Vehicle collision warning method and device, computer readable storage medium and vehicle

Abstract

The application belongs to the technical field of intelligent driving, and particularly relates to a vehicle collision warning method and device, a computer readable storage medium and a vehicle. The method comprises the following steps: obtaining driving information of a first vehicle; receiving driving information of each vehicle in a risk vehicle set; the risk vehicle set is a set composed of two or more vehicles with collision risks; calculating a collision risk value between the first vehicle and the risk vehicle set according to the driving information of the first vehicle and the driving information of each vehicle in the risk vehicle set; and determining a collision warning result of the first vehicle according to the collision risk value between the first vehicle and the risk vehicle set. Through the application, the collision risk between the first vehicle and other vehicles with collision risks can be evaluated by regarding the other vehicles as a whole in various complex scenarios, so that the occurrence of a multi-vehicle continuous rear-end collision accident can be effectively avoided.

Description

Technical Field

[0001] This application belongs to the field of intelligent driving technology, and in particular relates to a vehicle collision warning method, device, computer-readable storage medium, and vehicle. Background Technology

[0002] Traffic accidents often result in severe injuries and fatalities from vehicle collisions. With increasingly congested urban roads, vehicle collisions have become one of the most critical issues for road safety. Therefore, a precise and effective vehicle collision warning method is urgently needed.

[0003] Currently, vehicle collision warning methods are mainly classified into the following categories: 1. Point, circle, and rectangle model warning algorithms: These treat the vehicle as a point / circle / rectangle and calculate the time to collision (TTC) based on the relative speed and distance between the vehicle and other vehicles, making warning decisions based on the TTC. 2. Collision warning algorithms for curves: These rely on the interaction between onboard sensors and roadside units to make warning decisions. 3. Vector-based collision warning algorithms: These combine collision warnings from all directions in vector form. However, these methods are generally only suitable for simple two-vehicle scenarios and are difficult to adapt to complex real-world scenarios, easily leading to multi-vehicle rear-end collisions. Summary of the Invention

[0004] In view of this, embodiments of this application provide a vehicle collision warning method, device, computer-readable storage medium, and vehicle to solve the problem that existing vehicle collision warning methods are difficult to adapt to complex real-world scenarios and are prone to causing multi-vehicle rear-end collisions.

[0005] A first aspect of this application provides a vehicle collision warning method, which may include:

[0006] Obtain the driving information of the first vehicle;

[0007] Receive driving information of each vehicle in the risk vehicle set; the risk vehicle set is a set of two or more vehicles that have a collision risk.

[0008] The collision risk value between the first vehicle and the risk vehicle set is calculated based on the driving information of the first vehicle and the driving information of each vehicle in the risk vehicle set.

[0009] The collision warning result for the first vehicle is determined based on the collision risk value between the first vehicle and the set of risky vehicles.

[0010] In one specific implementation of the first aspect, calculating the collision risk value between the first vehicle and the risk vehicle set based on the driving information of the first vehicle and the driving information of each vehicle in the risk vehicle set may include:

[0011] Calculate the safe field potential of the first vehicle based on the driving information of the first vehicle;

[0012] The safety potential of each vehicle in the risk vehicle set is calculated based on the driving information of each vehicle in the risk vehicle set.

[0013] Calculate the cooperative safety potential between the first vehicle and the risk vehicle set based on the safety potential of the first vehicle and the safety potential of each vehicle in the risk vehicle set.

[0014] The collision risk value between the first vehicle and the set of risky vehicles is calculated based on the cooperative safety potential between the first vehicle and the set of risky vehicles and the safety potential of the first vehicle.

[0015] In one specific implementation of the first aspect, calculating the cooperative safety potential between the first vehicle and the risky vehicle set based on the safety potential of the first vehicle and the safety potentials of each vehicle in the risky vehicle set may include:

[0016] Calculate the collaborative safety potential of the risk vehicle set based on the safety potential of each vehicle in the risk vehicle set;

[0017] The risk field diffusion intensity of the risk vehicle set is calculated based on the safety field potential of each vehicle in the risk vehicle set and the cooperative safety field potential of the risk vehicle set.

[0018] The diffusion risk field potential of the risk vehicle set is calculated based on the cooperative safety field potential and the risk field diffusion intensity of the risk vehicle set.

[0019] The cooperative safety potential between the first vehicle and the risky vehicle set is calculated based on the safety potential of the first vehicle and the diffusion risk potential of the risky vehicle set.

[0020] In one specific implementation of the first aspect, calculating the collision risk value between the first vehicle and the set of risky vehicles based on the cooperative safety potential between the first vehicle and the set of risky vehicles and the safety potential of the first vehicle may include:

[0021] Calculate the first field strength of the cooperative safety field potential between the first vehicle and the set of risky vehicles at the center of mass of the first vehicle;

[0022] Calculate the second field strength of the safety field potential of the first vehicle at the center of mass of the first vehicle;

[0023] The collision risk value between the first vehicle and the set of risky vehicles is calculated based on the first field strength and the second field strength.

[0024] In one specific implementation of the first aspect, the vehicle collision warning method may further include:

[0025] Receive driving information from the second vehicle;

[0026] Calculate the collision risk value between the first vehicle and the second vehicle based on the driving information of the first vehicle and the second vehicle;

[0027] The collision warning result for the first vehicle is determined based on the collision risk value between the first vehicle and the second vehicle.

[0028] In one specific implementation of the first aspect, calculating the collision risk value between the first vehicle and the second vehicle based on the driving information of the first vehicle and the second vehicle may include:

[0029] Calculate the safe field potential of the first vehicle based on the driving information of the first vehicle;

[0030] Calculate the safe field potential of the second vehicle based on the driving information of the second vehicle;

[0031] Calculate the cooperative safety potential between the first vehicle and the second vehicle based on the safety potential of the first vehicle and the safety potential of the second vehicle.

[0032] The collision risk value between the first vehicle and the second vehicle is calculated based on the cooperative safety field potential between the first vehicle and the second vehicle and the safety field potential of the first vehicle.

[0033] In one specific implementation of the first aspect, after determining the collision warning result of the first vehicle, the vehicle collision warning method may further include:

[0034] If the collision warning result of the first vehicle is a collision warning triggered, then the cooperative safety potential corresponding to the collision warning result is marked as a risk field;

[0035] The driving information of each vehicle in the risk field is sent to other vehicles.

[0036] A second aspect of this application provides a vehicle collision warning device, which may include:

[0037] The driving information acquisition module is used to acquire the driving information of the first vehicle;

[0038] The driving information receiving module is used to receive driving information of each vehicle in the risk vehicle set; the risk vehicle set is a set of two or more vehicles that have a collision risk.

[0039] The collision risk value calculation module is used to calculate the collision risk value between the first vehicle and the risk vehicle set based on the driving information of the first vehicle and the driving information of each vehicle in the risk vehicle set.

[0040] The collision warning result determination module is used to determine the collision warning result of the first vehicle based on the collision risk value between the first vehicle and the set of risky vehicles.

[0041] In one specific implementation of the second aspect, the collision risk value calculation module may include:

[0042] The safe field potential calculation submodule is used to calculate the safe field potential of the first vehicle based on the driving information of the first vehicle; and to calculate the safe field potential of each vehicle in the risk vehicle set based on the driving information of each vehicle in the risk vehicle set.

[0043] The collaborative safety potential calculation submodule is used to calculate the collaborative safety potential between the first vehicle and the risk vehicle set based on the safety potential of the first vehicle and the safety potential of each vehicle in the risk vehicle set.

[0044] The collision risk value calculation submodule is used to calculate the collision risk value between the first vehicle and the set of risky vehicles based on the cooperative safety field potential between the first vehicle and the set of risky vehicles and the safety field potential of the first vehicle.

[0045] In one specific implementation of the second aspect, the cooperative safety field potential calculation submodule can be specifically used to: calculate the cooperative safety field potential of the risk vehicle set based on the safety field potential of each vehicle in the risk vehicle set; calculate the risk field diffusion intensity of the risk vehicle set based on the safety field potential of each vehicle in the risk vehicle set and the cooperative safety field potential of the risk vehicle set; calculate the diffusion risk field potential of the risk vehicle set based on the cooperative safety field potential and the risk field diffusion intensity of the risk vehicle set; and calculate the cooperative safety field potential between the first vehicle and the risk vehicle set based on the safety field potential of the first vehicle and the diffusion risk field potential of the risk vehicle set.

[0046] In one specific implementation of the second aspect, the collision risk value calculation submodule may be specifically used to: calculate the first field strength of the cooperative safety field potential between the first vehicle and the set of risky vehicles at the center of mass of the first vehicle; calculate the second field strength of the safety field potential of the first vehicle at the center of mass of the first vehicle; and calculate the collision risk value between the first vehicle and the set of risky vehicles based on the first field strength and the second field strength.

[0047] In one specific implementation of the second aspect, the driving information receiving module can also be used to receive driving information of the second vehicle; the collision risk value calculation module can also be used to calculate the collision risk value between the first vehicle and the second vehicle based on the driving information of the first vehicle and the driving information of the second vehicle; the collision warning result determination module can also be used to determine the collision warning result of the first vehicle based on the collision risk value between the first vehicle and the second vehicle.

[0048] In one specific implementation of the second aspect, the safety field potential calculation submodule can also be used to calculate the safety field potential of the second vehicle based on the driving information of the second vehicle; the cooperative safety field potential calculation submodule can also be used to calculate the cooperative safety field potential between the first vehicle and the second vehicle based on the safety field potential of the first vehicle and the safety field potential of the second vehicle; the collision risk value calculation submodule can also be used to calculate the collision risk value between the first vehicle and the second vehicle based on the cooperative safety field potential between the first vehicle and the second vehicle and the safety field potential of the first vehicle.

[0049] In one specific implementation of the second aspect, the vehicle collision warning device may further include:

[0050] The risk field marking module is used to mark the cooperative safety potential corresponding to the collision warning result as a risk field if the collision warning result of the first vehicle is a triggered collision warning.

[0051] The driving information sending module is used to send the driving information of each vehicle in the risk field to other vehicles.

[0052] A third aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of any of the above-described vehicle collision warning methods.

[0053] A fourth aspect of this application provides a vehicle including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of any of the above-described vehicle collision warning methods.

[0054] The fifth aspect of this application provides a computer program product that, when run on a vehicle, causes the vehicle to perform the steps of any of the above-described vehicle collision warning methods.

[0055] The beneficial effects of this application embodiment compared with the prior art are as follows: This application embodiment obtains the driving information of a first vehicle; receives the driving information of each vehicle in a risk vehicle set; the risk vehicle set is a set consisting of two or more vehicles with collision risk; calculates the collision risk value between the first vehicle and the risk vehicle set based on the driving information of the first vehicle and the driving information of each vehicle in the risk vehicle set; and determines the collision warning result of the first vehicle based on the collision risk value between the first vehicle and the risk vehicle set. Through this application embodiment, in various complex scenarios, multiple vehicles with collision risk can be regarded as a whole to assess the collision risk between them and the first vehicle, thereby effectively avoiding the occurrence of multi-vehicle rear-end collision accidents. Attached Figure Description

[0056] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0057] Figure 1 This is a schematic diagram illustrating a typical application scenario of an embodiment of this application;

[0058] Figure 2 A schematic diagram of the safe field potential for a vehicle under different motion states;

[0059] Figure 3 This is a flowchart of one embodiment of a vehicle collision warning method according to the present application.

[0060] Figure 4 A schematic flowchart for calculating the collision risk value between the first vehicle and the second vehicle based on the driving information of the first vehicle and the second vehicle.

[0061] Figure 5 This application provides a flowchart of an embodiment of a vehicle collision warning method for complex scenarios involving the interaction of multiple vehicles.

[0062] Figure 6A schematic flowchart illustrating the calculation of the collision risk value between the first vehicle and the risk vehicle set based on the driving information of the first vehicle and the driving information of each vehicle in the risk vehicle set.

[0063] Figure 7 This is a schematic diagram illustrating a scenario where the vehicle in front brakes suddenly on a single lane.

[0064] Figure 8 A schematic diagram of the cooperative safety potential between two vehicles;

[0065] Figure 9 A schematic diagram illustrating risk field information sharing;

[0066] Figure 10 A schematic diagram of the cooperative safety potential between the vehicle and the risk field;

[0067] Figure 11 This is a structural diagram of one embodiment of a vehicle collision warning device according to the present application.

[0068] Figure 12 This is a schematic block diagram of a vehicle according to an embodiment of this application. Detailed Implementation

[0069] To make the inventive objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0070] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0071] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0072] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0073] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrases "if determined" or "if [described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."

[0074] Furthermore, in the description of this application, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0075] Figure 1 The diagram illustrates a typical application scenario according to an embodiment of this application. The vehicle traveling on the road is a connected vehicle (CV) equipped with V2X (vehicle to everything) communication equipment and a computing unit. The vehicle can acquire driving information based on its onboard sensors, including but not limited to position, speed, acceleration, and heading angle. Several roadside units (RSUs) are distributed along the road. Vehicles can interact with each other and with roadside units based on V2X technology, enabling roadside units to achieve full-area information perception within their communication range. The roadside units then transmit the perceived full-area information to vehicles within their communication range, thereby improving the vehicle's information perception capabilities.

[0076] In this embodiment, the safety potential can be used to characterize the degree of potential risk posed by a vehicle to the surrounding traffic environment. The greater the risk of a collision with the vehicle, the stronger the safety potential field at that point; conversely, the lower the risk of a collision, the weaker the safety potential field. The specific calculation method for the safety potential can be flexibly set according to actual conditions. The following formula shows one specific calculation method:

[0077]

[0078]

[0079]

[0080]

[0081] Among them, E V Let (x, y) be the safe field potential for the vehicle, and (x, y) be the center of mass of the vehicle. r ,y rLet M be any point in the location. i Let G be the equivalent mass of the vehicle, and λ be preset constants greater than 0, where a is the vehicle's acceleration, and d is the acceleration of the vehicle. ir The distance from the vehicle's center of mass to its position (x) r ,y r The vector of |d ir | represents the distance from the vehicle's center of mass to its position (x) r ,y r The correction distance is τ, where τ is the correction factor for distance, α is the correction factor for velocity, and θ is the distance between the vehicle's velocity direction and d. ir The angle between them, m i For the actual weight of the vehicle, For the vehicle's speed v i The fitting polynomial for the vehicle collision accident is given by j, where j is the highest degree of the polynomial, and k is the lowest degree of the polynomial. j β j and b j These are the coefficients, exponent, and constant of the j-th term, respectively. They can be obtained by fitting data on the number of vehicle collisions on roads and the average speed and number of fatalities per accident. Taking the relevant data of major roads in China in 2013 as an example, the following can be fitted: γ is the angle between the vehicle's velocity direction and the positive X-axis direction. The faster the vehicle speed, the greater the angle. i The larger the value, the greater the safe field potential for the vehicle. When the vehicle speed is 0, M i =m i The equivalent mass is the actual mass of the vehicle. In the embodiments of this application, the units of the variables are uniformly as follows: mass unit: kg, speed unit: m / s, acceleration unit: m / s². 2 Heading angle unit: °, distance unit: m.

[0082] Considering the physical constraints on vehicle motion, we can further add a set of constraints to the above calculation formula:

[0083] V x ≥0

[0084]

[0085] These constraints are the vehicle's direction of motion constraint and the vehicle's heading angle constraint. The former ensures that the vehicle will not reverse, and the latter ensures that the vehicle's maximum turning angle does not exceed 30°. Where: V x V is the lateral component of the vehicle speed. y θ is the longitudinal component, and θ′ is the vehicle heading angle.

[0086] The safety potential describes the dynamic changes in safety during vehicle movement from both temporal and spatial dimensions, effectively characterizing the degree of potential risk posed by the vehicle to the surrounding traffic environment. The vehicle's safety potential differs under different states of motion. Figure 2 The diagram illustrates the safe field potential for a vehicle under different motion states. In the diagram, it is assumed that the vehicle moves along the positive X-axis, and the black contour lines represent curves formed by connecting points with the same field potential magnitude. The field potential magnitude is dimensionless; the field potential in the diagram only represents magnitude and has no specific unit. The vehicle's center of mass is located at the center of the safe field potential, and the field strength at this point tends towards infinity.

[0087] Figure a shows the safety field potential when the vehicle is stationary. When the vehicle is stationary, the safety risk to surrounding locations at equal distances is the same, and the shape of the safety field potential is circular. Figure b shows the safety field potential when the vehicle is moving at a constant speed. When the vehicle is moving at a constant speed, the safety field potential generated is greater than when it is stationary, and the field strength in the direction of vehicle movement increases with speed. The shape of the safety field potential is an ellipse stretched along the direction of motion. Figure c shows the safety field potential when the vehicle is accelerating. When the vehicle is accelerating, the field strength in front of the vehicle is greater than that behind it. The shape of the safety field potential is an ellipse tilted towards the direction of acceleration. Figure d is a schematic diagram of the safe field potential when a vehicle is decelerating. When the vehicle is decelerating, the field strength directly behind the vehicle is greater than that directly in front of the vehicle, and the shape of the safe field potential is an ellipse tilted in the direction of deceleration. Figure e is a schematic diagram of the safe field potential when a vehicle is accelerating to the left to change lanes. When the vehicle is accelerating to the left to change lanes, the field strength in front of the vehicle is greater than that behind the vehicle, and the shape of the safe field potential is an ellipse tilted in the direction of lane change. Figure f is a schematic diagram of the safe field potential when a vehicle is decelerating to the right to change lanes. When the vehicle is decelerating to the right to change lanes, the field strength in front of the vehicle is less than that behind the vehicle, and the shape of the safe field potential is an ellipse tilted in the opposite direction of lane change.

[0088] Based on the above description of the safety field potential, one embodiment of a vehicle collision warning method in this application may specifically include, as follows: Figure 3 The process shown:

[0089] Step S301: Obtain the driving information of the first vehicle.

[0090] The executing entity in this application embodiment can be any vehicle; for ease of distinction, it is referred to here as the first vehicle. Based on its own various sensors, the first vehicle can acquire its driving information in real time and send it to vehicles and roadside units within its communication range via V2X communication equipment.

[0091] Step S302: Receive the driving information of the second vehicle.

[0092] The second vehicle is any vehicle other than the first vehicle. Similar to the first vehicle, the second vehicle can also obtain its driving information in real time and send its driving information to vehicles and roadside units within its communication range through V2X communication equipment.

[0093] The first vehicle can receive the second vehicle's driving information from the second vehicle or the roadside unit through V2X communication equipment.

[0094] Step S303: Calculate the collision risk value between the first vehicle and the second vehicle based on the driving information of the first vehicle and the second vehicle.

[0095] like Figure 4 As shown, step S303 may specifically include the following process:

[0096] Step S3031: Calculate the safe field potential of the first vehicle based on the driving information of the first vehicle.

[0097] Step S3032: Calculate the safe field potential of the second vehicle based on the driving information of the second vehicle.

[0098] The specific calculation methods for steps S3031 and S3032 can be referred to in the aforementioned section on the calculation of the safe field potential, and will not be repeated here.

[0099] Step S3033: Calculate the cooperative safety field potential between the first vehicle and the second vehicle based on the safety field potential of the first vehicle and the second vehicle.

[0100] The cooperative safety potential is a new potential formed by the spatial superposition of the safety potentials of two or more vehicles. The cooperative safety potential between the first vehicle and the second vehicle can be calculated using the following formula:

[0101]

[0102] in, For the safe situation of the first vehicle. For the safety situation of the second vehicle. The cooperative safety potential between the first vehicle and the second vehicle.

[0103] Step S3034: Calculate the collision risk value between the first vehicle and the second vehicle based on the cooperative safety field potential between the first vehicle and the second vehicle and the safety field potential of the first vehicle.

[0104] In one specific implementation of this application embodiment, the field strength of the cooperative safety potential between the first vehicle and the second vehicle at the center of mass of the first vehicle can be calculated first, and the field strength of the safety potential of the first vehicle at the center of mass of the first vehicle can be calculated. Then, the absolute value of the ratio of the two can be used as the collision risk value between the first vehicle and the second vehicle, as shown in the following formula:

[0105]

[0106] in, Let the field strength at the center of mass of the first vehicle be the cooperative safety potential between the first and second vehicles. For the safe field potential of the first vehicle, the field strength at the center of mass of the first vehicle is |E D | This represents the collision risk value between the first and second vehicles.

[0107] Step S304: Determine the collision warning result of the first vehicle based on the collision risk value between the first vehicle and the second vehicle.

[0108] In one specific implementation of this application embodiment, a minimum warning threshold can be preset. When the collision risk value is less than or equal to the minimum warning threshold, i.e. If the collision risk value is greater than the minimum warning threshold, then the first vehicle is determined to be in a safe state, and no collision warning is triggered; if the collision risk value is greater than the minimum warning threshold, then... If the first vehicle is in a dangerous state, a collision warning is triggered, and the corresponding cooperative safety field that triggered the collision warning is marked as a risk field. The driving information of each vehicle in the risk field is sent to vehicles and roadside units within its communication range through V2X communication equipment, so that other vehicles can perform corresponding calculations and collision warnings based on the information.

[0109] Furthermore, an emergency braking threshold can be preset. When the collision risk value is greater than the minimum warning threshold but less than or equal to the emergency braking threshold, i.e. If the collision risk value is greater than the emergency braking threshold, then the first vehicle is determined to be in a generally dangerous state. At this time, a Level 1 collision warning is triggered. The first vehicle can broadcast a collision warning message and announce the collision direction based on the vector orientation of the cooperative safety field potential. If the collision risk value is greater than the emergency braking threshold, then... If the collision warning is triggered at this time, the first vehicle is determined to be in a very dangerous state. The collision warning triggered at this time is a level 2 collision warning. The first vehicle can also broadcast the collision warning voice and the direction of collision, and can also activate active braking to assist the driver in avoiding a collision.

[0110] and The specific value can be set according to the actual situation. In one specific implementation of this application embodiment, it can be set according to the following formula:

[0111]

[0112]

[0113] Where L is the length of the first vehicle and W is the width of the first vehicle. With the center of mass of the first vehicle as the origin, point The safe field potential at this location is represented by a field potential contour line that is an ellipse circumscribed by a rectangular vehicle body. v is the speed of the first vehicle, λ1 is a preset first-level collision warning constant, λ2 is a preset second-level collision warning constant, and k is a preset collision risk constraint constant, ensuring that the warning threshold is within the maximum collision risk range.

[0114] It should be noted that the above-described collision warning classification method and threshold setting method are only examples. In actual applications, other collision warning classification methods and threshold setting methods can be set according to specific circumstances. This application embodiment does not make specific limitations on this.

[0115] exist Figure 3 The process shown primarily focuses on the mutual influence between two vehicles. Building upon this, embodiments of this application can further assess the mutual influence between multiple vehicles, particularly the impact of each vehicle as a whole on other surrounding vehicles in a risk field. In complex scenarios considering the mutual influence between multiple vehicles, one embodiment of a vehicle collision warning method in this application may specifically include, as follows: Figure 5 The process shown:

[0116] Step S501: Obtain the driving information of the first vehicle.

[0117] Step S501 can be referred to in the details of step S301, and will not be repeated here.

[0118] Step S502: Receive the driving information of each vehicle in the risk vehicle set.

[0119] A risk vehicle set is a collection of two or more vehicles with a collision risk. Once a cooperative safety potential is marked as a risk field, the collection of vehicles within that risk field constitutes the risk vehicle set. Referring to step S304, after triggering a collision warning, a vehicle (denoted as the third vehicle) can mark the corresponding cooperative safety potential that triggered the warning as a risk field and send the driving information of each vehicle in that risk field to vehicles and roadside units within its communication range via a V2X communication device. The first vehicle can receive the driving information of each vehicle in the risk vehicle set from the third vehicle or a roadside unit via the V2X communication device.

[0120] Step S503: Calculate the collision risk value between the first vehicle and the risk vehicle set based on the driving information of the first vehicle and the driving information of each vehicle in the risk vehicle set.

[0121] like Figure 6 As shown, step S503 may specifically include the following process:

[0122] Step S5031: Calculate the safe field potential of the first vehicle based on the driving information of the first vehicle.

[0123] Step S5032: Calculate the safety potential of each vehicle in the risk vehicle set based on the driving information of each vehicle in the risk vehicle set.

[0124] The specific calculation methods for steps S5031 and S5032 can be referred to in the aforementioned calculation method for the safe field potential, and will not be repeated here.

[0125] Step S5033: Calculate the cooperative safety potential between the first vehicle and the risk vehicle set based on the safety potential of the first vehicle and the safety potential of each vehicle in the risk vehicle set.

[0126] This section uses a risk vehicle set containing two vehicles (denoted as vehicle i and vehicle j) as an example to explain in detail the calculation process of the cooperative safety potential between the first vehicle and the risk vehicle set.

[0127] First, the cooperative safety potential of the risk vehicle set can be calculated based on the safety potential of each vehicle in the risk vehicle set. The calculation process can be referred to in step S3033, which will not be repeated here.

[0128] Then, the risk field diffusion intensity of the risk vehicle set can be calculated based on the safety field potential of each vehicle in the risk vehicle set and the cooperative safety field potential of the risk vehicle set, as shown in the following formula:

[0129]

[0130] Where F represents the risk field diffusion intensity, which can be used to describe the degree of impact of a vehicle collision on the external environment. Let be the field strength at the center of mass of vehicle j, representing the safety potential of vehicle i. Let be the field strength at the center of mass of vehicle i, representing the safe field potential of vehicle j. Let be the field strength at the center of mass of vehicle i, representing the safety potential of vehicle i. Let θ be the electric field strength at the center of mass of vehicle j, representing the safe electric field potential of vehicle j. v It is the angle between the directions of the two vehicles' speeds.

[0131] Next, the diffusion risk potential of the risk vehicle set can be calculated based on the cooperative safety potential and the risk field diffusion intensity of the risk vehicle set, as shown in the following formula:

[0132]

[0133] in, The risk field potential of the risky vehicle cluster. Let k be the cooperative safety potential of the set of risky vehicles. k is determined by the vehicle type. When both vehicle i and vehicle j are cars (such as ordinary cars), k = 1. When both are large vehicles (such as trucks, buses, etc.), k = 4. When they are cars and large vehicles respectively, k = 2.

[0134] Finally, the cooperative safety potential between the first vehicle and the risky vehicle set can be calculated based on the safety potential of the first vehicle and the diffusion risk potential of the risky vehicle set, as shown in the following formula:

[0135]

[0136] in, For the safe situation of the first vehicle. The cooperative safety potential between the first vehicle and the set of risky vehicles.

[0137] Step S5034: Calculate the collision risk value between the first vehicle and the risk vehicle set based on the cooperative safety field potential between the first vehicle and the risk vehicle set and the safety field potential of the first vehicle.

[0138] In one specific implementation of this application, the field strength of the cooperative safety potential between the first vehicle and the set of risky vehicles at the center of mass of the first vehicle can be calculated first, and the field strength of the safety potential of the first vehicle at the center of mass of the first vehicle can also be calculated. Then, the absolute value of the ratio of the two can be used as the collision risk value between the first vehicle and the set of risky vehicles, as shown in the following formula:

[0139]

[0140] in, Let the cooperative safety field potential between the first vehicle and the set of risky vehicles be the field strength at the center of mass of the first vehicle. For the safe field potential of the first vehicle, the field strength at the center of mass of the first vehicle is |E D | represents the collision risk value between the first vehicle and the set of risky vehicles.

[0141] Step S504: Determine the collision warning result of the first vehicle based on the collision risk value between the first vehicle and the risk vehicle set.

[0142] Step S504 can be referred to in the details of step S304, and will not be repeated here.

[0143] This process allows multiple vehicles at risk of collision to be treated as a whole in various complex scenarios to assess the collision risk between the vehicle and the vehicle itself, thereby effectively preventing multi-vehicle rear-end collisions.

[0144] Now Figure 7 The following example illustrates the specific application of this application embodiment, using a scenario of an emergency braking vehicle on a single lane as an example.

[0145] like Figure 7 As shown, vehicles j, i, and a travel sequentially in the same single lane, with vehicles j and i forming a configuration like this. Figure 8 The cooperative safety field shown depicts two vehicles traveling along the positive X-axis at a speed of 10 m / s. The vehicle in front, vehicle j, travels at a speed of -4 m / s. 2 Emergency braking creates a cooperative safety potential field that is elliptical in shape, tilted towards the direction of deceleration. If the following vehicle i passes... Figure 3 If the process shown triggers a collision warning, then the corresponding collision warning measures are activated. The cooperative safety potential between vehicle j and vehicle i is marked as a risk field, and risk field information is sent to nearby vehicles and roadside units, such as... Figure 9 As shown. Vehicle a receives risk field information, and a relationship is formed between vehicle a and the risk field as follows. Figure 10 The cooperative safety potential shown indicates that vehicle a passes through... Figure 5 The process shown determines the collision warning result. If no collision warning is triggered, vehicle a continues driving normally without warning; if a collision warning is triggered, the corresponding collision warning measures are also activated, marking the cooperative safety potential between vehicle j, vehicle i, and vehicle a as a risk field, and sending risk field information to nearby vehicles and roadside units. Vehicles traveling behind vehicle a will also repeat this process, thus chaining collision risk information and enabling multi-vehicle warnings for consecutive rear-end collisions, effectively preventing the escalation of traffic accidents.

[0146] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0147] Corresponding to the vehicle collision warning method described in the above embodiments, Figure 11 This illustration shows a structural diagram of one embodiment of a vehicle collision warning device provided in this application.

[0148] In this embodiment, a vehicle collision warning device may include:

[0149] The driving information acquisition module 1101 is used to acquire the driving information of the first vehicle;

[0150] The driving information receiving module 1102 is used to receive driving information of each vehicle in the risk vehicle set; the risk vehicle set is a set of two or more vehicles that have a collision risk.

[0151] The collision risk value calculation module 1103 is used to calculate the collision risk value between the first vehicle and the risk vehicle set based on the driving information of the first vehicle and the driving information of each vehicle in the risk vehicle set.

[0152] The collision warning result determination module 1104 is used to determine the collision warning result of the first vehicle based on the collision risk value between the first vehicle and the set of risky vehicles.

[0153] In one specific implementation of this application embodiment, the collision risk value calculation module may include:

[0154] The safe field potential calculation submodule is used to calculate the safe field potential of the first vehicle based on the driving information of the first vehicle; and to calculate the safe field potential of each vehicle in the risk vehicle set based on the driving information of each vehicle in the risk vehicle set.

[0155] The collaborative safety potential calculation submodule is used to calculate the collaborative safety potential between the first vehicle and the risk vehicle set based on the safety potential of the first vehicle and the safety potential of each vehicle in the risk vehicle set.

[0156] The collision risk value calculation submodule is used to calculate the collision risk value between the first vehicle and the set of risky vehicles based on the cooperative safety field potential between the first vehicle and the set of risky vehicles and the safety field potential of the first vehicle.

[0157] In one specific implementation of this application, the cooperative safety field potential calculation submodule can be specifically used to: calculate the cooperative safety field potential of the risk vehicle set based on the safety field potential of each vehicle in the risk vehicle set; calculate the risk field diffusion intensity of the risk vehicle set based on the safety field potential of each vehicle in the risk vehicle set and the cooperative safety field potential of the risk vehicle set; calculate the diffusion risk field potential of the risk vehicle set based on the cooperative safety field potential and the risk field diffusion intensity of the risk vehicle set; and calculate the cooperative safety field potential between the first vehicle and the risk vehicle set based on the safety field potential of the first vehicle and the diffusion risk field potential of the risk vehicle set.

[0158] In one specific implementation of this application, the collision risk value calculation submodule can be specifically used to: calculate the first field strength of the cooperative safety field potential between the first vehicle and the set of risky vehicles at the center of mass of the first vehicle; calculate the second field strength of the safety field potential of the first vehicle at the center of mass of the first vehicle; and calculate the collision risk value between the first vehicle and the set of risky vehicles based on the first field strength and the second field strength.

[0159] In one specific implementation of this application, the driving information receiving module can also be used to receive driving information of the second vehicle; the collision risk value calculation module can also be used to calculate the collision risk value between the first vehicle and the second vehicle based on the driving information of the first vehicle and the driving information of the second vehicle; the collision warning result determination module can also be used to determine the collision warning result of the first vehicle based on the collision risk value between the first vehicle and the second vehicle.

[0160] In one specific implementation of this application, the safety field potential calculation submodule can also be used to calculate the safety field potential of the second vehicle based on the driving information of the second vehicle; the cooperative safety field potential calculation submodule can also be used to calculate the cooperative safety field potential between the first vehicle and the second vehicle based on the safety field potential of the first vehicle and the safety field potential of the second vehicle; the collision risk value calculation submodule can also be used to calculate the collision risk value between the first vehicle and the second vehicle based on the cooperative safety field potential between the first vehicle and the second vehicle and the safety field potential of the first vehicle.

[0161] In one specific implementation of this application embodiment, the vehicle collision warning device may further include:

[0162] The risk field marking module is used to mark the cooperative safety potential corresponding to the collision warning result as a risk field if the collision warning result of the first vehicle is a triggered collision warning.

[0163] The driving information sending module is used to send the driving information of each vehicle in the risk field to other vehicles.

[0164] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the devices, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0165] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0166] Figure 12 A schematic block diagram of a vehicle provided in an embodiment of this application is shown. For ease of explanation, only the parts related to the embodiment of this application are shown.

[0167] like Figure 12 As shown, the vehicle 12 in this embodiment includes: a processor 120, a memory 121, and a computer program 122 stored in the memory 121 and executable on the processor 120. When the processor 120 executes the computer program 122, it implements the steps in the various vehicle collision warning method embodiments described above, for example... Figure 3 Steps S301 to S304 are shown. Alternatively, when the processor 120 executes the computer program 122, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 11 The functions of modules 1101 to 1104 are shown.

[0168] For example, the computer program 122 may be divided into one or more modules / units, which are stored in the memory 121 and executed by the processor 120 to complete this application. The one or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program 122 in the vehicle 12.

[0169] Those skilled in the art will understand that Figure 12 This is merely an example of vehicle 12 and does not constitute a limitation on vehicle 12. It may include more or fewer components than shown, or combine certain components, or different components. For example, vehicle 12 may also include input / output devices, network access devices, buses, etc.

[0170] The processor 120 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0171] The memory 121 can be an internal storage unit of the vehicle 12, such as a hard drive or RAM. The memory 121 can also be an external storage device of the vehicle 12, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or FlashCard. Furthermore, the memory 121 can include both internal and external storage units of the vehicle 12. The memory 121 is used to store the computer program and other programs and data required by the vehicle 12. The memory 121 can also be used to temporarily store data that has been output or will be output.

[0172] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0173] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0174] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0175] In the embodiments provided in this application, it should be understood that the disclosed devices / vehicles and methods can be implemented in other ways. For example, the device / vehicle embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0176] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0177] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0178] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable storage medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc. It should be noted that the content included in the computer-readable storage medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable storage medium does not include electrical carrier signals and telecommunication signals.

[0179] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A vehicle collision warning method, characterized in that, include: Obtain the driving information of the first vehicle; Receive driving information of each vehicle in the risk vehicle set; the risk vehicle set is a set of two or more vehicles that have a collision risk. Calculate the safe field potential of the first vehicle based on its driving information; calculate the safe field potential of each vehicle in the risk vehicle set based on its driving information; calculate the cooperative safe field potential between the first vehicle and the risk vehicle set based on the safe field potential of the first vehicle and the safe field potential of each vehicle in the risk vehicle set; calculate the collision risk value between the first vehicle and the risk vehicle set based on the cooperative safe field potential between the first vehicle and the risk vehicle set and the safe field potential of the first vehicle. The collision warning result for the first vehicle is determined based on the collision risk value between the first vehicle and the set of risky vehicles.

2. The vehicle collision warning method according to claim 1, characterized in that, The step of calculating the cooperative safety potential between the first vehicle and the risky vehicle set based on the safety potential of the first vehicle and the safety potential of each vehicle in the risky vehicle set includes: Calculate the collaborative safety potential of the risk vehicle set based on the safety potential of each vehicle in the risk vehicle set; The risk field diffusion intensity of the risk vehicle set is calculated based on the safety field potential of each vehicle in the risk vehicle set and the cooperative safety field potential of the risk vehicle set. The diffusion risk field potential of the risk vehicle set is calculated based on the cooperative safety field potential and the risk field diffusion intensity of the risk vehicle set. The cooperative safety potential between the first vehicle and the risky vehicle set is calculated based on the safety potential of the first vehicle and the diffusion risk potential of the risky vehicle set.

3. The vehicle collision warning method according to claim 1, characterized in that, The step of calculating the collision risk value between the first vehicle and the set of risky vehicles based on the cooperative safety potential between the first vehicle and the set of risky vehicles and the safety potential of the first vehicle includes: Calculate the first field strength of the cooperative safety field potential between the first vehicle and the set of risky vehicles at the center of mass of the first vehicle; Calculate the second field strength of the safety field potential of the first vehicle at the center of mass of the first vehicle; The collision risk value between the first vehicle and the set of risky vehicles is calculated based on the first field strength and the second field strength.

4. The vehicle collision warning method according to claim 1, characterized in that, Also includes: Receive driving information from the second vehicle; Calculate the collision risk value between the first vehicle and the second vehicle based on the driving information of the first vehicle and the second vehicle; The collision warning result for the first vehicle is determined based on the collision risk value between the first vehicle and the second vehicle.

5. The vehicle collision warning method according to claim 4, characterized in that, The step of calculating the collision risk value between the first vehicle and the second vehicle based on the driving information of the first vehicle and the second vehicle includes: Calculate the safe field potential of the first vehicle based on the driving information of the first vehicle; Calculate the safe field potential of the second vehicle based on the driving information of the second vehicle; Calculate the cooperative safety potential between the first vehicle and the second vehicle based on the safety potential of the first vehicle and the safety potential of the second vehicle. The collision risk value between the first vehicle and the second vehicle is calculated based on the cooperative safety field potential between the first vehicle and the second vehicle and the safety field potential of the first vehicle.

6. The vehicle collision warning method according to any one of claims 1 to 5, characterized in that, After determining the collision warning result for the first vehicle, the process also includes: If the collision warning result of the first vehicle is a collision warning triggered, then the cooperative safety potential corresponding to the collision warning result is marked as a risk field; The driving information of each vehicle in the risk field is sent to other vehicles.

7. A vehicle collision warning device, characterized in that, include: The driving information acquisition module is used to acquire the driving information of the first vehicle; The driving information receiving module is used to receive driving information of each vehicle in the risk vehicle set; the risk vehicle set is a set of two or more vehicles that have a collision risk. The collision risk value calculation module is used to calculate the safe field potential of the first vehicle based on the driving information of the first vehicle; calculate the safe field potential of each vehicle in the risk vehicle set based on the driving information of each vehicle in the risk vehicle set; calculate the cooperative safe field potential between the first vehicle and the risk vehicle set based on the safe field potential of the first vehicle and the safe field potential of each vehicle in the risk vehicle set; and calculate the collision risk value between the first vehicle and the risk vehicle set based on the cooperative safe field potential between the first vehicle and the risk vehicle set and the safe field potential of the first vehicle. The collision warning result determination module is used to determine the collision warning result of the first vehicle based on the collision risk value between the first vehicle and the set of risky vehicles.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the vehicle collision warning method as described in any one of claims 1 to 6.

9. A vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the vehicle collision warning method as described in any one of claims 1 to 6.

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