A vehicle warning method, device, apparatus and medium

Abstract

The application discloses a vehicle early warning method, device, equipment and medium. The method comprises the following steps: when a vehicle to be warned enters a specified area, acquiring vehicle position information of the vehicle to be warned, vehicle state information of surrounding vehicles, and preset area level information of the specified area; determining target vehicles satisfying early warning conditions and corresponding early warning event intensity information according to the preset area level information, the vehicle position information and the vehicle state information; and issuing the early warning event intensity information to the vehicle to be warned. The area level of the vehicle to be warned and the surrounding vehicles satisfying the early warning conditions is divided according to the preset area level information, and then the early warning event intensity information is determined according to the area level at the division position, so that the vehicle to be warned is warned with different early warning intensities. Real-time perception and prediction of abnormal driving behaviors are realized, and differentiated information prompting and early warning are realized. The safety risk near an expressway exit ramp is reduced, and the traffic efficiency is improved.

Description

Technical Field

[0001] This invention relates to the technical field of intelligent transportation, and in particular to a vehicle early warning method, device, equipment, and medium. Background Technology

[0002] The intersection of exit ramps is a frequent accident zone on highways. In highway scenarios, due to subjective or objective reasons, drivers may fail to change lanes from the innermost lane to the outermost lane in advance, leading to extremely dangerous behaviors such as sudden braking, lane changing, or even reversing or driving against traffic on exit ramps. This significantly impacts the normal traffic efficiency and order of the highway. Furthermore, because other vehicles cannot perceive sudden situations ahead, there are also extremely serious safety hazards, easily leading to initial accidents and related incidents.

[0003] Existing technologies typically use roadside speed and traffic flow detectors to collect vehicle speed and traffic flow information, combine vehicle speed and traffic flow information to identify lane changes, and issue ramp warning information through information boards.

[0004] However, this method may have a problem with delayed warnings for sudden lane changes, as remote vehicles cannot accurately obtain information about events ahead and cannot provide differentiated warnings. Summary of the Invention

[0005] This invention provides a vehicle early warning method, device, equipment, and medium to achieve differentiated early warning for abnormal driving behavior.

[0006] According to a first aspect of the present invention, a vehicle warning method is provided, comprising:

[0007] When a vehicle to be warned enters a designated area, the vehicle location information of the vehicle to be warned, the vehicle status information of surrounding vehicles, and the preset area level information of the designated area are obtained.

[0008] Based on the preset area level information, the vehicle location information, and the vehicle status information, the target vehicle that meets the warning conditions and the corresponding warning event intensity information are determined.

[0009] The intensity information of the warning event is sent to the vehicle to be warned.

[0010] According to a second aspect of the present invention, a vehicle warning device is provided, comprising:

[0011] The information acquisition module is used to acquire the vehicle location information of the vehicle to be warned, the vehicle status information of surrounding vehicles, and the preset area level information of the designated area when the vehicle to be warned enters the designated area.

[0012] The information determination module is used to determine the target vehicle that meets the warning conditions and the corresponding warning event intensity information based on the preset area level information, the vehicle location information and the vehicle status information.

[0013] The information warning module is used to send the intensity information of the warning event to the vehicle to be warned.

[0014] According to a third aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0015] At least one processor; and

[0016] A memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle warning method according to any embodiment of the present invention.

[0018] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the vehicle warning method according to any embodiment of the present invention.

[0019] The technical solution of this invention involves acquiring the vehicle location information of the vehicle to be warned, the vehicle status information of surrounding vehicles, and the preset area level information of the designated area when a vehicle to be warned enters a designated area. Based on the preset area level information, vehicle location information, and vehicle status information, the target vehicle that meets the warning conditions and the corresponding warning event intensity information are determined. The warning event intensity information is then sent to the vehicle to be warned. The preset area level information is used to classify the vehicle to be warned and surrounding vehicles that meet the warning conditions into different area levels. The warning event intensity information is then determined based on the area level at each classification point, and warnings are issued to the vehicle to be warned at different intensities. This achieves real-time perception and prediction of abnormal driving behavior, and provides differentiated information prompts and warnings. It reduces safety risks near highway exit ramps and improves traffic efficiency.

[0020] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart of a vehicle warning method provided according to Embodiment 1 of the present invention;

[0023] Figure 2 This is an example diagram of preset area level information in a vehicle early warning method according to Embodiment 1 of the present invention;

[0024] Figure 3 This is a flowchart of a vehicle early warning method provided according to Embodiment 2 of the present invention;

[0025] Figure 4 This is a schematic diagram of the structure of a vehicle warning device according to Embodiment 3 of the present invention;

[0026] Figure 5 This is a schematic diagram of the structure of an electronic device that implements an embodiment of the present invention. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] Example 1

[0030] Figure 1The flowchart of a vehicle warning method provided in Embodiment 1 of the present invention is applicable to highway auxiliary warning situations for connected vehicles. The method can be executed by a vehicle warning device, which can be implemented in hardware and / or software. The vehicle warning device can be configured in an electronic device, such as a roadside intelligent terminal. The roadside intelligent terminal can be set in a designated area and configured with V2X communication technology and established data standards to perform millisecond-level information interaction with connected vehicles via the roadside intelligent terminal in PC5 direct communication mode.

[0031] like Figure 1 As shown, the method includes:

[0032] S110. When a vehicle to be warned enters a designated area, obtain the vehicle location information of the vehicle to be warned, the vehicle status information of surrounding vehicles, and the preset area level information of the designated area.

[0033] In this embodiment, the vehicle to be warned can be understood as the vehicle receiving the warning information, such as a connected vehicle. The designated area can be understood as a pre-defined area prone to traffic accidents, such as a highway ramp. Vehicle location information can be understood as the vehicle's current lane and position. Surrounding vehicles can be understood as other vehicles within the designated range of the vehicle to be warned. Vehicle status information can be understood as the basic status of surrounding vehicles, such as speed, lane position, and steering angle. Preset area level information can be understood as the designated area level information divided according to the probability of event occurrence.

[0034] It's important to know that, taking highways as an example, the designated area includes sections of road including highway ramps. Equipment such as detection cameras, microwave radar, roadside units (RSUs), and edge computing units can be pre-installed and integrated at these ramps. These devices can collect vehicle status information.

[0035] Specifically, when the processor senses that a vehicle to be warned has entered a designated area through the corresponding device, it can trigger the internal event warning recognition broadcast function. Through radar perception, it can identify each vehicle in the road segment, perceive and monitor the basic status of each vehicle, such as vehicle position, vehicle speed, and steering angle, and integrate them into vehicle status information. The processor can receive the vehicle position information of the vehicle to be warned and the vehicle status information of surrounding vehicles. The processor can obtain the preset area level information corresponding to the designated area from the corresponding storage medium.

[0036] For example, the system comprised of processors mainly includes an access layer, a computing layer, and an application layer. The access layer primarily collects data from the objective environment and may specifically include sensing and monitoring devices such as cameras and sensing radars. The computing devices may be MECs, and the communication devices include RSUs, OBUs, and vehicle terminals. The computing layer fuses, calculates, and predicts the collected data, enabling vehicle recognition, vehicle trajectory simulation, vehicle status recognition, vehicle information recognition, event recognition, sudden deceleration, sudden lane changes, and data statistics. The results are then output to the application layer for information prompts and event warnings. The application layer includes warning issuance, violation capture, and event statistical analysis. In this system, the access layer is the foundation, and the computing layer is the core; their integrated construction constitutes the conditions for application implementation.

[0037] S120. Based on the preset area level information, vehicle location information, and vehicle status information, determine the target vehicles that meet the warning conditions and the corresponding warning event intensity information.

[0038] In this embodiment, the warning condition can be understood as the condition for determining whether a collision with the vehicle to be warned is likely. The target vehicle can be understood as a vehicle that poses a collision risk with the vehicle to be warned. The warning event intensity information can be understood as information for issuing a warning based on the intensity and content of the warning event.

[0039] Specifically, the processor can determine the target vehicle that meets the warning conditions based on the vehicle status information of surrounding vehicles, and then determine the area level corresponding to the current location of the target vehicle and the area level corresponding to the current location of the vehicle to be warned based on the preset area level information. Based on the two area levels, the processor determines the intensity of the warning event and then generates warning event intensity information according to the reminder method corresponding to the intensity.

[0040] S130: Send the intensity information of the warning event to the vehicles awaiting warning.

[0041] Specifically, the processor can send the intensity information of the warning event to the vehicle to be warned. For example, through low-latency V2X-based communication between the RSU and the vehicle-side OBU, the intensity information of the warning event can be transmitted to the vehicle to be warned. The warning can be sent to the vehicle through various means such as sound alerts, text alerts, and animated cues. This differentiates the warning to the driver about unexpected situations ahead, so as to assist the driver in adjusting driving behavior or taking emergency measures without providing ineffective or excessive prompts.

[0042] Furthermore, based on V2X communication technology, PC5 communication mode is applied to connected vehicles for millisecond-level information exchange, and data standards are established. After identifying and determining the intensity information of the warning event using the above methods, the standardized data information is disseminated to connected vehicles. Simultaneously, based on 4G / 5G and other wireless communication technologies, roadside intelligent terminals transmit relevant data information and video streams before and after the accident to the central platform. This ensures the speed and accuracy of information transmission to connected vehicles, as well as the comprehensiveness and timeliness of information transmission to relevant management platforms.

[0043] The technical solution of this invention involves acquiring the vehicle location information of the vehicle to be warned, the vehicle status information of surrounding vehicles, and the preset area level information of the designated area when a vehicle to be warned enters a designated area. Based on the preset area level information, vehicle location information, and vehicle status information, the target vehicle that meets the warning conditions and the corresponding warning event intensity information are determined. The warning event intensity information is then sent to the vehicle to be warned. The preset area level information is used to classify the vehicle to be warned and surrounding vehicles that meet the warning conditions into different area levels. The warning event intensity information is then determined based on the area level at each classification point, and warnings are issued to the vehicle to be warned at different intensities. This achieves real-time perception and prediction of abnormal driving behavior, and provides differentiated information prompts and warnings. It reduces safety risks near highway exit ramps and improves traffic efficiency.

[0044] As a first optional embodiment of this embodiment, based on the above embodiment, the step of determining the preset area level information can be further optimized as follows:

[0045] a1. Obtain information on the origin boundary, communication distance of roadside units, speed limit information of each road segment, and special road segment range of special road segments within a specified area.

[0046] In this embodiment, setting the origin boundary can be understood as the origin position within a specified area, such as the perpendicular line corresponding to a ramp entrance. A roadside unit can be understood as a unit used for vehicle identification. Communication distance information can be understood as the maximum communication distance of the roadside unit. A road segment can be understood as different road segments included within the specified area, such as the main road and auxiliary roads of a highway. Road segment speed limit information can be understood as the maximum speed of different road segments. A special road segment can be understood as a road segment within the specified area that could lead to accidents, such as a ramp. The range of a special road segment can be understood as the length range corresponding to the special road segment.

[0047] Specifically, the processor can obtain information such as the origin boundary set in a designated area by relevant personnel, the communication distance information of roadside units, the speed limit information of each road segment, and the special road segment range of special road segments.

[0048] b1. Based on the set origin boundary, communication distance information, and speed limit information for each road segment, determine the scope of the ordinary area within the designated area.

[0049] In this embodiment, the general area range information can be understood as the range information of the general area divided out in the specified area, excluding special road sections.

[0050] Specifically, the processor can divide the ordinary area in the specified area according to the set origin boundary, communication distance information and speed limit information of each road segment, and obtain the ordinary area range information.

[0051] The steps for determining the scope of a general area within a specified region based on the set origin boundary, communication distance information, and speed limit information for each road segment include:

[0052] b11. Determine the first area range within the designated area based on the speed limit information, communication distance information, and the first deceleration in the preset deceleration information for each road segment.

[0053] In this embodiment, the preset deceleration information can be understood as the deceleration information corresponding to the vehicle's deceleration. The first deceleration can be understood as the deceleration corresponding to slow deceleration, and can be set based on experience. The first area range can be understood as the area range farthest from the special road section. The second deceleration can be understood as the deceleration corresponding to emergency deceleration, and can be set based on experience.

[0054] Specifically, the processor can determine the first area range in the specified area based on the speed limit information of each road segment, the communication distance information, and the first deceleration in the preset deceleration information.

[0055] For example, taking the main road of a highway as a general area and the ramps as special road sections, the left and right boundaries of the first area of ​​the main road can be determined by the following formula:

[0056]

[0057] in, The left boundary of the first region. V represents the right boundary of the first region. G This refers to speed limit information for sections of the main highway. Z This refers to the speed limit information for highway ramps. 'a' represents the first deceleration, corresponding to gradual deceleration, and 'b' represents the second deceleration from the preset deceleration information, corresponding to emergency deceleration. 'L' represents the communication distance of the roadside unit (RSU).

[0058] b12. Based on the speed limit information of each road segment, the set origin boundary, and the second deceleration in the preset deceleration information, determine the range of the second area in the specified area.

[0059] In this embodiment, the second area range can be understood as the area range that is closer to the special road section than the first area range.

[0060] Specifically, the processor can determine the range of the second area in the specified area based on the speed limit information of each road segment, the set origin boundary, and the second deceleration in the preset deceleration information.

[0061] For example, using the descriptions and symbols in the above examples, the left and right boundaries of the second region within a specified area can be determined using the following formula:

[0062]

[0063] in, Set the left boundary of the second region and set the origin boundary 0 as the right boundary of the second region.

[0064] b13. Determine the range of the third region within the specified area based on the set origin boundary and preset excess distance.

[0065] In this embodiment, the preset distance can be understood as a set distance exceeding a specific area.

[0066] Specifically, the processor can determine the range of the third region within a specified area based on the set origin boundary and preset excess distance.

[0067] For example, the left and right boundaries of the third region within a specified area can be determined using the following formula: (0, -c)

[0068] Where 0 represents the left boundary of the third region, and c represents the preset excess distance, which is the right boundary of the third region.

[0069] b14. Use the first area range, the second area range, and the third area range as ordinary area range information in the specified area.

[0070] c1. Determine the preset area level information based on the information on the general area range and the range of special road sections.

[0071] Specifically, the processor can use general area range information and special road segment range as preset area level information.

[0072] For example, to facilitate understanding of the predefined zone hierarchy information, a highway including ramps will be used as an example for demonstration. Figure 2This is an example diagram illustrating the preset area level information in a vehicle warning method provided in Embodiment 1 of the present invention. Figure 2 As shown, using the design speed of the main highway section connected by the ramp as the core indicator, the area before the highway exit ramp is defined as a weaving zone to allow vehicles to decelerate and change lanes. The weaving zone is further classified into four areas using the method described above: the general area range (Area A), the second area range (Area B), and the third area range (Area C); and the special section range (Area D) corresponding to the ramp. 0 is the set origin boundary, and the preset excess distance is set to -10 to -15 meters. The first stage is the reasonable weaving zone, namely Area A, and the second part is Area B. In Area A, because the distance to the exit ramp is relatively far, the target exiting vehicle can still choose to change lanes at a free-flow speed or with slow deceleration, gradually moving from the inner lane to the outermost lane. Sudden braking and lane changing are uncommon; therefore, information prompts and other relatively weaker prompts are mainly used. In Zone B, which is close to the exit ramp, if a target vehicle changes lanes, it needs to suddenly decelerate to avoid missing the ramp entrance. In Zone C, which is the area after the ramp, it is a special warning zone. Due to the inability of vehicles to change lanes before the ramp entrance due to subjective or objective reasons, vehicles may forcibly return and leave the current exit ramp after the ramp entrance, resulting in high-risk behaviors such as illegal parking, reversing, or even U-turns.

[0073] The system can be configured with two RSU (Roadside Unit) devices. The RSU at the far end of the exit ramp is deployed on a pillar or L-shaped pole, or reused with a smart light pole. The RSU at the near end of the exit ramp (e.g., near the right boundary of area C) is deployed on a gantry along with the sensing equipment. The deployment and coordination of these two RSU devices extend the communication distance, allowing drivers to receive event warnings earlier and take action. Considering vertical sensing blind spots, one device can be deployed 10-15 meters after the intersection of the exit ramp and the main highway. The gantry side pole can also be used as a marker for other road traffic signs, achieving multi-purpose functionality. The MEC (Multi-access Edge Computing) unit can be mounted on a pole or other methods on the roadside. Each vehicle-road cooperative highway exit ramp warning system for vehicles awaiting warnings requires two RSUs, one radar device, one or two high-definition cameras (depending on the number of lanes), one MEC, and other auxiliary electromechanical facilities such as supplementary lighting to provide the necessary information collection and dissemination for warnings.

[0074] In the first optional embodiment of this embodiment, by determining the preset area level information in this way, a basis is provided for the differential judgment of information. The highway exit ramps and the main road weaving area are finely divided, which provides a basis for determining the corresponding warning level for different locations of the vehicles to be warned.

[0075] As a second optional embodiment of this first embodiment, based on the above embodiment, it further includes:

[0076] When a vehicle awaiting warning enters a preset high-frequency event area, a corresponding reminder message is sent to the vehicle.

[0077] In this embodiment, the preset high-frequency event area can be understood as an accident-prone zone. The reminder information can be understood as information used to remind the driver that this is an accident-prone zone.

[0078] Specifically, with the accumulation of event records, the processor can be built upon a comprehensive or large-scale ramp early warning system. By statistically analyzing events, it can identify frequently occurring locations and diagnose problems. It can then issue alerts when vehicles awaiting warning initially enter a preset high-frequency time zone, providing drivers with advance notice. Furthermore, based on trajectory simulation and tracking of lane-changing vehicles, the processor can also identify the actual location and behavior of vehicles leaving the highway from the inner lane. This also assists in traffic engineering and management, such as optimizing guide lines, setting non-crossable lane lines, and supporting traffic management with ramp exit vehicle counting.

[0079] In the second optional embodiment of this first embodiment, the automatic reminder is achieved when a vehicle to be warned enters a preset high-frequency event area, thus ensuring driving safety.

[0080] As a third optional embodiment of this first embodiment, based on the above embodiments, it further includes:

[0081] When the intensity information of the warning event meets the conditions for malicious lane changing, the vehicle driving information corresponding to the intensity information of the warning event is determined.

[0082] In this embodiment, the malicious lane change condition can be understood as the condition used to determine the lane change behavior of surrounding vehicles. Vehicle driving information can be understood as the basis for confirming that a vehicle has engaged in malicious lane change behavior, including vehicle license plate and type information.

[0083] Specifically, regardless of whether a vehicle under warning is detected entering the designated area, the identification of vehicles suddenly leaving the ramp from the inner lane is carried out around the clock. Therefore, the entire process of responding to each event is recorded. At the same time, for malicious or uncivilized lane-changing and leaving behaviors, the processor can sample and collect evidence, and through the sensing device capabilities, it can identify the vehicle's image and type, and generate vehicle driving information as a basis for law enforcement or warning notices.

[0084] The third optional embodiment of this first embodiment enables real-time monitoring of malicious lane-changing events, providing support for traffic law enforcement.

[0085] Example 2

[0086] Figure 3 This is a flowchart of a vehicle warning method provided in Embodiment 2 of the present invention. This embodiment is a further refinement based on the above embodiments. Figure 3 As shown, the method includes:

[0087] S210. When a vehicle to be warned enters a designated area, obtain the vehicle location information of the vehicle to be warned, the vehicle status information of surrounding vehicles, and the preset area level information of the designated area.

[0088] S220. Based on the status information of each vehicle and the preset threshold information, determine the target vehicle that meets the warning conditions among the surrounding vehicles.

[0089] In this embodiment, the preset threshold information can be understood as the threshold set for judging lane change warning behavior, such as vehicle speed change threshold, steering angle change threshold, etc.

[0090] Specifically, the processor can compare the changes in various data in the status information of each vehicle with the corresponding values ​​in the preset threshold information, and identify vehicles that exceed the preset threshold information as target vehicles that meet the warning conditions.

[0091] S230. Determine the target vehicle's status information and location information.

[0092] In this embodiment, target state information can be understood as the vehicle state information of the target vehicle at the current moment. Target vehicle location information can be understood as the vehicle location of the target vehicle at the current moment.

[0093] Specifically, the processor can filter out the target vehicle's status information and location information from the vehicle status information of surrounding vehicles.

[0094] S240. Based on the preset area level information, vehicle location information and target vehicle location information, determine the warning intensity level of the target vehicle relative to the vehicle under warning.

[0095] In this embodiment, the warning intensity level can be understood as an indicator used to indicate the warning intensity level.

[0096] Specifically, the processor can determine the area level of the vehicle to be warned and the area level of the target vehicle based on preset area level information, vehicle location information and target vehicle location information, and then determine the warning intensity level of the vehicle to be warned relative to the target vehicle based on the two area levels.

[0097] Furthermore, based on the above embodiments, the step of determining the warning intensity level of the target vehicle relative to the vehicle under warning based on preset area level information, vehicle location information, and target vehicle location information can be optimized as follows:

[0098] a2. Based on the target vehicle location information and the preset area level information, determine the first area level of the target vehicle's location.

[0099] In this embodiment, the first area level can be understood as the level corresponding to the area where the target vehicle is located.

[0100] Specifically, the processor can compare the target vehicle's location information with preset area level information to determine the first area level corresponding to the target vehicle's location.

[0101] For example, such as Figure 2 As shown in the figure, if the target vehicle location information shows that the target vehicle is in area B, then the corresponding first area level is level B.

[0102] b2. Based on the vehicle location information and the preset area level information, determine the second area level of the location of the vehicle to be warned.

[0103] In this embodiment, the second area level can be understood as the level corresponding to the area where the vehicle to be warned is located.

[0104] Specifically, the processor can compare the vehicle location information of the vehicle to be warned with the preset area level information to determine the second area level corresponding to the location of the vehicle to be warned.

[0105] For example, such as Figure 2 As shown in the figure, if the vehicle location information indicates that the vehicle to be warned is in area A, then the corresponding second area level is level A.

[0106] c2. Determine the warning intensity level of the target vehicle relative to the vehicle under warning based on the first zone level, the second zone level, and the preset level classification table.

[0107] In this embodiment, the preset level classification table can be understood as a table used to indicate the relationship between the area and the warning intensity level.

[0108] Specifically, the processor can compare the first area level, the second area level, and the preset level classification table, and use the matching level as the warning intensity level for the target vehicle relative to the warning vehicle.

[0109] For example, the second zone level is represented by X, and the first zone level is represented by Y, such as... Figure 2 As shown, considering only the three regions other than the special region, X will appear. A YA X A Y B X A Y C X B Y B X B Y C and X C Y C The emergence of six types of combined scenarios, with X A Y A For example, if both the vehicle to be warned and the target vehicle appear simultaneously in area A, in this combined scenario, both the target vehicle and the vehicle to be warned are in free-flowing motion or traveling at speeds relative to the design speed, and are a certain distance from the ramp exit, possessing the ability to smoothly decelerate and change lanes. Therefore, the warning intensity for this scenario is low and can be set to level three. The preset level classification table can then be X. A Y B and X A Y C The corresponding warning intensity level is Level 3 (weakest), X A Y A and X B Y C The corresponding warning intensity level is Level II, X B Y B and X C Y C The corresponding warning intensity level is Level 1 (the strongest).

[0110] S250. Based on the target status information, determine the warning event corresponding to the target vehicle.

[0111] In this embodiment, a warning event can be understood as an event used to alert the driver to a potential dangerous event.

[0112] Specifically, the processor can simulate vehicle trajectory tracking based on target state information and determine information related to the warning event. For example, by simulating the vehicle trajectory tracking based on the target vehicle's position and speed, it can determine the distance to its own vehicle and the estimated collision time as warning events.

[0113] S260. Determine the intensity information of the warning event based on the warning intensity level and the warning event.

[0114] Specifically, the processor can determine the warning intensity information by combining the warning event with the corresponding reminder method based on the warning intensity level. For example, when the warning intensity level is Level 1, the strongest, the warning event can be played through a combination of audio prompts, text prompts, and illustrative animations to achieve a striking effect. When the warning intensity level is Level 3, the weakest, the warning event is only reminded to the driver through voice announcement.

[0115] S270: Send the intensity information of the warning event to the vehicles awaiting warning.

[0116] The technical solution of this invention utilizes vehicle-road cooperative technology to accurately identify the status and information of all vehicles in the ramp area. Through fitting and analysis of vehicle trajectory data, it determines the target vehicle for the warning conditions. Combining preset area level information, it classifies the vehicles to be warned and the target vehicles into different area levels. Then, it determines the intensity of the warning event based on the area level at each classification point. Warnings are then sent to the vehicles to be warned at different intensities using ultra-low latency communication technology. This solves the problem of delayed perception of abnormal driving behavior; it solves the problem of identifying illegal lane changes by inner vehicles under radar-visual fusion; and it solves the problem of remote vehicles not being able to accurately obtain information about events ahead. It achieves real-time perception and prediction of abnormal driving behavior, and provides differentiated information prompts and warnings. This reduces safety risks near highway exit ramps and improves traffic efficiency.

[0117] Example 3

[0118] Figure 4 This is a structural schematic diagram of a vehicle warning device provided in Embodiment 3 of the present invention. Figure 4 As shown, the device includes:

[0119] The information acquisition module 41 is used to acquire the vehicle location information of the vehicle to be warned, the vehicle status information of surrounding vehicles, and the preset area level information of the designated area when the vehicle to be warned enters the designated area.

[0120] The information determination module 42 is used to determine the target vehicle that meets the warning conditions and the corresponding warning event intensity information based on the preset area level information, the vehicle location information and the vehicle status information.

[0121] The information warning module 43 is used to send the warning event intensity information to the vehicle to be warned.

[0122] The technical solution of this invention involves acquiring the vehicle location information of the vehicle to be warned, the vehicle status information of surrounding vehicles, and the preset area level information of the designated area when a vehicle to be warned enters a designated area. Based on the preset area level information, vehicle location information, and vehicle status information, the target vehicle that meets the warning conditions and the corresponding warning event intensity information are determined. The warning event intensity information is then sent to the vehicle to be warned. The preset area level information is used to classify the vehicle to be warned and surrounding vehicles that meet the warning conditions into different area levels. The warning event intensity information is then determined based on the area level at each classification point, and warnings are issued to the vehicle to be warned at different intensities. This achieves real-time perception and prediction of abnormal driving behavior, and provides differentiated information prompts and warnings. It reduces safety risks near highway exit ramps and improves traffic efficiency.

[0123] Furthermore, the information determination module 42 includes:

[0124] The vehicle determination unit is used to determine the target vehicle that meets the warning conditions among the surrounding vehicles based on the vehicle status information and preset threshold information.

[0125] The first determining unit is used to determine the target state information and the target vehicle location information of the target vehicle.

[0126] The level determination unit is used to determine the warning intensity level of the target vehicle relative to the vehicle to be warned based on the preset area level information, the vehicle location information and the target vehicle location information;

[0127] An event determination unit is used to determine the warning event corresponding to the target vehicle based on the target status information.

[0128] The second determining unit is used to determine the intensity information of the warning event based on the warning intensity level and the warning event.

[0129] Specifically, the grade determination unit is used for:

[0130] Based on the target vehicle location information and the preset area level information, the first area level of the target vehicle's location is determined;

[0131] Based on the vehicle location information and the preset area level information, the second area level of the location of the vehicle to be warned is determined;

[0132] Based on the first area level, the second area level, and the preset level classification table, the warning intensity level of the target vehicle relative to the vehicle to be warned is determined.

[0133] Optionally, the device may also include a level determination module.

[0134] The level determination module specifically includes:

[0135] The information acquisition unit is used to acquire information on the set origin boundary in the designated area, the communication distance information of the roadside unit, the speed limit information of each road segment, and the special road segment range of special road segments;

[0136] The third determining unit is used to determine the range information of the ordinary area in the designated area based on the set origin boundary, the communication distance information and the speed limit information of each road segment;

[0137] The fourth determining unit is used to determine the preset area level information based on the general area range information and the special road section range.

[0138] The third determining unit is specifically used for:

[0139] The first area range in the designated area is determined based on the speed limit information, communication distance information and the first deceleration information of each road segment;

[0140] Based on the speed limit information of each road segment, the set origin boundary, and the second deceleration in the preset deceleration information, the range of the second area in the designated area is determined;

[0141] Based on the set origin boundary and preset excess distance, the range of the third region in the specified region is determined;

[0142] The first region range, the second region range, and the third region range are used as ordinary region range information in the designated region.

[0143] Optionally, the device may also include an information alert module.

[0144] The information reminder module is used to send corresponding reminder information to the vehicle to be warned when the vehicle to be warned enters the preset high-frequency event area.

[0145] Optionally, the device may also include:

[0146] The driving information determination module is used to determine the vehicle driving information corresponding to the warning event intensity information when the warning event intensity information meets the conditions for malicious lane change.

[0147] The vehicle warning device provided in the embodiments of the present invention can execute the vehicle warning method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method execution.

[0148] Example 4

[0149] Figure 5A schematic diagram of an electronic device 50 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0150] like Figure 5 As shown, the electronic device 50 includes at least one processor 51 and a memory, such as a read-only memory (ROM) 52 and a random access memory (RAM) 53, communicatively connected to the at least one processor 51. The memory stores computer programs executable by the at least one processor. The processor 51 can perform various appropriate actions and processes based on the computer program stored in the ROM 52 or loaded into the RAM 53 from storage unit 58. The RAM 53 can also store various programs and data required for the operation of the electronic device 50. The processor 51, ROM 52, and RAM 53 are interconnected via a bus 54. An input / output (I / O) interface 55 is also connected to the bus 54.

[0151] Multiple components in electronic device 50 are connected to I / O interface 55, including: input unit 56, such as keyboard, mouse, etc.; output unit 57, such as various types of monitors, speakers, etc.; storage unit 58, such as disk, optical disk, etc.; and communication unit 59, such as network card, modem, wireless transceiver, etc. Communication unit 59 allows electronic device 50 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0152] Processor 51 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 51 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 51 performs the various methods and processes described above, such as vehicle warning methods.

[0153] In some embodiments, the vehicle warning method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 58. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 50 via ROM 52 and / or communication unit 59. When the computer program is loaded into RAM 53 and executed by processor 51, one or more steps of the vehicle warning method described above may be performed. Alternatively, in other embodiments, processor 51 may be configured to perform the vehicle warning method by any other suitable means (e.g., by means of firmware).

[0154] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0155] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0156] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0157] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0158] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0159] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0160] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0161] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle early warning method, characterized in that, include: When a vehicle to be warned enters a designated area, the vehicle location information of the vehicle to be warned, the vehicle status information of surrounding vehicles, and the preset area level information of the designated area are obtained. Based on the preset area level information, the vehicle location information, and the vehicle status information, the target vehicle that meets the warning conditions and the corresponding warning event intensity information are determined. The step of determining the target vehicle and corresponding warning event intensity information that meet the warning conditions based on the preset area level information, the vehicle location information, and the vehicle status information includes: Based on the vehicle status information and preset threshold information, a target vehicle that meets the warning conditions is determined among the surrounding vehicles. Determine the target vehicle's target status information and target vehicle location information; Determining the warning intensity level of the target vehicle relative to the vehicle to be warned based on the preset area level information, the vehicle location information, and the target vehicle location information includes: determining the area level of the vehicle to be warned and the area level of the target vehicle based on the preset area level information, the vehicle location information, and the target vehicle location information; and determining the warning intensity level of the target vehicle relative to the vehicle to be warned based on the two area levels. Based on the target status information, determine the warning event corresponding to the target vehicle; The intensity information of the warning event is determined based on the warning intensity level and the warning event. The intensity information of the warning event is sent to the vehicle to be warned.

2. The method according to claim 1, characterized in that, The step of determining the warning intensity level of the target vehicle relative to the vehicle to be warned based on the preset area level information, the vehicle location information, and the target vehicle location information includes: Based on the target vehicle location information and the preset area level information, the first area level of the target vehicle's location is determined; Based on the vehicle location information and the preset area level information, the second area level of the location of the vehicle to be warned is determined; Based on the first area level, the second area level, and the preset level classification table, the warning intensity level of the target vehicle relative to the vehicle to be warned is determined.

3. The method according to claim 1, characterized in that, The steps for determining the preset area level information include: Obtain information on the origin boundary, communication distance of roadside units, speed limit of each road segment, and special road segment range of special road segments within the specified area; Based on the set origin boundary, the communication distance information, and the speed limit information of each road segment, the range information of the ordinary area in the designated area is determined; Based on the information on the general area range and the information on the special road sections, the preset area level information is determined.

4. The method according to claim 3, characterized in that, The step of determining the ordinary area range information in the designated area based on the set origin boundary, the communication distance information, and the speed limit information of each road segment includes: The first area range in the designated area is determined based on the speed limit information, communication distance information and the first deceleration information of each road segment; Based on the speed limit information of each road segment, the set origin boundary, and the second deceleration in the preset deceleration information, the range of the second area in the designated area is determined; Based on the set origin boundary and preset excess distance, the range of the third region in the specified region is determined; The first region range, the second region range, and the third region range are used as ordinary region range information in the designated region.

5. The method according to claim 1, characterized in that, Also includes: When a vehicle awaiting warning enters a preset high-frequency event area, a corresponding reminder message is sent to the vehicle.

6. The method according to claim 1, characterized in that, Also includes: When the intensity information of the warning event meets the conditions for malicious lane changing, the vehicle driving information corresponding to the intensity information of the warning event is determined.

7. A vehicle warning device, characterized in that, include: The information acquisition module is used to acquire the vehicle location information of the vehicle to be warned, the vehicle status information of surrounding vehicles, and the preset area level information of the designated area when the vehicle to be warned enters the designated area. The information determination module is used to determine the target vehicle that meets the warning conditions and the corresponding warning event intensity information based on the preset area level information, the vehicle location information and the vehicle status information. The information determination module includes: The vehicle determination unit is used to determine the target vehicle that meets the warning conditions among the surrounding vehicles based on the vehicle status information and preset threshold information. The first determining unit is used to determine the target state information and the target vehicle location information of the target vehicle. The level determination unit is used to determine the warning intensity level of the target vehicle relative to the vehicle to be warned based on the preset area level information, the vehicle location information and the target vehicle location information; The level determination unit is specifically used to: determine the area level of the vehicle to be warned and the area level of the target vehicle based on the preset area level information, the vehicle location information and the target vehicle location information, and determine the warning intensity level of the target vehicle relative to the vehicle to be warned based on the two area levels. An event determination unit is used to determine the warning event corresponding to the target vehicle based on the target status information. The second determining unit is used to determine the intensity information of the warning event based on the warning intensity level and the warning event; The information warning module is used to send the intensity information of the warning event to the vehicle to be warned.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle warning method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the vehicle warning method according to any one of claims 1-6.

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