Driving alarm method, device, equipment, storage medium and system

Abstract

The invention discloses a driving alarm method, device and system, equipment and a storage medium. The method comprises the steps that driving information of a target vehicle and at least one piece of action information of at least one user in a preset range of the target vehicle are acquired, and each user in the at least one user corresponds to one piece of action information; determining a predicted driving trajectory of the target vehicle based on the driving information, and determining at least one predicted action trajectory of the at least one user based on the at least one action information; generating at least one alarm instruction based on the relevance between the predicted driving track and the at least one predicted action track; and sending at least one alarm instruction to the target vehicle. According to the embodiment of the invention, the problem of low driving safety caused by the existing view blind area can be solved.

Description

Technical Field

[0001] The present application belongs to the field of automobile assisted driving technology, and in particular, relates to a driving alarm method, device, equipment, storage medium and system. Background Art

[0002] During driving, the driver's vision is often blocked by obstacles, which causes blind spots. In this case, the driver cannot see pedestrians or vehicles behind the obstacles. If a pedestrian suddenly jumps out of the blind spot, it is easy to cause a traffic accident if the driver fails to avoid it in time. Even if the driver can brake in time, it may cause a rear-end collision. The sudden appearance of pedestrians in the blind spot greatly reduces driving safety. Summary of the invention

[0003] The embodiments of the present application provide a driving warning method, device, equipment, storage medium and system, which can solve the problem of low driving safety caused by existing blind spots.

[0004] In a first aspect, an embodiment of the present application provides a driving alarm method, the method comprising:

[0005] Acquire driving information of a target vehicle and at least one piece of action information of at least one user within a preset range of the target vehicle, wherein each of the at least one user corresponds to one piece of action information;

[0006] Determining a predicted driving trajectory of the target vehicle based on the driving information, and determining at least one predicted action trajectory of the at least one user based on the at least one action information;

[0007] Generate at least one warning instruction based on the correlation between the predicted driving trajectory and the at least one predicted action trajectory;

[0008] The at least one warning instruction is sent to the target vehicle.

[0009] In some embodiments, the generating at least one warning instruction based on the correlation between the predicted driving trajectory and the at least one predicted action trajectory includes:

[0010] Determine a possible driving area of ​​the target vehicle corresponding to the predicted driving trajectory within a first time period;

[0011] Determine a possible action area of ​​the at least one user corresponding to the at least one predicted action trajectory within a first time period, wherein each of the at least one user has a possible action area;

[0012] At least one warning instruction is generated based on the possible driving area and the at least one possible action area.

[0013] In some embodiments, the generating at least one warning instruction based on the possible driving area and the at least one possible action area includes:

[0014] For each of the at least one possible action area, determining a first ratio of an overlapping area and a combined area of ​​the possible action area and the possible driving area to obtain at least one first ratio;

[0015] In the case that there is a first ratio greater than a first threshold value among the at least one first ratio, at least one warning instruction is generated.

[0016] In some embodiments, the warning instruction includes a first warning instruction, a second warning instruction and a third warning instruction.

[0017] When there is a first ratio greater than a first threshold value in the at least one first ratio, generating at least one alarm instruction includes:

[0018] For each first ratio greater than a first threshold, when the first ratio is greater than the first threshold and less than or equal to a second threshold, generating a first warning instruction, wherein the first warning instruction is used to prompt the driver of the target vehicle that there is a collision risk;

[0019] When the first ratio is greater than a second threshold value and less than or equal to a third threshold value, generating a second warning instruction, wherein the second warning instruction is used to instruct the target vehicle to perform a deceleration operation;

[0020] When the first ratio is greater than a third threshold, generating a third warning instruction, wherein the third warning instruction is used to instruct the vehicle to perform a braking operation;

[0021] The first threshold is smaller than the second threshold, and the second threshold is smaller than the third threshold.

[0022] In some embodiments, after generating at least one warning instruction based on the correlation between the predicted driving trajectory and the at least one predicted action trajectory, the method further includes:

[0023] In a case where the at least one warning instruction includes the first warning instruction or the second warning instruction, action information corresponding to the first warning instruction or the second warning instruction is sent to the target vehicle.

[0024] In a second aspect, an embodiment of the present application further provides a driving alarm method, the method comprising:

[0025] Acquiring driving information of the target vehicle;

[0026] Sending the driving information to a roadside unit;

[0027] Receive at least one warning instruction generated by the roadside unit based on the driving information.

[0028] In a third aspect, an embodiment of the present application provides a driving warning device, the device comprising:

[0029] An acquisition module, used to acquire the driving information of the target vehicle and at least one piece of action information of at least one user within a preset range, wherein each of the at least one user corresponds to one piece of action information;

[0030] a determination module, configured to determine a predicted driving trajectory of the target vehicle based on the driving information, and to determine at least one predicted action trajectory of the at least one user based on the at least one action information;

[0031] A generating module, configured to determine a correlation degree between the target vehicle and the at least one user on a track based on the driving information and the at least one action information, and to generate at least one warning instruction based on the correlation degree;

[0032] A sending module is used to send the at least one warning instruction to the target vehicle.

[0033] In a fourth aspect, an embodiment of the present application provides a driving warning device, the device comprising: a processor and a memory storing computer program instructions;

[0034] The above-mentioned vehicle driving warning method is implemented when the processor executes the computer program instructions.

[0035] In a fifth aspect, an embodiment of the present application provides a computer storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the above-mentioned vehicle driving warning method is implemented.

[0036] In a sixth aspect, an embodiment of the present application provides a driving alarm system, which includes computer program instructions, and the computer program instructions implement the above-mentioned driving alarm method when executed by a processor.

[0037] In the present application, the driving information of the target vehicle and at least one action information of at least one user within a preset range of the target vehicle are obtained in real time through the roadside unit. The driving information and at least one action information are analyzed to generate a predicted driving trajectory of the target vehicle and a predicted action trajectory of the user. Based on the correlation between the predicted driving trajectory and the predicted action trajectory, an alarm instruction can be generated and sent to the target vehicle to prompt the driver to drive carefully or instruct the vehicle to perform corresponding avoidance operations, thereby avoiding collision accidents that may occur due to obstruction of the field of view and improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 It is a flowchart of a driving warning method provided by an embodiment of the present application;

[0040] Figure 2 is a flow chart of a driving warning method provided by another embodiment of the present application;

[0041] Figure 3 It is a schematic diagram of the hardware structure of a vehicle driving warning device provided in one embodiment of the present application;

[0042] Figure 4 It is a structural diagram of a vehicle driving warning device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0043] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0044] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0045] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The embodiments will be described in detail below in conjunction with the accompanying drawings.

[0046] Specifically, in order to solve the problems of the prior art, the embodiments of the present application provide a vehicle driving alarm method, device, equipment, storage medium and system. The vehicle driving alarm method provided by the embodiments of the present application is first introduced below.

[0047] Figure 1 A flow chart of a driving warning method provided by an embodiment of the present application is shown. The method comprises the following steps:

[0048] S110, obtaining driving information of a target vehicle and at least one piece of action information of at least one user within a preset range of the target vehicle, wherein each of the at least one user corresponds to one piece of action information.

[0049] In this embodiment, the roadside unit, the vehicle, and the user terminal are connected in communication. For example, the roadside unit, the vehicle, and the user terminal may be connected via V2X (Vehicle-to-Everything) technology.

[0050] The driving information of the target vehicle may include the position of the target vehicle, the steering wheel angle, the speed and acceleration of the target vehicle, and the road condition information of the road where the target vehicle is located. The longitude and latitude information of the vehicle can be received by a global positioning system installed on the target vehicle to determine the position of the vehicle, the steering wheel angle of the target vehicle can be measured by an angle sensor on the target vehicle, and the speed and acceleration of the vehicle can be measured by a speed sensor on the target vehicle.

[0051] The user's action information may include the user's type, direction, location, and speed. The action information may be measured by a user terminal carried by the user.

[0052] After the roadside unit detects the target vehicle, it can establish a communication connection with the target vehicle and all user terminals within a preset range of the target vehicle to receive driving information sent by the target vehicle and receive at least one action information sent by user terminals of all users within the preset range of the target vehicle, wherein the preset range can be a safety range set in advance by the driver or technician, and it can be considered that when the user is outside the safety range, there is no risk of collision with the target vehicle.

[0053] S120, determining a predicted driving trajectory of the target vehicle based on the driving information, and determining at least one predicted action trajectory of the at least one user based on the at least one action information;

[0054] S130, generating at least one warning instruction based on the correlation between the predicted driving trajectory and the at least one predicted action trajectory;

[0055] In this embodiment, after the roadside unit receives the driving information of the target vehicle and at least one action information within the preset range of the target vehicle, it can select a suitable motion model or trajectory prediction algorithm to predict the predicted driving trajectory of the target vehicle and the predicted action trajectory of each user. The predicted action trajectory is the trajectory of the user's possible actions in the next period of time, and the predicted driving trajectory is the trajectory of the target vehicle's possible driving in the next period of time.

[0056] After determining the predicted action trajectory of each user and the predicted driving trajectory of the target vehicle, the correlation between the predicted action trajectory of the user and the predicted driving trajectory of the target vehicle can be further determined. The correlation is used to characterize the relative position relationship between the predicted action trajectory and the predicted driving trajectory in space.

[0057] Specifically, the more overlaps there are between the predicted action trajectory and the predicted driving trajectory, the stronger the correlation between the predicted action trajectory and the predicted driving trajectory; if there is no overlap between the predicted action trajectory and the predicted driving trajectory, the closer the predicted action trajectory and the predicted driving trajectory are, the stronger their correlation is.

[0058] From the definition of correlation, it can be known that the stronger the correlation between the predicted action trajectory and the predicted driving trajectory, the higher the collision risk between the target vehicle and the user. Therefore, the collision probability between the target vehicle and each of the at least one user can be calculated based on the correlation between each predicted action trajectory and the predicted driving trajectory. For each user, if the collision probability between the user and the target vehicle is greater than a preset probability threshold, a warning instruction for the target vehicle can be generated and sent to the target vehicle to prompt the target vehicle that there is a potential collision risk and the target vehicle needs to take countermeasures such as deceleration or braking.

[0059] S140: Send the at least one warning instruction to the target vehicle.

[0060] In this embodiment, if the roadside unit generates a warning instruction, the warning instruction can be sent to the target vehicle. After receiving the warning instruction, the target vehicle can display the warning instruction on its display interface to prompt the driver to pay more attention and drive carefully; the target vehicle can also directly decelerate or brake based on the warning instruction to avoid collision with pedestrians or emergency braking.

[0061] In the present application, the driving information of the target vehicle and at least one action information of at least one user within a preset range of the target vehicle are obtained in real time through the roadside unit. The driving information and at least one action information are analyzed to generate an alarm instruction, and the alarm instruction is sent to the target vehicle to prompt the driver to drive carefully, or to instruct the vehicle to perform corresponding avoidance operations, so as to avoid collision accidents that may occur due to obstruction of the field of view, thereby improving driving safety.

[0062] As an optional embodiment, the generating at least one warning instruction based on the correlation between the predicted driving trajectory and the at least one predicted action trajectory includes:

[0063] Determine a possible driving area of ​​the target vehicle corresponding to the predicted driving trajectory within a first time period;

[0064] Determine a possible action area of ​​the at least one user corresponding to the at least one predicted action trajectory within a first time period, wherein each of the at least one user has a possible action area;

[0065] At least one warning instruction is generated based on the possible driving area and the at least one possible action area.

[0066] In this embodiment, after the roadside unit receives the driving information of the target vehicle and at least one action information within the preset range of the target vehicle, it can determine the predicted action trajectory of each user and the predicted driving trajectory of the target vehicle in the next period of time, and determine the possible driving area of ​​the target vehicle within the first time period based on the predicted driving trajectory of the target vehicle, and determine the possible action area of ​​each user within the first time period based on the predicted action trajectory. The first time period is the time period range set in advance by the driver or a person skilled in the art.

[0067] The possible driving area refers to the area or range where the target vehicle is predicted to drive within the first time period; the possible action area refers to the area or range where the user is predicted to move within the first time period. After predicting the predicted driving trajectory of the target vehicle by selecting a suitable motion model or trajectory prediction algorithm, the predicted driving trajectory can be expanded according to the shape characteristics, driving characteristics and environmental conditions of the vehicle, and the uncertainty and error in the driving process can be considered to estimate the uncertainty of the predicted driving trajectory. Combining the predicted driving trajectory, the expansion of the trajectory and the uncertainty estimation, the possible driving area of ​​the target vehicle can be finally determined. Similarly, the possible action area of ​​the user can be determined.

[0068] For each of at least one user, if there is an overlap between the possible action area of ​​the user and the possible driving area of ​​the target vehicle, it can be considered that there is a risk of collision between the user and the target vehicle, and an alarm instruction corresponding to the user needs to be generated and sent to the target vehicle.

[0069] In this embodiment, the user information and the target vehicle information can be aggregated to the roadside unit, the roadside unit calculates the possible driving area of ​​the target vehicle and at least one possible action area of ​​at least one user, generates at least one warning instruction based on the possible driving area and at least one possible action area, and sends the warning instruction to the vehicle. In this way, the calculation of the collision risk between the vehicle and the pedestrian is performed in the roadside unit, which can effectively avoid the occurrence of collisions while reducing the burden of information processing on the vehicle.

[0070] As an optional embodiment, the generating at least one warning instruction based on the possible driving area and the at least one possible action area includes:

[0071] For each of the at least one possible action area, determining a first ratio of an overlapping area and a combined area of ​​the possible action area and the possible driving area to obtain at least one first ratio;

[0072] In the case that there is a first ratio greater than a first threshold value among the at least one first ratio, at least one warning instruction is generated.

[0073] In this embodiment, for each possible action area, the overlapping area refers to the area of ​​the area jointly covered by the possible action area and the possible driving area, which represents the intersection of the two areas; the merged area refers to the total area of ​​the new area formed after the possible action area and the possible driving area are merged, which represents the union of the two areas. The merged area can be obtained by calculating the areas of the two areas respectively and subtracting the overlapping area.

[0074] After determining the overlapping area and the merged area, a first ratio with the overlapping area as the dividend and the merged area as the divisor can be calculated. The larger the first ratio is, the greater the proportion of overlapping driving trajectories between the target vehicle and the user, and therefore the greater the collision risk.

[0075] Since each user corresponds to a possible action area, each user corresponds to a first ratio, and at least one first ratio can be obtained by calculation. If there is a first ratio greater than the first threshold value in at least one first ratio, it is considered that there is a user with a high collision risk with the target vehicle, and then a warning instruction corresponding to the user is generated.

[0076] In the above embodiment, a first ratio can be applied to characterize the similarity of the trajectories of the target vehicle and the user within the first time period. The larger the first ratio is, the higher the similarity of the trajectories is, and thus the greater the collision risk between the user and the target vehicle is. In this way, the collision risk between the user and the target vehicle can be quantified more accurately.

[0077] As an optional embodiment, the alarm instruction includes a first alarm instruction, a second alarm instruction and a third alarm instruction.

[0078] When there is a first ratio greater than a first threshold value in the at least one first ratio, generating at least one alarm instruction includes:

[0079] For each first ratio greater than a first threshold, when the first ratio is greater than the first threshold and less than or equal to a second threshold, generating a first warning instruction, wherein the first warning instruction is used to prompt the driver of the target vehicle that there is a collision risk;

[0080] When the first ratio is greater than a second threshold value and less than or equal to a third threshold value, generating a second warning instruction, wherein the second warning instruction is used to instruct the target vehicle to perform a deceleration operation;

[0081] When the first ratio is greater than a third threshold, generating a third warning instruction, wherein the third warning instruction is used to instruct the vehicle to perform a braking operation;

[0082] The first threshold is smaller than the second threshold, and the second threshold is smaller than the third threshold.

[0083] In this embodiment, since the first ratio can represent the degree of collision risk between the user and the target vehicle, the larger the first ratio is, the higher the collision risk between the user and the target vehicle is. When the first ratio is greater than the first threshold, a corresponding alarm instruction needs to be generated.

[0084] Therefore, the collision risk can be divided into different levels based on the interval where the first ratio is located, and different warning instructions can be generated based on different levels to achieve different degrees of warning and control of the target vehicle.

[0085] Specifically, the first ratio can be divided into four different intervals by a first threshold, a second threshold and a third threshold, wherein the first threshold is less than the second threshold, and the second threshold is less than the third threshold. If the first ratio is less than or equal to the first threshold, it can be considered that the collision risk between the target vehicle and the user is not high, so no warning instruction is generated; if the first ratio is greater than the first threshold and less than or equal to the second threshold, it can be considered that there is a certain collision risk between the target vehicle and the user, so a first warning instruction is generated to prompt the driver of the target vehicle that there is a collision risk; if the first ratio is greater than the second threshold and less than or equal to the third threshold, it can be considered that there is a high collision risk between the target vehicle and the user, so a second warning instruction is generated to control the target vehicle to decelerate; if the first ratio is greater than the third threshold, it can be considered that there is an extremely high collision risk between the target vehicle and the user, so a third warning instruction is generated to control the target vehicle to brake. For example, the first threshold can be 10%, the second threshold can be 20%, and the third threshold can be 30%.

[0086] In addition, after receiving the warning command, the vehicle can also issue a warning sound to warn the driver that there are pedestrians in the possible blind spot ahead and that he needs to drive carefully. Different types of warning commands may correspond to different warning sounds. From the first warning command to the third warning command, the warning sound may become more and more urgent to inform the driver of different risk levels.

[0087] In the above embodiment, the collision risk between the target vehicle and the user can be determined based on the first ratio. When the collision risk is low, the driver is warned only by an alarm sound or prompt information. When the collision risk is high, the target vehicle is directly controlled to decelerate or brake to avoid a collision between the target vehicle and the user. In this way, corresponding warning measures can be implemented based on the degree of collision risk, effectively avoiding accidents while ensuring the driver's driving experience as much as possible.

[0088] As an optional embodiment, after generating at least one warning instruction based on the correlation between the predicted driving trajectory and the at least one predicted action trajectory, the method further includes:

[0089] In a case where the at least one warning instruction includes the first warning instruction or the second warning instruction, action information corresponding to the first warning instruction or the second warning instruction is sent to the target vehicle.

[0090] In this embodiment, after at least one warning instruction is generated in the roadside unit, for each warning instruction, if the warning instruction is the third warning instruction, only the third warning instruction is sent to the target vehicle. After receiving the third warning instruction, the target vehicle will directly control the vehicle to perform braking operations.

[0091] After generating at least one warning instruction in the roadside unit, for each warning instruction, if the warning instruction is the first warning instruction or the second warning instruction, the roadside unit not only needs to send the first warning instruction or the second warning instruction to the target vehicle, but also needs to send the action information corresponding to the first warning instruction or the second warning instruction to the target vehicle.

[0092] Since the vehicle will not perform any braking operation after receiving the first warning command or the second warning command, the vehicle can monitor the pedestrians corresponding to the action information based on the action information corresponding to the first warning command or the second warning command, and determine in real time whether braking operation is needed based on the status of the pedestrians.

[0093] In this way, the vehicle only needs to analyze the action information corresponding to the first warning instruction or the second warning instruction, and judge whether to perform a braking operation based on the action information, without analyzing the action information corresponding to the third warning instruction, but directly brakes after receiving the third warning instruction. In this way, the information processing burden of the target vehicle is reduced.

[0094] Figure 2 A schematic flow chart of a driving warning method provided by an embodiment of the present application is shown. The method is applied to a target vehicle and comprises the following steps:

[0095] S210, obtaining driving information of the target vehicle;

[0096] S220, sending the driving information to a roadside unit;

[0097] S230, receiving at least one warning instruction generated by the roadside unit based on the driving information.

[0098] In this embodiment, the driving information of the target vehicle may include the position of the target vehicle, the steering wheel angle, the speed and acceleration of the target vehicle, and the road condition information of the road where the target vehicle is located. The longitude and latitude information of the vehicle may be received through a global positioning system to determine the position of the vehicle, the steering wheel angle of the target vehicle may be measured through an angle sensor, and the speed and acceleration of the vehicle may be measured through a vehicle speed sensor.

[0099] After collecting the driving information of the target vehicle, the driving information can be directly sent to the roadside unit. If the roadside unit generates at least one corresponding warning instruction based on the driving information, the at least one warning instruction generated based on the driving information is received, and the control operation corresponding to the at least one warning instruction is executed to avoid the occurrence of collision accidents caused by visual blind spots and reduce the loss of life and property.

[0100] Based on the vehicle driving alarm method provided in the above embodiment, the present application also provides a specific implementation of a vehicle driving alarm device. Please refer to the following embodiment.

[0101] See first Figure 3 The vehicle driving warning device 300 provided in the embodiment of the present application includes the following modules:

[0102] The acquisition module 301 is used to acquire the driving information of the target vehicle and at least one piece of action information of at least one user within a preset range, wherein each of the at least one user corresponds to one piece of action information;

[0103] A determination module 302, configured to determine a predicted driving trajectory of the target vehicle based on the driving information, and to determine at least one predicted action trajectory of the at least one user based on the at least one action information;

[0104] A generating module 303, configured to determine a correlation degree between the target vehicle and the at least one user on a track based on the driving information and the at least one action information, and to generate at least one warning instruction based on the correlation degree;

[0105] The sending module 304 is used to send the at least one warning instruction to the target vehicle.

[0106] The device can obtain the driving information of the target vehicle and at least one action information of at least one user within a preset range of the target vehicle in real time through the roadside unit, analyze the driving information and at least one action information, generate an alarm instruction, and send the alarm instruction to the target vehicle to prompt the driver to drive carefully, or instruct the vehicle to perform corresponding avoidance operations, so as to avoid collision accidents that may occur due to obstruction of vision and improve driving safety.

[0107] As an implementation of the present application, the generation module 303 may further include:

[0108] A first determination submodule, used to determine a possible driving area of ​​the target vehicle corresponding to the driving information within a first time period;

[0109] A second determination submodule is configured to determine a possible action area of ​​the at least one user corresponding to the at least one piece of action information within a first time period, wherein each of the at least one user has a possible action area;

[0110] A generating unit is used to generate at least one warning instruction based on the possible driving area and the at least one possible action area.

[0111] As an implementation of the present application, the above-mentioned generating unit may also be used for:

[0112] For each of the at least one possible action area, determining a first ratio of an overlapping area and a combined area of ​​the possible action area and the possible driving area to obtain at least one first ratio;

[0113] In the case that there is a first ratio greater than a first threshold value among the at least one first ratio, at least one warning instruction is generated.

[0114] As an implementation of the present application, the above-mentioned generating unit may also be used for:

[0115] For each first ratio greater than a first threshold, when the first ratio is greater than the first threshold and less than or equal to a second threshold, generating a first warning instruction, wherein the first warning instruction is used to prompt the driver of the target vehicle that there is a collision risk;

[0116] When the first ratio is greater than a second threshold value and less than or equal to a third threshold value, generating a second warning instruction, wherein the second warning instruction is used to instruct the target vehicle to perform a deceleration operation;

[0117] When the first ratio is greater than a third threshold, generating a third warning instruction, wherein the third warning instruction is used to instruct the vehicle to perform a braking operation;

[0118] The first threshold is smaller than the second threshold, and the second threshold is smaller than the third threshold.

[0119] As an implementation of the present application, the above-mentioned driving warning device 300 may also include:

[0120] The judgment module is used to send action information corresponding to the first warning instruction or the second warning instruction to the target vehicle when there is a first warning instruction or a second warning instruction in the at least one warning instruction.

[0121] As an implementation of the present application, the above-mentioned driving warning device 300 may also include:

[0122] A collection module, used to obtain the driving information of the target vehicle;

[0123] A transmission module, used for sending the driving information to a roadside unit;

[0124] A receiving module is used to receive at least one warning instruction generated by the roadside unit based on the driving information.

[0125] The vehicle driving warning device provided in the embodiment of the present invention can implement each step in the above method embodiment, and will not be described again here to avoid repetition.

[0126] Figure 4 A schematic diagram of the hardware structure of the vehicle driving warning device provided in an embodiment of the present application is shown.

[0127] The driving warning device may include a processor 401 and a memory 402 storing computer program instructions.

[0128] Specifically, the processor 401 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0129] Memory 402 may include a large capacity memory for data or instructions. By way of example and not limitation, memory 402 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, memory 402 may include removable or non-removable (or fixed) media. In appropriate cases, memory 402 may be inside or outside an integrated gateway disaster recovery device. In a particular embodiment, memory 402 is a non-volatile solid-state memory.

[0130] The memory may include read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical or other physical / tangible memory storage devices. Thus, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0131] The processor 401 implements any one of the vehicle driving warning methods in the above embodiments by reading and executing the computer program instructions stored in the memory 402 .

[0132] In one example, the driving warning device may further include a communication interface 403 and a bus 410. Figure 4 As shown, the processor 401, the memory 402, and the communication interface 403 are connected via a bus 410 and communicate with each other.

[0133] The communication interface 403 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0134] Bus 410 includes hardware, software or both, and the parts of the driving warning device are coupled to each other. For example, but not limitation, the bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front-side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 410 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the present application considers any suitable bus or interconnection.

[0135] The vehicle driving warning device can be based on the above embodiment, thereby realizing the combination of the above vehicle driving warning method and device.

[0136] In addition, in combination with the driving alarm method in the above embodiment, the embodiment of the present application may provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any one of the driving alarm methods in the above embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here. Among them, the above-mentioned computer-readable storage medium may include a non-transitory computer-readable storage medium, such as a read-only memory (Read-Only Memory, referred to as ROM), a random access memory (Random Access Memory, referred to as RAM), a disk or an optical disk, etc., which is not limited here.

[0137] In addition, an embodiment of the present application also provides a vehicle, including computer program instructions, which, when executed by a processor, can implement the steps and corresponding contents of the aforementioned method embodiment.

[0138] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0139] The functional blocks shown in the above block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0140] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0141] Aspects of the present disclosure are described above with reference to the flowcharts and / or block diagrams of the methods, devices and vehicles according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0142] The above are only specific implementation methods of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A driving warning method, It is characterized in that The method is applied to a roadside unit, and the method comprises: Acquire driving information of a target vehicle and at least one piece of action information of at least one user within a preset range of the target vehicle, wherein each of the at least one user corresponds to one piece of action information; Determining a predicted driving trajectory of the target vehicle based on the driving information, and determining at least one predicted action trajectory of the at least one user based on the at least one action information; generating at least one warning instruction based on the correlation between the predicted driving trajectory and the at least one predicted action trajectory; The at least one warning instruction is sent to the target vehicle.

2. The driving warning method according to claim 1, It is characterized in that The generating at least one warning instruction based on the correlation between the predicted driving trajectory and the at least one predicted action trajectory includes: Determine a possible driving area of ​​the target vehicle corresponding to the predicted driving trajectory within a first time period; Determine a possible action area of ​​the at least one user corresponding to the at least one predicted action trajectory within a first time period, wherein each of the at least one user has a possible action area; At least one warning instruction is generated based on the possible driving area and the at least one possible action area.

3. The driving warning method according to claim 2, It is characterized in that The generating at least one warning instruction based on the possible driving area and the at least one possible action area includes: For each of the at least one possible action area, determining a first ratio of an overlapping area and a combined area of ​​the possible action area and the possible driving area to obtain at least one first ratio; In the case that there is a first ratio greater than a first threshold value among the at least one first ratio, at least one warning instruction is generated.

4. The driving warning method according to claim 3, It is characterized in that The warning instructions include a first warning instruction, a second warning instruction and a third warning instruction. When there is a first ratio greater than a first threshold value in the at least one first ratio, generating at least one alarm instruction includes: For each first ratio greater than a first threshold, when the first ratio is greater than the first threshold and less than or equal to a second threshold, generating a first warning instruction, wherein the first warning instruction is used to prompt the driver of the target vehicle that there is a collision risk; When the first ratio is greater than a second threshold value and less than or equal to a third threshold value, generating a second warning instruction, wherein the second warning instruction is used to instruct the target vehicle to perform a deceleration operation; When the first ratio is greater than a third threshold, generating a third warning instruction, wherein the third warning instruction is used to instruct the target vehicle to perform a braking operation; The first threshold is smaller than the second threshold, and the second threshold is smaller than the third threshold.

5. The driving warning method according to claim 4, It is characterized in that After generating at least one warning instruction based on the correlation between the predicted driving trajectory and the at least one predicted action trajectory, the method further includes: In a case where the at least one warning instruction includes the first warning instruction or the second warning instruction, action information corresponding to the first warning instruction or the second warning instruction is sent to the target vehicle.

6. A driving warning method, It is characterized in that The method is applied to a target vehicle, and the method comprises: Acquiring driving information of the target vehicle; Sending the driving information to a roadside unit; Receive at least one warning instruction generated by the roadside unit based on the driving information.

7. A driving warning device, It is characterized in that The device comprises: An acquisition module, used to acquire the driving information of the target vehicle and at least one piece of action information of at least one user within a preset range, wherein each of the at least one user corresponds to one piece of action information; a determination module, configured to determine a predicted driving trajectory of the target vehicle based on the driving information, and to determine at least one predicted action trajectory of the at least one user based on the at least one action information; A generating module, configured to determine a correlation degree between the target vehicle and the at least one user on a track based on the driving information and the at least one action information, and to generate at least one warning instruction based on the correlation degree; A sending module is used to send the at least one warning instruction to the target vehicle.

8. A driving warning device, It is characterized in that The vehicle driving warning device includes: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the driving warning method according to any one of claims 1 to 6 is implemented.

9. A computer storage medium, It is characterized in that The computer storage medium stores computer program instructions, and when the computer program instructions are executed by the processor, the driving warning method according to any one of claims 1 to 6 is implemented.

10. A driving warning system, It is characterized in that The vehicle driving warning system includes a roadside unit and a vehicle, the roadside unit includes computer program instructions, and the computer program instructions, when executed by a processor, implement the vehicle driving warning method according to any one of claims 1 to 5.

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