Early warning anti-collision method, device and equipment of vehicle and computer readable storage medium

Abstract

The application discloses a vehicle early warning anti-collision method, device, equipment and storage medium, and the method comprises the steps of obtaining environmental information of a target vehicle; determining a visibility interval prediction value based on the environmental information and determining a plurality of different preset angle values of the target vehicle emitting a plurality of laser beam groups; controlling the target vehicle to emit a plurality of laser beam groups based on a plurality of preset angle values, and recovering a corresponding number of feedback signals; determining a plurality of visibility reference values based on the feedback signals of the plurality of laser beam groups; if there are more than a preset number of visibility reference values in the plurality of visibility reference values that are located in the visibility interval prediction value, determining the visibility reference value located in the visibility interval prediction value as a visibility terminal value, and determining whether to turn on or off the fog lamp of the target vehicle based on the visibility terminal value. The technical scheme of the application can improve the safety performance of the vehicle during driving.

Description

Technical Field

[0001] This application relates to the field of vehicle driving safety technology, specifically to a vehicle warning and collision avoidance method, device, equipment, and computer-readable storage medium. Background Technology

[0002] Currently, when vehicles are driving, obstructions (such as large trucks, trees, mountains, road signs, etc.) may be present horizontally in front of them when making sharp bends. These obstructions can significantly block the laser light detected by the lidar visibility sensor, causing the sensor to receive incorrect data and ultimately leading to the fog lights malfunctioning and wasting energy. Similarly, when vehicles enter areas with low visibility such as fog, haze, or bends, errors in lidar visibility detection can also cause the fog lights to fail to activate automatically, requiring manual intervention. Therefore, vehicles cannot provide effective warnings in these special road conditions, increasing the risk of collisions and accidents between vehicles. Summary of the Invention

[0003] In view of the above problems, this application provides a vehicle warning and collision avoidance method, device, equipment and computer-readable storage medium, which can improve the safety performance of the vehicle during driving.

[0004] According to one aspect of the embodiments of this application, a vehicle warning and collision avoidance method is provided. The method includes: acquiring environmental information of a target vehicle; determining a visibility range prediction value and determining multiple preset angle values ​​for the target vehicle to emit multiple laser beam groups based on the environmental information; controlling the target vehicle to emit multiple laser beam groups based on the multiple preset angle values ​​and recovering feedback signals for the corresponding number of times; determining multiple visibility reference values ​​based on the recovered feedback signals of the multiple laser beam groups; if there are multiple visibility reference values ​​greater than a preset value that are located within the visibility range prediction value, then determining the visibility reference values ​​located within the visibility range prediction value as the final visibility value, and determining whether to turn on or off the fog lights of the target vehicle based on the final visibility value.

[0005] In one alternative embodiment, the target vehicle includes a lidar visibility meter, which includes a laser emitter and a reflecting lens. The step of controlling the target vehicle to emit multiple laser beams based on multiple preset angle values ​​includes: determining multiple rotation angle values ​​for the reflecting lens relative to the laser emitter based on the multiple different preset angle values; performing a loop process until a preset condition is met; the loop process includes: determining a rotation angle value as a rotation angle test value from the multiple rotation angle values; controlling the reflecting lens to rotate based on the current rotation angle test value; controlling the laser emitter to emit a laser beam once towards the reflecting lens so that the laser beam propagates at the corresponding preset angle value after exiting the lidar visibility meter; excluding the current rotation angle test value from the multiple rotation angle values ​​and determining the number of rotation angle values; wherein, the preset condition is that the number of rotation angle values ​​is 0.

[0006] In one optional embodiment, the laser emitter includes a filtering module and a laser emitting module. The step of controlling the target vehicle to emit multiple laser beams based on multiple preset angle values ​​includes: determining the atmospheric composition around the target vehicle based on the environmental information, and obtaining the attenuation value of each different wavelength of laser in the atmospheric composition; determining whether the attenuation value of each different wavelength of laser is within a preset attenuation range; if the attenuation value of at least one of the different wavelengths of laser is within the preset attenuation range, then determining the corresponding laser as a preset laser; controlling the laser emitting module to emit laser beams, and controlling the filtering module to adjust the wavelength of the laser in the laser beams to be equal to the wavelength of the preset laser.

[0007] In one optional embodiment, the step of controlling the filtering module to adjust the wavelength of the laser in the laser beam group to be equal to the wavelength of the preset laser includes: controlling the laser emitting module to emit the laser beam group, the laser beam group including at least two lasers, the two lasers having the same preset angle value; controlling the filtering module to adjust the wavelength of one of the two lasers to be equal to the wavelength of the preset laser, so as to determine the feedback signal of the laser beam group based on the similarity of the feedback data values ​​of the two lasers received.

[0008] In an optional embodiment, the method further includes: if any of the plurality of visibility reference values ​​is located outside the predicted visibility range, then the visibility reference value located outside the predicted visibility range is determined to be an abnormal reference value; based on the abnormal reference value, a propagation path image of the corresponding laser beam group is obtained; based on the propagation path image, it is determined whether there is an obstacle in the propagation path of the laser beam group; if so, the coordinate information of the obstacle is obtained and stored for use in the next determination of the plurality of different preset angle values ​​to avoid the obstacle.

[0009] In one optional approach, the step of determining whether to turn the fog lights of the target vehicle on or off based on the final visibility value includes: determining whether the target vehicle is in a foggy environment or a fog-free environment based on the visibility interval prediction value; if the target vehicle is determined to be in the foggy environment, then obtaining the fog light activation interval; determining whether the number of the final visibility values ​​within the fog light activation interval exceeds a threshold; if it exceeds a threshold, then determining to turn on the fog lights of the target vehicle, otherwise keeping the fog lights of the target vehicle off.

[0010] In one optional approach, the method further includes: acquiring following information between the target vehicle and the vehicle ahead, the following information including at least the actual speed difference between the target vehicle and the vehicle ahead; determining a safe permissible speed difference between the target vehicle and the vehicle ahead based on the final visibility value; if the actual speed difference is less than the safe permissible speed difference, controlling the on-board terminal of the target vehicle to generate warning information, wherein the warning information includes one or more of web pages, voice messages, and pop-ups.

[0011] According to another aspect of the embodiments of this application, a vehicle warning and collision avoidance device is provided, comprising: an acquisition module for acquiring environmental information of a target vehicle; a first determination module for determining a visibility range prediction value and determining multiple different preset angle values ​​for the target vehicle to emit multiple laser beam groups based on the environmental information; a control module for controlling the target vehicle to emit multiple laser beam groups based on the multiple preset angle values ​​and recovering feedback signals corresponding to the number of times; a second determination module for determining multiple visibility reference values ​​based on the recovered feedback signals of the multiple laser beam groups; and a third determination module for determining to turn on or off the fog lights of the target vehicle based on the visibility range prediction value if at least a preset number of the multiple visibility reference values ​​are located within the visibility range prediction value.

[0012] According to another aspect of the embodiments of this application, an electronic device is provided, including: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the above-described vehicle warning and collision avoidance method.

[0013] According to another aspect of the embodiments of this application, a computer-readable storage medium is provided, characterized in that it stores computer-readable instructions thereon, which, when executed by a computer's processor, cause the computer to perform the aforementioned warning and collision avoidance method.

[0014] This application embodiment first determines the visibility range prediction value based on environmental information (e.g., the visibility range prediction value is foggy weather); then controls the target vehicle to emit multiple laser beam groups based on multiple preset angle values ​​to collect the feedback signals of the corresponding number of times. If there are multiple visibility reference values ​​greater than a preset value that are within the visibility range prediction value, then the visibility reference values ​​within the visibility range prediction value are determined as the final visibility value. At the same time, visibility reference values ​​outside the visibility range prediction value can be determined as abnormal visibility reference values ​​(e.g., the visibility reference value generated when the laser beam group emitted by the target vehicle illuminates an obstruction in front). Finally, the fog lights of the target vehicle are turned on or off based on the final visibility value, which improves the accuracy of turning the fog lights on or off, thereby enabling the vehicle to provide effective warnings during driving in special road conditions and improving the safety performance of the vehicle.

[0015] The above description is merely an overview of the technical solutions of the embodiments of this application. In order to better understand the technical means of the embodiments of this application and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of this application more obvious and understandable, specific implementation methods of this application are described below. Attached Figure Description

[0016] The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0017] Figure 1 A flowchart illustrating the vehicle warning and collision avoidance method provided in the embodiments of this application is shown;

[0018] Figure 2 This illustration shows a flowchart of a vehicle generating warning information based on the final visibility value, as provided in an embodiment of this application.

[0019] Figure 3 A schematic diagram of the structure of the vehicle warning and collision avoidance device provided in the embodiments of this application is shown;

[0020] Figure 4 A schematic diagram of the structure of the electronic device provided in the embodiments of this application is shown. Detailed Implementation

[0021] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0022] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0023] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0024] In this application, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0025] Currently, the principle behind automatic fog lights in vehicles is as follows: An automatic fog light "AUTO" switch is added to the existing headlight switch. This switch is not only connected in parallel with the physical switch but also in series with a relay. When the lidar visibility sensor detects that the ambient visibility index is below a threshold, it sends this signal to the area controller. Upon receiving the corresponding signal, the area controller activates the relay. When both the relay and the automatic fog light switch are closed, the fog lights automatically turn on.

[0026] Specifically, a lidar visibility sensor installed at the front of the vehicle emits a laser beam of a specific intensity and wavelength. Based on the received light signal intensity and time delay, the concentration of particles in the atmosphere and visibility are determined. By processing and analyzing the received reflected light signal, visibility is calculated. When the calculated ambient visibility is lower than normal, the lidar visibility sensor feeds this signal back to the area controller. Upon receiving the corresponding signal, the area controller activates a relay, which in turn activates the fog lights. In this way, when a vehicle suddenly enters a section of road with insufficient visibility, such as fog or haze, and the sensors detect extremely low ambient visibility, the area controller automatically turns on the fog lights without human intervention, ensuring safe driving and effectively preventing accidents.

[0027] However, when driving, especially on sharp bends, there may be obstructions in front of the vehicle (such as large trucks, trees, mountains, road signs, etc.). These objects can significantly block the laser beam, causing the visibility meter to receive incorrect data. This can lead to the fog lights turning on unnecessarily, wasting energy and, more importantly, potentially causing vehicles behind to misjudge the situation, thus affecting safe driving. Alternatively, when turning or changing lanes after encountering fog patches, the laser beam may also penetrate outside the fog, causing the visibility meter to receive incorrect data and preventing the fog lights from turning on automatically in time. Ultimately, this can result in the vehicle not receiving accurate warnings, affecting safe driving.

[0028] Figure 1 A schematic flowchart of a vehicle collision avoidance method provided in an embodiment of this application is shown; this method is executed by the vehicle's collision avoidance device. Please refer to... Figure 1 As shown, the method includes the following steps:

[0029] S1: Obtain environmental information of the target vehicle.

[0030] In one embodiment of this application, the environmental information of the target vehicle can be obtained through roadside sensing equipment installed on the target vehicle. The roadside sensing equipment may include at least radar equipment and camera devices (e.g., cameras).

[0031] In one embodiment of this application, the environmental information of the target vehicle includes at least the real-time meteorological information of the road segment where the target vehicle is located, the road condition image information of the target vehicle, and the real-time image information of the surrounding environment within a preset range centered on the target vehicle. The meteorological information can be network meteorological data of the target vehicle's real-time location directly obtained by the vehicle's collision avoidance device via the network, or it can be determined by combining data such as air humidity data, light intensity data, and precipitation data of the target vehicle's real-time location obtained by roadside sensing devices, or by combining the network meteorological data of the target vehicle's real-time location directly obtained by roadside sensing devices with the historical network meteorological data stored by the target vehicle's collision avoidance device.

[0032] S2: Determine the visibility range prediction value based on environmental information and determine multiple different preset angle values ​​for the target vehicle to emit multiple laser beams.

[0033] It should be understood that, especially when the target vehicle is traveling on sharp curves, there may be obstructions in front of it (such as large trucks, trees, mountains, road signs, etc.), which can significantly block the laser beam. Therefore, it is necessary to determine multiple preset angle values ​​based on the target vehicle and emit multiple laser beams to increase the probability of avoiding obstructions, thereby preventing interference with the laser beam during propagation.

[0034] S3: Control the target vehicle to emit multiple laser beams based on multiple preset angle values, and retrieve the feedback signals corresponding to the number of times.

[0035] It should be understood that each time the target vehicle emits a laser beam, it needs to change the preset angle value and emit the laser beam again, and so on, eventually receiving multiple feedback signals.

[0036] In one embodiment of this application, a laser beam can be emitted by a lidar visibility meter installed at the head of the target vehicle, and then the received light signal intensity and time delay information can be used as feedback signals.

[0037] Furthermore, in order to change the angle of the laser beam emitted by the lidar visibility meter, optical processing is required to alter the emission angle of the laser beam, thereby ensuring that the emission angle of the laser beam is set to a preset value.

[0038] In one embodiment of this application, the lidar visibility meter includes a laser emitter and a reflecting lens. The step of controlling a target vehicle to emit multiple laser beams based on multiple preset angle values ​​includes: determining multiple rotation angle values ​​for the reflecting lens to rotate relative to the laser emitter based on multiple different preset angle values; executing a loop process until a preset condition is met; the loop process includes: determining a rotation angle value as a rotation angle test value from the multiple rotation angle values; controlling the reflecting lens to rotate based on the current rotation angle test value; controlling the laser emitter to emit a laser beam once towards the reflecting lens so that the laser beam can propagate at the corresponding preset angle value after being emitted from the lidar visibility meter; excluding the current rotation angle test value from the multiple rotation angle values ​​and re-determining the number of rotation angle values; wherein, the preset condition is that the number of rotation angle values ​​is 0.

[0039] For example, if the preset angle value is 3, the reflector lens also needs to rotate at 3 different angles. Simultaneously, the laser emitter needs to emit 3 laser beams. Specifically, the first rotation angle of the reflector lens is the first of the 3 angle values; after the reflector lens rotates, the laser emitter emits a laser beam towards the reflector lens. Then, the second rotation angle of the reflector lens is the second of the 3 angle values; after the reflector lens rotates, the laser emitter emits a laser beam towards the reflector lens again. Finally, the third rotation angle of the reflector lens is the third of the 3 angle values; after the reflector lens rotates, the laser emitter emits a laser beam towards the reflector lens once more.

[0040] It should be understood that each time the laser emitter emits a laser beam, the reflecting lens rotates once based on a different rotation angle value. Only after the number of laser emitters equals the preset number of angle values ​​is the laser beam emitted by the laser emitter completed. Ultimately, this allows the emission angle of the laser beam emitted by the lidar visibility meter to be arbitrarily adjusted horizontally or obliquely to meet the visibility measurement needs at different angles, thereby improving the accuracy of visibility measurement.

[0041] It is worth noting that when a laser beam passes through the atmosphere, gas molecules in the atmosphere can absorb the energy of the laser beam and undergo energy level transitions. Different gas molecules absorb laser beams to varying degrees. Therefore, before controlling the lidar visibility instrument to emit the laser beam, it is necessary to select a laser beam with a wavelength less affected by atmospheric gases.

[0042] For example, these gases in the atmosphere include: oxygen, which can absorb the energy of laser beams, especially in the ultraviolet and near-infrared spectral ranges; carbon dioxide, a common gas that absorbs laser beams, especially in the infrared spectral range; and nitrogen oxides, a class of gases including nitric oxide (NO) and nitrogen dioxide (NO2), which can also absorb laser energy.

[0043] Alternatively, considering that gases such as oxygen, carbon dioxide, and nitrogen oxides mainly absorb laser light in the infrared and near-infrared spectra, a dual-color alternating laser emitter can be used to emit two variable-wavelength red and green laser beams to reduce atmospheric interference with the laser.

[0044] In one embodiment of this application, the laser emitter includes a filtering module and a laser emitting module. The step of controlling a target vehicle to emit multiple laser beams based on multiple preset angle values ​​includes: determining the atmospheric composition around the target vehicle based on environmental information, and obtaining the attenuation value of each different wavelength of laser in the atmospheric composition; determining whether the attenuation value of each different wavelength of laser is within a preset attenuation range; if the attenuation value of at least one laser beam of different wavelengths is within the preset attenuation range, then determining the corresponding laser as a preset laser; controlling the laser emitting module to emit laser beams, and controlling the filtering module to adjust the wavelength of the laser in the laser beams to be equal to the wavelength of the preset laser.

[0045] For example, if the initial laser emitted by the laser emission module is red, but the attenuation value of the green laser in the atmosphere falls within a preset attenuation range, then the preset laser is determined to be green. Then, by controlling the filtering module to adjust the wavelength of the green laser from the initial laser (red laser) emitted in the laser beam group, the absorption and consumption of the laser by the atmosphere can be reduced to a certain extent, thus improving the accuracy of the test.

[0046] Furthermore, the step of controlling the filtering module to adjust the wavelength of the laser in the laser beam group to be equal to the wavelength of the preset laser includes: controlling the laser emitting module to emit the laser beam group, the laser beam group including at least two lasers, the preset angle values ​​of the two lasers being the same; controlling the filtering module to adjust the wavelength of one of the two lasers to be equal to the wavelength of the preset laser, so as to determine the feedback signal of the laser beam group based on the similarity of the feedback data values ​​of the two recovered lasers.

[0047] For example, if the initial laser emitted by the laser emitting module is red, and the preset laser is determined to be green, when the laser beam group includes two lasers and the preset angle values ​​of the two lasers are the same, the filtering module can be controlled to adjust the wavelength of one of the two lasers to the wavelength of the green laser, while the wavelength of the other laser is not adjusted, i.e., the other laser is red.

[0048] It should be understood that when the laser beam group includes two laser beams, one green and the other red, if the target vehicle emits the laser beam group three times based on three preset angle values, three feedback signals can be retrieved, and each feedback signal includes two feedback data values. In this case, the feedback signal of the laser beam group can be determined based on the similarity between the two feedback data values. For example, if the two feedback data values ​​are the same, either value can be used to determine the feedback signal; if the two values ​​are different, the average of the two values ​​can be used to determine the feedback signal.

[0049] S4: Based on the feedback signals from the recovered multiple laser beams, determine multiple visibility reference values.

[0050] For example, by analyzing the reflected signal intensity of each laser beam group, the scattering and absorption in the atmosphere can be deduced, thereby calculating the visibility reference value.

[0051] S5: Determine the visibility reference value within the visibility range prediction value as the final visibility value, and determine whether to turn the fog lights of the target vehicle on or off based on the final visibility value.

[0052] In one embodiment of this application, if there are multiple visibility reference values ​​greater than a preset value that are within the visibility interval prediction value, then the visibility reference values ​​within the visibility interval prediction value are determined as the final visibility value, and the fog lights of the target vehicle are turned on or off based on the final visibility value; at the same time, the visibility reference values ​​within the visibility interval prediction value are determined as abnormal visibility final values, and the fog lights of the target vehicle are turned on or off without considering the corresponding abnormal visibility final values.

[0053] Furthermore, if any of the multiple visibility reference values ​​is outside the predicted visibility range, then the visibility reference value outside the predicted visibility range is determined to be an abnormal reference value; the propagation path image of the corresponding laser beam group is obtained based on the abnormal reference value; the propagation path image is used to determine whether there is an obstacle in the propagation path of the laser beam group; if so, the coordinate information of the obstacle is obtained and stored for use in the next determination of multiple different preset angle values ​​to avoid obstacles.

[0054] For example, when the target vehicle is driving, especially when making sharp turns, there may be obstacles in front of it horizontally, such as large trucks, trees, mountains, road signs, etc. If the laser beam emitted by the laser emitting module happens to illuminate the obstacle, the visibility reference value will be outside the predicted visibility range due to the obstacle blocking the laser beam. In this case, the visibility reference value outside the predicted visibility range can be identified as an abnormal reference value.

[0055] It should be understood that once the target vehicle stores the coordinate information of obstacles that block the laser beam, the next time the target vehicle approaches the obstacle, it can predict the position of the obstacles around the target vehicle in advance. In the next time, when the target vehicle determines multiple different preset angle values ​​for multiple laser beams based on environmental information, it can avoid the corresponding obstacles, thereby further improving the accuracy of the visibility reference value.

[0056] Furthermore, the step of determining whether to turn the fog lights of the target vehicle on or off based on the final visibility value includes: determining whether the target vehicle is in a foggy or fog-free environment based on the predicted visibility interval; if the target vehicle is determined to be in a foggy environment, then obtaining the fog light on-off interval; determining whether the number of final visibility values ​​within the fog light on-off interval exceeds a threshold; if it exceeds, then determining to turn on the fog lights of the target vehicle, otherwise keeping the fog lights of the target vehicle off; if the target vehicle is determined to be in a fog-free environment, then obtaining the fog light off interval; determining whether the number of final visibility values ​​within the fog light off interval exceeds a threshold; if it exceeds, then determining to turn off the fog lights of the target vehicle, otherwise keeping the fog lights of the target vehicle on.

[0057] It should be understood that, generally speaking, fog lights are not needed simply because there is fog on the road. They are only needed when fog is present and visibility affects the safe driving of the target vehicle. Therefore, when it is determined that the target vehicle is in a foggy environment, it is also necessary to determine whether the visibility condition meets the requirements for turning on the fog lights. If the condition is met, the fog lights are turned on; otherwise, they remain off.

[0058] For example, when a target vehicle is determined to be in a foggy environment based on visibility range predictions, if three visibility reference values ​​are identified within the predicted visibility range, these three reference values ​​correspond to three final visibility values. In this case, it's necessary to determine whether the final visibility value within the fog light activation range exceeds a threshold (e.g., one value). If it does, the fog lights are turned on; otherwise, the fog lights remain off. Conversely, if only one visibility reference value is identified within the predicted visibility range, the final visibility value is also determined to be one. In this case, it's only necessary to determine if the final visibility value is within the fog light activation range; if so, the fog lights are turned on; otherwise, they remain off. The principle for turning fog lights on and off when the target vehicle is determined to be in a fog-free environment based on visibility range predictions can be the same as that for fog lights in a foggy environment, and will not be elaborated here.

[0059] S5: In order to further reduce the occurrence of traffic safety accidents, Figure 2The illustration shows a flowchart of a vehicle generating warning information based on the final visibility value provided in this application embodiment; the vehicle's warning and collision avoidance method further includes: obtaining following information between the target vehicle and the vehicle in front, the following information including at least the actual speed difference between the target vehicle and the vehicle in front; determining the safe permissible speed difference between the target vehicle and the vehicle in front based on the final visibility value; if the actual speed difference is less than the safe permissible speed difference, controlling the vehicle terminal of the target vehicle to generate warning information, wherein the warning information includes one or more of web pages, voice, and pop-ups.

[0060] In one embodiment of this application, a visibility-speed relationship model was proposed by observing nearly 100km of foggy highway road using a smart device: when small car: v=8.414lnS+32.816; large car: v=3.177lnS+36.87, the relationship between the speed difference between the target vehicle and the vehicle in front and visibility, braking acceleration, and reaction time is expressed as follows:

[0061]

[0062] Where v represents vehicle speed; S represents atmospheric visibility (S≤200m); Δv is the safe permissible speed difference; v2 is the target vehicle; v1 represents the speed of the vehicle in front of the target vehicle; C is the sum of the driver's reaction time and the target vehicle's braking time; a is the acceleration of the vehicle in front of the target vehicle; and M represents the safe distance between the target vehicles when their speeds are the same.

[0063] Based on these parameters, the safe speed difference between the two vehicles in foggy weather can be roughly calculated. The system uses the BeiDou Navigation Satellite System to monitor the speeds of all target vehicles within a 100km radius in real time, and transmits the speed of the nearest target vehicle to its driver via a navigation app. If the actual speed difference between the two target vehicles is lower than the safe speed difference, the system will provide voice prompts to the driver to adjust their speed and maintain it within a safe range, further reducing safety risks caused by insufficient visibility and ensuring the safety of life and property.

[0064] In summary, the target vehicle of this invention first determines the visibility range prediction value based on environmental information (e.g., the visibility range prediction value is foggy weather); then controls the target vehicle to emit multiple laser beam groups based on multiple preset angle values ​​to collect the feedback signals of the corresponding number of times. If there are multiple visibility reference values ​​greater than a preset value that are within the visibility range prediction value, then the visibility reference values ​​within the visibility range prediction value are determined as the final visibility value. At the same time, visibility reference values ​​outside the visibility range prediction value can be determined as abnormal visibility reference values ​​(e.g., the visibility reference value generated when the laser beam group emitted by the target vehicle illuminates an obstruction in front). Finally, the fog lights of the target vehicle are turned on or off based on the final visibility value, which improves the accuracy of turning the fog lights on or off, thereby enabling the target vehicle to provide effective warnings during driving in special road conditions and improving the safety performance of the vehicle.

[0065] Furthermore, based on the final visibility value, the safe permissible speed difference between the two vehicles in foggy weather can be roughly calculated. Then, the Beidou navigation system is used to monitor the speed of all target vehicles within 100km of the target vehicle in real time, and the speed of the nearest vehicle to the target vehicle is transmitted to the driver of the target vehicle in real time through the navigation APP. If the actual speed difference between the target vehicle and the vehicle in front is lower than the safe permissible speed difference, the driver will be prompted by voice to adjust the speed in time and keep the speed within a safe range, further reducing the safety risks caused by insufficient visibility and ensuring the safety of life and property.

[0066] Therefore, the vehicle of this application can more accurately turn fog lights on or off, thereby enabling the vehicle to provide effective warnings and improve driving safety when driving on special road conditions, while also preventing accidental activation of fog lights and saving energy consumption.

[0067] Figure 3 This illustration shows a structural schematic diagram of the vehicle warning and collision avoidance device 200 provided in the embodiments of this application; combined with Figure 3 As shown, the vehicle's warning and collision avoidance device 200 includes: an acquisition module 210 for acquiring environmental information of the target vehicle; a second determination module 240 for determining a visibility range prediction value and multiple preset angle values ​​for the target vehicle to emit multiple laser beam groups based on the environmental information; a control module 230 for controlling the target vehicle to emit multiple laser beam groups based on the multiple preset angle values ​​and recovering the feedback signals of the corresponding number of times; a second determination module 250 for determining multiple visibility reference values ​​based on the recovered feedback signals of the multiple laser beam groups; and a second determination module 260 for determining whether to turn on or off the target vehicle's fog lights based on the visibility range prediction value if at least a preset number of the multiple visibility reference values ​​are within the visibility range prediction value.

[0068] It should be noted that the early warning collision avoidance device 200 provided in the above embodiments and the early warning collision avoidance method provided in the aforementioned embodiments belong to the same concept. The specific way in which each module and unit performs operations has been described in detail in the method embodiments, and will not be repeated here.

[0069] Figure 4 A schematic diagram of the electronic device provided in an embodiment of this application is shown. (In conjunction with...) Figure 4 As shown, the specific embodiments of this application do not limit the specific implementation of the electronic device.

[0070] According to another aspect of the embodiments of this application, an electronic device is provided, including: one or more processors; and a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device enables the above-described vehicle warning and collision avoidance method.

[0071] like Figure 4 As shown, the computer system 1100 includes a Central Processing Unit (CPU) 1101, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, based on programs stored in Read-Only Memory (ROM) 1102 or programs loaded from storage portion 1108 into Random Access Memory (RAM) 1103. The RAM 1103 also stores various programs and data required for system operation. The CPU 1101, ROM 1102, and RAM 1103 are interconnected via a bus 1104. An Input / Output (I / O) interface 1105 is also connected to the bus 1104.

[0072] The following components are connected to I / O interface 1105: an input section 1106 including a keyboard, mouse, etc.; an output section 1107 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 1108 including a hard disk, etc.; and a communication section 1109 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 1109 performs communication processing via a network such as the Internet. A drive 1110 is also connected to I / O interface 1105 as needed. Removable media 1111, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 1110 as needed so that computer programs read from them can be installed into storage section 1108 as needed.

[0073] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 1109, and / or installed from removable medium 1111. When the computer program is executed by central processing unit (CPU) 1101, it performs various functions defined in the system of this application.

[0074] Another aspect of this application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the aforementioned vehicle warning and collision avoidance method. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not incorporated into the electronic device.

[0075] Another aspect of this application provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the vehicle warning and collision avoidance method provided in the various embodiments described above.

[0076] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0077] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0078] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0079] The above description is merely a preferred exemplary embodiment of this application and is not intended to limit the implementation of this application. Those skilled in the art can easily make corresponding modifications or alterations based on the main concept and spirit of this application. Therefore, the scope of protection of this application should be determined by the scope of protection claimed in the claims.

Claims

1. A method for warning and avoiding collisions of a vehicle, characterized in that, The method includes: Obtain environmental information about the target vehicle; Based on the environmental information, a visibility range prediction value is determined, and multiple different preset angle values ​​are determined for the target vehicle to emit multiple laser beam groups. The target vehicle is controlled to emit multiple laser beams based on multiple preset angle values, and the feedback signals of the corresponding number of times are retrieved. Based on the feedback signals from the multiple laser beams collected, several visibility reference values ​​are determined. If there are more than a preset number of visibility reference values ​​among the multiple visibility reference values ​​that are within the visibility interval prediction value, then the visibility reference value within the visibility interval prediction value is determined to be the final visibility value. The fog lights of the target vehicle are turned on or off based on the final visibility value.

2. The method as described in claim 1, characterized in that, The target vehicle includes a lidar visibility meter, which includes a laser emitter and a reflecting lens. The step of controlling the target vehicle to emit multiple laser beams based on multiple preset angle values ​​includes: Based on the multiple different preset angle values, determine multiple rotation angle values ​​that the reflecting lens needs to rotate relative to the laser emitter. The loop process continues until a preset condition is met; the loop process includes: One of the rotation angle values ​​is determined from the plurality of rotation angle values ​​as the rotation angle test value; Control the reflective lens to rotate based on the current rotation angle test value; The laser emitter is controlled to emit a laser beam toward the reflecting lens, so that the laser beam propagates at the corresponding preset angle value after being emitted from the lidar visibility meter. Exclude the current rotation angle test value from the plurality of rotation angle values, and redetermine the number of rotation angle values; The preset condition is that the number of rotation angle values ​​is 0.

3. The method as described in claim 2, characterized in that, The laser emitter includes a filtering module and a laser emitting module. The step of controlling the target vehicle to emit multiple laser beams based on multiple preset angle values ​​includes: Based on the environmental information, the atmospheric composition around the target vehicle is determined, and the attenuation value of laser at different wavelengths in the atmospheric composition is obtained. Determine whether the attenuation value of the laser at different wavelengths is within a preset attenuation range; If the attenuation value of at least one of the lasers of different wavelengths is within the preset attenuation range, then the corresponding laser is determined to be the preset laser. The laser emitting module is controlled to emit a laser beam, and the filtering module is controlled to adjust the wavelength of the laser in the laser beam to be equal to the wavelength of the preset laser.

4. The method as described in claim 3, characterized in that, The step of controlling the filtering module to adjust the wavelength of the laser in the laser beam group to be equal to the preset wavelength of the laser includes: The laser emitting module is controlled to emit the laser beam group, which includes at least two laser beams, and the two laser beams have the same preset angle value. The filtering module is controlled to adjust the wavelength of one of the two laser beams to be equal to the wavelength of the preset laser beam, so as to determine the feedback signal of the laser beam group based on the similarity of the feedback data values ​​of the two laser beams.

5. The method as described in claim 1, characterized in that, The method further includes: If any of the multiple visibility reference values ​​is outside the predicted visibility range, then the visibility reference value outside the predicted visibility range is determined to be an abnormal reference value. Based on the abnormal reference value, obtain the propagation path image of the corresponding laser beam group; Determine whether there are obstacles in the propagation path of the laser beam group based on the propagation path image; If so, the coordinate information of the obstacle is obtained and stored, so as to avoid the obstacle when determining the multiple different preset angle values ​​next time.

6. The method as described in claim 1, characterized in that, The step of determining whether to turn the fog lights of the target vehicle on or off based on the final visibility value includes: Based on the visibility interval prediction value, it is determined whether the target vehicle is in a foggy environment or a fog-free environment; If the target vehicle is determined to be in the foggy environment, the fog light activation range is obtained; it is determined whether the number of visibility final values ​​within the fog light activation range exceeds a threshold; if it exceeds the threshold, the fog lights of the target vehicle are turned on; otherwise, the fog lights of the target vehicle are kept off. If the target vehicle is determined to be in the fog-free environment, the fog light off range is obtained; it is determined whether the number of visibility final values ​​within the fog light off range exceeds a threshold; if it exceeds the threshold, the fog lights of the target vehicle are turned off, otherwise the fog lights of the target vehicle are kept on.

7. The method as described in claim 6, characterized in that, The method further includes: Obtain the following information of the target vehicle and the vehicle in front, wherein the following information includes at least the actual speed difference between the target vehicle and the vehicle in front; The safe permissible speed difference between the target vehicle and the vehicle in front is determined based on the final visibility value; If the actual speed difference is less than the safe allowable speed difference, the vehicle terminal of the target vehicle is controlled to generate a warning message, wherein the warning message includes one or more of the following: web page, voice, and pop-up window.

8. A vehicle early warning and collision avoidance device, characterized in that, include: The acquisition module is used to acquire environmental information about the target vehicle. The first determining module is used to determine the visibility range prediction value and the multiple different preset angle values ​​of the target vehicle emitting multiple laser beam groups based on the environmental information. The control module is used to control the target vehicle to emit multiple laser beams based on multiple preset angle values ​​and to recover the feedback signals corresponding to the number of times. The second determining module is used to determine multiple visibility reference values ​​based on the feedback signals from the multiple laser beam groups that have been recovered. The third determining module is used to determine whether to turn on or off the fog lights of the target vehicle based on the visibility interval prediction value if at least a preset number of the multiple visibility reference values ​​are located within the visibility interval prediction value.

9. An electronic device, characterized in that, include: One or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the vehicle warning and collision avoidance method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, It stores computer-readable instructions, which, when executed by the processor of a computer, cause the computer to perform the vehicle warning and collision avoidance method according to any one of claims 1 to 7.

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