Method and device for reminding in corner scenario, electronic device and storage medium

Abstract

The application relates to the technical field of vehicles and discloses a reminding method and device in a curved road scene, electronic equipment and a storage medium. The method is applied to a road test unit and comprises the following steps: receiving target position data sent by a target vehicle and satellite positioning position data of the road test unit; determining the occurrence rate of a collision accident according to the target position data, the satellite positioning position data of the road test unit, preset curved road data of a curved road where the road test unit is located and position data of surrounding objects identified by the road test unit; and if the occurrence rate is greater than a preset occurrence rate, performing a collision reminding operation. The application not only performs collision prediction through collected data, but also receives target position data sent by a target vehicle to perform collision prediction according to multiple data, so that the determined occurrence rate of a collision accident is more accurate, and if the occurrence rate is greater than a preset occurrence rate, a collision reminding operation is performed to warn people or objects near the curved road, so that the occurrence rate of road safety accidents is reduced.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, specifically to a warning method, device, electronic device, and storage medium for use in curve scenarios. Background Technology

[0002] Currently, convex mirrors are installed at road curves. (The convex mirrors are like...) Figure 1 As shown, it can reflect a wide range of light to provide a wider field of vision at curves, helping drivers to observe oncoming vehicles and pedestrians at turns or intersections, eliminating or reducing blind spots, enabling drivers to better judge traffic conditions, and increasing driving safety.

[0003] Although convex mirrors can expand the field of vision, their convex shape makes objects appear smaller or distorted, making objects in the mirror appear farther away. Therefore, it is difficult for drivers to judge the actual distance of vehicles or pedestrians on curves, and they cannot play an important auxiliary role in helping drivers observe blind spots and improve driving safety on road curves. Summary of the Invention

[0004] In view of the above problems, this application provides a warning method, device, electronic device and storage medium in the case of curves, which can accurately predict the occurrence rate of collision accidents at curves on the road surface, so as to warn people or objects near the curve.

[0005] According to one aspect of this application, a warning method for a curved road scenario is provided. The warning method is applied to a road testing unit and includes: receiving target location data sent by a target vehicle and satellite positioning data of the road testing unit; determining the collision accident occurrence rate based on the target location data, the satellite positioning data of the road testing unit, preset curve data of the curve where the road testing unit is located, and position data of surrounding objects identified by the road testing unit; and performing a collision warning operation if the occurrence rate is greater than the preset occurrence rate.

[0006] In one optional approach, determining the collision accident incidence rate based on the target location data, the satellite positioning data of the road testing unit, the preset curve data of the curve where the road testing unit is located, and the location data of surrounding objects identified by the road testing unit further includes: determining a first satellite positioning position of the target vehicle based on the target location data and the satellite positioning data of the road testing unit; determining a second satellite positioning position of the surrounding objects based on the location data of the surrounding objects identified by the road testing unit and the satellite positioning data of the road testing unit; and determining the collision accident incidence rate based on the first satellite positioning position, the second satellite positioning position, and the preset curve data of the curve where the road testing unit is located.

[0007] In an optional mode, the peripheral object includes the target vehicle; the determination of the occurrence rate of the collision accident according to the first satellite positioning position, the second satellite positioning position and preset curve data of the curve where the road test unit is located further includes: de-duplication processing of the first satellite positioning position and the second satellite positioning position to obtain a target satellite positioning position; determination of the occurrence rate of the collision accident according to the target satellite positioning position, a target curve speed and the preset curve data of the curve where the road test unit is located; wherein the target curve speed is a moving speed of the target object corresponding to the target satellite positioning position into the curve where the road test unit is located.

[0008] In an optional mode, the preset curve data of the curve where the road test unit is located includes a preset curve speed and a curve area; the determination of the occurrence rate of the collision accident according to the target satellite positioning position, the target curve speed and the preset curve data of the curve where the road test unit is located further includes: if it is detected that the target satellite positioning position is located in the curve area, then determining the occurrence rate of the target object actively causing the collision accident according to the target curve speed and the preset curve speed; if it is detected that the target satellite positioning position is located outside the curve area, then determining the occurrence rate of the target object actively causing the collision accident as zero.

[0009] In an optional mode, the preset curve data of the curve where the road test unit is located includes a curve area; the reminding method further includes: determining an entering position of the target object into the curve area according to a moving direction of the target object and the curve area; calculating a distance difference value according to the entering position and a historical position; wherein the historical position is a position of the target object at a historical time before the target object reaches the entering position; calculating the target curve speed according to the distance difference value and a time difference value; wherein the time difference value is a difference between a time when the target object reaches the entering position and the historical time.

[0010] In an optional mode, the target position data is data sent by the target vehicle through an intelligent vehicle terminal; the reminding method further includes: sending the occurrence rate of the collision accident to the intelligent vehicle terminal, so that the target vehicle displays the occurrence rate of the collision accident in a vehicle map.

[0011] In an optional mode, the collision reminding operation further includes: matching the occurrence rate with preset occurrence rate intervals, and determining a preset reminding strategy corresponding to a preset occurrence rate interval that matches successfully; wherein the preset reminding strategy includes a light reminding sub-strategy and a sound reminding sub-strategy; performing light reminding according to the light reminding sub-strategy, and playing a prompt sound according to the sound reminding sub-strategy.

[0012] According to another aspect of the present application, there is provided a reminding device in a curved road scenario, applied to a road test unit, comprising: a receiving module configured to receive target position data sent by a target vehicle and satellite positioning position data of the road test unit; a determining module configured to determine a collision accident occurrence rate according to the target position data, the satellite positioning position data of the road test unit, preset curved road data of a curved road where the road test unit is located, and position data of a surrounding object identified by the road test unit; and a reminding module configured to perform a collision reminding operation if the occurrence rate is greater than a preset occurrence rate.

[0013] According to an aspect of the present application, there is provided an electronic device, comprising: a controller; and a memory configured to store one or more programs, which, when executed by the controller, perform the above-mentioned reminding method.

[0014] According to an aspect of the present application, there is also provided a computer-readable storage medium having computer-readable instructions stored thereon, which, when executed by a processor of a computer, cause the computer to perform the above-mentioned reminding method.

[0015] According to an aspect of the present application, there is also provided a computer program product or computer program, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the above-mentioned reminding method.

[0016] The road test unit of the present application not only makes collision prediction based on collected data, but also receives target position data sent by a target vehicle to make collision prediction based on multi-party data, so that the determined collision accident occurrence rate is more accurate, and if the occurrence rate is greater than a preset occurrence rate, a collision reminding operation is performed to warn people or objects near the curved road, thereby reducing the occurrence rate of road safety accidents.

[0017] The above description is only a summary of the technical solutions of the embodiments of the present application. In order to more clearly understand the technical means of the present application, the embodiments of the present application can be implemented according to the content of the specification, and in order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation manner of the present application is described below. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings, which are incorporated herein and form a part of the specification, illustrate embodiments consistent with the present application and, together with the description, further serve to explain the principles of the application. It is to be understood that the drawings are designed solely for purposes of illustration to be used in conjunction with the description in

[0019] Figure 1 is a convex mirror setting diagram at the existing road curve.

[0020] Figure 2 is a flow diagram of a reminding method in a curve scene according to an example embodiment of the present application.

[0021] Figure 3 is a flow diagram of a reminding method in a curve scene according to an example embodiment of the present application. Figure 2 is a flow diagram of a reminding method in a curve scene according to an example embodiment of the present application.

[0022] Figure 4 is a flow diagram of a reminding method in a curve scene according to an example embodiment of the present application. Figure 3

[0023] Figure 5 is a flow diagram of a reminding method in a curve scene according to an example embodiment of the present application. Figure 4

[0024] Figure 6 is a flow diagram of a reminding method in a curve scene according to an example embodiment of the present application.

[0025] Figure 7 is a structure diagram of a road testing unit in a curve scene according to an example embodiment of the present application.

[0026] Figure 8 is a data flow diagram between a UWB system and a V2X system in a road testing unit according to an example embodiment of the present application.

[0027] Figure 9 is a structure diagram of a reminding device in a curve scene according to an example embodiment of the present application.

[0028] Figure 10 is a structure diagram of a computer system of an electronic device according to an example embodiment of the present application. DETAILED DESCRIPTION

[0029] ​​The exemplary embodiments will be described in detail below with reference to the drawings. In the following description, the same numbers are used to denote the same elements throughout the several views. The embodiments described in the following exemplary embodiments do not represent all the implementations consistent with the present application. Instead, they are merely examples of apparatuses and methods consistent with some aspects of the present application as detailed in the appended claims.

[0030] The block diagrams shown in the drawings are merely functional entities, and do not necessarily correspond to physically independent entities. That is, the functional entities can be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0031] The flowcharts shown in the drawings are merely exemplary illustrations, and do not necessarily include all the contents and operations / steps, nor are they necessarily executed in the order described. For example, some operations / steps can be further decomposed, and some operations / steps can be combined or partially combined, so the actual execution order can be changed according to the actual situation.

[0032] In the present application, "multiple" refers to two or more. The association relationship of "and / or" describes the associated objects, which means that there can be three relationships, for example, A and / or B can represent the three cases of A alone, A and B together, and B alone. The character " / " generally represents an "or" relationship between the associated objects before and after it.

[0033] The existing road bends are provided with convex mirrors, which can reflect a larger range of light rays to provide a larger field of view at the bend, help the driver to observe the oncoming vehicles and pedestrians at the turning or intersection, eliminate or reduce the blind spot, and enable the driver to better judge the traffic situation and increase the driving safety. Figure 1

[0034] Although the convex mirror can expand the field of view, due to its convex shape, the mirror surface makes the object appear smaller or distorted, making the object on the mirror appear farther away, so it is difficult for the driver to judge the actual distance of the vehicles or pedestrians on the bend, and the mirror cannot play an important auxiliary role at the road bend to assist the driver in observing the blind spot and improving the driving safety.

[0035] To this end, one aspect of the present application provides a reminding method in a bend scene. For details, please refer to Figure 2 , Figure 2 is a flowchart of a reminding method in a bend scene according to an exemplary embodiment of the present application. The reminding method is applied to a road testing unit and at least includes S210 to S230, which are described in detail as follows: ​

[0036] S210: receiving target position data sent by a target vehicle and satellite positioning position data of the road test unit.

[0037] The target vehicle is a vehicle near the road test unit and having a function of sending its own position data to the road test unit, and the embodiment does not limit the number of target vehicles.

[0038] The target position data is data representing the position of the target vehicle, which can be three-dimensional or two-dimensional coordinate data, and the embodiment does not limit the specific data type and quantity thereof.

[0039] The satellite positioning position data is data obtained by positioning satellites positioning the road test unit, for example, Beidou satellites positioning the road test unit in real time and sending satellite positioning position data of the road test unit in real time, thereby ensuring the real-time accuracy of the position of the road test unit and avoiding the occurrence of errors in predicting the collision accident.

[0040] S220: determining the occurrence rate of the collision accident according to the target position data, the satellite positioning position data of the road test unit, preset curve data of the curve where the road test unit is located, and position data of the surrounding objects recognized by the road test unit.

[0041] The preset curve data of the curve where the road test unit is located is data representing the curve of the road, including but not limited to the bending direction of the curve, the radius of the curve, the slope of the curve, etc.

[0042] The position data of the surrounding objects recognized by the road test unit is data representing the objects recognized by the road test unit, which can be recognized by image acquisition equipment and / or radar equipment, and the position data representing the position of the objects can be acquired.

[0043] S230: if the occurrence rate is greater than the preset occurrence rate, a collision warning operation is performed.

[0044] The preset occurrence rate is a parameter for judging whether a collision event occurs or not, and if the occurrence rate is less than or equal to the preset occurrence rate, it means that the occurrence rate of the collision event is small, and no collision warning is needed, and the embodiment does not limit the specific value of the preset occurrence rate.

[0045] An exemplary introduction of the collision warning operation is as follows: matching the occurrence rate with preset occurrence rate intervals and determining the preset warning strategy corresponding to the preset occurrence rate interval matched successfully; wherein the preset warning strategy includes a light warning sub-strategy and a sound warning sub-strategy; performing light warning according to the light warning sub-strategy and playing a prompt sound according to the sound warning sub-strategy.

[0046] For example, if the occurrence rate is less than 80% (preset occurrence rate), the collision warning operation is not performed, if greater than, the occurrence rate interval is determined; if the occurrence rate is located in the preset occurrence rate interval of 80%-90%, the yellow warning light is turned on, and the prompt sound of medium volume is played; if the occurrence rate is located in the preset occurrence rate interval of 90%-100%, the red warning light is turned on, and the prompt sound of maximum volume is played.

[0047] In some embodiments, the target position data is data sent by the target vehicle through the intelligent vehicle terminal, and the subject of the embodiment can also send the occurrence rate of the collision accident to the intelligent vehicle terminal, so that the target vehicle displays the occurrence rate of the collision accident in the vehicle map, so that the user adjusts the driving parameters in time to avoid the occurrence of the collision event in advance.

[0048] The road test unit of the embodiment not only makes collision prediction through the collected data, but also receives the target position data sent by the target vehicle to make collision prediction according to multiple data, so that the determined occurrence rate of the collision accident is more accurate, and if the occurrence rate is greater than the preset occurrence rate, the collision warning operation is performed to warn people or objects near the curve, thereby reducing the occurrence rate of road safety accidents.

[0049] In another exemplary embodiment of the present application, how to determine the occurrence rate of the collision accident according to the target position data, the satellite positioning position data of the road test unit, the preset curve data of the curve where the road test unit is located, and the position data of the surrounding objects recognized by the road test unit is introduced in detail, please refer to Figure 3 , Figure 3 is another flowchart of the warning method in the curve scenario based on the exemplary embodiment shown in Figure 2 . The warning method further includes S310-S330 in S220 as shown in Figure 2 . Details are as follows:

[0050] S310: Determine the first satellite positioning position of the target vehicle according to the target position data and the satellite positioning position data of the road test unit.

[0051] The target position data can be three-dimensional coordinates sent by the target vehicle V-Box to the road test unit. By combining the three-dimensional coordinates of the satellite positioning position data of the road test unit, the three-dimensional coordinates in the target position data can be converted into coordinate values in the satellite positioning coordinate system, so as to obtain the corresponding satellite positioning coordinates of the target vehicle, i.e. the first satellite positioning position.

[0052] S320: Determine the second satellite positioning position of the surrounding object according to the position data of the surrounding object recognized by the road test unit and the satellite positioning position data of the road test unit.

[0053] The surrounding object is a person or a vehicle identified by the road test unit, and the road test unit can identify the type of the surrounding object through the image acquisition device, and the radar device can collect the position data, such as the position coordinates, of the surrounding object.

[0054] Exemplarily, the position data of the surrounding object is converted into coordinate values in the satellite positioning coordinate system in combination with the three-dimensional coordinates of the satellite positioning position data of the road test unit, so as to obtain the satellite positioning coordinates corresponding to the surrounding object, i.e., the second satellite positioning position.

[0055] S330: According to the first satellite positioning position, the second satellite positioning position and the preset curve data of the curve where the road test unit is located, the occurrence rate of the collision accident is determined.

[0056] The embodiment can calculate the distance between the two satellite positioning positions according to the two satellite positioning positions, and determine whether the target vehicle and the surrounding object are moving in opposite directions, the position of the meeting, and the speed value at the meeting, according to the corresponding moving speed and moving direction of the target vehicle and the surrounding object, and the safety driving speed in the preset curve data of the curve, so as to accurately determine the occurrence rate of the collision accident.

[0057] The embodiment unifies the position coordinates of the target vehicle and the surrounding object by converting them into corresponding satellite positioning positions in the satellite positioning coordinate system, so as to improve the accuracy of the position data, and determines the occurrence rate of the collision accident according to the two satellite positioning positions and the preset curve data of the curve where the road test unit is located, so that the determined occurrence rate is more accurate.

[0058] Because the surrounding object is an object identified by the road test unit, the target vehicle may also be identified, so that the first satellite positioning position and the second satellite positioning position have duplicate data, and in order to improve the accuracy of the occurrence rate, data deduplication processing is required.

[0059] Therefore, in another exemplary embodiment of the present application, how to determine the occurrence rate of the collision accident according to the first satellite positioning position, the second satellite positioning position and the preset curve data of the curve where the road test unit is located is introduced in detail, please refer to Figure 4 , Figure 4 is another flowchart of the reminding method in the curve scenario shown in the exemplary embodiment based on Figure 3 . The reminding method further includes S410 to S420 in S330 shown in Figure 3 ; wherein the surrounding object includes the target vehicle, which is introduced in detail as follows:

[0060] S410: The first satellite positioning position and the second satellite positioning position are subjected to deduplication processing to obtain a target satellite positioning position.

[0061] The target satellite positioning position is the position data of the target vehicle and the surrounding object after the de-duplication processing, and the embodiment does not limit the specific number.

[0062] Exemplarily, the target vehicle corresponding to each first satellite positioning position is compared with the surrounding object corresponding to the second satellite positioning position one by one to determine the duplicated target vehicle, so as to remove the redundant satellite positioning position.

[0063] S420: determining the occurrence rate of the collision accident according to the target satellite positioning position, the target curve speed, and the preset curve data of the curve where the road test unit is located; wherein the target curve speed is the moving speed of the target object corresponding to the target satellite positioning position entering the curve where the road test unit is located.

[0064] The distance of each surrounding object from the road test unit is determined according to the target satellite positioning position. The target curve speed can be a moving speed estimated according to the related parameters at the current time, and the moving speed needs to be combined with the related parameters in the preset curve data to be accurately estimated.

[0065] In an exemplary embodiment, the preset curve data of the curve where the road test unit is located includes a preset curve speed and a curve area; it is detected whether the target satellite positioning position is located in the curve area; if it is detected that the target satellite positioning position is located in the curve area, the occurrence rate of the target object actively causing the collision accident is determined according to the target curve speed and the preset curve speed. For example, if the target curve speed is greater than the preset curve speed, it indicates that the moving speed of the object exceeds the safe curve speed, and it is easy to cause a safety accident.

[0066] If it is detected that the target satellite positioning position is located outside the curve area, the occurrence rate of the target object actively causing the collision accident is determined to be zero, which indicates that the object has not entered the curve, and the occurrence rate of the collision accident is almost zero.

[0067] The embodiment provides a way of determining the occurrence rate of the collision accident, considers the accuracy of the calculation result of the repeated data, and thus performs the de-duplication processing on the repeated data. Meanwhile, the occurrence rate of the collision accident is accurately determined according to the preset curve data and other parameters.

[0068] In another exemplary embodiment of the present application, how to calculate the target curve speed is introduced in detail, please refer to Figure 5 , Figure 5 is another flowchart of the reminding method in the curve scenario based on the exemplary embodiment shown in Figure 4 . The reminding method further includes S510 to S530; wherein the preset curve data of the curve where the road test unit is located includes a curve area, which is introduced in detail as follows:

[0069] S510: Determine the entering position of the target object into the curve region according to the moving direction of the target object and the curve region.

[0070] Please refer to Figure 6 , Figure 6 is a schematic diagram of a curve scene according to an example embodiment of the present application. In the diagram, the curve region is a sector obtained by drawing a circle with the road test unit as the center and a radius R. As shown in Figure 6 , the A object moves towards the road test unit, and the entering position of the A object into the curve region is the a position.

[0071] S520: Calculate the distance difference value according to the entering position and the historical position; the historical position is the position of the target object at a historical time before the target object reaches the entering position.

[0072] S530: Calculate the target curve speed according to the distance difference value and the time difference value; the time difference value is the difference between the time when the target object reaches the entering position and the historical time.

[0073] By way of example, the distance difference value is divided by the time difference value to obtain the target curve speed, i.e., the entering curve speed of the target object. In some embodiments, the entering curve speed can be directly compared with the safe entering curve speed in the preset curve data; if the entering curve speed is less than or equal to the safe entering curve speed, it can be determined that the occurrence rate of the collision accident is small. The difference between the entering curve speed and the safe entering curve speed can also be divided by the safe entering curve speed, and the occurrence rate of the corresponding collision accident can be determined according to the calculated ratio.

[0074] The example provides a way to calculate the target curve speed, which quickly calculates the target curve speed by simple mathematical operations of related parameters, so that the calculation is more convenient and fast.

[0075] The execution subject of the above-mentioned multiple reminding methods is exemplarily described in another example embodiment of the present application, please refer to Figure 7 , Figure 7 is a structural schematic diagram of a road test unit in a curve scene according to the present application. It includes a UWB system and a V2X system, and the present application does not limit the connection mode between them.

[0076] The UWB system is composed of software modules such as road calibration data, data receiving, data analysis, target identification, early warning sending, collision prediction, message analysis, SPI sending, and SPI receiving.

[0077] Curve data: The device is built-in with preset curve data, which stores the curve information on the road, including the curve radius, width, etc. Other software modules can obtain the corresponding curve information from the data according to the current position of the vehicle or the position parameters of Beidou.

[0078] Data receiving: Obtain information data detected from the curve through UWB wireless carrier communication technology.

[0079] Data analysis: Analyze the target data according to the received curve detection information data.

[0080] Target identification: Identify whether the target is a car or a pedestrian according to the target data.

[0081] Early warning sending: After receiving the early warning information, drive the sound alarm and the red and green light to display accordingly.

[0082] Collision prediction: Calculate the collision probability according to the car or pedestrian identified by the target identification software module and the curve data in the curve database, combined with the Beidou positioning information.

[0083] Message analysis: Receive SPI data and analyze V2X information and Beidou positioning information in the data according to the data protocol.

[0084] SPI sending: Package and send the target identification data to the SPI bus.

[0085] SPI receiving: Receive data from the SPI bus and analyze a complete data.

[0086] V2X system is composed of coordinate conversion, Beidou receiving, message sending, message receiving, message analysis, message packaging, SPI sending and SPI receiving software modules.

[0087] Coordinate conversion: Convert the positioning data of Beidou to the spatial position of curve data through conversion matrix, or convert the positioning data of curve to the spatial position of Beidou through conversion matrix.

[0088] Beidou receiving: Receive the position positioning information of Beidou.

[0089] Message sending: V2X data sending.

[0090] Message receiving: V2X data receiving.

[0091] Message analysis: V2X data analysis, mainly analyzing V2X information data.

[0092] Message packaging: V2X data packaging, mainly packaging SPI data into V2X information data, and packaging V2X information data into SPI data.

[0093] SPI sending: Package and send the target identification data to the SPI bus.

[0094] SPI receiving: receiving data from the SPI bus and parsing a complete data.

[0095] The data flow between the UWB system and the V2X system is as shown in Figure 8 In the V2X system of the RSU, after the message receiving module receives the V2X information through the C-V2X protocol, the V2X information category is identified, and the V2X information is sent to the corresponding message parsing module. The message parsing module parses the V2X information content, and then sends it to the message packaging module. The message packaging module combines the Beidou positioning information to package into SPI data, which is sent to the UWB system through the SPI sending module.

[0096] After the SPI receiving module in the UWB system receives the data, it sends the complete SPI data packet to the data parsing module. The data parsing module parses two data, one is the current positioning data of the RSU, and the other is the positioning data of the target vehicle received by the V2X (which may be the positioning data of one or more target vehicles). Then the parsed data is sent to the collision prediction module. The target identification module identifies the target category (person or vehicle) according to the target size, living object detection characteristics, and moving speed, and sends the moving speed and position information to the collision prediction module. At the same time, the data is also sent to the SPI module and sent back to the V2X system through the SPI module.

[0097] The collision prediction module in the UWB system combines the curve calibration data, V2X identification data, positioning data, and UWB target identification data to make a preliminary judgment of the collision event occurrence rate and give a warning.

[0098] In the V2X system of the RSU, when the SPI receiving module receives the data from the target identification module in the UWB system, it forms a complete message, identifies the category, and sends it to the coordinate conversion module for processing. After receiving the data, the coordinate conversion module in the V2X system combines the Beidou positioning data to convert the position data into Beidou coordinate position data, and then sends it to the message packaging module for processing. After receiving the data, the message packaging module encapsulates the corresponding information message according to the V2X message classification, and then sends it to the message sending module. The message sending module sends the message through the V2X wireless communication network. The vehicle with V2X receives the information through the V-BOX, parses the information and sends it to the CDC for processing. The CDC displays the identified target information on the map.

[0099] Another aspect of the present application also provides a warning device in a curve scenario, as shown in Figure 9 Figure 9 is a structural schematic diagram of the warning device in the curve scenario according to an example embodiment of the present application. ​

[0100] The reminding device 900 is applied to a road test unit, and comprises:

[0101] The receiving module 910 is configured to receive target position data sent by a target vehicle and satellite positioning position data of the road test unit.

[0102] The determining module 930 is configured to determine an occurrence rate of a collision accident according to the target position data, the satellite positioning position data of the road test unit, preset curve data of a curve where the road test unit is located, and position data of a surrounding object identified by the road test unit.

[0103] The reminding module 950 is configured to perform a collision reminding operation if the occurrence rate is greater than a preset occurrence rate.

[0104] In another example embodiment, the determining module 930 further comprises:

[0105] The first determining unit is configured to determine a first satellite positioning position of the target vehicle according to the target position data and the satellite positioning position data of the road test unit.

[0106] The second determining unit is configured to determine a second satellite positioning position of the surrounding object according to the position data of the surrounding object identified by the road test unit and the satellite positioning position data of the road test unit.

[0107] The occurrence rate determining unit is configured to determine the occurrence rate of the collision accident according to the first satellite positioning position, the second satellite positioning position, and the preset curve data of the curve where the road test unit is located.

[0108] In another example embodiment, the surrounding object comprises the target vehicle; and the occurrence rate determining unit further comprises:

[0109] The deduplication block is configured to perform deduplication processing on the first satellite positioning position and the second satellite positioning position to obtain a target satellite positioning position.

[0110] The determining block is configured to determine the occurrence rate of the collision accident according to the target satellite positioning position, a target curve speed, and the preset curve data of the curve where the road test unit is located; wherein the target curve speed is a moving speed of a target object corresponding to the target satellite positioning position into the curve where the road test unit is located.

[0111] In another example embodiment, the preset curve data of the curve where the road test unit is located comprises a preset curve speed and a curve region; and the determining block further comprises:

[0112] The first determining sub-block is configured to determine the occurrence rate of the collision accident of the target object if it is detected that the target satellite positioning position is located in the curve region according to the target curve speed and the preset curve speed.

[0113] The second determination sub-plate is configured to determine that the occurrence rate of the active collision accident of the target object is zero if it is detected that the target satellite positioning position is located outside the curve region.

[0114] In another example embodiment, the preset curve data of the curve where the road test unit is located includes the curve region, and the reminding device 900 further includes:

[0115] The position confirmation module is configured to determine an entry position of the target object into the curve region according to the moving direction of the target object and the curve region.

[0116] The difference calculation module is configured to calculate a distance difference according to the entry position and a historical position; the historical position is a position of the target object at a historical time before the target object reaches the entry position.

[0117] The speed calculation module is configured to calculate a target curve speed according to the distance difference and a time difference; the time difference is a difference between a time when the target object reaches the entry position and the historical time.

[0118] In another example embodiment, the target position data is data sent by the target vehicle through the intelligent vehicle terminal; and the reminding device 900 further includes:

[0119] The sending module is configured to send the occurrence rate of the collision accident to the intelligent vehicle terminal, so that the target vehicle displays the occurrence rate of the collision accident in the vehicle map.

[0120] In another example embodiment, the reminding module 950 further includes:

[0121] The matching unit is configured to match the occurrence rate with preset occurrence rate intervals, and determine a preset reminding strategy corresponding to a preset occurrence rate interval that is successfully matched; the preset reminding strategy includes a light reminding sub-strategy and a sound reminding sub-strategy.

[0122] The sound and light reminding unit is configured to perform light reminding according to the light reminding sub-strategy, and play a prompt sound according to the sound reminding sub-strategy.

[0123] The road test unit of the reminding device of the present application not only performs collision prediction through the collected data, but also receives target position data sent by the target vehicle to perform collision prediction according to multiple data, so that the determined occurrence rate of the collision accident is more accurate, and if the occurrence rate is greater than a preset occurrence rate, a collision reminding operation is performed to warn people or objects near the curve, thereby reducing the occurrence rate of road safety accidents.

[0124] It should be noted that the reminding apparatus provided in the above-mentioned embodiments and the reminding method provided in the foregoing embodiments belong to the same concept, wherein the specific manner in which various modules and units perform operations has been described in the method embodiments in detail, and thus will not be described here.

[0125] Another aspect of the present application further provides an electronic device, comprising: a controller; a memory for storing one or more programs, which when executed by the controller, perform the above-mentioned reminding method.

[0126] Please refer to Figure 10 , Figure 10 is a structural schematic diagram of a computer system of an electronic device according to an exemplary embodiment of the present application, which shows a structural schematic diagram of a computer system of an electronic device suitable for implementing the embodiments of the present application.

[0127] It should be noted that, Figure 10 The computer system 1000 of the electronic device shown is only an example, and should not bring any limitation to the functions and use range of the embodiments of the present application.

[0128] As Figure 10 shown, the computer system 1000 includes a central processing unit (CPU) 1001, which can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 1002 or programs loaded from a storage portion 1008 into a random access memory (RAM) 1003, such as performing the methods in the above-mentioned embodiments. In the RAM 1003, various programs and data required for system operation are also stored. The CPU 1001, the ROM 1002, and the RAM 1003 are connected to each other through a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0129] The following components are connected to the I / O interface 1005: an input part 1006 including a keyboard, a mouse, etc.; an output part 1007 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), etc., and a speaker, etc.; a storage part 1008 including a hard disk, etc.; and a communication part 1009 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication part 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as necessary. A removable medium 1011 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is attached to the drive 1010 as necessary, so that a computer program read therefrom is installed in the storage part 1008 as necessary.

[0130] In particular, according to embodiments of the present application, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, embodiments of the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing a computer program for executing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network by the communication part 1009, and / or installed from the removable medium 1011. When the computer program is executed by the central processing unit (CPU) 1001, various functions defined in the system of the present application are executed.

[0131] It should be noted that the computer-readable medium in the embodiments of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination thereof. The computer-readable storage medium may, for example, be an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination thereof. More specific examples of the computer-readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this application, the computer-readable storage medium can be any tangible medium that contains or stores a program used by an instruction execution system, apparatus or device, and can be used or combined with the same. In this application, the computer-readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer-readable computer programs. Such a propagated data signal can take various forms, including, but not limited to, an electromagnetic signal, an optical signal, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, which can send, transmit, propagate or transport a program for use by or in connection with an instruction execution system, apparatus or device. The computer programs contained in the computer-readable medium can be transmitted by any suitable medium, including, but not limited to, wireless, wired, or the like, or any suitable combination thereof.

[0132] The flowcharts and block diagrams in the drawings illustrate the possible implementation architectures, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In the flowcharts or block diagrams, each block can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in a different order from that noted in the drawings. For example, two blocks represented in succession can actually be executed substantially in parallel, and sometimes in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams or flowcharts, and the combination of blocks in the block diagrams or flowcharts, can be implemented by a dedicated hardware-based system for implementing the specified functions or operations, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0133] The units described in the embodiments of the present application can be implemented by software, or by hardware, or by a combination of software and hardware. The units described can also be located in a single processor. In some cases, the names of the units do not constitute a limitation on the units themselves.

[0134] Another aspect of the present application provides a computer readable storage medium having stored thereon a computer program, which, when executed by a processor, implements the reminding method as described above. The computer readable storage medium can be included in the electronic device as described in the embodiments above, or can exist separately from the electronic device.

[0135] Another aspect of the present application provides a computer program product or computer program, which includes computer instructions. The computer instructions are stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device executes the reminding method provided in the embodiments above.

[0136] According to an aspect of the embodiments of the present application, a computer system is also provided. The computer system includes a central processing unit (CPU) that can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) or loaded from a storage section into a random access memory (RAM), such as executing the methods in the embodiments above. Various programs and data required for system operation are also stored in the RAM. The CPU, the ROM, and the RAM are connected to each other through a bus. An input / output (I / O) interface is also connected to the bus.

[0137] The following components are connected to the I / O interface: an input section including a keyboard, a mouse, etc.; an output section including a display such as a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section including a hard disk, etc.; and a communication section including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface as necessary. A removable medium, such as a magnetic disk, a magneto-optical disk, a semiconductor memory, etc., is attached to the drive as necessary, so that a computer program read out from the removable medium is installed into the storage section as necessary.

[0138] The above merely provides preferred exemplary embodiments of the present application, and is not intended to limit the implementation of the present application. Based on the main concept and spirit of the present application, the person skilled in the art can easily make corresponding changes or modifications, and the protection scope of the present application should be subject to the protection scope required by the claims.

Claims

1. A method for reminding in a curved path scenario, characterized in that, The reminding method applied to a road test unit comprises the following steps: receiving target position data sent by a target vehicle and satellite positioning position data of the road test unit; determining a first satellite positioning position of the target vehicle according to the target position data and the satellite positioning position data of the road test unit; determining a second satellite positioning position of a surrounding object according to position data of the surrounding object recognized by the road test unit and the satellite positioning position data of the road test unit, wherein the surrounding object includes the target vehicle; performing deduplication processing on the first satellite positioning position and the second satellite positioning position to obtain target satellite positioning position, which is the position data of the target vehicle and the surrounding object after deduplication processing; determining an occurrence rate of a collision accident according to the target satellite positioning position, a target curve speed, and preset curve data of a curve where the road test unit is located, wherein the target curve speed is a moving speed of a target object corresponding to the target satellite positioning position when entering a curve region where the road test unit is located; the target curve speed is calculated according to a distance difference between an entering position and a historical position of the target object when entering the curve region, and a time difference between a historical time and a time when the target object reaches the entering position; the entering position is determined according to a moving direction of the target object and the curve region; and the historical position is a position where the target object is located at the historical time before reaching the entering position; if the occurrence rate is greater than a preset occurrence rate, performing a collision reminding operation.

2. The reminding method according to claim 1, characterized by, The preset curve data of the curve where the road test unit is located includes a preset curve speed and a curve region; The determination of the occurrence rate of the collision accident according to the target satellite positioning position, the target curve speed, and the preset curve data of the curve where the road test unit is located further comprises the following steps: if it is detected that the target satellite positioning position is located in the curve region, determining the occurrence rate of the collision accident of the target object according to the target curve speed and the preset curve speed; if it is detected that the target satellite positioning position is located outside the curve region, determining that the occurrence rate of the collision accident of the target object is zero.

3. The reminding method according to claim 1, wherein, The target position data is data sent by the target vehicle through an intelligent vehicle terminal; and the reminding method further comprises the following steps: sending the occurrence rate of the collision accident to the intelligent vehicle terminal, so that the target vehicle displays the occurrence rate of the collision accident in a vehicle map.

4. The reminding method according to any one of claims 1 to 3, characterized in that, The collision reminding operation further comprises the following steps: matching the occurrence rate with preset occurrence rate intervals, and determining a preset reminding strategy corresponding to a preset occurrence rate interval matched successfully, wherein the preset reminding strategy includes a light reminding sub-strategy and a sound reminding sub-strategy; performing light reminding according to the light reminding sub-strategy, and playing a prompt sound according to the sound reminding sub-strategy.

5. A reminding device in a curved path scenario, characterized in that The reminding device applied to a road test unit comprises the following modules: a receiving module, configured to receive target position data sent by a target vehicle and satellite positioning position data of the road test unit; The determining module is configured to determine a first satellite positioning position of the target vehicle according to the target position data and satellite positioning position data of the road test unit; determine a second satellite positioning position of the surrounding object according to position data of the surrounding object identified by the road test unit and satellite positioning position data of the road test unit; the surrounding object includes the target vehicle; perform deduplication processing on the first satellite positioning position and the second satellite positioning position to obtain a target satellite positioning position, the target satellite positioning position being position data of the target vehicle and the surrounding object after deduplication processing; determine an occurrence rate of a collision accident according to the target satellite positioning position, a target curve speed, and preset curve data of a curve in which the road test unit is located; the target curve speed is a moving speed of a target object corresponding to the target satellite positioning position when entering a curve region in which the road test unit is located; the target curve speed is calculated according to a distance difference between an entering position and a historical position of the target object when entering the curve region, and a difference between a time when the target object arrives at the entering position and a historical time; the entering position is determined according to a moving direction of the target object and the curve region; and the historical position is a position at which the target object is located at the historical time before arriving at the entering position. The reminding module is configured to perform a collision reminding operation if the occurrence rate is greater than a preset occurrence rate.

6. An electronic device, comprising: The controller is configured to: The memory is configured to store one or more programs, and when the one or more programs are executed by the controller, the controller is caused to implement the reminding method in any one of claims 1 to 4. The computer readable instructions stored thereon are configured to be executed by a processor of the computer, so that the computer executes the reminding method in any one of claims 1 to 4.

7. A computer readable storage medium characterized in that, ​

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