A collision warning method, system, device and medium

Abstract

The present application relates to a collision warning method, system, device and medium. Among them, the collision warning method includes: before the radar detects the risk of collision, real-time prediction of the collision point based on the vehicle-road cooperative wireless communication technology; calculation of the offset distance of the current collision point based on the position coordinates of the historical collision point; update the position and size of the warning icon on the map based on the position coordinates and offset distance of the current collision point, wherein the warning icon is centered on the position coordinates of the collision point and has the offset distance as the radius. By implementing the collision warning method provided by the present application, the problems of frequent icon flashing and excessive offset in the prior art can be improved, thereby improving the warning effect and enhancing the user experience.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a collision warning method, system, device and medium. Background Art

[0002] At present, radar technology is usually used for collision risk detection, but radar technology has the disadvantage of a small detection range. The risk of collision can only be detected when the distance between the car and the target is close. In this regard, before the radar detects the risk of collision, the location information of the target can be obtained in real time based on V2X technology, and the location of the target can be displayed on the map to warn the user of the risk of collision.

[0003] However, due to the high speed of the target and communication delays, the target's display icon flashes frequently and may instantly shift from one place on the map to another farther place, making it impossible for users to predict the risk of collision in time. As a result, the warning effect is poor and the user experience is bad. Summary of the invention

[0004] Based on this, the present application provides a collision warning method, system, device and medium, which can improve the problems of frequent icon flashing and excessive offset in the prior art, thereby improving the warning effect and enhancing the user experience.

[0005] In a first aspect, the present application provides a collision warning method, which includes: predicting the collision point in real time based on vehicle-road cooperative wireless communication technology before the radar detects the risk of collision; calculating the offset distance of the current collision point based on the position coordinates of the historical collision point; updating the position and size of the warning icon on the map based on the position coordinates and offset distance of the current collision point, wherein the warning icon is centered on the position coordinates of the collision point and has the offset distance as a radius.

[0006] In combination with the first aspect, in a first possible implementation of the first aspect, the step of calculating the offset distance of the current collision point based on the position coordinates of the historical collision points includes: obtaining the offset distances corresponding to a preset number of historical collision points, and obtaining a preset number of offset distances; calculating the offset distance of the current collision point based on the position coordinates of the previously predicted historical collision points; and correcting the offset distance of the current collision point using the preset number of offset distances, so that when the warning icon is updated, the problem of excessive offset of the warning icon caused by the large offset of the collision point is improved.

[0007] In combination with the first aspect, in a second possible implementation of the first aspect, the warning icon includes an upper layer for displaying the collision point, and a lower layer for displaying the risk area. The aforementioned step of updating the position and size of the warning icon on the map according to the position coordinates and offset distance of the current collision point includes: controlling the warning icon to slide on the map according to the position coordinates of the current collision point; during the sliding process, locking the relative position relationship between the upper layer and the lower layer in the warning icon, and scaling the risk area in the lower layer according to the offset distance of the current collision point; wherein the color of the upper layer is inconsistent with the color of the lower layer.

[0008] In combination with the second possible implementation method of the first aspect, in the third possible implementation method of the first aspect, the aforementioned step of controlling the warning icon to slide on the map according to the position coordinates of the current collision point includes: determining the path from the current collision point to the center of the warning icon according to the position information of the current collision point; controlling the warning icon to move along the path, and the moving distance is the offset distance of the current collision point.

[0009] In combination with the first aspect, in a fourth possible implementation manner of the first aspect, after the current collision point is within the detection range of the radar, the collision warning method further includes: verifying based on the radar whether there is a collision risk at the current collision point; if there is a collision risk at the current collision point, indicating the outer contour of the warning icon with a dotted line; if there is no collision risk at the current collision point, coloring the warning icon in a conspicuous color.

[0010] On the second aspect, the present application also provides a collision warning device, which includes: an information fusion module, which is used to predict the collision point in real time based on the vehicle-road cooperative wireless communication technology before the radar detects the collision risk; a map display module, which is used to calculate the offset distance of the current collision point based on the position coordinates of the historical collision point, and update the position and size of the warning icon on the map according to the position coordinates and offset distance of the current collision point, wherein the warning icon is centered on the position coordinates of the collision point and has the offset distance as a radius.

[0011] In combination with the second aspect, in a first feasible implementation of the second aspect, the collision warning device also includes a service subscription module, a bus module, a vehicle-road collaboration module, a radar module and a bus parsing module, wherein: the service subscription module is used to receive vehicle-road collaboration data sent by the intelligent vehicle networking terminal, and radar data sent by the radar; the bus module is used to receive vehicle body data on the bus; the vehicle-road collaboration module, the radar module and the bus parsing module are used to parse the vehicle-road collaboration data, radar data and vehicle body data respectively to obtain vehicle-road collaboration information, radar information and vehicle body information; the information fusion module is used to predict the collision point in real time based on the vehicle-road collaboration information and vehicle body information, and is also used to verify whether the car actually has a collision risk based on the radar information.

[0012] In combination with the second aspect, in a second possible implementation mode of the second aspect, the map display module is specifically used to: obtain the offset distances corresponding to a preset number of historical collision points to obtain a preset number of offset distances; calculate the offset distance of the current collision point based on the position coordinates of the previously predicted historical collision points; and use the preset number of offset distances to correct the offset distance of the current collision point, so that when the warning icon is updated, the problem of excessive offset of the warning icon caused by the large offset of the collision point is improved.

[0013] In combination with the second aspect, in a third possible implementation manner of the second aspect, the warning icon includes an upper layer for displaying the collision point, and a lower layer for displaying the risk area, and the map display module is specifically used to: control the warning icon to slide on the map according to the position coordinates of the current collision point; during the sliding process, lock the relative position relationship between the upper layer and the lower layer in the warning icon, and scale the risk area in the lower layer according to the offset distance of the current collision point; wherein the color of the upper layer is inconsistent with the color of the lower layer.

[0014] In combination with the third possible implementation method of the second aspect, in the fourth possible implementation method of the second aspect, the map display module is specifically used to: determine the path from the current collision point to the center of the warning icon based on the location information of the current collision point; control the warning icon to move along the path, and the moving distance is the offset distance of the current collision point.

[0015] In combination with the second aspect, in the fifth possible implementation mode of the second aspect, the map display module is also used to: after the current collision point is within the detection range of the radar, verify based on the radar whether there is a collision risk at the current collision point; if there is a collision risk at the current collision point, the outer contour of the warning icon is represented by a dotted line; if there is no collision risk at the current collision point, the warning icon is colored in a striking color.

[0016] In the third aspect, the present application also provides a collision warning system, which includes an intelligent vehicle networking terminal, a collision warning device, a gateway, a body controller and an automatic driving controller. The collision warning device exchanges data with other devices in the collision warning system through the gateway, wherein: the intelligent vehicle networking terminal is used to send vehicle-road collaborative information to the collision warning device, and the body controller is used to send body information to the collision warning device, so that the collision warning device predicts the collision point in real time based on the vehicle-road collaborative information and the body information; the automatic driving controller is used to send radar information to the collision warning device, so that the collision warning device monitors whether there is a real collision risk ahead based on the radar information; the collision warning device is used to execute a collision warning method such as the first aspect or any one of the implementation methods of the first aspect.

[0017] In a fourth aspect, the present application also provides a collision warning device, which includes a processor and a memory, and the processor and the memory are connected via a bus; the processor is used to execute multiple instructions; the memory is used to store multiple instructions, and the instructions are suitable for being loaded by the processor and executed by a collision warning method such as the first aspect or any one of the embodiments of the first aspect.

[0018] In a fifth aspect, the present application further provides a computer-readable storage medium, in which a plurality of instructions are stored, and the instructions are suitable for being loaded by a processor and executed by a collision warning method such as the first aspect or any one embodiment of the first aspect.

[0019] In summary, the present application provides a collision warning method, system, device and medium, wherein the collision warning device first predicts the collision point between the car and the target in real time based on the vehicle-road cooperative wireless communication technology (V2X, Vehicle to Everything) before the radar detects the collision risk, and then updates the warning icon of the collision point on the map. Relative to a fast-moving target, the position of the collision point is relatively fixed, and the offset between the collision points predicted at different times is very small. Therefore, the present application can improve the problem of frequent icon flickering and excessive offset by displaying the collision point, and because the icon is a circle with the position coordinates of the current collision point as the center and the offset distance between the current collision point and the historical collision point as the radius, the warning icon of the current collision point covers the historical collision point, thereby visually further reducing the degree of offset. In general, by implementing the collision warning method provided by the present application, not only can it help users intuitively predict the risk of collision, but it can also improve the problem of frequent icon flickering and excessive offset, so it can improve the warning effect and enhance the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is an application scenario diagram of a collision warning method in an embodiment of the present application;

[0021] Figure 2 A schematic flow chart of a collision warning method in an embodiment of the present application;

[0022] Figure 3 A schematic diagram of a path between a car and a target in an embodiment of the present application;

[0023] Figure 4 A schematic diagram of calculating the position coordinates of a collision point in an embodiment of the present application;

[0024] Figure 5 A schematic diagram of correcting the offset distance of the current collision point in an embodiment of the present application;

[0025] Figure 6This is an application scenario diagram of a collision warning method in another embodiment of the present application;

[0026] Figure 7 A structural block diagram of a collision warning system in an embodiment of the present application;

[0027] Figure 8 A schematic block diagram of an intelligent vehicle networking terminal in an embodiment of the present application;

[0028] Fig. 9 is a schematic block diagram of an automatic driving controller in an embodiment of the present application;

[0029] Fig.10 A schematic block diagram of a collision warning device in an embodiment of the present application;

[0030] Fig.11 A schematic diagram of internal data interaction of a collision warning device in an embodiment of the present application;

[0031] Fig.12 This is a structural block diagram of a collision warning device in an embodiment of the present application. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0033] In the prior art, radar technology is usually used to detect collision risks. However, the detection range of radar is small, and there is still a problem that the collision risk cannot be detected in time. Therefore, before the radar detects the collision risk, the V2X technology with a wider detection range can be used to monitor the target's position in real time and display the target's position on the map. However, due to the high movement speed of the target and communication delays, the display icon of the target flickers frequently and the offset is very large. Therefore, there are still problems such as poor warning effect and poor user experience.

[0034] In this regard, the present application provides a collision warning method, which predicts the collision point in real time based on V2X before the radar detects the collision point, and updates the warning icon of the collision point. Since the warning icon is centered on the position coordinates of the collision point and has an offset distance as a radius, the updated warning icon covers the historical collision point. Therefore, the present application can not only help users intuitively predict the risk of collision by displaying the warning icon, but also improve the problems of frequent icon flashing and excessive offset, thereby improving the warning effect and user experience. Specifically, before the collision risk is detected based on the radar, the collision warning device predicts the collision point in real time based on the vehicle-road cooperative wireless communication technology; calculates the offset distance of the current collision point based on the position coordinates of the historical collision point; and updates the position and size of the warning icon on the map based on the position coordinates and offset distance of the current collision point, wherein the warning icon is centered on the position coordinates of the collision point and has an offset distance as a radius.

[0035] For example, if Figure 1 As shown, it is a schematic diagram of an application scenario of the collision warning method provided by the present application. The collision warning device first performs real-time collision detection based on V2X technology. It is assumed that when the car travels to C and the target travels to A, the historical collision point is predicted. When the car travels to D and the target travels to B, the current collision point is predicted. Then, the distance between the current collision point and the historical collision point is calculated, and the distance is used as the offset distance of the current collision point. Then, the current collision point is displayed on the map, as shown in FIG. Figure 1 As shown in the warning icon of the current collision point in the figure, the solid dot represents the collision point, and the solid dot is located at the position coordinates of the current collision point. The outer circle represents the collision risk area, and the radius of the outer circle is equal to the offset distance of the current collision point, that is, the radius is equal to the distance between the position coordinates of the current collision point and the historical collision point.

[0036] It should be noted that the size of the radius of the warning icon indicates the size of the risk area, which is actually the size of the error. The greater the degree of change in the relative speed between the car and the target, the larger the offset distance / radius, the larger the risk area, and the greater the error. In addition, the warning icon of the current collision point partially overlaps with the warning icon of the historical collision point, and the warning icon of the current collision point covers the historical collision point, thereby visually further reducing the degree of offset between the collision points. Therefore, by displaying the warning icon, the present application can display the collision risk more intuitively and accurately, and improve the problems of frequent icon flashing and excessive offset in the prior art, thereby improving the collision risk warning effect and enhancing the user experience.

[0037] It should also be noted that in the prior art, radar technology is usually used to detect collision risks instead of V2X technology because radar can detect more accurately than V2X. Although radar technology has the disadvantage of a small detection range, it is more accurate than V2X technology precisely because of its small detection range. In contrast, although V2X technology has a larger detection range, there are still many variables before the car actually collides, such as sudden acceleration and deceleration of the car and the target, which causes the relative speed of the car and the target to change, so the predicted collision point may change. Based on this, the present application improves the shortcomings of V2X technology's inaccurate prediction by predicting the collision point in real time, so that before the radar detects the risk of collision, the user can intuitively predict the risk of collision based on the warning icon of the collision point updated in real time on the map, which not only improves the accuracy of detection, but also improves the user experience.

[0038] It should also be noted that the collision warning method proposed in this application is applied to a collision warning device. The collision warning device can be a cockpit domain controller (CDC) or other controllers or terminal devices on the car. This application does not limit this. In addition, the collision warning device can exchange data with other controllers or terminal devices on the car and execute the collision warning method proposed in this application.

[0039] In order to better understand the collision warning method of the present application, Figure 2 As shown, the present application provides an embodiment of a collision warning method. Next, the present application takes CDC as an example of a collision warning device and takes CDC as an execution subject. Figure 2 The collision warning method described is explained as follows:

[0040] 201: Before the radar detects the risk of collision, the collision point is predicted in real time based on vehicle-road cooperative wireless communication technology.

[0041] Among them, according to the size of the detection range, CDC's information fusion module will first obtain vehicle-road cooperative information and vehicle body information, and then obtain radar information. Therefore, before CDC detects the risk of collision based on radar, CDC's information fusion module will first predict whether there is a potential collision point ahead based on the acquired vehicle-road cooperative information and vehicle body information. V2X information includes the motion information of the target, and the vehicle body information includes the motion information of the car. The motion information includes speed, acceleration, position, and steering, etc.

[0042] It should be noted that in the map, Figure 3 As shown in the figure, the path of the vehicle and the target to the collision point is not a straight line. The information fusion module of CDC will first obtain the following information based on the vehicle-road cooperative information and the vehicle body information: Figure 4 The calculation model shown in the figure then calculates the coordinates of the pre-collision point and performs matrix transformation on the coordinates to obtain the position coordinates of the collision point on the map. After obtaining the position coordinates of the collision point, the information fusion module sends the position coordinates to the map display module of the CDC.

[0043] 202: Calculate the offset distance of the current collision point based on the position coordinates of the historical collision point.

[0044] Among them, after receiving the location coordinates of the collision point, the CDC map display module calculates the offset distance of the current collision point based on the location coordinates of the historical collision points, for example, calculates the distance between the current collision point and the historical collision point predicted last time, and directly uses the distance as the offset distance of the current collision point.

[0045] In another feasible manner, if the distance between the current collision point and the historical collision point predicted last time is too large, the offset distance of the current collision point will be large, thereby causing the offset of the warning icon to be large. In this regard, in order to further limit the offset of the warning icon, the collision warning device can also correct the offset distance of the current collision point according to the offset distances of multiple historical collision points to improve the problem of excessive offset of the warning icon caused by the large offset of the collision point. Specifically, the aforementioned step of calculating the offset distance of the current collision point according to the position coordinates of the historical collision points includes: obtaining the offset distances corresponding to a preset number of historical collision points to obtain a preset number of offset distances; calculating the offset distance of the current collision point according to the position coordinates of the historical collision points predicted last time; and using the preset number of offset distances to correct the offset distance of the current collision point, so that when the warning icon is updated, the problem of excessive offset of the warning icon caused by the large offset of the collision point is improved. For example, assuming that three historical collision points are detected, the collision warning device first calculates the distance R3 between the current collision point and the historical collision point predicted last time, and then obtains the offset distances S1 and S2 of the historical collision points predicted last two times, and finally calculates the average of S1, S2 and R3 to obtain the offset distance of the current collision point, that is, S3 = (S1+S2+R3) / 3.

[0046] It should be noted that, although the larger the preset number, the better the effect of limiting the icon offset, overfitting may also occur. Therefore, in order to control the offset of the warning icon not to be too large while reducing the occurrence of overfitting, the preset number should not be set too large. Preferably, the preset number is set to 2. Through experimental tests, it was found that when the preset number is 2, the offset of the warning icon can be controlled not to be too large while reducing the occurrence of overfitting. In addition, the aforementioned step of correcting the offset distance of the current collision point using the preset number offset distance includes: calculating the difference between the position coordinates of the current collision point and the historical collision point predicted in the previous prediction to obtain the offset distance of the current collision point; calculating the average of the offset distance of the current collision point and the preset number offset distance to obtain the corrected offset distance of the current collision point, and subsequently updating the warning icon according to the offset distance of the current collision point, and updating it according to the corrected offset distance of the current collision point. For example:

[0047] like Figure 5 As shown, after receiving the coordinate position at time t0, the map display module finds that it is the first time to receive the coordinate position, so it records the position coordinate at time t0 and displays the warning icon at time t0 on the map;

[0048] After receiving the position coordinates at time t1, it is found that it is not the first time to receive the coordinates, so the distance R1 between the position coordinates at time t0 and the position coordinates at time t1 is calculated, and R1 is used as the offset distance S1 of the collision point at time t1, and then the position coordinates at time t1 are recorded, and the Figure 1 The center point of the warning icon shown is moved to the position coordinate at time t1, and the radius of the outer circle of the warning icon is adjusted to S1, so as to update the warning icon;

[0049] After receiving the position coordinates at time t2, first calculate the distance R2 between the position coordinates at time t1 and the position coordinates at time t2, then calculate the average of S1 and R2, and use the average as the offset distance S2 of the collision point at time t2, then record the position coordinates at time t2, move the center point of the warning icon to the position coordinates at time t2, and adjust the radius of the outer circle of the warning icon to S2, so as to update the warning icon;

[0050] When the position coordinates are received at time t3, the distance R3 between the position coordinates at time t2 and the position coordinates at time t3 is calculated, and then the average of S1, S2 and R3 is calculated, and the average is used as the offset distance S3 of the collision point at time t3, and then the position coordinates at time t3 are recorded, and the center point of the warning icon is moved to the position coordinates at time t3, and the radius of the outer circle of the warning icon is adjusted to S3, so as to update the warning icon;

[0051] By analogy, the position coordinates received at all subsequent moments are calculated using this method. The average of the offset distances of the historical collision points obtained by the previous two predictions and the offset distance of the current collision point is taken to obtain the corrected offset distance of the current collision point.

[0052] 203: Update the position and size of the warning icon on the map according to the position coordinates and offset distance of the current collision point.

[0053] The warning icon is centered on the position coordinates of the collision point and has an offset distance as a radius. The collision warning device can move the center of the warning icon to the position coordinates of the current collision point and scale the radius of the warning icon to the offset distance of the current collision point, thereby completing the update of the warning icon.

[0054] In addition, the present application also provides a specific and implementable updating method. Specifically, the warning icon includes an upper layer for displaying the collision point, and a lower layer for displaying the risk area. The aforementioned step of updating the position and size of the warning icon on the map according to the position coordinates and offset distance of the current collision point includes: controlling the warning icon to slide on the map according to the position coordinates of the current collision point; during the sliding process, locking the relative position relationship between the upper layer and the lower layer in the warning icon, and scaling the risk area in the lower layer according to the offset distance of the current collision point; wherein the color of the upper layer is inconsistent with the color of the lower layer.

[0055] In the implementation manner of the present application, the warning icon is composed of two layers, and the two layers have different colors, so that the user can intuitively distinguish the collision point and the risk area, thereby improving the risk warning effect. Moreover, since the two layers can be changed separately at the same time and the relative position relationship is locked when moving, the warning icon can be updated quickly, thereby meeting the real-time requirements of the driving environment, improving the collision warning effect, and enhancing the user experience.

[0056] It should be noted that after the offset distance is corrected, the warning icon cannot be moved by first moving the center point of the warning icon to the position coordinates of the current collision point, because the offset distance of the current collision point has been corrected. If the center point of the warning icon is moved to the position coordinates of the current collision point, the updated warning icon cannot cover the historical collision point predicted last time, and there is a problem of large offset. Therefore, the present application also provides a way to move the warning icon, which can simplify the movement process on the one hand, and improve the problem of large offset caused by the correction of the offset distance on the other hand. Specifically, the aforementioned step of controlling the warning icon to slide on the map according to the position coordinates of the current collision point includes: determining the path from the current collision point to the center of the warning icon according to the position information of the current collision point; controlling the warning icon to move along the path, and the moving distance is the offset distance of the current collision point.

[0057] In an embodiment of the present application, after determining the position coordinates of the current collision point and the offset distance of the current collision point, the collision warning device can move along the line connecting the position coordinates of the current collision point and the historical collision point predicted last time. The moving distance is the offset distance of the current collision point, so that when the offset distance of the current collision point is corrected, the updated warning icon can still cover the historical collision point predicted last time. Therefore, by implementing the implementation method of the present application, the update process of the warning icon can be simplified, and when the offset distance of the current collision point is corrected, the warning icon can be accurately and quickly updated.

[0058] It should also be noted that in order to further improve the warning effect, the present application also provides an implementation method. After the collision point enters the detection range of the radar and the radar verifies whether there is a collision risk at the collision point, the verification result is intuitively indicated by changing the warning icon. Specifically, after the current collision point is within the detection range of the radar, the collision warning device verifies whether there is a collision risk at the current collision point based on the radar; if there is a collision risk at the current collision point, the outer contour of the warning icon is represented by a dotted line; if there is no collision risk at the current collision point, the warning icon is colored in a striking color.

[0059] In the embodiment of the present application, after the collision point enters the detection range of the radar, the collision warning device verifies whether there is a collision risk at the collision point based on radar technology. If there is no collision risk, the outer contour of the warning icon is represented as a dotted line, such as Figure 6 As shown, if there is a risk of collision, the color of the warning icon will be changed to a more eye-catching color, such as bright red, etc. This application does not limit the specific color.

[0060] In summary, the embodiments of the present application predict and display collision points based on V2X technology to help users intuitively predict collision risks, and improve the problems of frequent icon flashing and excessive offset, thereby improving the warning effect and enhancing the user experience.

[0061] In addition, if Figure 7As shown, the present application also provides a collision warning system, which includes a collision warning system including an intelligent vehicle networking terminal V-BOX, an autonomous driving controller (ADC, Autonomous Driving Controller), a gateway, a body controller (BCM, Body Control Module), and a collision warning device. The collision warning device interacts with other devices in the collision warning system through the gateway, wherein: V-BOX is used to send V2X information (i.e., vehicle-road collaborative information) to the collision warning device, and BCM is used to send body information to the collision warning device, so that the collision warning device predicts the collision point in real time according to the V2X information and the body information; ADC is used to send radar information to the collision warning device, so that the collision warning device monitors whether there is a real collision risk ahead according to the radar information; the collision warning device is used to execute the collision warning method described in any of the aforementioned embodiments or implementation methods.

[0062] In one practicable manner, the collision warning device may be a CDC. It should be noted that, if Figure 7 As shown, V-BOX and ADC are connected to the gateway via Ethernet (ETH, EtherNet), and BCM and CDC are connected via the controller area network (CAN, Controller Area Network) bus, so CDC can exchange data with other devices in the collision warning system provided by this application.

[0063] It should also be noted that V-BOX integrates V2X, which can realize all-round network connection between vehicles (V2V, Vehicle to Vehicle), vehicles and roads (V2I, Vehicle to Infrastructure), vehicles and pedestrians (V2P, Vehicle to Pedestrian), and vehicles and service platforms (V2N, Vehicle to Network), thereby realizing vehicle information perception beyond line of sight.

[0064] In one practicable manner, if Figure 8 As shown, V-BOX includes a V2X module (i.e., a vehicle-road collaboration module) and a SOMEIP module (i.e., a service subscription module), wherein the V2X module includes functions such as the V2X protocol stack, scenario algorithms, and information security; the SOMEIP module includes service networking, message subscription, and publishing. In this application, the V2X module of V-BOX is mainly used to obtain vehicle-road collaboration information, and the SOMEIP module of V-BOX is mainly used to encapsulate the vehicle-road collaboration information into vehicle-road collaboration data and send it to the CDC.

[0065] In one practicable manner, if Fig. 9As shown, ADC includes a RADAE module (i.e., a radar module) and a SOMEIP module (i.e., a service subscription module), wherein the SOMEIP module includes service networking, message subscription and publishing; the RADAR module includes detection data processing, target recognition and other functions.

[0066] In addition, the present application also provides a collision warning device, which includes: an information fusion module, which is used to predict the collision point in real time based on the vehicle-road cooperative wireless communication technology before the radar detects the collision risk; a map display module, which is used to calculate the offset distance of the current collision point based on the position coordinates of the historical collision point, and update the position and size of the warning icon on the map based on the position coordinates and offset distance of the current collision point, wherein the warning icon is centered on the position coordinates of the collision point and has the offset distance as a radius.

[0067] In one practicable manner, if Fig.10 As shown, the collision warning device also includes a service subscription module (SOMEIP module), a bus module (CAN module), a vehicle-road collaboration module (V2X module), a radar module (RADAE module) and a bus parsing module (CAN parsing module). Specifically, the collision warning device also includes a service subscription module, a bus module, a vehicle-road collaboration module, a radar module and a bus parsing module, wherein: the service subscription module is used to receive the vehicle-road collaboration data sent by the intelligent Internet of Vehicles terminal, and the radar data sent by the radar; the bus module is used to receive the vehicle body data on the bus; the vehicle-road collaboration module, the radar module and the bus parsing module are respectively used to parse the vehicle-road collaboration data, the radar data and the vehicle body data to obtain the vehicle-road collaboration information, the radar information and the vehicle body information; the information fusion module is used to predict the collision point in real time according to the vehicle-road collaboration information and the vehicle body information, and is also used to verify whether the car actually has a collision risk according to the radar information.

[0068] It should be noted that the SOMEIP module includes service networking, message subscription and publishing; the V2X module includes functions such as data classification, identification, and behavior prediction; the CAN parsing module includes functions such as parsing of CAN message speed, acceleration, steering and other data; the CAN module includes CAN driver and transceiver queue; the radar module includes radar information detected by the radar in the ADC; the information fusion module includes fusion functions such as V2X information, radar information, and vehicle body information; the map display software module includes functions such as target modeling, target positioning, and hazard display.

[0069] In order to better understand the internal data interaction process of the collision warning device provided by this application, next, this application will combine Fig.11 , the internal data interaction process of the collision warning device is explained:

[0070] First, after receiving the vehicle-road collaboration data sent by V-BOX and the radar data sent by ADC, the SOMEIP module sends the received vehicle-road collaboration data to the V2X module and sends the radar data to the RADAE module;

[0071] Secondly, the V2X module parses the real-time subscribed vehicle-road cooperative data to obtain vehicle-road cooperative information, and sends the vehicle-road cooperative information to the information fusion module. For example, during the parsing, the V2X module classifies the vehicle-road cooperative data, and identifies the categories of vehicles, people, lights, etc. to which the vehicle-road cooperative data belongs, and performs behavioral analysis on the data of each category to obtain vehicle-road cooperative information; the RADAE module parses the real-time subscribed radar data to obtain radar information, and sends the radar information to the information fusion module. The radar information includes the detected distance, etc.; after receiving the vehicle body data on the bus, the CAN module sends the vehicle body data to the CAN parsing module. The CAN parsing module parses the received vehicle body data to obtain the vehicle body information, and sends the vehicle body information to the information fusion module. The vehicle body information includes the speed, acceleration, steering, etc. of the car;

[0072] Thirdly, the information fusion module predicts the collision point and the location coordinates of the collision point based on the received vehicle-road cooperative information and vehicle body information, and sends the location coordinates of the collision point and other information to the map display module; after the map display module receives the collision point information, it updates the warning icon according to the collision point information; in addition, the information fusion module can also predict the collision point based on the radar information, and send the collision point information to the map display module. When the map display module receives the V2X-based collision point information and the radar-based collision point information at the same time, it gives priority to the latter, that is, the radar-based collision point information, and updates the warning icon according to the radar-based collision point information.

[0073] In another embodiment, the map display module is specifically used to: obtain the offset distances corresponding to a preset number of historical collision points to obtain a preset number of offset distances; calculate the offset distance of the current collision point based on the position coordinates of the previously predicted historical collision points; and use the preset number of offset distances to correct the offset distance of the current collision point, so that when the warning icon is updated, the problem of excessive offset of the warning icon caused by the large offset of the collision point is improved.

[0074] In another embodiment, the warning icon includes an upper layer for displaying the collision point, and a lower layer for displaying the risk area, and the map display module is specifically used to: control the warning icon to slide on the map according to the position coordinates of the current collision point; during the sliding process, lock the relative position relationship between the upper layer and the lower layer in the warning icon, and scale the risk area in the lower layer according to the offset distance of the current collision point; wherein the color of the upper layer is inconsistent with the color of the lower layer.

[0075] In another embodiment, the map display module is specifically used to: determine the path from the current collision point to the center of the warning icon according to the location information of the current collision point; control the warning icon to move along the path, and the moving distance is the offset distance of the current collision point.

[0076] In another embodiment, the map display module is also used to: after the current collision point is within the detection range of the radar, verify based on the radar whether there is a collision risk at the current collision point; if there is a collision risk at the current collision point, indicate the outer contour of the warning icon with a dotted line; if there is no collision risk at the current collision point, color the warning icon in a striking color.

[0077] In addition, the present application also provides a collision warning device, see Fig.12 .like Fig.12 The collision warning device in the embodiment shown may include: a processor 1210 and a memory 1220. The processor 1210 and the memory 1220 are connected via a bus 1230. The processor 1210 is used to execute multiple instructions; the memory 1220 is used to store multiple instructions, which are suitable for the processor 1210 to load and execute the collision warning method in the above embodiment.

[0078] The processor 1210 may be an electronic control unit (ECU), a central processing unit (CPU), a general processor, a coprocessor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The processor 1210 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of 5SP and a microprocessor, etc. In this embodiment, the processor 1210 may be a single-chip microcomputer, and various control functions may be implemented by programming the single-chip microcomputer. The processor has the advantages of powerful computing power and fast processing. Specifically, processor 1210 is used to execute the function of the information fusion module, which is used to predict the collision point in real time based on the vehicle-road cooperative wireless communication technology before the radar detects the risk of collision; processor 1210 is also used to execute the function of the map display module, which is used to calculate the offset distance of the current collision point based on the position coordinates of the historical collision point, and update the position and size of the warning icon on the map based on the position coordinates and offset distance of the current collision point, wherein the warning icon is centered on the position coordinates of the collision point and has the offset distance as a radius.

[0079] In another possible implementation, the processor 1210 is also used to execute the functions of the service subscription module, the bus module, the vehicle-road collaboration module, the radar module and the bus parsing module, specifically: for receiving the vehicle-road collaboration data sent by the intelligent vehicle networking terminal, and the radar data sent by the radar; also for receiving the vehicle body data on the bus; the vehicle-road collaboration module, the radar module and the bus parsing module are respectively used to parse the vehicle-road collaboration data, the radar data and the vehicle body data to obtain the vehicle-road collaboration information, the radar information and the vehicle body information; also for predicting the collision point in real time according to the vehicle-road collaboration information and the vehicle body information, and for verifying whether the car actually has a collision risk according to the radar information.

[0080] In another embodiment, the processor 1210 is specifically used to: obtain the offset distances corresponding to a preset number of historical collision points to obtain a preset number of offset distances; calculate the offset distance of the current collision point based on the position coordinates of the previously predicted historical collision points; and use the preset number of offset distances to correct the offset distance of the current collision point, so that when the warning icon is updated, the problem of excessive offset of the warning icon caused by the large offset of the collision point is improved.

[0081] In another embodiment, the warning icon includes an upper layer for displaying the collision point, and a lower layer for displaying the risk area, and the processor 1210 is specifically used to: control the warning icon to slide on the map according to the position coordinates of the current collision point; during the sliding process, lock the relative position relationship between the upper layer and the lower layer in the warning icon, and scale the risk area in the lower layer according to the offset distance of the current collision point; wherein the color of the upper layer is inconsistent with the color of the lower layer.

[0082] In another embodiment, the processor 1210 is specifically used to: determine the path from the current collision point to the center of the warning icon according to the position information of the current collision point; control the warning icon to move along the path, and the moving distance is the offset distance of the current collision point.

[0083] In another embodiment, the processor 1210 is also used to: after the current collision point is within the detection range of the radar, verify based on the radar whether there is a collision risk at the current collision point; if there is a collision risk at the current collision point, indicate the outer contour of the warning icon with a dotted line; if there is no collision risk at the current collision point, color the warning icon in a striking color.

[0084] In one embodiment, the present application further provides a computer-readable storage medium storing a plurality of instructions, which are suitable for being loaded by a processor and executing the method in any of the above embodiments. The processor is used to execute the plurality of instructions; the memory is used to store the plurality of instructions, which are loaded by the processor and execute the collision warning method in the above embodiments.

[0085] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, 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.

[0086] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A collision warning method, characterized in that: The method comprises: Before the radar detects the risk of collision, the collision point is predicted in real time based on vehicle-road cooperative wireless communication technology; Calculating the offset distance between the current collision point and the historical collision point according to the position coordinates of the historical collision point, wherein the historical collision point and the current collision point are collision points obtained by prediction in sequence during the driving process; The position and size of the warning icon are updated on the map according to the position coordinates and offset distance of the current collision point, wherein the warning icon takes the position coordinates of the collision point as the center and the offset distance as the radius.

2. The method according to claim 1, characterized in that The step of calculating the offset distance of the current collision point according to the position coordinates of the historical collision points includes: Obtain the offset distances corresponding to a preset number of historical collision points, and obtain the preset number of offset distances; Calculate the offset distance of the current collision point based on the position coordinates of the previously predicted historical collision point; The preset number of offset distances is used to correct the offset distance of the current collision point, so that when the warning icon is updated, the problem of excessive offset of the warning icon caused by the large offset of the collision point is improved.

3. The method according to claim 1, characterized in that The warning icon includes an upper layer for displaying the collision point and a lower layer for displaying the risk area. The step of updating the position and size of the warning icon on the map according to the position coordinates and offset distance of the current collision point includes: According to the location coordinates of the current collision point, control the warning icon to slide on the map; During the sliding process, the relative position relationship between the upper layer and the lower layer in the warning icon is locked, and the risk area in the lower layer is scaled according to the offset distance of the current collision point; Among them, the color of the upper layer is inconsistent with the color of the lower layer.

4. The method according to claim 3, characterized in that The step of controlling the warning icon to slide on the map according to the position coordinates of the current collision point includes: According to the position information of the current collision point, determine the path from the current collision point to the center of the warning icon; Control the warning icon to move along the path, and the moving distance is the offset distance of the current collision point.

5. The method according to claim 1, characterized in that After the current collision point is located within the detection range of the radar, the method further includes: Verify whether there is a collision risk at the current collision point based on radar; If there is a collision risk at the current collision point, the outer contour of the warning icon is represented by a dotted line; If there is no collision risk at the current collision point, the warning icon is colored in a striking color.

6. A collision warning device, characterized in that: The collision warning device comprises: The information fusion module is used to predict the collision point in real time based on vehicle-road cooperative wireless communication technology before the radar detects the collision risk; A map display module is used to calculate the offset distance between the current collision point and the historical collision point based on the position coordinates of the historical collision point, and to update the position and size of the warning icon on the map based on the position coordinates and the offset distance of the current collision point, wherein the historical collision point and the current collision point are collision points predicted in sequence during the driving process, and the warning icon takes the position coordinates of the collision point as the center and the offset distance as the radius.

7. The device according to claim 6, characterized in that The collision warning device also includes a service subscription module, a bus module, a vehicle-road collaboration module, a radar module, and a bus analysis module, wherein: The service subscription module is used to receive the vehicle-road collaboration data sent by the intelligent vehicle networking terminal and the radar data sent by the radar; the bus module is used to receive the vehicle body data on the bus; The vehicle-road collaboration module, radar module and bus analysis module are used to analyze the vehicle-road collaboration data, radar data and vehicle body data respectively to obtain vehicle-road collaboration information, radar information and vehicle body information; The information fusion module is used to predict the collision point in real time based on vehicle-road collaborative information and vehicle body information, and is also used to verify whether the car is actually at risk of collision based on radar information.

8. A collision warning system, characterized in that: The collision warning system includes an intelligent Internet of Vehicles terminal, a collision warning device, a gateway, a body controller, and an autonomous driving controller. The collision warning device exchanges data with other devices in the collision warning system through the gateway, including: The intelligent Internet of Vehicles terminal is used to send vehicle-road cooperative information to the collision warning device, and the body controller is used to send body information to the collision warning device, so that the collision warning device can predict the collision point in real time based on the vehicle-road cooperative information and body information; The automatic driving controller is used to send radar information to the collision warning device, so that the collision warning device can monitor whether there is a real collision risk ahead according to the radar information; The collision warning device is used to execute the collision warning method described in any one of claims 1 to 5.

9. A collision warning device, characterized in that: The collision warning device includes a processor and a memory, and the processor and the memory are connected via a bus; the processor is used to execute multiple instructions; the memory is used to store the multiple instructions, and the instructions are suitable for being loaded by the processor and executing the collision warning method described in any one of claims 1 to claim 5.

10. A computer-readable storage medium, characterized in that a plurality of instructions are stored in the computer-readable storage medium, and the plurality of instructions are suitable for being loaded by a processor and executing the collision warning method according to any one of claims 1 to 5.

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