A road traffic conflict warning method, system and storage medium

Abstract

The present invention relates to the field of traffic management technology, and specifically to a method, system and storage medium for warning of oncoming conflicts in road traffic. The method is applied to oncoming conflict warning equipment, and the method includes: obtaining information about vehicles coming from two directions where oncoming conflicts occur on different road sections; judging whether there are oncoming vehicles in both directions based on the oncoming vehicle information; when there are oncoming vehicles in both directions, calculating the oncoming conflict speed thresholds for the two directions based on the road section information and the vehicle information in the oncoming vehicle information; generating warning information of different levels based on the relationship between the speeds of oncoming vehicles in the two directions and the oncoming conflict speed thresholds. The present invention determines the corresponding oncoming conflict speed thresholds for different road sections, so that the method is more adaptable in different scenarios, and at the same time generates warning information of different levels to realize the refined hierarchical prediction of conflict risks, solving the problem of poor effect of traditional single warning methods.

Description

Technical Field

[0001] The present invention relates to the technical field of traffic management, and in particular to a method, system and storage medium for warning of road traffic conflict. Background Art

[0002] Illegal passing is one of the main causes of serious traffic accidents, and passing safety is an important research topic in the field of highway traffic safety. Many studies focus on collision avoidance systems based on intelligent vehicles. Their characteristics are that they use the vehicle's own intelligent sensor equipment or vehicle-to-vehicle communication technology to collect information such as the relative position of the vehicle, the vehicle's driving status, and the traffic environment, and use this data information to judge the potential risk of traffic conflict and collision, and warn the driver of dangerous driving conditions in real time. However, the cost of the sensor equipment of intelligent vehicles is high, and the recognition range is limited. Oncoming vehicles cannot be identified on sections with obstructed line of sight. Therefore, complex traffic environment conditions put forward higher requirements on the intelligent detection algorithm of target information. The final practical test verification will take a long time, and it is difficult to promote and apply on a large scale.

[0003] The collision risk warning system based on intelligent roadside facilities does not involve the use of vehicle sensors and collaborative assisted driving technology based on the Internet of Vehicles. Due to the use of cross-sectional traffic flow detection and roadside warning release, it is low-cost and has good adaptability to various road conditions, making it easy to promote and apply. At the same time, a technical search of existing collision early warning systems found that its characteristics are to use radar to detect the arrival of oncoming vehicles, and to warn vehicles entering the warning section of the collision through police flashing lights, warning prompt screens, road edge strips, etc.

[0004] However, the existing oncoming vehicle warning strategy is relatively simple, the warning logic is relatively rough and simple, the applicability of the warning strategy is poor, and the warning effect is not good. Summary of the invention

[0005] In view of this, the present invention provides a road traffic oncoming vehicle conflict warning method, system and storage medium to solve the problem that the current oncoming vehicle warning strategy is relatively single.

[0006] In a first aspect, the present invention provides a road traffic oncoming conflict warning method, which is applied to an oncoming conflict warning device, wherein the oncoming conflict warning device is arranged at a preset position before a oncoming conflict point, and the method comprises: obtaining oncoming vehicle information from two directions where oncoming conflicts occur on different road sections; judging whether there are oncoming vehicles in both directions based on the oncoming vehicle information; when there are oncoming vehicles in both directions, calculating oncoming conflict speed thresholds for the two directions based on the road section information and the vehicle information in the oncoming vehicle information; and generating warning information of different levels based on the relationship between the speeds of oncoming vehicles in the two directions and the oncoming conflict speed thresholds.

[0007] The road traffic conflict warning method provided by the embodiment of the present invention determines the corresponding conflict speed threshold for different road sections according to the information of the road section and the vehicle information, so that the method is more adaptable in different scenarios. At the same time, different levels of warning information are generated based on the relationship between the vehicle speed and the conflict speed threshold for the conflict, so as to realize the refined classification and prediction of the conflict risk, and solve the problem that the traditional single warning method is not effective. In addition, the warning is issued when there are vehicles coming from both directions, which avoids the problem of warning when there are vehicles coming from only one direction, and avoids a large number of invalid warnings.

[0008] In an optional implementation, the method further includes: when there is a vehicle coming from only one direction or there is no vehicle coming from both directions, turning off the warning prompt of the vehicle conflict warning device.

[0009] In this embodiment, when there is only one vehicle coming from one direction or there is no vehicle coming from both directions, the warning prompt is turned off, that is, no warning is generated. While avoiding invalid warnings, it can also avoid energy loss of the oncoming conflict warning device and extend the use time of the oncoming conflict warning device.

[0010] In an optional embodiment, the road section includes a curved road section, and the vehicle speed thresholds for oncoming conflicts in two directions are calculated based on the road section information and the vehicle information in the oncoming vehicle information, including: extracting the turning radius and the turning angle in the curved road section and the vehicle size and the vehicle speed in the vehicle information; determining a first relationship between the turning radius and the vehicle size at the location where the oncoming conflict occurs and a second relationship between the turning radius and the vehicle speed; determining the vehicle speed when the turning radius is greater than or equal to the curve radius based on the first relationship and the second relationship, and the vehicle speed is the oncoming conflict speed threshold.

[0011] In an optional embodiment, the road section includes a non-signal-controlled level crossing or a ramp merging into an interweaving area section, and the oncoming conflict speed thresholds for the two directions are calculated based on the road section information and the vehicle information in the oncoming vehicle information, including: extracting the conflict distance of the road section, the conflict distance being the distance between the oncoming conflict warning device and the oncoming conflict point; and obtaining the oncoming conflict speed threshold according to the relationship between the conflict distance and the oncoming conflict speed threshold when the oncoming conflict occurs determined by the displacement formula.

[0012] In an optional embodiment, the road section includes a slope section, and the oncoming vehicle information and the vehicle information in the oncoming vehicle information are used to calculate the oncoming vehicle conflict speed thresholds in both directions, including: extracting the slope information of the road section between the oncoming vehicle conflict warning device and the oncoming vehicle conflict point; and obtaining the oncoming vehicle conflict speed threshold according to the relationship between the slope information and the oncoming vehicle conflict speed threshold when the oncoming vehicle conflict occurs, which is determined by the displacement formula.

[0013] In this embodiment, for curved road sections, non-signal-controlled level crossings, sections where ramps merge into weaving areas, and sections with steep slopes, the characteristics of different sections are considered and the relevant information of the vehicles is combined to generate speed thresholds for oncoming vehicle conflicts on the corresponding sections. This can achieve accurate early warnings for different sections and solve the problem that existing early warning strategies lack scientificity and are not very effective.

[0014] In an optional implementation, different levels of warning information are generated according to the relationship between the speeds of vehicles coming from two directions and the speed threshold of the oncoming vehicle conflict, including: when the road section is a non-signal-controlled level crossing, a ramp merging into an interweaving area, or a slope section, if the speeds of vehicles coming from two directions are both greater than or equal to the oncoming vehicle conflict speed threshold or one of the speeds of vehicles coming from two directions is greater than or equal to the oncoming vehicle conflict speed threshold, a first-level warning information is generated in both directions; if the speeds of vehicles coming from two directions are both less than the oncoming vehicle conflict speed threshold, a second-level warning information is generated in both directions; when the road section is a curved road section, If the speeds of vehicles coming from both directions are greater than or equal to the oncoming conflict speed threshold or the speed on the inner side of the center line of the curve is greater than or equal to the oncoming conflict speed threshold and the speed on the outer side of the center line of the curve is less than the oncoming conflict speed threshold, a first-level warning message is generated in both directions; if the speeds of vehicles coming from both directions are less than the oncoming conflict speed threshold, a second-level warning message is generated in both directions; if the speed on the inner side of the center line of the curve is less than the oncoming conflict speed threshold and the speed on the outer side of the center line of the curve is greater than or equal to the oncoming conflict speed threshold, a second-level warning message is generated in the inner direction and a first-level warning message is generated in the outer direction.

[0015] In this embodiment, different levels of warning information are generated based on the different relationships between the vehicle speed threshold of the oncoming vehicle and the vehicle speed, thereby achieving graded and refined warning.

[0016] In a second aspect, the present invention provides a road traffic oncoming conflict warning system, the system comprising: at least two oncoming conflict warning devices arranged in different directions, the oncoming conflict warning devices being arranged at a preset position before the oncoming conflict point, the oncoming conflict warning devices being used to obtain oncoming vehicle information from two directions where oncoming conflicts occur on different road sections; judging whether there are oncoming vehicles in both directions based on the oncoming vehicle information; when there are oncoming vehicles in both directions, calculating oncoming conflict speed thresholds for the two directions based on the road section information and the vehicle information in the oncoming vehicle information; generating warning information of different levels based on the relationship between the speeds of oncoming vehicles in the two directions and the oncoming conflict speed thresholds.

[0017] In this embodiment, by arranging the vehicle-on-vehicle conflict warning devices in different directions, a multi-device linkage warning can be realized through the linkage between the vehicle-on-vehicle conflict warning devices.

[0018] In an optional implementation, when the road section is a non-signal-controlled level crossing, meeting conflict warning devices are arranged on the roadside of the branch road entering the intersection and on the roadside of the main road entering the intersection close to the branch road; when the road section is a section where a ramp merges into an interweaving area, meeting conflict warning devices are arranged on the ramp merging side and on the main road entering the interweaving area; when the road section is a single curve section, meeting conflict warning devices are arranged on the roadside in both directions of entering the curve; when the road section is a continuous curve section, meeting conflict warning devices are arranged on the roadside in both directions of entering the curve at both ends of the continuous curve and on the roadside at the continuous curve; when the road section is a slope section, meeting conflict warning devices are arranged on the roadside in both directions of entering the top of the slope.

[0019] In this embodiment, vehicle collision warning devices are arranged at different locations on different road sections, thereby enabling all-round monitoring of different road sections and further improving the accuracy of warning.

[0020] In an optional embodiment, the oncoming conflict warning device includes a vehicle information identification device, an oncoming vehicle detection device, a warning device, a communication device, a processing device and a power supply device; the oncoming vehicle detection device is used to detect whether there is oncoming vehicle information on the road; the vehicle information identification device is used to identify vehicle information, and whether there is oncoming vehicle information on the road and the vehicle information constitute the oncoming vehicle information; the processing device is used to determine whether there are oncoming vehicles in both directions based on the oncoming vehicle information; when there are oncoming vehicles in both directions, the oncoming conflict speed thresholds of the two directions are calculated based on the road section information and the vehicle information in the oncoming vehicle information; different levels of warning information are generated according to the relationship between the speeds of the oncoming vehicles in the two directions and the oncoming conflict speed thresholds; the warning device is used to issue a warning based on the warning information generated by the processing device; the communication device is used to communicate with other oncoming conflict warning devices; the power supply device is used to power the oncoming conflict warning device.

[0021] In this embodiment, by setting vehicle information recognition equipment, oncoming vehicle detection equipment, warning equipment, communication equipment, processing equipment and power supply equipment in the oncoming conflict warning device, accurate information acquisition and processing of the oncoming conflict warning device are guaranteed, and at the same time, efficient operation of the oncoming conflict warning device is guaranteed.

[0022] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the road traffic conflict warning method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0023] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the road traffic conflict warning method of the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 is a flow chart of a method for early warning of road traffic conflict according to an embodiment of the present invention;

[0026] Figure 2 is a schematic diagram of dimensioning of a single curved road section according to an embodiment of the present invention;

[0027] Figure 3 is a schematic diagram of dimensioning of a level crossing according to an embodiment of the present invention;

[0028] Figure 4 is a schematic diagram of dimensioning of a slope section according to an embodiment of the present invention;

[0029] Figure 5 is a structural block diagram of a road traffic conflict warning system according to an embodiment of the present invention;

[0030] Figure 6 is a structural block diagram of a road traffic conflict warning system according to another embodiment of the present invention;

[0031] Figure 7 is a schematic diagram of a non-signal light controlled "T" intersection according to an embodiment of the present invention;

[0032] Figure 8 is a schematic diagram of a non-signal light controlled "cross" intersection according to an embodiment of the present invention;

[0033] Fig. 9 is a schematic diagram of a section where a ramp merges into an interweaving area according to an embodiment of the present invention;

[0034] Fig.10 is a schematic diagram of a single curved road section according to an embodiment of the present invention;

[0035] Fig.11 is a schematic diagram of a continuous turning section according to an embodiment of the present invention;

[0036] Fig.12is a schematic diagram of a slope section according to an embodiment of the present invention;

[0037] Fig.13 is a schematic diagram of linkage warning logic between vehicle conflict warning devices according to an embodiment of the present invention;

[0038] Fig.14 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0040] According to an embodiment of the present invention, an embodiment of a road traffic conflict warning method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0041] In this embodiment, a road traffic conflict warning method is provided, which can be used for a conflict warning device, wherein the conflict warning device is arranged at a preset position before a conflict point. Figure 1 FIG. 4 is a flow chart of a method for warning of a road traffic conflict according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0042] Step S101, obtaining the information of vehicles coming from two directions where there are conflicts in different sections. Specifically, the different sections can be non-signal controlled level crossings, sections where ramps merge into interweaving areas, curved sections, slope sections and other road points with poor visibility. The conflict points refer to the locations where conflicts are prone to occur in these sections. The conflicts can be understood as the possibility of traffic conflicts when vehicles from two directions meet due to some factors. The vehicle information may include whether there are vehicles coming from two directions and vehicle information of vehicles coming from two directions. Whether there are vehicles coming from two directions refers to whether there are vehicles in the two directions within a certain range of the conflict warning device, that is, when a vehicle reaches a certain range of the conflict warning device, it is determined that there is an oncoming vehicle in that direction.

[0043] Step S102, judging whether there are vehicles coming from both directions according to the vehicle information. Specifically, by judging whether there are vehicles coming from both directions, only when there are vehicles coming from both directions, the following steps are executed to issue an early warning, thereby avoiding the problem of issuing an early warning when there is only one vehicle coming from one direction, and avoiding a large number of invalid early warnings.

[0044] Step S103: when there are oncoming vehicles in both directions, the vehicle speed thresholds for oncoming vehicles in both directions are calculated based on the road section information and the vehicle information in the oncoming vehicle information.

[0045] Step S104: generating warning information of different levels according to the relationship between the speeds of vehicles coming from two directions and the speed thresholds for the oncoming vehicles and the oncoming vehicles.

[0046] Specifically, the speed threshold for oncoming vehicle collision can be understood as the critical value of vehicle speed when oncoming vehicle collision occurs, that is, when the speed of the oncoming vehicle is greater than the speed threshold for oncoming vehicle collision, the possibility of oncoming vehicle collision is greater. Therefore, different levels of warning information can be generated according to the relationship between the speed of oncoming vehicles from different directions and the speed threshold for oncoming vehicle collision, thereby achieving refined warning. At the same time, for different road sections, the corresponding speed threshold for oncoming vehicle collision is determined according to the information of the road section and the vehicle information, thereby achieving more accurate warning for different road sections.

[0047] The road traffic conflict warning method provided by the embodiment of the present invention determines the corresponding conflict speed threshold for different road sections according to the information of the road section and the vehicle information, so that the method is more adaptable in different scenarios. At the same time, different levels of warning information are generated based on the relationship between the vehicle speed and the conflict speed threshold for the conflict, so as to realize the refined classification and prediction of the conflict risk, and solve the problem that the traditional single warning method is not effective. In addition, the warning is issued when there are vehicles coming from both directions, which avoids the problem of warning when there are vehicles coming from only one direction, and avoids a large number of invalid warnings.

[0048] In this embodiment, a method for warning of road traffic conflict is provided, and the process includes the following steps:

[0049] Step S201, obtain information about vehicles coming from two directions with a meeting conflict on different road sections. Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0050] Step S202: Determine whether there are oncoming vehicles in both directions based on the oncoming vehicle information. Figure 1 Step S102 of the illustrated embodiment will not be described in detail here.

[0051] Step S203, when there are oncoming vehicles in both directions, the speed thresholds for oncoming conflicts in both directions are calculated based on the road section information and the vehicle information in the oncoming vehicle information; wherein, the road section may be a curved road section such as a single curved road section or a continuous curved road section. The following takes a single curved road section as an example to illustrate the calculation method of the speed threshold for oncoming conflicts. In a single curved road section, when the speed of a vehicle entering the curve from direction 1 is relatively fast, the vehicle may enter the opposite lane due to insufficient turning radius, and when a vehicle from direction 2 approaches, it is very easy to cause a head-on collision accident; similarly, when a vehicle from direction 2 enters the curve at a relatively fast speed, it may drive off the road or collide with the roadside guardrail due to insufficient turning radius, and some vehicles may even drive into the opposite lane when making a sharp turn, causing a conflict accident with the oncoming vehicle. Therefore, calculating the speed threshold for oncoming conflicts on curved road sections and issuing early warnings are of great significance to improving the safety of oncoming vehicles on curves.

[0052] Specifically, the above step S203 includes:

[0053] Step S2031, extracting the turning radius and turning angle in the curved road section and the vehicle size and vehicle speed in the vehicle information; specifically, Figure 2 As shown, the turning path includes the turning radius R1 when the vehicle enters the curve in direction 1, the turning radius R2 when the vehicle enters the curve in direction 2, and the radius R of the curve centerline circle. The turning arc includes the turning angle arc a when turning the curve from direction 1. The vehicle size includes the vehicle wheelbase L of the vehicle entering the curve from direction 1. l And the vehicle wheelbase L z The vehicle speed includes the speed v1 of the vehicle entering the curve from direction 1, the speed v2 of the vehicle entering the curve from direction 2, and the gravity acceleration g. In addition, it is also necessary to extract the distance L between the center line of the curve and the outside of the curve d , which is convenient for calculating the speed threshold of the oncoming conflict in direction 2.

[0054] Step S2032, determining a first relationship between the turning radius and the vehicle size at the location where the oncoming conflict occurs, and a second relationship between the turning radius and the vehicle speed; specifically, on a curved road section, a oncoming conflict is more likely to occur at a turning location due to poor visibility, so the location where the oncoming conflict occurs may be a turning location. Taking the calculation of the turning radius of a vehicle in direction 1 as an example, the first relationship and the second relationship can be expressed by the following formulas respectively:

[0055]

[0056] Based on the same method, the first relationship and the second relationship when the vehicle turns in direction 2 can be obtained.

[0057] Step S2033, according to the first relationship and the second relationship, determine the vehicle speed when the turning radius is greater than or equal to the turning radius, and the vehicle speed is the vehicle speed threshold for the oncoming vehicle conflict. Specifically, according to the two formulas of the first relationship and the second relationship, the turning radius can be obtained: Taking direction 1 as an example, when a vehicle in direction 1 enters the opposite lane, R1≥R, thus passing The speed threshold of the vehicle collision in direction 1 can be obtained Similarly, the speed threshold for the oncoming conflict in direction 2 can be obtained as

[0058] Step S204: generating warning information of different levels according to the relationship between the speeds of vehicles coming from two directions and the speed thresholds for the oncoming vehicles and the oncoming vehicles.

[0059] Specifically, the above step S204 includes:

[0060] Step S2041: When the road section is a curved road section, if the speeds of vehicles coming from both directions are greater than or equal to the speed threshold of the oncoming vehicle conflict or the speed of the vehicle on the inner side of the curve centerline is greater than or equal to the speed threshold of the oncoming vehicle conflict and the speed of the vehicle on the outer side of the curve centerline is less than the speed threshold of the oncoming vehicle conflict, a first-level warning message is generated in both directions. Taking a single curved road section as an example, the inner side of the centerline is direction 1 and the outer side of the centerline is direction 2.

[0061] Step S2042: If the speeds of vehicles coming from both directions are less than the speed threshold for the oncoming vehicle conflict, a second-level warning message is generated in both directions.

[0062] Step S2043, if the vehicle speed in the inner direction of the curve centerline is less than the oncoming conflict speed threshold and the vehicle speed in the outer direction of the curve centerline is greater than or equal to the oncoming conflict speed threshold, a second-level warning message is generated in the inner direction and a first-level warning message is generated in the outer direction.

[0063] The warning intensity of the first-level warning information is greater than that of the second-level warning information. For example, when the oncoming collision warning equipment includes flashing lights, tweeters, and display screens, the flashing lights, tweeters, and display screens of the equipment are all turned on during the first-level warning, and the flashing lights and display screens of the equipment are turned on during the second-level warning. In an optional implementation, the first-level warning information and the second-level warning information can be warned according to the following methods:

[0064] when and At this time, the collision warning devices in direction 1 and direction 2 both start the first-level warning. At this time, the tweeter and display screen in direction 1 warn "The oncoming vehicle is moving fast. It is very dangerous to enter the oncoming lane. Please slow down!"; the tweeter and display screen in direction 2 warn "The oncoming vehicle is moving fast. The risk of an accident is high. Please slow down!".

[0065] when and At this time, the collision warning devices in direction 1 and direction 2 both start the first-level warning. At this time, the tweeter and display screen in direction 1 warn "Oncoming vehicles, it is very dangerous to enter the opposite lane, please slow down!"; the tweeter and display screen in direction 2 warn "The oncoming vehicles are driving fast, which is very dangerous, please drive carefully!".

[0066] when and When the vehicle collision warning device in direction 1 starts the second-level warning, the display screen in direction 1 warns, "The oncoming vehicle is driving fast and there is a risk of conflict. Please drive carefully!"; the vehicle collision warning device in direction 2 starts the first-level warning. The tweeter and display screen in direction 2 warn, "The oncoming vehicle has a high risk of an accident. Please slow down immediately!".

[0067] when and When the collision warning devices in direction 1 and direction 2 both start the second-level warning, the display screens in direction 1 and direction 2 warn "Oncoming vehicles, do not occupy the opposite lane!".

[0068] In this embodiment, a method for early warning of road traffic conflict is provided, and the method comprises the following steps:

[0069] Step S301, obtain information about vehicles coming from two directions with a meeting conflict on different road sections; see Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0070] Step S302: Determine whether there are oncoming vehicles in both directions according to the oncoming vehicle information; Figure 1 Step S102 of the illustrated embodiment will not be described in detail here.

[0071] Step S303, when there are oncoming vehicles in both directions, the speed thresholds of the oncoming conflicts in both directions are calculated based on the road section information and the vehicle information in the oncoming vehicle information. Specifically, in this embodiment, the road section can be a non-signal light controlled level crossing or a ramp merging into an interweaving area. Among them, the non-signal light controlled level crossing includes a T-junction, a crossroads, and a multi-branch intersection. The following takes the level crossing as an example to illustrate the calculation process of the oncoming conflict speed threshold.

[0072] Specifically, the above step S303 includes:

[0073] Step S3031, extracting the conflict distance of the road section, the conflict distance is the distance between the oncoming conflict warning device and the oncoming conflict point; specifically, Figure 3As shown, when the road section is a non-signal-controlled level crossing section, the conflict distance includes the distance L1 between the main road meeting conflict warning device and the conflict point and the distance L2 between the branch road meeting conflict warning device and the conflict point.

[0074] Step S3032, obtain the meeting conflict speed threshold according to the relationship between the conflict distance when a meeting conflict occurs and the meeting conflict speed threshold determined by the displacement formula. Specifically, when determining the relationship according to the displacement formula, it is also necessary to determine the main road pavement friction coefficient μ1 and the branch road pavement friction coefficient μ2. Among them, in order to avoid a collision at the meeting conflict point, the main road vehicle and the branch road vehicle need to be able to reduce their speed to 0 before the displacement of the conflict distance, that is, the speed is reduced to 0 at the meeting conflict point, which can just avoid the collision, that is, the speed before the speed reduction is the meeting conflict speed threshold. Therefore, the relationship between the conflict distance when a meeting conflict occurs determined by the displacement formula on the main road and the meeting conflict speed threshold can be expressed by the following formula:

[0075]

[0076] Among them, v x1 represents the speed threshold of the oncoming conflict on the main road. According to this formula, the speed threshold of the oncoming conflict on the main road can be deduced as Similarly, the speed threshold of the oncoming conflict on the branch road is

[0077] Step S304: generating warning information of different levels according to the relationship between the speeds of vehicles coming from two directions and the speed thresholds for the oncoming vehicles and the oncoming vehicles.

[0078] Specifically, the above step S304 includes:

[0079] Step S3041, when the road section is a non-signal-controlled level crossing, if the speeds of vehicles coming from both directions are greater than or equal to the speed threshold of the oncoming vehicle conflict or one of the speeds of vehicles coming from both directions is greater than or equal to the speed threshold of the oncoming vehicle conflict, a first-level warning message is generated in both directions.

[0080] Step S3042: If the speeds of vehicles coming from both directions are less than the speed threshold for oncoming vehicles, a second-level warning message is generated in both directions.

[0081] The warning intensity of the first-level warning information is greater than that of the second-level warning information. For example, when the oncoming collision warning equipment includes flashing lights, tweeters, and display screens, the flashing lights, tweeters, and display screens of the equipment are all turned on during the first-level warning, and the flashing lights and display screens of the equipment are turned on during the second-level warning. In an optional implementation, the first-level warning information and the second-level warning information can be warned according to the following methods:

[0082] when and At this time, the main road and branch road collision warning devices all start the first-level warning. At this time, the main road's tweeter and display screen warn "the speed of the vehicle coming from the branch road is very fast, it is very dangerous, please slow down!"; the branch road's tweeter and display screen warn "the speed of the vehicle coming from the main road is very fast, it is very dangerous, please slow down!".

[0083] when and At this time, the main road and branch road collision warning devices all start the first-level warning. At this time, the main road's tweeter and display screen warn "The vehicle coming from the branch road is very dangerous, please slow down and drive carefully!"; the branch road's tweeter and display screen warn "The vehicle coming from the main road is very fast, very dangerous, please drive carefully!".

[0084] when and At this time, the main road and branch road collision warning devices all start the first-level warning. At this time, the main road's tweeter and display screen warn "The speed of the vehicle on the branch road is very fast, very dangerous, please drive carefully!"; the branch road's tweeter and display screen warn "The speed of the vehicle on the main road is very fast, very dangerous, please drive carefully!".

[0085] when and At this time, the collision warning devices on the main road and the branch road both start the second-level warning. At this time, the display screen on the main road warns "Cars coming from the branch road, please drive carefully!"; the display screen on the branch road warns "Cars coming from the main road, please drive carefully!".

[0086] In this embodiment, a method for warning of road traffic conflict is provided, and the process includes the following steps:

[0087] Step S401, obtain information about vehicles coming from two directions with a meeting conflict on different road sections. Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0088] Step S402: Determine whether there are oncoming vehicles in both directions based on the oncoming vehicle information. Figure 1 Step S102 of the illustrated embodiment will not be described in detail here.

[0089] Step S403, when there are oncoming vehicles in both directions, the speed thresholds for oncoming conflicts in both directions are calculated based on the road section information and the vehicle information in the oncoming vehicle information; specifically, in this embodiment, the road section may be a slope section. Before entering the top of the slope, the oncoming vehicle cannot be observed due to obstructed vision, which poses a great safety hazard. Therefore, an early warning is issued for the slope section, which can improve the safety of the slope section.

[0090] Specifically, the above step S403 includes:

[0091] Step S4031, extracting the slope information of the road section between the oncoming conflict warning device and the oncoming conflict point; specifically, Figure 4 As shown, in the slope section, the collision point is the top of the slope, and the collision conflict warning device is installed at a certain position before the top of the slope. The slope information between the collision conflict warning device and the top of the slope includes the average slope i1, average climbing angle a1, arc length L1 between the direction 1 warning device point and the top of the slope, and the average slope i2, average climbing angle a2, and arc length L2 between the direction 2 warning device point and the top of the slope.

[0092] Step S4032, obtaining the meeting conflict vehicle speed threshold value according to the relationship between the slope information when the meeting conflict occurs and the meeting conflict vehicle speed threshold value determined by the displacement formula. Specifically, when determining the relationship according to the displacement formula, it is also necessary to determine the road friction coefficient μ and the gravitational acceleration g. Among them, in order to avoid a collision at the meeting conflict point, the vehicles in direction 1 and direction 2 need to be able to reduce their speed to 0 before reaching the top of the slope, that is, the speed is reduced to 0 at the meeting conflict point, which can just avoid the collision, that is, the speed before the speed reduction is the meeting conflict vehicle speed threshold value. Therefore, in direction 1, the relationship between the slope information when the meeting conflict occurs and the meeting conflict vehicle speed threshold value determined by the displacement formula can be expressed by the following formula:

[0093]

[0094] According to i1=tanα1, we can deduce:

[0095]

[0096] Among them, v x1 represents the speed threshold of the oncoming conflict in direction 1. According to this formula, the speed threshold of the oncoming conflict in direction 1 can be deduced as Similarly, the speed threshold for the oncoming conflict in direction 2 is

[0097] Step S404: generating warning information of different levels according to the relationship between the speeds of vehicles coming from two directions and the speed thresholds for the oncoming vehicles and the oncoming vehicles.

[0098] Specifically, the above step S404 includes:

[0099] Step S4041, when the road section is a slope section, if the speeds of vehicles coming from both directions are greater than or equal to the speed threshold of the oncoming vehicle conflict or one of the speeds of vehicles coming from both directions is greater than or equal to the speed threshold of the oncoming vehicle conflict, a first-level warning message is generated in both directions.

[0100] Step S4042: If the speeds of vehicles coming from both directions are less than the speed threshold for oncoming vehicles, a second-level warning message is generated in both directions.

[0101] The warning intensity of the first-level warning information is greater than that of the second-level warning information. For example, when the oncoming collision warning equipment includes flashing lights, tweeters, and display screens, the flashing lights, tweeters, and display screens of the equipment are all turned on during the first-level warning, and the flashing lights and display screens of the equipment are turned on during the second-level warning. In an optional implementation, the first-level warning information and the second-level warning information can be warned according to the following methods:

[0102] when and At this time, the oncoming vehicle conflict warning devices in direction 1 and direction 2 both turn on level I warning. At this time, the tweeters and display screens in both directions warn that "the oncoming vehicle is driving very fast and is very dangerous. Please slow down immediately!"

[0103] when and At this time, the collision warning devices in direction 1 and direction 2 both start level I warning. At this time, the tweeter and display screen in direction 1 warn "Oncoming vehicles, the risk of accidents is high, please reduce speed urgently!"; the display screen in direction 2 warns "The oncoming vehicles are driving very fast, which is very dangerous, please drive carefully!".

[0104] when and At this time, the collision warning devices in direction 1 and direction 2 both start level I warning. At this time, the tweeter and display screen in direction 1 warn "The oncoming vehicle is very fast and very dangerous, please drive carefully!"; the tweeter and display screen in direction 2 warn "The oncoming vehicle has a high risk of an accident, please reduce speed urgently!".

[0105] when and At this time, the oncoming vehicle conflict warning devices in direction 1 and direction 2 both turn on level II warning. At this time, the display screens in both directions warn "Oncoming vehicles, do not occupy the opposite lane!".

[0106] In this embodiment, a method for warning of road traffic conflict is provided, and the process includes the following steps:

[0107] Step S501, obtain information about vehicles coming from two directions with a meeting conflict on different road sections. Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0108] Step S502: Determine whether there are oncoming vehicles in both directions based on the oncoming vehicle information. Figure 1 Step S102 of the illustrated embodiment will not be described in detail here.

[0109] Step S503: When there are oncoming vehicles in both directions, the speed thresholds for oncoming vehicles in both directions are calculated based on the road section information and the vehicle information in the oncoming vehicle information. Figure 1 Step S103 of the illustrated embodiment will not be described in detail here.

[0110] Step S504: generate different levels of warning information based on the relationship between the speeds of vehicles coming from both directions and the speed thresholds for vehicle conflicts. Figure 1 Step S104 of the illustrated embodiment will not be described in detail here.

[0111] Step S505: When there is only one vehicle coming from one direction or there is no vehicle coming from both directions, the warning prompt of the vehicle collision warning device is turned off. Specifically, when there is only one vehicle coming from one direction, the risk of collision is greatly reduced, so there is no need to issue a warning at this time, thereby avoiding a large number of invalid warnings and also avoiding energy loss in the vehicle collision warning device.

[0112] In this embodiment, a road traffic conflict warning system is also provided. Figure 5 As shown, the system includes: at least two oncoming conflict warning devices arranged in different directions (only the first oncoming conflict warning device and the second oncoming conflict warning device are shown in the figure), the oncoming conflict warning device is arranged at a preset position before the oncoming conflict point, and the oncoming conflict warning device is used to obtain oncoming vehicle information from two directions where oncoming conflicts occur on different road sections; judge whether there are oncoming vehicles in both directions according to the oncoming vehicle information; when there are oncoming vehicles in both directions, calculate the oncoming conflict vehicle speed thresholds of the two directions based on the road section information and the vehicle information in the oncoming vehicle information; generate different levels of warning information according to the relationship between the speeds of the oncoming vehicles in the two directions and the oncoming conflict vehicle speed thresholds.

[0113] Specifically, by setting up oncoming vehicle conflict warning devices in two directions where collision is likely to occur, linkage warnings can be provided for respective directions through linkage between the two oncoming vehicle conflict warning devices.

[0114] In an optional embodiment, the oncoming conflict warning device includes a vehicle information identification device, an oncoming vehicle detection device, a warning device, a communication device, a processing device and a power supply device; the oncoming vehicle detection device is used to detect whether there is oncoming vehicle information on the road; the vehicle information identification device is used to identify vehicle information, and whether there is oncoming vehicle information on the road and the vehicle information constitute the oncoming vehicle information; the processing device is used to determine whether there are oncoming vehicles in both directions based on the oncoming vehicle information; when there are oncoming vehicles in both directions, the oncoming conflict speed thresholds of the two directions are calculated based on the road section information and the vehicle information in the oncoming vehicle information; different levels of warning information are generated according to the relationship between the speeds of the oncoming vehicles in the two directions and the oncoming conflict speed thresholds; the warning device is used to issue a warning based on the warning information generated by the processing device; the communication device is used to communicate with other oncoming conflict warning devices; the power supply device is used to power the oncoming conflict warning device.

[0115] Specifically, Figure 6 As shown, the vehicle detection device can be a radar or other device that can detect vehicles within a certain range. The vehicle information recognition device can be a vehicle recognition camera, which can recognize the vehicle model based on the image of the vehicle taken, so as to obtain vehicle information such as vehicle size. The warning device includes a flashing light, a display screen, and a tweeter. The flashing light is used to flash a warning when the warning is triggered; the display screen is used to trigger a text safety prompt when the warning is triggered; the tweeter is used to play a warning voice when the warning is triggered. The communication device includes a lora communication module and a 4G communication module. The lora communication is used for information transmission between the vehicle conflict warning devices, and the 4g communication module is used to exchange information and transmit the working status of the device to the background device management platform; the power supply device can be a solar power supply device, a wind power supply device, or a wired power supply device. The processing device can use a central processing unit. It should be noted that when two vehicle conflict warning devices, namely the first vehicle conflict warning device and the second vehicle conflict warning device (the structures in the two devices are respectively distinguished by the first and second) are used to perform linkage warnings in two directions, the central processing unit can be set in only one vehicle conflict warning device. In addition, the system also includes an equipment management platform, which is used to set warning thresholds, monitor equipment operating status, and push oncoming vehicle safety warning information to map navigation or other information platforms.

[0116] In addition, in actual applications, the horn shouting and the warning words displayed on the display screen during risk warning can be adjusted according to the actual situation. When warning of different levels of risks, the horn, display screen, and flashing light can be turned on at the same time, or some warning devices can be turned on. The horn can be replaced with a directional sound column, and the radar and vehicle recognition camera can be replaced with a radar-vision integrated machine.

[0117] In an optional embodiment, if Figure 7 and Figure 8As shown, when the road section is a non-signal-controlled level crossing, the oncoming conflict warning devices are respectively arranged on the roadside of the branch road entering the intersection and on the roadside of the main road entering the intersection close to the branch road; among them, a total of 2 sets of devices, namely, device 1 and device 2, are required for a "T" intersection, and a total of 4 sets of devices, namely, device 1, device 2, device 3 and device 4, are required for a "X" intersection.

[0118] like Fig. 9 As shown, when the road section is a section where the ramp merges into the weaving area, the vehicle collision warning equipment is deployed on the ramp merging side and the main road entering the weaving area side, and a total of 2 sets, namely equipment 1 and equipment 2, are required.

[0119] like Fig.10 As shown, when the road section is a single curve section, the oncoming vehicle conflict warning equipment is respectively arranged on the roadside in both directions of entering the curve; a total of 2 sets of equipment 1 and equipment 2 need to be arranged.

[0120] like Fig.11 As shown, when the road section is a continuous turning section, on both sides of the straight section at both ends of the continuous curve, on the roadside in both directions of the curve, and on the roadside at the continuous curve; the number of equipment sets deployed is 2n sets, and n is the number of continuous turns.

[0121] like Fig.12 As shown, when the road section is a ramp section, the vehicle collision warning equipment is deployed on the roadside in both directions of the top of the slope. A total of 2 sets of equipment 1 and equipment 2 need to be deployed.

[0122] In an optional implementation, the linkage warning logic between the first vehicle-on-vehicle conflict warning device and the second vehicle-on-vehicle conflict warning device is as follows: Fig.13 As shown, when vehicles are detected coming from two directions at the same time, the safety warning is activated; if there is no vehicle coming or there is only one vehicle coming from one direction, the warning is not activated.

[0123] The linkage process specifically includes the following steps:

[0124] Step 1: The radar of the first oncoming vehicle conflict warning device monitors oncoming vehicles in one direction, and transmits the oncoming vehicle situation to the central processing unit of the first oncoming vehicle conflict warning device through a line;

[0125] Step 2: The radar of the second oncoming vehicle conflict warning device monitors the oncoming vehicle from the other direction, and transmits the oncoming vehicle situation to the central processing unit of the first oncoming vehicle conflict warning device through LoRa communication;

[0126] Step 3, the central processing unit of the first oncoming conflict warning device performs logical judgment. When vehicles are approaching from two directions at the same time, the risk warning levels of the two directions are determined respectively, and the warning is triggered. The warning signal is transmitted to the flashing light, display screen, and tweeter of the first oncoming conflict warning device through the line, and is transmitted to the flashing light, display screen, and tweeter of the second oncoming conflict warning device through lora communication;

[0127] Step 4: After receiving the warning command, the flashing lights, display screens, and tweeters of the two devices start working and carry out warning alerts of corresponding levels. Each device continues to work until the vehicle in the direction passes the warning point, and then the device stops working.

[0128] Step 5. When the warning is turned on, the 4G module will transmit risk monitoring and warning information to the background management platform. The risk warning threshold, warning content, etc. of the device can also be adjusted through the background management platform.

[0129] The present invention proposes a vehicle conflict warning method, system and device for non-signal-controlled level crossings, curved and continuous curved sections, ramp sections, and sections where ramps merge into weaving areas, etc., to solve the problem of single application scenarios in existing technologies. Among them, the risk classification warning strategy takes into account the type of the approaching vehicle, the speed of the vehicle, the arrival position of the vehicle, etc., to achieve a graded warning and multi-device linkage warning strategy, solving the problems of single warning logic, lack of scientificity, low degree of refinement, and unclear effect in existing technologies.

[0130] The further functional description of each of the above devices is the same as that of the above corresponding embodiments and will not be repeated here.

[0131] The embodiment of the present invention also provides a computer device having the above Figure 5 The road traffic conflict warning system shown.

[0132] See also Fig.14 , Fig.14 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Fig.14As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Fig.14 A processor 10 is taken as an example.

[0133] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0134] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0135] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created by the use of a computer device based on the presentation of a small program landing page, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0136] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0137] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0138] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0139] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of computer program instructions in computer-readable media includes, but is not limited to, source files, executable files, installation package files, etc., and accordingly, the way in which computer program instructions are executed by a computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0140] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A road traffic conflict warning method, characterized in that: Applied to a vehicle-on-vehicle conflict warning device, the vehicle-on-vehicle conflict warning device is arranged at a preset position before a vehicle-on-vehicle conflict point, and the method comprises: Obtain information about vehicles coming from two directions with conflicts on different road sections; Determine whether there are oncoming vehicles in both directions according to the oncoming vehicle information; When there are oncoming vehicles in both directions, the vehicle speed thresholds for oncoming conflicts in both directions are calculated based on the road section information and the vehicle information in the oncoming vehicle information; Generate different levels of warning information according to the relationship between the speeds of vehicles coming from two directions and the speed threshold of the oncoming vehicle conflict; The road section includes a curved road section, and the vehicle speed thresholds for oncoming vehicle conflicts in two directions are calculated based on the road section information and the vehicle information in the oncoming vehicle information, including: Extracting the turning radius and turning angle radian in the curved road section and the vehicle size and vehicle speed in the vehicle information; A first relationship between the turning radius and the vehicle size and a second relationship between the turning radius and the vehicle speed at the position where the oncoming conflict occurs are determined. The first relationship and the second relationship are respectively expressed by the following formulas: Where R1 represents the turning radius when the vehicle in direction 1 enters the curve, α represents the turning angle when turning from direction 1, and L l Indicates the wheelbase of the vehicle entering the curve from direction 1, L z represents the wheelbase of the vehicle, v1 represents the speed v1 of the vehicle entering the curve from direction 1, and g represents the acceleration due to gravity; The vehicle speed when the turning radius is greater than or equal to the turning radius is determined according to the first relationship and the second relationship. The vehicle speed is the vehicle speed threshold for oncoming vehicle conflicts. The vehicle speed thresholds for oncoming vehicle conflicts in two directions are respectively expressed as and R represents the radius of the curve centerline circle, L d Indicates the distance between the center line of the curve and the outside of the curve.

2. The method according to claim 1, characterized in that The method further comprises: When there is only one vehicle coming from one direction or there is no vehicle coming from both directions, turn off the warning prompt of the oncoming conflict warning device.

3. The method according to claim 1, characterized in that The road section includes a non-signal-controlled level crossing or a ramp merging into an interweaving area. The vehicle speed thresholds for oncoming vehicle conflicts in two directions are calculated based on the road section information and the vehicle information in the oncoming vehicle information, including: Extracting the conflict distance of the road section, where the conflict distance is the distance between the oncoming conflict warning device and the oncoming conflict point; The vehicle speed threshold of the meeting conflict is obtained according to the relationship between the conflict distance and the vehicle speed threshold of the meeting conflict when the meeting conflict occurs, which is determined by the displacement formula.

4. The method according to claim 1, characterized in that: The road section includes a slope section, and the vehicle speed thresholds for oncoming vehicle conflicts in two directions are calculated based on the road section information and the vehicle information in the oncoming vehicle information, including: Extracting the slope information of the road section between the vehicle meeting conflict warning device and the vehicle meeting conflict point; The vehicle speed threshold for the vehicle meeting conflict is obtained according to the relationship between the slope information and the vehicle speed threshold for the vehicle meeting conflict when the vehicle meeting conflict occurs, which is determined by the displacement formula.

5. The method according to claim 1, characterized in that Different levels of warning information are generated according to the relationship between the speeds of vehicles coming from two directions and the speed threshold of the oncoming vehicle conflict, including: When the road section is a non-signalized level crossing, a ramp merging into an interweaving area, or a ramp section, if the speeds of vehicles coming from both directions are greater than or equal to the oncoming conflict speed threshold or one of the speeds of vehicles coming from both directions is greater than or equal to the oncoming conflict speed threshold, a first-level warning message is generated in both directions; If the speeds of vehicles coming from both directions are less than the oncoming conflict speed threshold, a secondary warning message is generated in both directions; When the road section is a curved road section, if the speeds of vehicles coming from both directions are greater than or equal to the oncoming conflict speed threshold or the speed of vehicles on the inner side of the curve centerline is greater than or equal to the oncoming conflict speed threshold and the speed of vehicles on the outer side of the curve centerline is less than the oncoming conflict speed threshold, a first-level warning message is generated in both directions; If the speeds of vehicles coming from both directions are less than the oncoming conflict speed threshold, a secondary warning message is generated in both directions; If the vehicle speed on the inner side of the curve centerline is less than the oncoming conflict speed threshold and the vehicle speed on the outer side of the curve centerline is greater than or equal to the oncoming conflict speed threshold, a second-level warning message is generated in the inner direction and a first-level warning message is generated in the outer direction.

6. A road traffic conflict warning system, characterized in that: The system comprises: at least two oncoming conflict warning devices arranged in different directions, the oncoming conflict warning devices being arranged at a preset position before the oncoming conflict point, the oncoming conflict warning devices being used to obtain oncoming vehicle information from two directions where oncoming conflicts exist in different road sections; judging whether oncoming vehicles exist in both directions according to the oncoming vehicle information; when oncoming vehicles exist in both directions, calculating oncoming conflict vehicle speed thresholds for both directions based on road section information and vehicle information in the oncoming vehicle information; generating warning information of different levels based on the relationship between the speeds of oncoming vehicles in both directions and the oncoming conflict vehicle speed thresholds; the road section comprises a curved road section, and calculating oncoming conflict vehicle speed thresholds for both directions based on road section information and vehicle information in the oncoming vehicle information, comprising: Extracting the turning radius and turning angle radian in the curved road section and the vehicle size and vehicle speed in the vehicle information; A first relationship between the turning radius and the vehicle size and a second relationship between the turning radius and the vehicle speed at the position where the oncoming conflict occurs are determined. The first relationship and the second relationship are respectively expressed by the following formulas: Where R1 represents the turning radius when the vehicle in direction 1 enters the curve, α represents the turning angle when turning from direction 1, and L l Indicates the wheelbase of the vehicle entering the curve from direction 1, L z represents the wheelbase of the vehicle, v1 represents the speed v1 of the vehicle entering the curve from direction 1, and g represents the acceleration due to gravity; The vehicle speed when the turning radius is greater than or equal to the turning radius is determined according to the first relationship and the second relationship. The vehicle speed is the vehicle speed threshold for oncoming vehicle conflicts. The vehicle speed thresholds for oncoming vehicle conflicts in two directions are respectively expressed as and R represents the radius of the curve centerline circle, L d Indicates the distance between the center line of the curve and the outside of the curve.

7. The system according to claim 6, characterized in that When the road section is a non-signal-controlled level crossing, a collision warning device is installed on the roadside of the branch road in the direction of the intersection and on the roadside of the main road in the direction of the intersection close to the branch road; When the road section is a section where the ramp merges into the weaving area, a vehicle collision warning device is arranged on the ramp merging side and the main road entering the weaving area; When the road section is a single curved road section, vehicle collision warning devices are respectively arranged on the roadside in both directions of the approach to the curve; When the road section is a continuous curve section, the vehicle collision warning equipment is arranged on the road sides of the two directions of the straight road sections at both ends of the continuous curve and the road sides of the continuous curves; When the road section is a slope section, oncoming vehicle conflict warning devices are respectively arranged on the roadside in both directions of the top of the slope.

8. The system according to claim 6, characterized in that The vehicle collision warning device includes a vehicle information recognition device, an oncoming vehicle detection device, a warning device, a communication device, a processing device, and a power supply device; The oncoming vehicle detection device is used to detect whether there is oncoming vehicle information on the road; The vehicle information identification device is used to identify vehicle information, and the information on whether a vehicle is coming on the road and the vehicle information constitute the vehicle information; The processing device is used to determine whether there are oncoming vehicles in both directions according to the oncoming vehicle information; when there are oncoming vehicles in both directions, calculate the oncoming vehicle speed thresholds for the oncoming vehicles in both directions based on the road section information and the vehicle information in the oncoming vehicle information; and generate different levels of warning information according to the relationship between the speeds of the oncoming vehicles in the two directions and the oncoming vehicle speed thresholds; The early warning device is used to issue an early warning according to the early warning information generated by the processing device; The communication device is used to communicate with other vehicle collision warning devices; The power supply device is used to supply power to the vehicle collision warning device.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the road traffic conflict warning method according to any one of claims 1 to 5.

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