Road risk assessment method and device, computer device and storage medium

Abstract

The application relates to a road risk assessment method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring road attribute information of a road corresponding to a target vehicle and driving information of vehicles in the road during driving of the target vehicle; determining at least one hidden risk area in the road according to the road attribute information and the driving information, wherein the hidden risk area is not in the range of an obstacle sensing area of the target vehicle; acquiring distance information between the target vehicle and the hidden risk area, and determining a risk assessment level of each hidden risk area according to the distance information. The above method can increase the safety of automatic driving.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a road risk assessment method, apparatus, computer equipment, and storage medium. Background Technology

[0002] With the continuous development of computer technology and the continuous improvement of computing power, autonomous driving technology has become more mature and perfect. Current autonomous vehicles perform quite well in both static and simple driving scenarios and complex and dynamic scenarios.

[0003] However, in scenarios with a large variety and number of obstacles on the road and complex operating conditions, the reliability of autonomous vehicles' risk assessment of the road is poor, which leads to autonomous vehicles being unable to make reasonable decisions perfectly, resulting in higher driving risks for autonomous vehicles. Summary of the Invention

[0004] Therefore, it is necessary to provide a road risk assessment method, device, computer equipment, and storage medium that can assess the risks of hidden areas and reduce the driving risks of autonomous driving, in order to address the above-mentioned technical problems.

[0005] Firstly, this application provides a road risk assessment method. The method includes:

[0006] During the driving process of the target vehicle, obtain the road attribute information of the road corresponding to the target vehicle and the driving information of vehicles in the road;

[0007] Based on road attribute information and driving information, at least one hidden risk area in the road is identified, wherein the hidden risk area is not within the obstacle perception area of ​​the target vehicle;

[0008] Obtain distance information between the target vehicle and the hidden risk area, and determine the risk assessment level of each hidden risk area based on the distance information.

[0009] In one embodiment, there are multiple roads, and at least one hidden risk area is determined within the roads based on road attribute information and driving information, including:

[0010] Based on road attribute information and driving information, determine the target road for the currently existing vehicle from each road;

[0011] Obtain the driving restrictions of the target road, and based on the driving restrictions and the target driving information of vehicles on the target road, identify at least one hidden risk area on the target road.

[0012] In one embodiment, the driving information includes the driving location, and the road attribute information includes the road location range. Based on the road attribute information and the driving information, the target road for the currently existing vehicle is determined from among the roads, including:

[0013] For each road, if the driving position of at least one vehicle is within the road's location range, then the road is determined as the target road.

[0014] In one embodiment, based on driving restrictions and target driving information of vehicles on the target road, at least one hidden risk area is identified on the target road, including:

[0015] If the target driving information does not meet the driving restriction conditions, then the vehicle in the target road is determined to be in a preset area in the first direction as a hidden risk area. The first direction is the same as the driving direction of the target vehicle. The driving restriction conditions include at least one of the driving direction and driving speed.

[0016] In one embodiment, the risk assessment level of each hidden risk area is determined based on the distance information, including:

[0017] If the distance information is greater than the distance threshold, the risk assessment level of the hidden risk area is determined to be Level 2 risk.

[0018] If the distance information is less than or equal to the distance threshold, the risk assessment level of the hidden risk area is determined to be Level 1 risk.

[0019] In one embodiment, before obtaining the road attribute information of the road corresponding to the target vehicle and the driving information of the vehicles on the road, the method further includes:

[0020] Detect whether the target vehicle has entered a road risk scenario. In a road risk scenario, the distance between the target vehicle and the preset danger zone is less than the risk distance threshold. The preset danger zone includes at least the intersection area.

[0021] Obtain road attribute information for the road corresponding to the target vehicle, as well as vehicle driving information on that road, including:

[0022] If the target vehicle enters a road risk scenario, road attribute information and driving information are obtained.

[0023] In one embodiment, the method further includes:

[0024] Based on the risk assessment level of each hidden risk area, generate vehicle control instructions for the target vehicle.

[0025] The target vehicle is controlled to move according to the vehicle control command.

[0026] Secondly, this application also provides a road risk assessment device. The device includes:

[0027] The information acquisition module is used to acquire road attribute information of the road corresponding to the target vehicle and driving information of vehicles on the road during the target vehicle's driving process.

[0028] The area determination module is used to determine at least one hidden risk area in the road based on road attribute information and driving information, wherein the hidden risk area is not within the obstacle perception area of ​​the target vehicle;

[0029] The risk assessment module is used to obtain distance information between the target vehicle and the hidden risk area, and to determine the risk assessment level of each hidden risk area based on the distance information.

[0030] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0031] During the driving process of the target vehicle, obtain the road attribute information of the road corresponding to the target vehicle and the driving information of vehicles in the road;

[0032] Based on road attribute information and driving information, at least one hidden risk area in the road is identified, wherein the hidden risk area is not within the obstacle perception area of ​​the target vehicle;

[0033] Obtain distance information between the target vehicle and the hidden risk area, and determine the risk assessment level of each hidden risk area based on the distance information.

[0034] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0035] During the driving process of the target vehicle, obtain the road attribute information of the road corresponding to the target vehicle and the driving information of vehicles in the road;

[0036] Based on road attribute information and driving information, at least one hidden risk area in the road is identified, wherein the hidden risk area is not within the obstacle perception area of ​​the target vehicle;

[0037] Obtain distance information between the target vehicle and the hidden risk area, and determine the risk assessment level of each hidden risk area based on the distance information.

[0038] The aforementioned road risk assessment method, device, computer equipment, and storage medium acquire road attribute information and vehicle driving information of the road corresponding to the target vehicle during the target vehicle's operation. Based on the road attribute information and driving information, at least one hidden risk area in the road is identified, distance information between the target vehicle and the hidden risk area is acquired, and the risk assessment level of each hidden risk area is determined based on the distance information. This method enables the target vehicle to assess the risk of hidden risk areas not within its obstacle perception area during autonomous driving. This allows for driving control based on the hidden risk areas obscured by obstacles, enabling the target vehicle to avoid hidden risk areas during autonomous driving and significantly improving driving safety. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a diagram illustrating the application environment of the road risk assessment method in one embodiment;

[0041] Figure 2 This is a flowchart illustrating a road risk assessment method in one embodiment;

[0042] Figure 3 This is a schematic diagram of the process of driving control of the target vehicle in one embodiment;

[0043] Figure 4 This is a flowchart illustrating the road risk assessment method in another embodiment;

[0044] Figure 5 This is a structural block diagram of the road risk assessment device in the first embodiment;

[0045] Figure 6 This is a structural block diagram of the road risk assessment device in the second embodiment;

[0046] Figure 7 This is a structural block diagram of the road risk assessment device in the third embodiment;

[0047] Figure 8 This is a structural block diagram of the road risk assessment device in the fourth embodiment;

[0048] Figure 9 This is a structural block diagram of the road risk assessment device in the fifth embodiment;

[0049] Figure 10 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0051] The road risk assessment method provided in this application embodiment can be applied to, for example, Figure 1 In the application environment shown, in one embodiment, a computer device is provided, which may be a server for the target vehicle, and its internal structure diagram may be as follows. Figure 1 As shown. The computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database stores data required for related processing. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements the road risk assessment method shown in any of the following embodiments.

[0052] In one embodiment, such as Figure 2 As shown, a road risk assessment method is provided, which can be applied to... Figure 1 Taking a computer device as an example, the explanation includes the following steps:

[0053] S201, during the driving process of the target vehicle, obtain the road attribute information of the road corresponding to the target vehicle and the driving information of vehicles on the road.

[0054] The road attribute information may include the number of lanes and the position of the lanes; the driving information may include the vehicle's driving direction and the vehicle's driving speed.

[0055] Specifically, during the driving process of the target vehicle, road attribute information of the road where the target vehicle is located is obtained through roadside units (such as radar and cameras), and driving information of other vehicles on the road where the target vehicle is located is obtained through vehicle-mounted units (such as vehicle-mounted radar).

[0056] Optionally, since other vehicles in the lane are also driving normally while the target vehicle is driving normally, pedestrians will not suddenly appear in front of other vehicles most of the time. In order to reduce the risk assessment cost, risk assessment of the hidden risk area is only required when the target vehicle approaches the road risk scenario. That is, to detect whether the target vehicle has entered the road risk scenario. If the target vehicle enters the road risk scenario, road attribute information and driving information are obtained.

[0057] In the road risk scenario, the distance between the target vehicle and the preset danger zone is less than the risk distance threshold, and the preset danger zone includes at least the intersection area.

[0058] Specifically, the vehicle's location is obtained using the onboard unit on the target vehicle, and the distance between the vehicle's location and the location of the preset danger zone is calculated. When the distance is less than the risk distance threshold, it indicates that there is a hidden risk zone nearby. At this time, a risk assessment of the risk zone is required. First, the road attribute information of the road where the target vehicle is located is obtained through roadside units (such as radar and cameras), and then the driving information of other vehicles on the road where the target vehicle is located is obtained through onboard units (such as onboard radar).

[0059] S202, Based on road attribute information and driving information, identify at least one hidden risk area in the road.

[0060] Among them, the hidden risk area is not within the obstacle perception range of the target vehicle.

[0061] Specifically, not all areas on the road are hidden areas. Some areas can be directly detected by the on-board unit of the target vehicle, but some areas cannot be directly detected, such as those obscured by other vehicles. In other words, the lanes where vehicles are present are the hidden risk areas. Therefore, based on the vehicle position in the driving information, it is necessary to find the lanes where vehicles are present from the lanes in the road attribute information, which are the hidden risk areas.

[0062] Optionally, there may be multiple roads. The method for determining hidden risk areas may also be to determine the target road where the vehicle currently exists from each road based on road attribute information and driving information; obtain the driving restriction conditions of the target road; and determine at least one hidden risk area in the target road based on the driving restriction conditions and the target driving information of the vehicle in the target road.

[0063] The driving restrictions include driving direction restrictions and driving speed restrictions, and the target driving information includes the driving direction and driving speed of vehicles on the target road.

[0064] Specifically, the system can first filter out target roads containing vehicles from all roads based on vehicle location. If the target driving information of a vehicle on a target road does not match the driving restrictions, for example, if the driving direction of a vehicle on a target road does not match the driving direction restriction or the driving speed does not match the driving speed restriction, then it is determined that there is a hidden risk area on the target road.

[0065] Optionally, the driving information includes the driving position, the road attribute information includes the road position range, and the method of determining the target road can also be based on each road. If the driving position of at least one vehicle is within the road position range, then the road is determined as the target road.

[0066] For example, for each road, when there is at least one vehicle whose travel position is within the location range of that road, that is, when there is one or more vehicles on the road, then that road is determined to be the target road.

[0067] Correspondingly, another way to determine hidden risk areas from the target road is to determine the hidden risk area in the first direction of the vehicle in the target road if the target driving information does not meet the driving restriction conditions. The first direction is the same as the driving direction of the target vehicle, and the driving restriction conditions include at least one of the driving direction and driving speed.

[0068] For example, if the driving speed limit on the target road is 30 km / h, and the vehicle speed in the target lane is 40 km / h, then the area in front of the vehicle is determined to be a hidden risk area. Or, if the driving speed limit on the target road is 30 km / h, and the vehicle speed on the target road is 0 km / h, then there is a high probability that there is a pedestrian in front of the vehicle, and the area in front of the vehicle is determined to be a hidden risk area.

[0069] S203: Obtain distance information between the target vehicle and the hidden risk area, and determine the risk assessment level of each hidden risk area based on the distance information.

[0070] Among them, distance information represents the distance between the target vehicle and the hidden risk area.

[0071] Specifically, distance information is calculated based on the distance between the target vehicle and the hidden risk area obtained by vehicle sensors; the accuracy of the distance information is corrected considering the precision and error of the vehicle sensors; the risk assessment level of the hidden risk area is determined based on the risk assessment model and the set risk assessment standards; or the risk assessment level of the hidden risk area can be determined by looking up the table after determining the distance information according to the relationship table between distance information and risk level.

[0072] Optionally, the risk assessment level can also be determined as follows: if the distance information is greater than the distance threshold, the risk assessment level of the hidden risk area is determined to be Level 2; if the distance information is less than or equal to the distance threshold, the risk assessment level of the hidden risk area is determined to be Level 1.

[0073] Specifically, the distance information is compared with the distance threshold. If the distance information is greater than the distance threshold, the risk assessment level of the hidden risk area is determined to be Level 2; if the distance information is less than or equal to the distance threshold, the risk assessment level of the hidden risk area is determined to be Level 1.

[0074] Optionally, the distance threshold can be adjusted as needed, and multiple risk assessment levels can be set as needed; no limitation is made here.

[0075] In the above embodiments, during the driving of the target vehicle, road attribute information of the road corresponding to the target vehicle and driving information of vehicles on the road are acquired; based on the road attribute information and driving information, at least one hidden risk area in the road is identified, distance information between the target vehicle and the hidden risk area is acquired, and the risk assessment level of each hidden risk area is determined based on the distance information. This method allows the target vehicle to consider not only areas directly observable by cameras and radar during autonomous driving, but also some hidden areas obscured by obstacles, thereby enabling the target vehicle to avoid hidden risk areas during autonomous driving and greatly improving the driving safety of autonomous driving.

[0076] The above embodiments detail how to determine the risk assessment level. Since the risk assessment of risky areas is ultimately applied to the autonomous driving of vehicles, in this embodiment, as... Figure 3 As shown, this illustrates how to assist vehicles in autonomous driving based on risk assessment levels. Specific methods include:

[0077] S301 generates vehicle control commands for the target vehicle based on the risk assessment level of each hidden risk area.

[0078] For example, if the risk assessment level is Level 1, a first control command is generated; if the risk assessment level is Level 2, a second control command is generated. The first control command is a vehicle deceleration command, and the second control command is a vehicle lane change command.

[0079] S302 controls the driving of the target vehicle according to the vehicle control command.

[0080] For example, if a first control command is received, the vehicle is controlled to decelerate to a preset speed according to the first control command; if a second control command is received, the vehicle is controlled to change lanes to a designated lane according to the second control command.

[0081] In the above embodiments, vehicle control commands are first determined based on the risk assessment level, and then the vehicle is controlled according to the vehicle control commands. This method can enable the target vehicle to avoid hidden risk areas during autonomous driving, thereby increasing the safety of autonomous driving.

[0082] To more comprehensively demonstrate this solution, this embodiment presents an optional approach to road risk assessment, such as... Figure 4 As shown:

[0083] S401, detects whether the target vehicle has entered a road risk scenario.

[0084] In the road risk scenario, the distance between the target vehicle and the preset danger zone is less than the risk distance threshold, and the preset danger zone includes at least the intersection area.

[0085] S402: If the target vehicle enters a road risk scenario, obtain road attribute information and driving information.

[0086] S403: For each road, if the driving position of at least one vehicle is within the road's location range, then the road is determined as the target road.

[0087] S404 If the target driving information does not meet the driving restriction conditions, then the preset area of ​​the vehicle in the first direction on the target road is determined as a hidden risk area.

[0088] The first direction is the same as the direction of travel of the target vehicle, and the driving restrictions include at least one of the driving direction and driving speed.

[0089] S405, if the distance information is greater than the distance threshold, then the risk assessment level of the hidden risk area is determined to be Level 2 risk.

[0090] S406, if the distance information is less than or equal to the distance threshold, then the risk assessment level of the hidden risk area is determined to be Level 1 risk.

[0091] S407 generates vehicle control commands for the target vehicle based on the risk assessment level of each hidden risk area.

[0092] S408 controls the driving of the target vehicle according to vehicle control commands.

[0093] For example, in the above process, the road attribute information can be a set of roads, such as: , For the Nth lane; vehicle driving information can be a set of vehicles, such as... This set includes the location and size of each vehicle; the target lane set can be determined based on the road set and the vehicle set. Driving restrictions can be a set of driving restrictions. Therefore, the set of roads in the road network that are safe to drive on is: Define the set of safe points at time k as follows: At this point, the area on the road other than the safe points is the hidden risk area.

[0094] The specific processes of S401-S408 described above can be found in the description of the above method embodiments. Their implementation principles and technical effects are similar, and will not be repeated here.

[0095] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0096] Based on the same inventive concept, this application also provides a road risk assessment device for implementing the road risk assessment method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of one or more road risk assessment device embodiments provided below can be found in the limitations of the road risk assessment method described above, and will not be repeated here.

[0097] In one embodiment, such as Figure 5 As shown, a road risk assessment device 5 is provided, including: an information acquisition module 50, an area determination module 51, and a risk assessment module 52, wherein:

[0098] The information acquisition module 50 is used to acquire road attribute information of the road corresponding to the target vehicle and driving information of vehicles on the road during the driving process of the target vehicle.

[0099] The area determination module 51 is used to determine at least one hidden risk area in the road based on road attribute information and driving information, wherein the hidden risk area is not within the obstacle perception area of ​​the target vehicle.

[0100] The risk assessment module 52 is used to obtain distance information between the target vehicle and the hidden risk area, and to determine the risk assessment level of each hidden risk area based on the distance information.

[0101] In another embodiment, the number of roads is multiple, such as Figure 6 As shown above, Figure 5 The region determination module 51 includes:

[0102] The target determination unit 510 is used to determine the target road where the vehicle currently exists from among the various roads based on road attribute information and driving information;

[0103] The area determination unit 511 is used to obtain the driving restriction conditions of the target road and determine at least one hidden risk area in the target road based on the driving restriction conditions and the target driving information of vehicles in the target road.

[0104] In another embodiment, the driving information includes the driving location, and the road attribute information includes the road location range, as described above. Figure 6 The target determination unit 510 in the middle is specifically used for:

[0105] For each road, if the driving position of at least one vehicle is within the road's location range, then the road is determined as the target road.

[0106] In another embodiment, the above Figure 6 The region determination unit 511 is specifically used for:

[0107] If the target driving information does not meet the driving restriction conditions, then the vehicle in the target road is determined to be in a preset area in the first direction as a hidden risk area. The first direction is the same as the driving direction of the target vehicle. The driving restriction conditions include at least one of the driving direction and driving speed.

[0108] In another embodiment, such as Figure 7 As shown above, Figure 5 The risk assessment module 52 includes:

[0109] The first assessment unit 520 is used to determine the risk assessment level of the hidden risk area as a level two risk level if the distance information is greater than the distance threshold.

[0110] The second assessment unit 521 is used to determine the risk assessment level of the hidden risk area as Level 1 if the distance information is less than or equal to the distance threshold.

[0111] In another embodiment, such as Figure 8 As shown above, Figure 5 The information acquisition module 50 includes:

[0112] Scene detection unit 500 is used to detect whether a target vehicle enters a road risk scene. In a road risk scene, the distance between the target vehicle and a preset danger zone is less than a risk distance threshold. The preset danger zone includes at least an intersection area.

[0113] The information acquisition unit 501 is used to acquire road attribute information and driving information if the target vehicle enters a road risk scenario.

[0114] In another embodiment, such as Figure 9 As shown above, Figure 5 The road risk assessment device 5 also includes:

[0115] The instruction determination module 53 is used to generate vehicle control instructions for the target vehicle based on the risk assessment level of each hidden risk area.

[0116] The vehicle control module 54 is used to control the driving of the target vehicle according to the vehicle control command.

[0117] Each module in the aforementioned road risk assessment device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0118] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 10 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores vehicle and road information data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When executed by the processor, the computer program implements a road risk assessment method.

[0119] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 10As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a road risk assessment method. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0120] Those skilled in the art will understand that Figure 10 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0121] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0122] During the driving process of the target vehicle, obtain the road attribute information of the road corresponding to the target vehicle and the driving information of vehicles in the road;

[0123] Based on road attribute information and driving information, at least one hidden risk area in the road is identified, wherein the hidden risk area is not within the obstacle perception area of ​​the target vehicle;

[0124] Obtain distance information between the target vehicle and the hidden risk area, and determine the risk assessment level of each hidden risk area based on the distance information.

[0125] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0126] Based on road attribute information and driving information, determine the target road where vehicles currently exist from each road; obtain the driving restriction conditions of the target road, and based on the driving restriction conditions and the target driving information of vehicles in the target road, determine at least one hidden risk area in the target road.

[0127] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0128] For each road, if the driving position of at least one vehicle is within the road's location range, then the road is determined as the target road.

[0129] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0130] If the target driving information does not meet the driving restriction conditions, then the vehicle in the target road is determined to be in a preset area in the first direction as a hidden risk area. The first direction is the same as the driving direction of the target vehicle. The driving restriction conditions include at least one of the driving direction and driving speed.

[0131] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0132] If the distance information is greater than the distance threshold, the risk assessment level of the hidden risk area is determined to be Level 2; if the distance information is less than or equal to the distance threshold, the risk assessment level of the hidden risk area is determined to be Level 1.

[0133] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0134] The system detects whether a target vehicle has entered a road risk scenario. In a road risk scenario, the distance between the target vehicle and a preset danger zone is less than a risk distance threshold. The preset danger zone includes at least intersection areas. If the target vehicle enters a road risk scenario, road attribute information and driving information are obtained.

[0135] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0136] Based on the risk assessment level of each hidden risk area, generate vehicle control instructions for the target vehicle; and control the driving of the target vehicle according to the vehicle control instructions.

[0137] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0138] During the driving process of the target vehicle, obtain the road attribute information of the road corresponding to the target vehicle and the driving information of vehicles in the road;

[0139] Based on road attribute information and driving information, at least one hidden risk area in the road is identified, wherein the hidden risk area is not within the obstacle perception area of ​​the target vehicle;

[0140] Obtain distance information between the target vehicle and the hidden risk area, and determine the risk assessment level of each hidden risk area based on the distance information.

[0141] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0142] Based on road attribute information and driving information, determine the target road where vehicles currently exist from each road; obtain the driving restriction conditions of the target road, and based on the driving restriction conditions and the target driving information of vehicles in the target road, determine at least one hidden risk area in the target road.

[0143] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0144] For each road, if the driving position of at least one vehicle is within the road's location range, then the road is determined as the target road.

[0145] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0146] If the target driving information does not meet the driving restriction conditions, then the vehicle in the target road is determined to be in a preset area in the first direction as a hidden risk area. The first direction is the same as the driving direction of the target vehicle. The driving restriction conditions include at least one of the driving direction and driving speed.

[0147] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0148] If the distance information is greater than the distance threshold, the risk assessment level of the hidden risk area is determined to be Level 2; if the distance information is less than or equal to the distance threshold, the risk assessment level of the hidden risk area is determined to be Level 1.

[0149] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0150] The system detects whether a target vehicle has entered a road risk scenario. In a road risk scenario, the distance between the target vehicle and a preset danger zone is less than a risk distance threshold. The preset danger zone includes at least intersection areas. If the target vehicle enters a road risk scenario, road attribute information and driving information are obtained.

[0151] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0152] Based on the risk assessment level of each hidden risk area, generate vehicle control instructions for the target vehicle; and control the driving of the target vehicle according to the vehicle control instructions.

[0153] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0154] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0155] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A road risk assessment method, characterized in that, The method includes: During the driving process of the target vehicle, the road attribute information of the road corresponding to the target vehicle and the driving information of the vehicles in the road are obtained; wherein, the road attribute information is obtained by the roadside unit, which obtains the number of lanes and lane position of the road where the target vehicle is located; the driving information is obtained by the vehicle unit, which obtains the vehicle driving direction and vehicle driving speed of the vehicles in the road where the target vehicle is located; based on the road attribute information and the driving information, the target road where the vehicle currently exists is determined from each of the roads; If the target driving information does not meet the driving restriction conditions, then the vehicle in the target road is determined to be in a preset area in the first direction as a hidden risk area. The first direction is the same as the driving direction of the target vehicle. The driving restriction conditions include at least one of driving direction and driving speed. The hidden risk area is not within the obstacle perception area of ​​the target vehicle. Obtain the distance information between the target vehicle and the hidden risk area, and determine the risk assessment level of each hidden risk area based on the distance information.

2. The method according to claim 1, characterized in that, The driving information includes the driving location, and the road attribute information includes the road location range. The step of determining the target road for the currently existing vehicle from among the roads based on the road attribute information and the driving information includes: For each of the aforementioned roads, if the driving position of at least one vehicle is within the road position range of the aforementioned road, then the aforementioned road is determined to be the target road.

3. The method according to claim 1, characterized in that, The step of determining the risk assessment level of each hidden risk area based on the distance information includes: If the distance information is greater than the distance threshold, then the risk assessment level of the hidden risk area is determined to be a level two risk level; If the distance information is less than or equal to the distance threshold, then the risk assessment level of the hidden risk area is determined to be Level 1 risk.

4. The method according to claim 1, characterized in that, Before obtaining the road attribute information of the road corresponding to the target vehicle and the driving information of the vehicle on the road, the method further includes: Detect whether the target vehicle has entered a road risk scenario, wherein in the road risk scenario, the distance between the target vehicle and a preset danger zone is less than a risk distance threshold, and the preset danger zone includes at least an intersection area; The step of obtaining the road attribute information of the road corresponding to the target vehicle and the driving information of the vehicle on the road includes: If the target vehicle enters the road risk scenario, the road attribute information and the driving information are obtained.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: Based on the risk assessment level of each of the hidden risk areas, vehicle control commands for the target vehicle are generated. The target vehicle is controlled to drive according to the vehicle control command.

6. A road risk assessment device, characterized in that, The device includes: The information acquisition module is used to acquire road attribute information of the road corresponding to the target vehicle and driving information of vehicles on the road during the driving process of the target vehicle; wherein, the road attribute information is obtained by the roadside unit, which obtains the number of lanes and lane position of the road where the target vehicle is located; the driving information is obtained by the vehicle unit, which obtains the vehicle driving direction and vehicle driving speed of the vehicles on the road where the target vehicle is located. The region determination module is used to determine the target road where the vehicle currently exists from each of the roads based on the road attribute information and the driving information; if the target driving information does not meet the driving restriction conditions, then the preset area of ​​the vehicle in the first direction in the target road is determined as a hidden risk area, wherein the first direction is the same as the driving direction of the target vehicle, the driving restriction conditions include at least one of driving direction and driving speed, and the hidden risk area is not within the obstacle perception area of ​​the target vehicle; The risk assessment module is used to obtain distance information between the target vehicle and the hidden risk area, and to determine the risk assessment level of each hidden risk area based on the distance information.

7. The apparatus according to claim 6, wherein the region determination module is further configured to: For each of the aforementioned roads, if the driving position of at least one vehicle is within the specified road location range, then the road is determined to be the target road.

8. The apparatus according to claim 6, wherein the risk assessment module is further configured to: If the distance information is greater than the distance threshold, then the risk assessment level of the hidden risk area is determined to be a level two risk level; If the distance information is less than or equal to the distance threshold, then the risk assessment level of the hidden risk area is determined to be Level 1 risk.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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