning method as described in claim 7 or 8.

13. A readable storage medium, characterized in that, The readable storage medium stores a program that, when executed by a processor, implements the steps of the vehicle collision warning method as described in any one of claims 1 to 6, or implements the steps of the vehicle collision warning method as described in claim 7 or 8.

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