Vehicle collision early warning method and device, equipment and storage medium

Abstract

The invention discloses a vehicle collision early warning method, device and equipment and a storage medium, and relates to the technical field of vehicle safety, and the vehicle collision early warning method comprises the steps: constructing a target safety distance model; obtaining a driver type and an actual vehicle following distance; calculating a safe distance according to the driver type and the target safe distance model; when the actual vehicle following distance is smaller than or equal to the safety distance, collision early warning is triggered. According to the method, collision accidents can be effectively prevented in the complex traffic environment, the driving safety is remarkably improved, the driving experience is enhanced, and a driver can drive more confidently and trustingly in the complex traffic environment.

Description

Technical Field

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

[0002] With the continuous growth of the global vehicle population, the frequency of traffic accidents has gradually become a focus of widespread social concern. Especially on urban roads, the complex and ever-changing traffic environment and high-density vehicle traffic have made drivers face greater safety challenges. Especially for commercial vehicles, due to their high body, heavy weight and wide operating range, once a collision occurs, it often causes serious casualties and property losses.

[0003] At present, vehicle collision warning system has become an important research direction in the field of intelligent transportation. Traditional collision warning systems mainly rely on a fixed safety distance model, that is, a fixed vehicle distance is set as the basis for warning in any traffic environment. The advantage of this method is that it is simple and easy to implement, and the cost of implementing the system is low, so it is widely used in safety systems of various vehicles. In addition, some advanced driver assistance systems (ADAS) have also introduced sensors such as radar and cameras to obtain real-time information around the vehicle, thereby further improving the accuracy of the warning system.

[0004] However, the existing fixed safety distance model has obvious limitations in practical applications. First, the fixed safety distance setting ignores the individual differences of drivers, such as the reaction time, driving habits, and psychological state of different drivers, which leads to the lack of adaptability of the model. Secondly, when faced with changing road conditions and traffic environments, the fixed safety distance cannot respond flexibly. For example, on slopes, curves, or in bad weather conditions, the actual safety distance between vehicles may be very different from the set value, thereby reducing the effectiveness of the warning system. In addition, for commercial vehicles, the current warning system also has certain detection blind spots due to the large blind spots of the vehicle body and severe visual limitations, and cannot fully monitor the surrounding dangerous conditions. Therefore, how to effectively prevent the occurrence of collision accidents in complex traffic environments has become an urgent problem to be solved.

[0005] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0006] The purpose of this application is to provide a vehicle collision warning method, device, equipment and storage medium, aiming to solve the technical problem of how to effectively prevent the occurrence of collision accidents in a complex traffic environment.

[0007] To achieve the above objectives, the present application proposes a vehicle collision warning method, the method comprising:

[0008] Construct target safety distance model;

[0009] Get the driver type and actual following distance;

[0010] Calculating a safety distance according to the driver type and the target safety distance model;

[0011] When the actual following distance is less than or equal to the safety distance, a collision warning is triggered.

[0012] In one embodiment, the step of constructing a target safety distance model includes:

[0013] Obtain parking distance and road parameters of target drivers;

[0014] Building a first safety distance model according to the target driver parking distance and the first operating condition of the preceding vehicle stopping;

[0015] Constructing a second safety distance model according to the target driver parking distance and a second operating condition where the preceding vehicle is traveling at a constant speed;

[0016] Constructing a third safety distance model according to the target driver parking distance and the third operating condition of the preceding vehicle decelerating;

[0017] A target safety distance model is constructed according to the road parameters, the first safety distance model, the second safety distance model, and the third safety distance model.

[0018] In one embodiment, the step of obtaining the target driver parking distance and road parameters includes:

[0019] Obtaining a driver personality score, a driver emotion score, a driver attention score, a driver fatigue score, a curvature correction factor, a slope correction factor, a friction correction factor, a vehicle density correction factor, a first preset parking distance, a second preset parking distance, and a third preset parking distance;

[0020] Calculating a reaction time correction factor according to the driver personality score, the driver emotion score, the driver attention score, and the driver fatigue score;

[0021] Obtaining a target driver parking distance according to the reaction time correction factor, the first preset parking distance, the second preset parking distance, and the third preset parking distance;

[0022] A road parameter is obtained according to the curvature correction coefficient, the slope correction coefficient, the friction coefficient correction coefficient and the vehicle density correction coefficient.

[0023] In one embodiment, the step of constructing a first safety distance model according to the first preset parking distance includes:

[0024] When the vehicle ahead stops, obtain the first reaction time from when the driver finds the vehicle ahead stops to when he or she presses the brakes, the first vehicle speed before pressing the brakes, and the first vehicle acceleration when pressing the brakes;

[0025] Calculating a first driving distance within the first reaction time according to the first reaction time and the first vehicle speed;

[0026] Calculating a second driving distance during deceleration according to the first vehicle speed and the first vehicle acceleration;

[0027] A first safety distance model is constructed according to the first preset parking distance, the first reaction time, the first vehicle speed, the first vehicle acceleration, the first driving distance, and the second driving distance.

[0028] In one embodiment, the step of constructing a second safety distance model according to the second preset parking distance includes:

[0029] When the front vehicle is traveling at a constant speed, the first front vehicle speed, the second reaction time from the driver noticing the front vehicle to stepping on the brakes, the second vehicle speed before the driver steps on the brakes, and the second vehicle acceleration when the driver steps on the brakes are obtained;

[0030] Calculating a third driving distance within the second reaction time according to the second reaction time and the second vehicle speed;

[0031] Calculate the vehicle deceleration time and the fourth travel distance according to the first front vehicle speed, the second vehicle speed and the second vehicle acceleration;

[0032] Calculate the travel distance of the leading vehicle according to the first leading vehicle speed, the second reaction time and the vehicle deceleration time;

[0033] A second safety distance model is constructed according to the second preset parking distance, the first front vehicle speed, the second reaction time, the second vehicle speed, the second vehicle acceleration, the third driving distance, the vehicle deceleration time, the fourth driving distance and the front vehicle driving distance.

[0034] In one embodiment, the step of constructing a third safety distance model according to the third preset parking distance includes:

[0035] When the front vehicle is decelerating, the second front vehicle speed, the front vehicle acceleration, the third reaction time from the driver discovering the front vehicle to stepping on the brakes, the third vehicle speed before the driver steps on the brakes, and the third vehicle acceleration when the brakes are stepped on are obtained;

[0036] Calculating a fourth vehicle speed at the time of collision according to the second front vehicle speed, the front vehicle acceleration, the third reaction time, the third vehicle speed, and the third vehicle acceleration;

[0037] A third safety distance model is constructed according to the third preset parking distance, the second front vehicle speed, the front vehicle acceleration, the third reaction time, the third vehicle speed, the third vehicle acceleration and the fourth vehicle speed.

[0038] In one embodiment, the step of obtaining the driver type includes:

[0039] Obtain the current driver's personality score, current driver's emotion score, current driver's attention score, and current driver's fatigue score;

[0040] Calculate a current reaction time correction factor according to the current driver personality score, the current driver emotion score, the current driver attention score, and the current driver fatigue score;

[0041] The driver type is determined based on the current reaction time correction factor.

[0042] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle collision warning device, the device comprising:

[0043] A model building module is used to build a target safety distance model;

[0044] A data acquisition module, used to obtain the driver type and actual following distance;

[0045] A model application module, used for calculating the safety distance according to the driver type and the target safety distance model;

[0046] The collision warning module is used to trigger a collision warning when the actual following distance is less than or equal to the safety distance.

[0047] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle collision warning device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the vehicle collision warning method described above.

[0048] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the vehicle collision warning method described above are implemented.

[0049] One or more technical solutions proposed in this application have at least the following technical effects:

[0050] Construct a target safety distance model; obtain the driver type and the actual following distance; calculate the safety distance based on the driver type and the target safety distance model; trigger a collision warning when the actual following distance is less than or equal to the safety distance. First, construct a dynamic target safety distance model to adjust the minimum safety distance between vehicles in real time by considering factors such as road curvature, slope, friction coefficient and traffic density, thereby ensuring good adaptability and safety in different driving environments. Next, obtain the current driver type (such as cautious, moderate or aggressive) and the actual following distance, identify the driver type through scores such as the driver's personality, emotions, attention and fatigue status, and monitor the physical distance between the vehicle and the vehicle in front in real time. Based on the driver type and the target safety distance model, dynamically calculate the minimum safety distance that needs to be maintained under current conditions to provide more personalized and accurate safety protection. When the actual following distance is less than or equal to the calculated safety distance, the system will immediately trigger a collision warning, reminding the driver to take action through visual, auditory or tactile means, thereby effectively preventing collision accidents in complex traffic environments. It not only significantly improves driving safety, but also enhances the driving experience, allowing the driver to drive more confidently and assuredly in complex traffic environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0052] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0053] Figure 1 A flow chart of the first embodiment of the vehicle collision warning method of the present application;

[0054] Figure 2 A flow chart of the second embodiment of the vehicle collision warning method of the present application;

[0055] Figure 3 A schematic diagram of the vehicle ahead stopping provided in Embodiment 2 of the vehicle collision warning method of the present application;

[0056] Figure 4 A schematic diagram of a vehicle ahead driving at a constant speed provided in Embodiment 2 of the vehicle collision warning method of the present application;

[0057] Figure 5 A schematic diagram of a preceding vehicle decelerating and driving provided in Embodiment 2 of the vehicle collision warning method of the present application;

[0058] Figure 6 A schematic diagram of a brief process of a vehicle collision warning method provided in Example 2 of the present application;

[0059] Figure 7 This is a schematic diagram of the module structure of the vehicle collision warning device according to an embodiment of the present application;

[0060] Figure 8 Schematic diagram of the device structure of the hardware operating environment involved in the vehicle collision warning method in the embodiment of the present application.

[0061] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0062] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0063] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0064] As the number of vehicles increases worldwide, traffic accidents have become a focus of social attention, especially in urban traffic, where drivers face more safety challenges. Commercial vehicles, due to their characteristics, may cause greater damage in accidents. The field of intelligent transportation is studying vehicle collision warning systems to improve safety. Traditional systems rely on fixed safety distance models, which are low-cost but lack adaptability, especially in complex road conditions. Advanced driver assistance systems (ADAS) improve warning accuracy through sensors, but commercial vehicles still have insufficient monitoring due to blind spot problems.

[0065] The main solution of the embodiment of the present application is: for different driving environments, a dynamic target safety distance model is proposed, which adjusts the distance between vehicles in real time, takes into account factors such as the driver's personality and emotions, combines physical distance monitoring, dynamically calculates the safety distance, and reminds the driver through the early warning system when necessary to prevent collision accidents.

[0066] It should be noted that the execution subject of the embodiment of the present application may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a vehicle-mounted system, etc. The following takes the vehicle-mounted system as an example to illustrate this embodiment and the following embodiments.

[0067] Based on this, the present application embodiment provides a vehicle collision warning method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the vehicle collision warning method of the present application.

[0068] In this embodiment, the vehicle collision warning method includes steps S10 to S40:

[0069] Step S10, constructing a target safety distance model;

[0070] It should be noted that the target safety distance model refers to a minimum safety distance model between vehicles that is dynamically adjusted based on multiple factors. It is a dynamic adjustment model that comprehensively considers the driver, environment and vehicle dynamic characteristics. It aims to ensure that vehicles (such as commercial vehicles) can maintain a reasonable safety distance under different driving conditions, thereby preventing potential collision accidents.

[0071] It can be understood that, first, the driver's characteristics, such as reaction time, personality, attention and fatigue level, are analyzed, and these individual differences are incorporated into the model through the reaction time correction factor; secondly, the road environment factors are evaluated, including road curvature, slope, friction coefficient and vehicle density, which dynamically adjust the safety distance through corresponding correction factors; then, the minimum safety distance (MSD) under different conditions is calculated in combination with the vehicle's driving speed and acceleration; finally, these calculation results are integrated to generate a real-time dynamically adjusted target safety distance model to ensure that collision accidents can be effectively prevented in various driving environments.

[0072] Step S20, obtaining the driver type and the actual following distance;

[0073] It should be noted that driver type refers to a way of classifying drivers based on factors such as their personality, behavioral habits, reaction time, attention, and fatigue level. These classifications reflect the driver's operating tendencies and behavioral patterns in actual driving. For example, drivers can be divided into different types such as cautious, moderate, and aggressive. Cautious drivers usually maintain a larger safety distance when driving and show a longer reaction time in emergencies; aggressive drivers tend to maintain a smaller following distance and have a shorter reaction time. By identifying the driver's type, the system can more accurately estimate the minimum safety distance required by the driver.

[0074] It can be understood that the actual following distance refers to the real-time physical distance between the vehicle and the vehicle in front during driving. This distance is measured in real time by on-board sensors (such as millimeter-wave radar, cameras, etc.), reflecting the spatial interval between the current vehicle and the vehicle in front. This distance changes dynamically and is subject to the vehicle's speed, acceleration, driver's operation and the behavior of the vehicle in front. The actual following distance is a key indicator for the early warning system to make judgments. When the distance is less than the minimum safety distance calculated by the target safety distance model, the system will issue a collision warning to remind the driver to take measures to avoid accidents.

[0075] As an example, the step of obtaining the driver type includes: obtaining the current driver personality score, the current driver emotion score, the current driver attention score and the current driver fatigue score; calculating the current reaction time correction factor based on the current driver personality score, the current driver emotion score, the current driver attention score and the current driver fatigue score; determining the driver type based on the current reaction time correction factor.

[0076] The current driver personality score refers to the score based on the driver's personality characteristics, which may include the driver's degree of caution, risk-taking tendency, emergency response, etc. during driving. For example, a cautious driver may tend to drive more conservatively and have a lower score; while an adventurous driver may show more aggressive driving behavior and have a higher score. This score reflects the driver's basic control style during driving. The current driver emotion score refers to the score based on the driver's emotional state at a specific moment. Emotional states include anger, anxiety, calmness, etc. Emotions will directly affect the driver's concentration, reaction speed and decision-making ability. For example, a driver with stable emotions may have a lower score, while a driver with large emotional fluctuations may have a higher score. This score is used to assess the potential impact of emotions on the driver's operation. The current driver attention score refers to the evaluation score of the driver's concentration during driving. Concentrated attention can improve the driver's reaction speed to environmental changes, while conversely it will increase the risk of accidents. This score can be determined by monitoring the driver's eye movements, head posture, reaction time and other indicators. The more concentrated the attention, the lower the score; the more distracted the attention, the higher the score. The current driver fatigue score refers to the score of the driver's fatigue level while driving. Fatigue can significantly reduce the driver's reaction speed and judgment ability, so it is a key factor affecting driving safety. The fatigue level is assessed through physiological signals (such as heart rate, eyelid movement) or driving behavior (such as frequent correction maneuvers). The higher the score, the higher the fatigue level. The current reaction time correction factor is a coefficient calculated based on the above scores (personality score, emotion score, attention score, fatigue score), which is used to correct the driver's standard reaction time. This factor reflects that under specific driving conditions, the driver's actual reaction time may be longer or shorter than normal. For example, if the driver is emotionally unstable or inattentive, the reaction time correction factor will increase, thereby extending the reaction time that the warning system considers reasonable, and then adjusting the safety distance model to ensure driving safety. According to the reaction time correction factor, the range of 0-1 is divided into cautious type, 2-3 is divided into moderate type, and 3-4 is divided into aggressive type. The reaction time correction factor formula is as follows:

[0077]

[0078] In the formula, P represents the driver's personality score, E represents the driver's emotion score, A represents the driver's attention score, and F represents the driver's fatigue score. Represents the correction factor for reaction time.

[0079] First, through specific sensors and data acquisition equipment, information about the current driver's personality, emotions, attention, and fatigue status is collected. These data can be obtained through driving behavior analysis, driver physiological signal monitoring (such as heart rate, eye movement detection), and driver historical behavior data. For example, the personality score can be determined by analyzing the driver's long-term driving habits and risk preferences; the emotional score can be evaluated by facial expression analysis or voice emotion detection; the attention score can be determined by monitoring the driver's line of sight direction, eye opening degree, and other indicators; the fatigue score can be obtained by monitoring the driver's heart rate variability, eyelid activity, or head posture changes. Then, these scores are input into the calculation model, and a current reaction time correction factor is calculated in combination with the weights, which reflects the actual reaction time deviation of the driver in a specific situation. Finally, based on this reaction time correction factor, the system can determine the type of driver, such as cautious, moderate, or aggressive, thereby providing personalized parameter settings for the subsequent safety distance model.

[0080] Step S30, calculating a safety distance according to the driver type and the target safety distance model;

[0081] It should be noted that the safety distance refers to the minimum distance recommended by the system between the vehicle and the vehicle in front to ensure the safety of the vehicle under the current driving conditions. This safety distance is calculated dynamically, combining the type of driver (such as cautious, moderate or aggressive) and various correction factors of the target safety distance model (such as road curvature, slope, friction coefficient, vehicle density, etc.) to reflect the safety needs that best meet the current driving situation.

[0082] It is understandable that the driver's reaction time and operating habits are first determined according to the driver's type (such as cautious, moderate or aggressive), and then the minimum safe distance applicable to the current driving conditions is comprehensively calculated in combination with the environmental factors considered in the target safe distance model (such as road curvature, slope, friction coefficient, etc.). This safe distance is a dynamic value designed to ensure that the vehicle can maintain a sufficient distance in the current traffic environment, so as to avoid a collision with the vehicle in front if the driver can react in time.

[0083] Step S40: When the actual following distance is less than or equal to the safety distance, a collision warning is triggered.

[0084] It should be noted that collision warning means that when the system detects that the actual distance between the vehicle and the vehicle in front is less than or equal to the calculated safe distance, it immediately sends a warning signal to the driver to remind the driver to take necessary actions (such as deceleration or braking) to avoid the impending collision accident. Collision warning is usually presented in various forms, such as visual warnings (flashing warning lights on the instrument panel or head-up display), auditory warnings (beeps or voice prompts), and tactile feedback (steering wheel or seat vibration).

[0085] It is understandable that when the system detects that the actual distance between the vehicle and the vehicle ahead has shortened to less than or equal to the pre-calculated safety distance, the system will immediately trigger the collision warning mechanism. At this time, the system will warn the driver through visual, auditory or tactile means to remind the driver of the potential risk of collision and prompt the driver to take measures such as braking or deceleration in time to avoid possible traffic accidents.

[0086] This embodiment provides a vehicle collision warning method, which constructs a target safety distance model; obtains the driver type and the actual following distance; calculates the safety distance according to the driver type and the target safety distance model; and triggers a collision warning when the actual following distance is less than or equal to the safety distance. First, a dynamic target safety distance model is constructed, and the minimum safety distance between vehicles is adjusted in real time by considering factors such as road curvature, slope, friction coefficient and traffic density, so as to ensure good adaptability and safety in different driving environments. Next, the current driver type (such as cautious, moderate or aggressive) and the actual following distance are obtained, and the driver type is identified by the driver's personality, emotion, attention and fatigue status scores, and the physical distance between the vehicle and the front vehicle is monitored in real time. Based on the driver type and the target safety distance model, the minimum safety distance that needs to be maintained under the current conditions is dynamically calculated to provide more personalized and accurate safety protection. When the actual following distance is less than or equal to the calculated safety distance, the system will immediately trigger a collision warning, reminding the driver to take action through visual, auditory or tactile means, thereby effectively preventing collision accidents in complex traffic environments. It not only significantly improves driving safety, but also enhances the driving experience, allowing the driver to drive more confidently and assuredly in complex traffic environments.

[0087] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can refer to the above introduction, and will not be repeated later. Figure 2 , Figure 2 This is a flow chart of the second embodiment of the vehicle collision warning method of the present application. Step S10 of the vehicle collision warning method includes steps S11 to S15:

[0088] Step S11, obtaining the parking distance and road parameters of the target driver;

[0089] It should be noted that the target driver parking distance is a comprehensive parking distance dynamically determined according to the driver type. It selects the appropriate distance from three preset parking distances according to the driver's driving style. When the driver type is cautious, the target driver parking distance is equal to the first preset parking distance, that is, a larger parking distance, providing a larger safety buffer; when the driver type is moderate, the target driver parking distance is equal to the second preset parking distance, taking into account both safety and driving efficiency; and when the driver type is aggressive, the target driver parking distance is equal to the third preset parking distance, that is, a shorter parking distance, to adapt to a more aggressive driving style. This distance is used to ensure that the vehicle can be parked safely in an emergency. Road parameters refer to various road surface and environmental characteristics that affect the vehicle's driving and stopping distance. These parameters may include road curvature, slope, friction coefficient, road width, vehicle density, etc. These factors will affect the vehicle's braking performance and stopping distance, so these parameters should be taken into account when calculating the safe parking distance.

[0090] It can be understood that the target driver parking distance is first determined by analyzing the pre-set first preset parking distance, second preset parking distance and third preset parking distance. Specifically, the system selects the most suitable parking distance as the target driver parking distance in combination with the current driver type (cautious, moderate or aggressive). Then, the current road parameters such as the curvature, slope, friction coefficient, etc. of the road are obtained through sensors and road information databases. These parameters will be used to adjust and optimize the parking distance in subsequent calculations to ensure adaptation to different road conditions and achieve safer driving.

[0091] As an example, the step of obtaining the target driver parking distance and road parameters includes: obtaining the driver personality score, the driver emotion score, the driver attention score, the driver fatigue score, the curvature correction coefficient, the slope correction coefficient, the friction coefficient correction coefficient, the vehicle density correction coefficient, the first preset parking distance, the second preset parking distance and the third preset parking distance; calculating the reaction time correction factor according to the driver personality score, the driver emotion score, the driver attention score and the driver fatigue score; obtaining the target driver parking distance according to the reaction time correction factor, the first preset parking distance, the second preset parking distance and the third preset parking distance; obtaining road parameters according to the curvature correction coefficient, the slope correction coefficient, the friction coefficient correction coefficient and the vehicle density correction coefficient.

[0092] The curvature correction factor is a factor used to correct the effect of the curvature of the road on the driver's parking distance. When the road has a large curvature (i.e., there are many bends or the curvature is large), the stability of the vehicle will be affected, so the parking distance needs to be adjusted to ensure safety. The curvature correction factor is used to dynamically adjust the parking distance according to the actual curvature of the road to increase or decrease the safe distance. The slope correction factor is a factor used to correct the effect of the road slope on the driver's parking distance. The slope of the road (uphill or downhill) will affect the acceleration or deceleration ability of the vehicle, thereby affecting the parking distance. This coefficient is used to adjust the parking distance so that it can adapt to different slope conditions to ensure that the vehicle can stop safely when going uphill or downhill. The friction coefficient correction factor is a coefficient used to correct the effect of road friction on the driver's parking distance. The friction coefficient of the road reflects the friction between the vehicle tires and the road surface. Different road conditions (such as wet, icy, and dry) will result in different friction coefficients. The friction coefficient correction factor is used to adjust the parking distance according to the actual friction of the road surface to ensure safe parking under different road conditions. The vehicle density correction coefficient refers to a coefficient used to correct the impact of the density of vehicles on the road on the driver's parking spacing. In a high traffic density environment, the distance between vehicles is usually small, so the parking spacing needs to be adjusted accordingly. The coefficient is dynamically adjusted according to the density of vehicles on the road to ensure that an appropriate safety distance can be maintained in a crowded traffic environment. The first preset parking spacing refers to the standard parking distance set for a certain type of driver (a cautious driver in this embodiment). This distance is large and is intended to provide this type of driver with an additional safety buffer to deal with emergencies or complex road conditions. In this embodiment, it is 5.9 meters. The second preset parking spacing is the parking distance set for moderate drivers. The driving style of this type of driver is between cautious and aggressive, so the distance is also moderate, ensuring both safety and driving efficiency. In this embodiment, it is 4.4 meters. The third preset parking spacing is the parking distance set for aggressive drivers. Since this type of driver is usually more risk-tolerant, they tend to keep a smaller following distance, so the preset distance is shorter, but still within the safety range to adapt to their driving habits. In this embodiment, it is 2.4 meters. The reaction time correction factor is calculated based on the driver's personality score, emotional score, attention score and fatigue score. It is used to reflect the driver's actual reaction time. Different drivers may have different reaction times in different states. This correction factor is used to adjust the parking distance to better adapt to the driver's actual reaction ability, thereby improving driving safety.

[0093] First, by collecting the driver's personality score, emotion score, attention score and fatigue score, the reaction time correction factor is calculated to reflect the driver's actual reaction ability in the current state. Then, the system uses this correction factor and the first, second and third preset parking distances to calculate and determine the target driver parking distance suitable for the current driver. At the same time, the system will also obtain parameters such as the curvature correction factor, slope correction factor, friction coefficient correction factor and vehicle density correction factor of the road. These road parameters will be used to further optimize the parking distance to ensure that sufficient safety distance can be maintained under various road conditions.

[0094] Step S12, constructing a first safety distance model according to the target driver parking distance and the first operating condition of the preceding vehicle stopping;

[0095] It should be noted that the first operating condition refers to a specific driving scenario, that is, the situation where the vehicle in front stops suddenly. In this case, the driver of the rear vehicle needs to react quickly and take braking measures to avoid a collision with the vehicle in front. This operating condition simulates one of the most typical and high-risk traffic scenarios. Therefore, this scenario should be fully considered when constructing a safety distance model. The first safety distance model is a safety distance calculation model constructed based on the above-mentioned first operating condition (the front vehicle stops suddenly). The model uses the target driver's parking distance (i.e., the driver's reaction time, the vehicle's braking distance, etc.) as the basis to calculate the minimum safety distance that needs to be maintained between the rear vehicle and the front vehicle in this sudden situation. This model ensures that when the front vehicle brakes suddenly, the rear vehicle can stop safely with enough distance to avoid collision accidents.

[0096] It can be understood that the specific driving scenario (i.e., the first operating condition) in which the front vehicle suddenly stops is first considered, and then a safety distance model is constructed using the key parameter of the target driver's parking distance. The model is used to calculate the minimum safety distance that needs to be maintained between the rear vehicle and the front vehicle in this sudden situation, to ensure that the rear vehicle can stop safely with enough distance when the front vehicle brakes urgently, thereby avoiding a collision accident.

[0097] As an example, the step of constructing a first safety distance model based on the first preset parking distance includes: when the front vehicle stops, obtaining the first reaction time from the driver discovering that the front vehicle has stopped to stepping on the brakes, the first vehicle speed before stepping on the brakes, and the first vehicle acceleration when stepping on the brakes; calculating the first driving distance within the first reaction time based on the first reaction time and the first vehicle speed; calculating the second driving distance during deceleration based on the first vehicle speed and the first vehicle acceleration; constructing a first safety distance model based on the first preset parking distance, the first reaction time, the first vehicle speed, the first vehicle acceleration, the first driving distance, and the second driving distance.

[0098] The first reaction time refers to the time from the moment the driver realizes that he needs to brake to the time he actually presses the brake pedal when the vehicle in front stops suddenly. During this period, the vehicle is still moving at the original speed, so it directly affects the reaction distance of the following vehicle. The first vehicle speed refers to the speed of the vehicle before the driver starts to press the brake pedal. This speed is the speed that the vehicle maintains during the driver's reaction period and is very important for calculating the distance traveled during the reaction time. The first vehicle acceleration refers to the deceleration of the vehicle after the driver presses the brake pedal. Specifically, this is the negative acceleration (i.e. deceleration) of the vehicle when braking, which determines the deceleration efficiency of the vehicle during the deceleration process, thereby affecting the distance required for the vehicle to stop. The first driving distance refers to the distance that the vehicle continues to travel at the first vehicle speed during the driver's first reaction time. It is determined by the vehicle speed and reaction time, and reflects the distance the vehicle moves from the driver's awareness of danger to the start of braking. The second driving distance refers to the distance that the vehicle travels during the deceleration process after the driver starts to brake. This distance is determined by the vehicle's initial speed (first vehicle speed) and deceleration (first vehicle acceleration), and is the distance the vehicle travels from the start of deceleration to complete stop.

[0099] Please refer to Figure 3 , Figure 3 A schematic diagram of the front vehicle stopping provided in Example 2 of the vehicle collision warning method of the present application, in which the front vehicle (blue) and the rear vehicle (green) are distinguished by different colors to intuitively show the relative position and speed changes of the two vehicles. In this scenario, the driver of the rear vehicle needs a certain reaction time t seconds after discovering that the front vehicle suddenly stops, during which the rear vehicle travels a distance d1 at an initial speed v1. After the reaction time, the rear vehicle starts to brake at an acceleration a1, and the distance traveled during the braking process is d2. The figure also indicates the minimum distance d required for the rear vehicle to stop safely. min , including the distance traveled during reaction time, braking distance, and parking distance d considering the driver's characteristics xThe minimum safe distance calculated by the model enables the rear vehicle to stop safely in any situation and avoid collision with the front vehicle. Therefore, in order to avoid collision with the front vehicle, the minimum distance between the rear vehicle and the front vehicle should be:

[0100]

[0101] Where v1 is the first vehicle speed, d x is the target parking distance (including the parking distances of different driver types).

[0102] When the vehicle ahead stops suddenly, the system first obtains the driver's first reaction time from noticing the vehicle ahead stops to stepping on the brakes, as well as the vehicle's speed during this period (first vehicle speed) and the acceleration of the vehicle when it starts braking (first vehicle acceleration). Then, the system calculates the distance the vehicle travels during the reaction time (first driving distance) based on the first reaction time and the first vehicle speed, and then calculates the distance the vehicle travels during deceleration (second driving distance) based on the first vehicle speed and acceleration. Finally, a first safety distance model is constructed to describe the safety distance in this emergency situation by combining the first preset parking distance, the first reaction time, the first vehicle speed, the first vehicle acceleration, the first driving distance and the second driving distance. This model is used to ensure that the vehicle can safely maintain a sufficient distance when the vehicle ahead stops suddenly to avoid collision accidents.

[0103] Step S13, constructing a second safety distance model according to the second working condition of the target driver parking distance and the front vehicle traveling at a constant speed;

[0104] It should be noted that the second operating condition refers to a specific driving scenario, that is, the vehicle in front is traveling at a constant speed, and the vehicle behind needs to maintain a safe distance in this situation. In this scenario, the rear vehicle may need to slow down to the same speed as the front vehicle to avoid rear-end collision while maintaining a safe following distance. The second safety distance model is a safety distance calculation model constructed based on the above-mentioned second operating condition (the front vehicle is traveling at a constant speed). The model takes into account the parking spacing of the target driver and the driving distance required when the vehicle slows down to the same speed as the front vehicle. The purpose of the model is to determine the minimum safety distance that the rear vehicle should maintain when the front vehicle is traveling at a constant speed, so as to ensure that the rear vehicle can safely follow the front vehicle in any case to avoid rear-end collisions.

[0105] It can be understood that the scenario where the front vehicle is traveling at a constant speed (i.e., the second working condition) is first considered, and then based on the key parameter of the target driver's parking distance, combined with the required driving distance of the rear vehicle when it decelerates to the same speed as the front vehicle, a second safety distance model is constructed. This model is used to determine the minimum safety distance that the rear vehicle needs to maintain when the front vehicle is traveling at a constant speed, ensuring that the rear vehicle can safely follow the front vehicle and avoid rear-end collisions.

[0106] As an example, the step of constructing a second safety distance model according to the second preset parking distance includes: when the front vehicle is traveling at a constant speed, obtaining the first front vehicle speed, the second reaction time from the driver discovering the front vehicle to stepping on the brakes, the second vehicle speed before the driver steps on the brakes, and the second vehicle acceleration when the brakes are stepped on; calculating the third driving distance within the second reaction time according to the second reaction time and the second vehicle speed; calculating the vehicle deceleration time and the fourth driving distance according to the first front vehicle speed, the second vehicle speed and the second vehicle acceleration; calculating the front vehicle driving distance according to the first front vehicle speed, the second reaction time and the vehicle deceleration time; constructing a second safety distance model according to the second preset parking distance, the first front vehicle speed, the second reaction time, the second vehicle speed, the second vehicle acceleration, the third driving distance, the vehicle deceleration time, the fourth driving distance and the front vehicle driving distance.

[0107] The first front vehicle speed refers to the speed of the front vehicle when it is traveling at a constant speed. This is one of the basic parameters for constructing the second safety distance model and is used to calculate the distance traveled by the front vehicle during the driver's reaction and the deceleration of the rear vehicle. The second reaction time refers to the time between the driver discovering that the front vehicle is traveling at a constant speed and actually stepping on the brake pedal. During this time, the rear vehicle continues to travel at the original speed. The second vehicle speed refers to the speed of the rear vehicle before the driver steps on the brake. This is the key parameter required to calculate the distance traveled by the rear vehicle during the reaction time and deceleration process. The second vehicle acceleration refers to the acceleration of the rear vehicle when it starts to decelerate after stepping on the brake (usually a negative value, i.e., deceleration). This parameter determines the time and distance required for the rear vehicle to complete deceleration from the beginning to the end of deceleration. The third driving distance refers to the distance that the rear vehicle continues to travel at the second vehicle speed during the second reaction time. This distance is determined by the rear vehicle speed and the driver's reaction time. The vehicle deceleration time refers to the time required for the rear vehicle to reduce its speed from the beginning of deceleration to the speed equal to that of the front vehicle. This time depends on the initial speed (second vehicle speed) and deceleration (second vehicle acceleration) of the rear vehicle. The fourth driving distance refers to the distance traveled by the rear vehicle during the deceleration process. This distance is determined by the second vehicle speed, the vehicle deceleration time and the second vehicle acceleration. The front vehicle driving distance refers to the distance traveled by the front vehicle at a constant speed (the first front vehicle speed) during the reaction time and deceleration time of the rear vehicle. This distance is used to evaluate the change in the relative positions of the front and rear vehicles during the entire deceleration process. The second safety distance model refers to a model built based on the above parameters, which is used to calculate the minimum safety distance that the rear vehicle should maintain when the front vehicle is driving at a constant speed. The model takes into account factors such as the driver's reaction time, the speed and deceleration of the vehicle, and the driving distance of the front and rear vehicles to ensure that the rear vehicle can safely decelerate and follow the front vehicle to avoid rear-end collisions.

[0108] Please refer to Figure 4 , Figure 4 A schematic diagram of a vehicle in front driving at a constant speed is provided for the second embodiment of the vehicle collision warning method of the present application. The figure shows that when the vehicle in front is driving at a constant speed, the driver of the rear vehicle starts to slow down after a reaction time of t seconds to match the speed of the vehicle in front. During the reaction period, the rear vehicle travels a distance d1 at an initial speed v2. Subsequently, the rear vehicle travels a distance d2 during the deceleration process until the speed drops to the same as that of the front vehicle. At the same time, the front vehicle also covers a distance d3 during the constant speed. The figure also indicates the minimum distance d that the rear vehicle needs to maintain to ensure safety when it decelerates and finally drives at a constant speed. min This distance includes the driving distance d1 during the reaction time, the distance d2 during the deceleration process, the distance d3 of the front vehicle traveling at a constant speed, and the parking distance d determined according to the driver's characteristics. xThrough this model, the minimum safe distance that the rear vehicle should maintain to avoid a collision with the front vehicle traveling at a constant speed can be calculated under different driver characteristics and reaction times:

[0109] d min =d1+d2-d3+d x

[0110] Where d2 is the distance traveled by the rear vehicle during the process of changing from deceleration to constant speed, and d3 is the distance traveled by the front vehicle during the process of constant speed. These two distances are shown as follows:

[0111]

[0112]

[0113] In the formula, v2 is the speed of the first front vehicle, a2 is the acceleration of the second vehicle, and the safety distance model of the uniform front vehicle can be obtained by combining the above formula as follows:

[0114]

[0115] When the front vehicle is traveling at a constant speed, the system first obtains several key parameters: the speed of the front vehicle (first front vehicle speed), the time taken by the driver from noticing the front vehicle to stepping on the brakes (second reaction time), the speed of the rear vehicle before starting to brake (second vehicle speed), and the deceleration of the rear vehicle when braking (second vehicle acceleration). These parameters reflect the driver's reaction and the dynamic behavior of the vehicle. Next, a series of calculations are performed using these parameters. First, based on the second reaction time and the second vehicle speed, the system calculates the distance traveled by the rear vehicle during the reaction time (third driving distance), that is, the distance that the vehicle continues to move at the original speed from the time the driver discovers the front vehicle to stepping on the brakes; then, based on the first front vehicle speed, the second vehicle speed, and the second vehicle acceleration, the system calculates the time required for the rear vehicle to decelerate (vehicle deceleration time) and the distance traveled by the rear vehicle during this time (fourth driving distance). This distance determines the space moved by the rear vehicle from the start of deceleration to the time when its speed drops to the same level as that of the front vehicle. At the same time, the system also calculates the distance traveled by the front vehicle during the entire process (the front vehicle travel distance), which is based on the constant speed of the front vehicle, the driver's reaction time, and the deceleration time of the rear vehicle, reflecting the total distance moved by the front vehicle during the deceleration of the rear vehicle. Finally, the system combines the second preset parking distance with all the above parameters - including the first front vehicle speed, the second reaction time, the second vehicle speed, the second vehicle acceleration, the third travel distance, the vehicle deceleration time, the fourth travel distance, and the front vehicle travel distance - to construct a second safety distance model. This model is used to determine the minimum safety distance that the rear vehicle needs to maintain when the front vehicle is traveling at a constant speed, ensuring that the rear vehicle can safely decelerate and maintain an appropriate distance from the front vehicle, thereby effectively avoiding rear-end collisions.

[0116] Step S14, constructing a third safety distance model according to the target driver parking distance and the third operating condition of the preceding vehicle decelerating;

[0117] It should be noted that the third operating condition refers to a specific driving scenario, that is, the situation where the front vehicle starts to decelerate. In this situation, the rear vehicle needs to react in time and decelerate accordingly to avoid a collision with the front vehicle. This operating condition simulates one of the more complex scenarios in a dynamic driving environment, in which the speed of the front vehicle is constantly changing, which increases the difficulty of the rear vehicle's judgment and operation. The third safety distance model is a safety distance calculation model constructed for the above-mentioned third operating condition (the front vehicle decelerates). The model takes into account the target driver's parking distance and the minimum safety distance that the rear vehicle needs to maintain to avoid rear-end collision when the front vehicle decelerates. The model calculates a dynamic safety distance by analyzing the deceleration process of the front vehicle, the reaction time of the rear vehicle, the deceleration ability of the rear vehicle and other factors to ensure that when the front vehicle decelerates, the rear vehicle can safely adjust its speed and maintain an appropriate distance to avoid collision.

[0118] It can be understood that the system first considers the specific situation where the vehicle in front starts to decelerate (i.e., the third operating condition), and then combines the key parameter of the target driver's parking distance to comprehensively analyze the deceleration process of the front vehicle, the reaction time of the rear vehicle, and the deceleration ability of the rear vehicle to construct a third safety distance model. This model is used to calculate the minimum safety distance that the rear vehicle should maintain when the front vehicle decelerates, so as to ensure that the rear vehicle can adjust its speed in time, safely follow the front vehicle, and avoid rear-end collisions.

[0119] As an example, the step of constructing a third safety distance model according to the third preset parking distance includes: when the front vehicle is decelerating, obtaining the second front vehicle speed, the front vehicle acceleration, the third reaction time from the driver discovering the front vehicle to stepping on the brakes, the third vehicle speed before the driver steps on the brakes, and the third vehicle acceleration when the brakes are stepped on; calculating the fourth vehicle speed at the time of collision according to the second front vehicle speed, the front vehicle acceleration, the third reaction time, the third vehicle speed and the third vehicle acceleration; constructing a third safety distance model according to the third preset parking distance, the second front vehicle speed, the front vehicle acceleration, the third reaction time, the third vehicle speed, the third vehicle acceleration and the fourth vehicle speed.

[0120] The second front vehicle speed refers to the initial speed of the front vehicle before it starts to decelerate. This speed is an important basic parameter for calculating the distance traveled by the front vehicle during deceleration and the reaction of the rear vehicle. The front vehicle acceleration refers to the acceleration experienced by the front vehicle during deceleration (usually a negative value, i.e., deceleration). This parameter describes the rate of change of the speed of the front vehicle during deceleration, and is crucial for calculating the distance and time traveled by the front vehicle during deceleration. The third reaction time refers to the time between the driver of the rear vehicle discovering the deceleration of the front vehicle and actually stepping on the brakes. During this time, the rear vehicle continues to move forward at the original speed, so it directly affects the reaction distance of the rear vehicle. The third vehicle speed refers to the speed of the rear vehicle before it starts to step on the brakes. This speed is used to calculate the distance traveled by the rear vehicle during the reaction time and the dynamic behavior during the deceleration process. The third vehicle acceleration refers to the acceleration experienced by the rear vehicle after stepping on the brakes (usually a negative value, i.e., deceleration). This parameter is used to calculate the process from the beginning of deceleration to the speed change of the rear vehicle, which affects the determination of the final safety distance. The fourth vehicle speed refers to the speed of the rear vehicle when the front vehicle decelerates and the rear vehicle collides with the front vehicle. The speed is obtained by calculating the acceleration, initial speed and reaction time of the front vehicle and the rear vehicle respectively, and reflects the speed state when the rear vehicle fails to maintain a sufficiently safe distance.

[0121] When the vehicle ahead is decelerating, the system first obtains the speed of the ahead vehicle (second ahead vehicle speed), the deceleration of the ahead vehicle (ahead vehicle acceleration), the driver's reaction time from noticing the ahead vehicle decelerating to stepping on the brakes (third reaction time), and the speed of the trailing vehicle before stepping on the brakes (third vehicle speed) and the deceleration when braking (third vehicle acceleration). Then, based on these parameters, the system calculates the speed of the trailing vehicle when a collision is likely to occur (fourth vehicle speed). Finally, the third safety distance model is constructed by combining the third preset parking distance, the speed, acceleration, and reaction time of the ahead and trailing vehicles to determine the minimum safety distance that the trailing vehicle needs to maintain when the ahead vehicle is decelerating to avoid a rear-end collision.

[0122] Please refer to Figure 5 , Figure 5 A schematic diagram of the front vehicle decelerating provided in Example 2 of the vehicle collision warning method of the present application shows the minimum safe distance when the front vehicle is decelerating, and is used to guide the driver of the rear vehicle on how to maintain a safe distance to avoid collision when he realizes that the front vehicle is decelerating. The figure describes that the driver of the rear vehicle traveled a distance d at an initial speed v1 within a reaction time of t seconds, and then began to decelerate at its own deceleration a3. In this process, the rear vehicle needs to consider the speed v2 of the front vehicle, the speed v3 when the two vehicles collided, and the deceleration a4 of the front vehicle. The figure also indicates the distance d2 traveled by the rear vehicle during the deceleration process, the distance d3 traveled by the front vehicle in the same time, and the parking distance d adjusted according to the driver's characteristics. x . Finally, d min Indicates the minimum safe distance that the following vehicle should maintain under the current circumstances. This distance combines factors such as reaction time, relative speed and acceleration of the two vehicles, and driver characteristics to ensure that even if the front vehicle slows down, the following vehicle can safely stop or adjust speed to avoid collision. MSD is as follows:

[0123]

[0124] Wherein, v1 represents the speed of the third vehicle, v2 represents the speed of the second front vehicle, v3 represents the speed of the two vehicles when they collide, a3 is the third vehicle acceleration of the rear vehicle, and a4 is the acceleration of the front vehicle.

[0125] Step S15: constructing a target safety distance model according to the road parameters, the first safety distance model, the second safety distance model and the third safety distance model.

[0126] It should be noted that the target safety distance model can be expressed as:

[0127] MSD=f(P,E,A,F,β,γ,δ,ε)

[0128] In the formula, P represents the driver's personality score, E represents the driver's emotion score, A represents the driver's attention score, F represents the driver's fatigue score, β represents the curvature correction coefficient, γ represents the slope correction coefficient, δ represents the friction coefficient correction coefficient, and ε represents the vehicle density correction coefficient. Curvature correction coefficient formula:

[0129]

[0130] In the formula, R represents the radius of curvature of the road. Slope correction coefficient formula: γ = 1 + 0.1S, where S represents the road slope angle. Friction coefficient correction coefficient formula: δ = 1-0.1 (1-μ), where μ represents the road friction coefficient. Vehicle density correction coefficient formula: ε = 1 + 0.01D, where D represents the road vehicle density.

[0131] Substituting the above driver characteristic parameters into the target safety distance model, the minimum safety distance can be obtained as:

[0132]

[0133] In the formula, Represents the correction factor for reaction time.

[0134] It is understandable that the system first combines various road parameters, such as curvature, slope, friction coefficient, etc., and then integrates the previously constructed first safety distance model (for the situation where the front vehicle suddenly stops), the second safety distance model (for the situation where the front vehicle is driving at a constant speed), and the third safety distance model (for the situation where the front vehicle is decelerating). By comprehensively considering these factors, the system constructs a target safety distance model, which can dynamically adjust and determine the minimum safety distance that should be maintained between vehicles in different driving scenarios and road conditions, thereby ensuring driving safety to the greatest extent.

[0135] This embodiment obtains the target driver's parking distance and road parameters; constructs a first safety distance model according to the target driver's parking distance and the first working condition of the front vehicle stopping; constructs a second safety distance model according to the target driver's parking distance and the second working condition of the front vehicle driving at a constant speed; constructs a third safety distance model according to the target driver's parking distance and the third working condition of the front vehicle decelerating; and constructs a target safety distance model according to the road parameters, the first safety distance model, the second safety distance model, and the third safety distance model. First, the target driver's parking distance and road parameters are obtained, and by combining the driver's personalized characteristics and road conditions, an accurate and personalized basis is provided for the calculation of subsequent safety distances. Then, the system constructs a first safety distance model according to the emergency situation of the front vehicle stopping to ensure that the rear vehicle can maintain a sufficient safety distance in an emergency situation to avoid rear-end collisions. Subsequently, the system uses the target driver's parking distance to construct a second safety distance model for the scenario of the front vehicle driving at a constant speed, so as to help the driver reasonably control the distance from the front vehicle in regular driving and effectively prevent collisions. In the case of the front vehicle decelerating, the system constructs a third safety distance model to dynamically adjust the following distance of the rear vehicle to ensure that the rear vehicle can safely deal with the risks brought by the deceleration of the front vehicle. Ultimately, the system combines these models with road parameters to build a target safety distance model based on driver characteristics. This model can dynamically adapt to various driving scenarios and road conditions according to the driver's unique reactions and driving style, significantly improving driving safety and driving stability.

[0136] For example, in order to help understand the implementation process of the vehicle collision warning method obtained by combining this embodiment with the above-mentioned embodiment 1, please refer to Figure 6 , Figure 6 A brief flow chart of a vehicle collision warning method is provided, specifically:

[0137] This figure shows the workflow of the target safety distance model based on driver characteristics, which uses millimeter-wave radar for real-time monitoring and early warning. The process starts with the acquisition of millimeter-wave radar images, followed by preprocessing to ensure the quality of image data; then, the system detects and confirms the target objects in front of the vehicle through target recognition; after confirming the targets, the system measures the distance to these targets and obtains the accurate distance to the vehicle in front. If the measured distance is less than the preset minimum safety distance d min , the system will evaluate the driver's characteristics and actual traffic conditions and decide whether to stop or slow down to maintain a safe distance. If the driver chooses to stop or slow down, the system will issue a voice prompt to warn the driver to take appropriate measures. If the actual distance is greater than or equal to d min, the warning ends and the system continues to monitor traffic conditions to ensure driving safety. The entire process is a closed-loop system that continuously cycles to adapt to the changing traffic environment and driver behavior.

[0138] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the vehicle collision warning method of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0139] This application also provides a vehicle collision warning device, please refer to Figure 7 , the vehicle collision warning device comprises:

[0140] The model building module 10 is used to build a target safety distance model.

[0141] The data acquisition module 20 is used to acquire the driver type and the actual following distance.

[0142] The model application module 30 is used to calculate the safety distance according to the driver type and the target safety distance model.

[0143] The collision warning module 40 is used to trigger a collision warning when the actual following distance is less than or equal to the safety distance.

[0144] The vehicle collision warning device provided by the present application adopts the vehicle collision warning method in the above embodiment, which can solve the technical problem of how to effectively prevent the occurrence of collision accidents in a complex traffic environment. Compared with the prior art, the beneficial effects of the vehicle collision warning device provided by the present application are the same as the beneficial effects of the vehicle collision warning method provided by the above embodiment, and the other technical features of the vehicle collision warning device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0145] The present application provides a vehicle collision warning device, which includes: at least one processor; and a memory that is communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vehicle collision warning method in the above-mentioned embodiment one.

[0146] Reference below Figure 8, which shows a schematic diagram of the structure of a vehicle collision warning device suitable for implementing the embodiment of the present application. The vehicle collision warning device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 8 The vehicle collision warning device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0147] like Figure 8 As shown, the vehicle collision warning device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the vehicle collision warning device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the vehicle collision warning device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a vehicle collision warning device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0148] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0149] The vehicle collision warning device provided by the present application adopts the vehicle collision warning method in the above embodiment, which can solve the technical problem of how to effectively prevent the occurrence of collision accidents in a complex traffic environment. Compared with the prior art, the beneficial effects of the vehicle collision warning device provided by the present application are the same as the beneficial effects of the vehicle collision warning method provided by the above embodiment, and the other technical features in the vehicle collision warning device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0150] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0151] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0152] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the vehicle collision warning method in the above-mentioned embodiment.

[0153] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0154] The computer-readable storage medium may be included in the vehicle collision warning device; or may exist independently without being assembled into the vehicle collision warning device.

[0155] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the vehicle collision warning device, the vehicle collision warning device: constructs a target safety distance model; obtains the driver type and the actual following distance; calculates the safety distance according to the driver type and the target safety distance model; and triggers a collision warning when the actual following distance is less than or equal to the safety distance.

[0156] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0157] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0158] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0159] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned vehicle collision warning method, and can solve the technical problem of how to effectively prevent the occurrence of collision accidents in complex traffic environments. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the vehicle collision warning method provided by the above-mentioned embodiment, and will not be repeated here.

[0160] The present application also provides a computer program product, including a computer program, which implements the steps of the vehicle collision warning method as described above when executed by a processor.

[0161] The computer program product provided by this application can solve the technical problem of how to effectively prevent collision accidents in complex traffic environments. Compared with the prior art, the beneficial effects of the computer program product provided by this application are the same as the beneficial effects of the vehicle collision warning method provided by the above embodiment, which will not be repeated here.

[0162] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A vehicle collision warning method, It is characterized in that The method comprises: Construct target safety distance model; Get the driver type and actual following distance; Calculating a safety distance according to the driver type and the target safety distance model; When the actual following distance is less than or equal to the safety distance, a collision warning is triggered.

2. The method according to claim 1, It is characterized in that The step of constructing the target safety distance model comprises: Obtain parking distance and road parameters of target drivers; Building a first safety distance model according to the target driver parking distance and the first operating condition of the preceding vehicle stopping; Constructing a second safety distance model according to the target driver parking distance and a second operating condition where the preceding vehicle is traveling at a constant speed; Constructing a third safety distance model according to the target driver parking distance and the third operating condition of the preceding vehicle decelerating; A target safety distance model is constructed according to the road parameters, the first safety distance model, the second safety distance model, and the third safety distance model.

3. The method according to claim 2, It is characterized in that The step of obtaining the target driver parking distance and road parameters comprises: Obtaining a driver personality score, a driver emotion score, a driver attention score, a driver fatigue score, a curvature correction factor, a slope correction factor, a friction correction factor, a vehicle density correction factor, a first preset parking distance, a second preset parking distance, and a third preset parking distance; Calculating a reaction time correction factor according to the driver personality score, the driver emotion score, the driver attention score, and the driver fatigue score; Obtaining a target driver parking distance according to the reaction time correction factor, the first preset parking distance, the second preset parking distance, and the third preset parking distance; A road parameter is obtained according to the curvature correction coefficient, the slope correction coefficient, the friction coefficient correction coefficient and the vehicle density correction coefficient.

4. The method according to claim 2, It is characterized in that The step of constructing a first safety distance model according to the first preset parking distance comprises: When the vehicle ahead stops, obtain the first reaction time from when the driver finds the vehicle ahead stops to when he or she presses the brakes, the first vehicle speed before pressing the brakes, and the first vehicle acceleration when pressing the brakes; Calculating a first driving distance within the first reaction time according to the first reaction time and the first vehicle speed; Calculating a second driving distance during deceleration according to the first vehicle speed and the first vehicle acceleration; A first safety distance model is constructed according to the first preset parking distance, the first reaction time, the first vehicle speed, the first vehicle acceleration, the first driving distance, and the second driving distance.

5. The method according to claim 2, It is characterized in that The step of constructing a second safety distance model according to the second preset parking distance comprises: When the front vehicle is traveling at a constant speed, the first front vehicle speed, the second reaction time from the driver noticing the front vehicle to stepping on the brakes, the second vehicle speed before the driver steps on the brakes, and the second vehicle acceleration when the driver steps on the brakes are obtained; Calculating a third driving distance within the second reaction time according to the second reaction time and the second vehicle speed; Calculate the vehicle deceleration time and the fourth travel distance according to the first front vehicle speed, the second vehicle speed and the second vehicle acceleration; Calculate the travel distance of the leading vehicle according to the first leading vehicle speed, the second reaction time and the vehicle deceleration time; A second safety distance model is constructed according to the second preset parking distance, the first front vehicle speed, the second reaction time, the second vehicle speed, the second vehicle acceleration, the third driving distance, the vehicle deceleration time, the fourth driving distance and the front vehicle driving distance.

6. The method according to claim 2, It is characterized in that The step of constructing a third safety distance model according to the third preset parking distance comprises: When the front vehicle is decelerating, the second front vehicle speed, the front vehicle acceleration, the third reaction time from the driver discovering the front vehicle to stepping on the brakes, the third vehicle speed before the driver steps on the brakes, and the third vehicle acceleration when the brakes are stepped on are obtained; Calculating a fourth vehicle speed at the time of collision according to the second front vehicle speed, the front vehicle acceleration, the third reaction time, the third vehicle speed, and the third vehicle acceleration; A third safety distance model is constructed according to the third preset parking distance, the second front vehicle speed, the front vehicle acceleration, the third reaction time, the third vehicle speed, the third vehicle acceleration and the fourth vehicle speed.

7. The method according to any one of claims 1 to 6, It is characterized in that The step of obtaining the driver type comprises: Obtain the current driver's personality score, current driver's emotion score, current driver's attention score, and current driver's fatigue score; Calculate a current reaction time correction factor according to the current driver personality score, the current driver emotion score, the current driver attention score, and the current driver fatigue score; The driver type is determined based on the current reaction time correction factor.

8. A vehicle collision warning device, It is characterized in that The device comprises: A model building module is used to build a target safety distance model; A data acquisition module, used to obtain the driver type and actual following distance; A model application module, used for calculating the safety distance according to the driver type and the target safety distance model; The collision warning module is used to trigger a collision warning when the actual following distance is less than or equal to the safety distance.

9. A vehicle collision warning device, It is characterized in that The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the vehicle collision warning method according to any one of claims 1 to 7.

10. A storage medium, It is characterized in that The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the vehicle collision warning method according to any one of claims 1 to 7 are implemented.

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