Driving early warning method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a driving early warning method and device, equipment and a medium. The method comprises the steps that if a vehicle reaches a preset road section range, a V2X message is sent to roadside terminal equipment, and the V2X message comprises working condition information corresponding to the vehicle; receiving traffic condition information returned by the roadside terminal equipment, wherein the traffic condition information is determined based on working condition information of vehicles in the preset road section range and road information corresponding to the preset road section; determining a driving early warning level of the vehicle based on the working condition information of the vehicle and the traffic condition information; and generating a driving early warning message of the vehicle based on the driving early warning level. According to the embodiment of the invention, active early warning can be realized, and the corresponding early warning information message is generated, so that the driving experience is improved, traffic accidents in complex road sections are avoided, the emergency response capability is enhanced, and the driving early warning intelligence is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and specifically to a driving warning method, device, electronic device, and computer-readable storage medium. Background Art

[0002] Some sections with complex road conditions are generally high-risk sections for traffic accidents. The main reasons can be attributed to the following two points: First, due to the terrain restrictions, the driver's vision is easily blocked and it is impossible to judge the driving conditions of the oncoming vehicle; second, the lanes on the road are generally narrow. In order to ensure safety, the driver tends to drive in the middle of the road and occupy part of the oncoming lane. At this time, if the oncoming vehicle is often too late to avoid it, a collision may occur. In the current driving scenario, it mainly relies on roadside warning devices, such as convex mirrors, LED electronic display boards, video surveillance prompts and other warning signs. These methods require subjective judgment and are easily ignored by the driver. With the continuous advancement of intelligent assisted driving, how to actively provide driving warnings is an urgent problem to be solved. Summary of the invention

[0003] To solve the above technical problems, the embodiments of the present application provide a driving warning method and device, an electronic device, a computer-readable storage medium, and a computer program product.

[0004] According to one aspect of an embodiment of the present application, a driving warning method is provided, including: if a vehicle arrives within a preset road section, sending a V2X message to a roadside terminal device, the V2X message including operating condition information corresponding to the vehicle; receiving traffic condition information returned by the roadside terminal device, the traffic condition information being determined based on the operating condition information of the vehicle within the preset range and the road information corresponding to the preset road section; determining a driving warning level of the vehicle based on the operating condition information of the vehicle and the traffic condition information; and generating a driving warning message for the vehicle based on the driving warning level.

[0005] According to one aspect of an embodiment of the present application, the method also includes: if the traffic condition information determines that the vehicle is in a state of entering the preset road section, then determining the driving direction relationship between the vehicle and other vehicles within a preset range based on the traffic condition information; and determining the driving warning level of the vehicle based on the driving direction relationship.

[0006] According to one aspect of an embodiment of the present application, the method also includes: obtaining a target vehicle that is closest to the vehicle within a preset road section; extracting operating condition information corresponding to the target vehicle from the traffic condition information; determining a collision time between the vehicle and the target vehicle based on the operating condition information of the target vehicle, the road information and the operating condition information of the vehicle; and determining a driving warning level of the vehicle based on the collision time.

[0007] According to one aspect of an embodiment of the present application, the operating condition information includes vehicle speed and current geographic information, and the method further includes: determining the collision time between the vehicle and the target vehicle based on the vehicle speed and current geographic information of the vehicle and the vehicle speed and current geographic information of the target vehicle; if the collision time is less than a preset collision time threshold, determining the driving warning level to be the first warning level; if the collision time is greater than or equal to the preset collision time threshold, determining the driving warning level to be the second warning level, wherein the risk value of the first warning level is greater than the risk value of the second warning level.

[0008] According to one aspect of an embodiment of the present application, the operating condition information includes a vehicle front azimuth angle, and the method further includes: determining a driving orientation relationship between the vehicle and the other vehicles based on the vehicle front azimuth angle and the other vehicles front azimuth angle; and determining whether there is a collision relationship between the vehicle and the other vehicles based on the driving orientation relationship.

[0009] According to one aspect of an embodiment of the present application, the method further includes: determining the quadrant relationship between the front azimuth angle of the vehicle and the front azimuth angle of the other vehicle in a preset coordinate system; if the quadrant relationship satisfies a preset collision condition, determining that the vehicle has a collision relationship with the other vehicle.

[0010] According to one aspect of an embodiment of the present application, the method also includes: obtaining multiple traffic condition information returned by the roadside terminal device within a preset time; determining multiple distance values ​​between the vehicle and the roadside terminal device based on the location information of the roadside terminal device and the operating condition information of the vehicle in the multiple traffic condition information; if the multiple distance values ​​decrease over time within a preset time period, it is determined that the vehicle is in a state of entering the preset road section.

[0011] According to one aspect of an embodiment of the present application, a traffic warning device is provided, including: a sending module, used to send a V2X message to a roadside terminal device if a vehicle arrives within a preset road section, the V2X message including operating condition information corresponding to the vehicle; a receiving module, used to receive traffic condition information returned by the roadside terminal device, the traffic condition information is determined based on the operating condition information of all vehicles within the preset range and the road information corresponding to the preset road section; a determining module, used to determine the traffic warning level of the vehicle based on the operating condition information of the vehicle and the traffic condition information; and a generating module, used to generate a traffic warning message for the vehicle based on the driving warning level.

[0012] According to one aspect of an embodiment of the present application, an electronic device is provided, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device implements the traffic warning method as described above.

[0013] According to one aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor of a computer, the computer executes the driving warning method as described above.

[0014] According to one aspect of an embodiment of the present application, a computer program product is also provided, including a computer program, which implements the steps in the driving warning method as described above when executed by a processor.

[0015] In the technical solution provided in the embodiments of the present application, when a vehicle reaches a preset road section, a V2X message is sent to a roadside terminal device, and the V2X message includes the operating condition information corresponding to the vehicle, so that the roadside terminal device can determine the operating condition information of the vehicle through V2X communication, and the real-time and accuracy of information transmission can be improved, and then the operating condition information of all vehicles within the preset road section and the traffic condition information summarized from the road information of the preset road section returned by the roadside terminal device are received, so that the vehicle side knows the road traffic conditions in advance, and then determines the driving warning level according to the road traffic conditions and its own operating condition information, thereby realizing active warning, and generating corresponding warning messages to improve the driving experience, avoid traffic accidents on complex road sections, enhance emergency response capabilities, and improve the intelligence of driving warnings.

[0016] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0018] Figure 1 is a schematic diagram of an implementation environment for driving warning shown in an exemplary embodiment of the present application;

[0019] Figure 2 is a flow chart of a driving warning method shown in an exemplary embodiment of the present application;

[0020] Figure 3 is a flow chart of a driving warning method shown in another exemplary embodiment of the present application;

[0021] Figure 4 is a flow chart of a driving warning method shown in another exemplary embodiment of the present application;

[0022] Figure 5 is a flow chart of a driving warning method shown in another exemplary embodiment of the present application;

[0023] Figure 6 is a flow chart of a driving warning method shown in another exemplary embodiment of the present application;

[0024] Fig. 7A is a schematic diagram showing a relationship between a vehicle and the head azimuth angles of other vehicles on a preset road section according to an exemplary embodiment;

[0025] Figure 7B is a schematic diagram showing a relationship between a vehicle and the head azimuth angles of other vehicles on a preset road section according to an exemplary embodiment;

[0026] Figure 7C is a schematic diagram showing a relationship between a vehicle and the head azimuth angles of other vehicles on a preset road section according to an exemplary embodiment;

[0027] Figure 8 is a flow chart of a driving warning method shown in another exemplary embodiment of the present application;

[0028] Fig. 9 It is a brief flow chart of driving warning in an exemplary application scenario;

[0029] Fig.10 is a block diagram of a traffic warning device shown in an exemplary embodiment of the present application;

[0030] Fig.11 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown. DETAILED DESCRIPTION

[0031] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0032] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0033] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0034] The term "multiple" as used in this application refers to two or more than two. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects are in an "or" relationship.

[0035] First of all, it should be noted that V2X communication, or Vehicle-to-Everything (vehicle-to-external information exchange), is a technology that enables wireless communication between vehicles and everything around them. This technology, by integrating global positioning system (GPS) navigation technology, vehicle-to-vehicle communication technology, wireless communication and remote sensing technology, has laid a new direction for the development of automotive technology and achieved compatibility between manual and autonomous driving.

[0036] V2X refers to vehicle-to-vehicle wireless communication technology, where V stands for vehicle and X stands for any object that interacts with the vehicle. Currently, X mainly includes vehicles, people, roadside infrastructure and networks. V2X interaction modes include vehicle-to-vehicle (V2V), vehicle-to-road (V2I), vehicle-to-person (V2P), and vehicle-to-network (V2N). The key technologies of V2X include radio frequency monitoring technology: the key support of the V2X communication system, which relies on wireless radio frequency technology for information transmission; wireless communication technology: including short-range communication technology (such as Wi-Fi, Bluetooth, DSRC, etc.) and long-range communication technology (such as cellular network technology, such as 4G, 5G, etc.), which provide vehicles with high-speed and reliable communication links and realize information exchange between vehicles and the surrounding environment; sensor technology: V2X communication technology needs to be combined with various sensors (such as radar, lidar, camera, etc.) to achieve perception and understanding of the surrounding environment.

[0037] Some sections with complex road conditions are generally high-risk sections for traffic accidents. The main reasons can be attributed to the following two points: First, due to the restrictions of the terrain, the driver's vision is easily blocked and it is impossible to judge the driving conditions of the oncoming vehicle; second, the lanes on the road are generally narrow. In order to ensure safety, the driver tends to drive in the middle of the road and occupy part of the oncoming lane. At this time, if the oncoming vehicle is often too late to avoid it, a collision may occur. Therefore, V2X communication technology can be applied to sections with complex road conditions. Through V2X communication between the vehicle and the roadside terminal equipment corresponding to the section, active warning can be achieved, and corresponding warning information can be generated to improve the driving experience.

[0038] Figure 1 FIG. 1 is a schematic diagram of an implementation environment of a driving warning system according to an exemplary embodiment of the present application. Figure 1 As shown, during the driving process of the vehicle, when the vehicle reaches the preset road section, a V2X message is sent to the roadside terminal device 120 within the preset road section through the smart terminal 110, wherein the V2X message includes the operating condition information of the vehicle, and then the roadside terminal device 120 generates a traffic condition information for the operating condition information of the vehicle in the current preset road section and the road information corresponding to the preset road section, and sends the traffic condition information to the smart terminal 110. Then, when the smart terminal 110 receives the traffic condition information, it determines the driving warning level of the vehicle in combination with the vehicle's own operating condition information, and then generates a corresponding driving warning message based on the driving warning level to assist the driver in avoiding driving safety problems in advance.

[0039] in, Figure 1 The smart terminal 110 shown can be any terminal device that supports the installation of navigation map software, such as a smart phone, a car computer, a tablet computer, a laptop computer, or a wearable device, but is not limited thereto.

[0040] In current driving scenarios, roadside warning devices are mainly used, such as convex mirrors, LED electronic display boards, video surveillance prompts and other warning signs. These methods require subjective judgment and are easily ignored by drivers. With the continuous advancement of intelligent assisted driving, how to actively provide driving warnings is an urgent problem to be solved.

[0041] The above-mentioned problems are generally applicable in common travel scenarios. To solve these problems, the embodiments of the present application respectively propose a driving warning method, a driving warning device, an electronic device, a computer-readable storage medium, and a computer program product, which will be described in detail below.

[0042] See also Figure 2 , Figure 2 is a flow chart of a driving warning method shown in an exemplary embodiment of the present application. The method can be applied to Figure 1 The implementation environment shown is specifically executed by the smart terminal 110 in the implementation environment. It should be understood that the method can also be applied to other exemplary implementation environments and be specifically executed by devices in other implementation environments. This embodiment does not limit the implementation environment to which the method is applicable.

[0043] like Figure 2 As shown, in an exemplary embodiment, the specific implementation process of the driving warning method includes at least steps S210 to S240, which are described in detail as follows:

[0044] Step S210: If the vehicle arrives within the preset road section, a V2X message is sent to the roadside terminal device, and the V2X message includes the corresponding operating condition information of the vehicle.

[0045] It should be noted that the preset road section range can be understood as a road section with complex road conditions, among which the road sections with complex road conditions usually include various types. These road sections increase the difficulty of driving and increase safety hazards due to various reasons such as road conditions, traffic flow, and environmental factors. For example, deformed intersections: such as intersections with five or more roads, double intersections within a short distance, etc., these intersections are prone to traffic congestion and accidents due to the complex way of road intersection and diverse traffic flow. Intersections with obstructed vision: due to obstructions such as buildings and trees that affect the driver's vision, it is difficult to observe the situation of oncoming vehicles, increasing the risk of traffic accidents. Special sections: sharp bends: the road curvature is large, and the driver needs to adjust the direction quickly, which is easy to cause the vehicle to lose control or roll over; narrow roads and narrow bridges: the road width is limited, which limits the vehicle's passage space and increases the difficulty of meeting and overtaking; steep slopes: when going up and down the slope, the vehicle needs to overcome the influence of gravity or gravity acceleration, which puts higher requirements on the driver's driving skills; ice and snow, muddy roads: the road surface is slippery, the friction is reduced, and it is easy to cause the vehicle to slip or lose control, and other sections with complex road conditions.

[0046] For example, when a vehicle reaches the preset road section, the V2X (Vehicle to Everything) message sent to the roadside terminal device contains very detailed and diverse working condition information corresponding to the vehicle, which is crucial to improving the safety and efficiency of road traffic. The following are some working condition information that may be included in the V2X message: Basic Safety Message (BSM): Vehicle location: including the latitude and longitude coordinates of the vehicle so that other vehicles and infrastructure can understand the specific location of the vehicle; Speed: the current speed of the vehicle; Heading angle: the current direction of the vehicle; Acceleration: the acceleration or deceleration state of the vehicle; Vehicle size and type: such as length, width, height and vehicle type (such as cars, trucks, buses, etc.), which helps other vehicles assess relative positions and potential collision risks; Emergency status information: such as the status of the double flash lights and brake lights, indicating whether the vehicle is in an emergency state. Roadside Unit Message (RSM, Road Safety Message): Roadside safety events: such as vehicle accidents, vehicle abnormalities, foreign objects intruding, etc., this information is detected by the roadside unit (RSU) through sensors and broadcast to surrounding vehicles; Roadside Traffic Message (RSI, Road Side Information): Traffic events: such as road construction, speed limit signs, speeding warnings, bus lane warnings, etc., this information is also broadcast by the RSU to remind drivers to pay attention to changes in road conditions; Signal Phase and Timing Message (SPAT, Signal Phase and Timing Message): Signal light status: including the status of the signal lights (red, yellow, green) at one or more intersections and their remaining time, to help vehicles plan their routes and speeds; Map Message (MAP, Map Message): Surrounding map information: including lane information, road section information, road node information, etc., to provide vehicles with detailed navigation and location references; Other working condition information: Vehicle status: such as engine speed, battery power, tire pressure, etc., this information is also crucial for the maintenance and safety of the vehicle itself. Driver behavior: such as whether the driver is wearing a seat belt or driving while fatigued. Although this information may not be directly transmitted through V2X messages, it may be part of internal monitoring in some advanced driver assistance systems (ADAS).

[0047] Step S220, receiving traffic condition information returned by the roadside terminal device, the traffic condition information is determined based on the operating condition information of the vehicle within the preset road section and the road information corresponding to the preset road section.

[0048] Specifically, the roadside terminal equipment will receive operating condition information sent from all vehicles within its communication range, where the operating condition information includes the vehicle's position, speed, heading angle, acceleration, vehicle size and type, emergency information, etc. At the same time, the roadside terminal equipment will also obtain the road information of the preset section, such as road type, number of lanes, intersection location, and traffic light status. Then, the roadside terminal equipment will summarize the data it receives and obtains to obtain the traffic condition information within the preset section, and the traffic condition information is also returned through V2X communication. In addition, the vehicles within the preset section report their own operating condition information to the roadside terminal equipment at a preset frequency, and the roadside terminal equipment also collects the road information of the preset section at a preset frequency, thereby realizing real-time update of the traffic condition information of the preset section.

[0049] Exemplarily, when a vehicle sends a basic safety message (BSM) containing its operating condition information to a roadside terminal device (such as a roadside unit RSU), the roadside terminal device will receive and process this information, and at the same time, combine the operating condition information of other vehicles and the road information corresponding to the preset road section to determine and return the traffic condition information to the vehicle. For example, the roadside terminal device will process and analyze the collected information in real time, including vehicle position tracking, speed prediction, driving trajectory prediction, etc. By comparing the relative position and speed between vehicles, the potential collision risk can be evaluated. Combining road information and traffic light status, future traffic flow and congestion can be predicted. Based on the above processing results, the roadside terminal device will evaluate the current traffic conditions, including identifying accident-prone areas, congested sections, construction areas, etc. It will also evaluate the driving safety and efficiency of the vehicle, such as whether there is enough space to overtake or change lanes, whether it is necessary to slow down and wait for the traffic light at a certain intersection, etc. Then, the roadside terminal device will broadcast the evaluated traffic condition information to all vehicles within its communication range through V2X communication. This information may be sent in the form of RSM (Roadside Safety Message), RSI (Roadside Traffic Message) or other customized messages. The receiving vehicles can adjust their driving strategies according to the traffic condition information, such as slowing down, avoiding congested roads, planning driving routes in advance, etc.

[0050] Step S230, determining the vehicle's driving warning level based on the vehicle's operating condition information and traffic condition information.

[0051] Step S240: generating a vehicle driving warning message based on the driving warning level.

[0052] Specifically, collect the vehicle's operating information, including speed, acceleration, position, heading angle, vehicle size and type, emergency information, etc. At the same time, obtain the traffic condition information returned by the roadside terminal equipment, including road congestion, accident-prone areas, construction areas, traffic light status, driving trajectories and speeds of other vehicles, etc. Analyze the matching degree between the vehicle's current status and the traffic environment. For example, if the vehicle approaches a congested section or an accident-prone area while driving at high speed, the risk will increase. Evaluate the relative position and speed between the vehicle and other traffic participants (such as other vehicles, pedestrians, and non-motor vehicles) to predict potential collision risks. Consider the impact of road conditions on driving safety, such as driving risks under slippery roads and low visibility. According to the results of risk assessment, the driving warning level is divided into different levels, such as green (safety), yellow (attention), orange (warning) and red (emergency). The green level indicates that the current driving environment is relatively safe and there are no obvious risk factors; the yellow level indicates that the driver needs to pay more attention and pay attention to potential risk factors; the orange level indicates that there is a higher risk and the driver needs to take preventive measures, such as slowing down and changing lanes; the red level indicates an emergency and the driver needs to take immediate action to avoid an accident. According to the determined driving warning level, warning information is issued to the driver through the on-board display screen, sound prompts or vibration feedback, etc. The warning information should clearly point out the potential risk factors and recommended countermeasures.

[0053] In addition, during driving, the vehicle's operating condition information and traffic conditions are continuously monitored, and the driving warning level is updated based on real-time data. If the risk factors are reduced or eliminated, the warning level can be lowered accordingly; if the risk factors increase or new risk factors emerge, the warning level needs to be increased.

[0054] In this embodiment, when the vehicle reaches the preset road section, a V2X message is sent to the roadside terminal device, and the V2X message includes the corresponding operating condition information of the vehicle, so that the roadside terminal device can determine the operating condition information of the vehicle through V2X communication, and the real-time and accuracy of information transmission can be improved. Then, the vehicle side receives the operating condition information of all vehicles within the preset road section and the traffic condition information summarized from the road information of the preset road section returned by the roadside terminal device, so that the vehicle side knows the road traffic conditions in advance, and then determines the warning level of driving according to the road traffic conditions and its own operating condition information, thereby realizing active warning, and generating corresponding warning information to improve the driving experience, avoid traffic accidents on complex road sections, enhance emergency response capabilities, and improve the intelligence of driving warnings.

[0055] Further, based on the above embodiment, please refer to Figure 3In one of the exemplary embodiments provided in this application, the specific implementation process of the above-mentioned driving warning may also include step S310 and step S320, which are described in detail as follows:

[0056] Step S310: If the traffic condition information determines that the vehicle is in a state of entering a preset road section, a driving direction relationship between the vehicle and other vehicles within a preset range is determined based on the traffic condition information.

[0057] Step S320, determining the vehicle's driving warning level based on the driving direction relationship.

[0058] Specifically, when the traffic condition information determines that the vehicle is in the state of entering the preset road section, in order to ensure safe and smooth driving, it is necessary to further determine the driving direction relationship between the vehicle and other vehicles within the preset range based on the current traffic condition information. First, the size and shape of the preset range need to be clarified. This range is usually set based on factors such as the vehicle's driving speed, road type, and traffic flow, and is intended to cover areas that may affect the vehicle's driving. Through roadside terminal equipment (such as RSU) or V2X communication between vehicles, the working condition information of other vehicles within the preset range is collected, including position, speed, heading angle, etc. At the same time, traffic condition information such as road conditions and traffic light status should also be considered. Using the collected information, the relative position between the vehicle and other vehicles is located. The driving direction of the vehicle and the driving direction of other vehicles are analyzed to determine whether there is a relationship such as crossing, parallel or following between them. The distance and relative speed between the vehicle and other vehicles are calculated to assess the potential risk of collision. Based on the above analysis, the driving direction relationship between the vehicle and other vehicles within the preset range is clarified. This may include: front and rear relationship: the vehicle travels in front and behind other vehicles in the same lane; parallel relationship: the vehicle travels parallel to other vehicles in the same lane or adjacent lanes; crossing relationship: the vehicle needs to cross with other vehicles in different lanes or intersections; avoidance relationship: the vehicle needs to avoid certain specific vehicles (such as emergency vehicles, construction vehicles, etc.).

[0059] Exemplarily, necessary warning and guidance information is provided to the driver based on the determined driving direction relationship. For example, if it is detected that a vehicle ahead is slowing down or stopping, the driver can be reminded to slow down or prepare to change lanes; if it is detected that the traffic conditions at the intersection are complex, the driver can be reminded to pay attention to traffic signals and the driving conditions of surrounding vehicles. During the driving process of the vehicle, the changes in traffic condition information are continuously monitored, and the driving direction relationship between the vehicle and other vehicles is updated based on real-time data. If new risk factors are found or driving conditions change, the warning and guidance information is adjusted in a timely manner to ensure that the driver can make correct driving decisions.

[0060] In this embodiment, the driving direction relationship between the garage and other vehicles is determined by determining the driving state of the vehicle, which is beneficial to improving driving safety. Traffic flow can be optimized according to the driving direction relationship, the driver's driving experience can be enhanced, active warning can be achieved, and driving safety can be improved.

[0061] Further, based on the above embodiment, please refer to Figure 4 In one of the exemplary embodiments provided in the present application, the specific implementation process of the above-mentioned driving warning method may also include steps S410 to S440, which are described in detail as follows:

[0062] Step S410, obtaining the target vehicle closest to the vehicle within the preset road section.

[0063] Specifically, the working condition information of all vehicles within the preset road section, especially their location information, is collected through roadside terminal equipment (such as RSU) or V2X communication between vehicles. This information should include the vehicle's unique identifier (such as license plate number or vehicle ID), location coordinates (latitude and longitude), speed, etc. Among all candidate vehicles, find the one with the shortest distance to the main vehicle. This vehicle is the target vehicle closest to the main vehicle. If there are multiple vehicles with the same and shortest distance to the main vehicle, one of them can be selected as the target vehicle based on other factors (such as speed, driving direction, vehicle type, etc.).

[0064] Step S420: extracting the operating condition information corresponding to the target vehicle from the traffic condition information.

[0065] Specifically, to extract the operating condition information corresponding to the target vehicle from the traffic condition information, you first need to make sure that you have determined which vehicle is the target vehicle (that is, the vehicle closest to the vehicle). Once the target vehicle is determined, you can then retrieve and extract the operating condition information of the vehicle from the traffic condition information database.

[0066] Furthermore, since the operating condition information corresponding to the target vehicle can be extracted from the traffic status information according to the identity identifier corresponding to the target vehicle, the operating condition information generally includes but is not limited to: the size and type of the target vehicle: such as length, width, height and target vehicle type (such as cars, trucks, buses, etc.), position (latitude and longitude), speed, acceleration, heading angle, vehicle size, vehicle type, emergency signs (such as whether the brake lights are on), vehicle light status (such as turn signals, low beams, high beams), etc.

[0067] Step S430, determining a collision time between the vehicle and the target vehicle based on the target vehicle's operating condition information, road information, and the vehicle's operating condition information;

[0068] Step S440: determining the vehicle's driving warning level based on the collision time.

[0069] Specifically, according to the target vehicle working condition information: including position (latitude and longitude), speed, acceleration, heading angle, etc., road information: including road type (such as highways, urban streets), number of lanes, lane width, road curvature, slope, traffic signs and markings, etc., and vehicle working condition information: position, speed, acceleration, heading angle, etc., as well as parameters such as vehicle braking performance and acceleration performance. Determine the relative distance and relative speed between the vehicle and the target vehicle. This can be achieved through simple vector operations, that is, subtracting the position vectors of the two vehicles to obtain the relative position vector, and subtracting the velocity vectors of the two vehicles to obtain the relative velocity vector. Among them, if the road has curvature or slope, these factors need to be taken into account. Curvature affects the vehicle's driving trajectory, and slope affects the vehicle's acceleration and braking performance. The calculation of relative speed and relative position is adjusted according to road information to more accurately reflect the actual driving situation. The relative speed and relative distance are used to calculate the time to collision (TTC). TTC refers to when the two vehicles will collide if they keep their current speed and direction unchanged. TTC = relative distance / relative speed (pay attention to the processing speed and direction vector) If the relative speed is close to zero or in the opposite direction, other factors (such as vehicle braking performance) may need to be considered to assess the potential risk of collision. The driving warning level can be divided into different levels according to the collision time (TTC) and preset thresholds, such as green (safety), yellow (attention), orange (warning) and red (emergency). These thresholds can be adjusted according to factors such as road type, traffic flow, weather conditions, etc.

[0070] In this embodiment, by acquiring in real time the target vehicle closest to the current vehicle in a preset road section and accurately calculating the collision time based on the operating information and road information of both vehicles, the driver can be provided with a warning in a timely manner, effectively avoiding or reducing potential collision accidents, and significantly improving road driving safety.

[0071] Further, based on the above embodiment, please refer to Figure 5 In one of the exemplary embodiments provided in the present application, the operating condition information includes vehicle speed and current geographic information, and the specific implementation process of the driving warning method may also include steps S510 to S530, which are described in detail as follows:

[0072] Step S510, determining a collision time between the vehicle and the target vehicle based on the vehicle speed and current geographic information of the vehicle and the vehicle speed and current geographic information of the target vehicle;

[0073] Step S520: if the collision time is less than the preset collision time threshold, the driving warning level is determined to be the first warning level;

[0074] Step S530: If the collision time is greater than or equal to the preset collision time threshold, the driving warning level is determined to be the second warning level, wherein the risk value of the first warning level is greater than the risk value of the second warning level.

[0075] Specifically, in a preset road section, the vehicle is recorded as HV, and other vehicles in the preset road section are recorded as RV (remote vehicle), where V hv is the vehicle speed, V rv is the speed of other vehicles, if V hv is positive, V rv To determine that RV and HV are driving in opposite directions, calculate the distance between HV and RV using the longitude and latitude coordinates:

[0076]

[0077] Where R is the radius of the earth, α is the absolute value of the latitude difference between HV and RV, β is the absolute value of the longitude difference between HV and RV, rLat0 and rLat1 are the latitude radians of HV and RV, and the RV closest to HV is found as a potential collision object for analysis.

[0078] Calculate the collision time using the speed and distance of the HV and RV:

[0079] T c-rev =D hv-rv / (V hv +V rv )

[0080] According to T c-rev Collision time for anti-collision warning classification: If T c-rev <T c-th , the risk of oncoming collision is judged to be high, and the oncoming collision warning level is output; if T c-rev ≥T c-th , the risk of oncoming collision is judged to be low, and the collision warning level is output to be high, where T c-th The driver's braking reaction time is configured. In some feasible embodiments, the driver's braking reaction time can be recorded as 2s.

[0081] In some possible embodiments, V hv is the vehicle speed, V rv is the speed of other vehicles, if V hv is positive, V rv If it is negative, it is determined that the vehicle and other vehicles are traveling in the same direction, and the HV is entering the curve, and the RV is exiting the curve. At this time, if the RV is slow or stops near the curve, there is also a risk of collision. Therefore, anti-collision warning is also required, and the distance is calculated using the latitude and longitude information:

[0082]

[0083] Where R is the radius of the earth, is the absolute value of the latitude difference between HV and RV, is the absolute value of the longitude difference between HV and RV, rLat0 and rLat1 are the latitude radians of HV and RV, and the vehicle closest to HV is found as a potential collision object for analysis.

[0084] Furthermore, in this case, it is also necessary to determine V rv +V hv If V rv +V hv ﹤0, it is considered that there is no collision risk between RV and HV; if V rv +V hv > 0, it is necessary to further calculate the collision time. For example, the collision time can be calculated according to the following formula:

[0085] T c-ord =D hv-rv / (V hv +V rv )

[0086] Furthermore, according to T c-ord Collision time for anti-collision warning classification: If T c-ord <T c-th , the same-direction collision risk is determined to be high, and the oncoming collision warning level is output; if T c-ord ≥T c-th , the same-direction collision risk is judged to be low, and the collision warning level is output to be high, where T c-th The driver's braking reaction time is configured. In some feasible embodiments, the driver's braking reaction time can be recorded as 2s.

[0087] Exemplarily, the relative speed and relative distance between the vehicles are calculated using the speed and current geographic information of the vehicle and the speed and current geographic information of the target vehicle. The relative speed and relative distance are used to calculate the time to collision (TTC), that is, when the two vehicles will collide if they keep their current speed and direction unchanged. A preset collision time threshold is set, and this threshold can be adjusted according to factors such as road type, traffic flow, weather conditions, etc. The calculated collision time is compared with the preset collision time threshold. If the collision time is less than the preset collision time threshold: this means that the risk of collision between the two vehicles is relatively low, so the driving warning level can be set to the first warning level (low risk level). At this level, basic attention information can be provided to the driver, but no overly urgent warning is required. If the collision time reaches or is lower than the preset collision time threshold: this means that the risk of collision between the two vehicles is high and requires higher vigilance. Therefore, the driving warning level should be set to the second warning level (high risk level). At this level, more urgent and clear warning information should be provided to the driver, such as sound alarms, strong visual prompts or vibration feedback, to prompt him to take evasive measures immediately.

[0088] In this embodiment, by calculating the collision time between the vehicle and the target vehicle in real time, the system can instantly assess the current driving risk. This real-time feature enables the driver to obtain an early warning before the potential danger occurs, so that there is enough time to react and avoid or mitigate the collision accident. Different early warning levels (such as the first early warning level and the second early warning level) are set to distinguish the degree of risk according to the urgency of the collision time. This graded early warning mechanism can more accurately reflect the driving risk, allowing the driver to take corresponding risk avoidance measures according to different levels of early warning.

[0089] Further, based on the above embodiments, please refer to Figure 6 In one of the exemplary embodiments provided in the present application, the operating condition information includes the vehicle head azimuth, and the specific implementation process of the driving warning method further includes step S610 and step S620, which are described in detail as follows:

[0090] Step S610, determining the driving orientation relationship between the vehicle and other vehicles based on the vehicle head orientation angle and the vehicle head orientation angle of other vehicles;

[0091] Step S620: determine whether the vehicle is in collision with other vehicles based on the driving orientation relationship.

[0092] Specifically, taking the preset road section as a curve as an example, the driving status of the HV and RV is determined by using the head azimuths of the HV and RV broadcast by the roadside terminal (RSU), and then determining whether there is a collision risk between the HV and RV. Note that α hv is the azimuth angle of the HV head, αrv Denote as the RV's front azimuth, the judgment rule is as follows: if α hv and α rv In the same quadrant of the coordinate system, such as Fig. 7A As shown (only the first quadrant is shown for example), it is considered that the HV and RV are traveling on the same side of the curve and in the same direction, there is no risk of collision, and no warning is required; if α hv and α rv They are located in the first and third quadrants of the coordinate system or in the second and fourth quadrants respectively, such as Figure 7B As shown (only the first and third quadrants are shown for example), it is considered that the vehicles are traveling in opposite directions on the same side of the curve, there is no risk of collision, and no warning is required; if α hv and α rv The adjacent quadrants of the coordinate system are respectively located in the first and second quadrants or the first and fourth quadrants or the second and third quadrants or the third and fourth quadrants, such as Figure 7C As shown, it is considered that the HV and RV are located on both sides of the curve, there is a risk of collision, and anti-collision warning analysis is required.

[0093] For example, the vehicle head direction angle refers to the angle between the vehicle head direction and a reference direction (such as true north). This can usually be obtained through the vehicle's navigation system or sensors (such as gyroscopes and magnetometers). Using the head direction angles of the vehicle and the target vehicle, the relative direction between them can be calculated. This helps to understand whether the two vehicles are traveling in the same direction or whether they are crossing each other.

[0094] The driving orientation relationship between the two vehicles can be determined by simple angle difference calculation or vector analysis. For example, if the head orientation angles of the two vehicles differ very little (within a preset threshold), they may be traveling in the same direction; if the difference is large, they may be crossing or traveling opposite each other. Based on the driving orientation relationship, it is further determined whether there is a potential risk of collision between the vehicle and the target vehicle. This usually requires consideration of the relative position, speed, acceleration, and road conditions of the two vehicles (such as lane width, whether there are obstacles, etc.). If the driving orientation relationship indicates that the two vehicles may be in the same lane and have a relatively fast relative speed, or they are at an intersection and their driving trajectories may intersect, there is a risk of collision.

[0095] In this embodiment, by acquiring the vehicle's front azimuth in real time, the system can accurately determine the relative position and driving direction of the vehicles, which helps the system quickly identify whether there is a potential collision risk. Once it is determined that there is a collision relationship between the vehicles, the system can immediately issue a corresponding warning signal based on the driving direction relationship. This early warning mechanism provides the driver with sufficient time to react, thereby effectively avoiding or mitigating collision accidents.

[0096] Further, based on the above embodiment, in one of the exemplary embodiments provided in the present application, the specific implementation process of the above driving warning method may also include the following steps, which are described in detail as follows:

[0097] Determine the quadrant relationship between the front azimuth angle of the vehicle and the front azimuth angles of the other vehicles in a preset coordinate system;

[0098] If the quadrant relationship satisfies the preset collision condition, it is determined that the vehicle has a collision relationship with another vehicle.

[0099] Specifically, whether there is a collision risk can be determined based on the quadrant relationship between the front azimuth of the vehicle and the azimuths of other vehicles in the preset road. For example, the azimuth quadrant range can be defined as follows: first quadrant: 0-90 degrees, second quadrant: 90-180 degrees, third quadrant: 180-270 degrees, third quadrant: 270-360 degrees. If the quadrant relationship between the front azimuth of the vehicle and the front azimuth of other vehicles meets the preset collision condition, it is determined that there is a collision relationship between the vehicle and the other vehicles. Exemplarily, in some feasible embodiments, if the vehicle and the other vehicles are respectively located in adjacent quadrants of the coordinate system, namely the first quadrant and the second quadrant or the first quadrant and the fourth quadrant or the second quadrant and the third quadrant or the third quadrant and the fourth quadrant, it is considered that the vehicle and the other vehicles are located on both sides of the curve, there is a risk of collision, and anti-collision warning analysis is required.

[0100] In addition, multiple factors can be taken into consideration to assess the risk of collision, including but not limited to: the relative speed and acceleration of the two vehicles, the relative positions and driving trajectories of the two vehicles, road conditions such as lane width, whether there are obstacles, traffic signals, etc., and the driver's intention and reaction time.

[0101] In this embodiment, through the quadrant relationship between the vehicle and the preset vehicle, it is possible to more accurately identify which vehicles' driving directions may cause a collision. Once it is determined that there is a potential collision relationship between the vehicles, a warning signal can be immediately issued to alert the driver. This early warning mechanism provides drivers with more reaction time, helping them to take timely measures to avoid collision accidents. In addition, through continuous warning prompts, the system can also enhance the driver's safety awareness and make them pay more attention to the surrounding traffic environment, thereby reducing the risk of traffic accidents caused by negligence.

[0102] Further, based on the above embodiments, please refer to Figure 8 In one of the exemplary embodiments provided in the present application, the specific implementation process of the above-mentioned driving warning method may also include steps S810 to S830, which are described in detail as follows:

[0103] Step S810, obtaining a plurality of traffic condition information returned by a roadside terminal device within a preset time;

[0104] Step S820, determining multiple distance values ​​between the vehicle and the roadside terminal device based on the location information of the roadside terminal device in the multiple traffic condition information and the working condition information of the vehicle;

[0105] Step S830: If the multiple distance values ​​decrease with time within the preset time period, it is determined that the vehicle is in a state of entering a preset road section.

[0106] Specifically, when the vehicle is near a curve, V2X technology is used to send the vehicle's HV (host vehicle) information: vehicle longitude and latitude, vehicle head azimuth, and vehicle speed information to the roadside terminal device (RSU). The vehicle head azimuth is defined as: 0 degrees represents the north direction, and the angle is clockwise. In order to ensure that the roadside terminal device (RSU) can effectively receive vehicle information on both sides of the curve, the installation position of the roadside terminal device (RSU) is selected at the top of the curve. After the roadside terminal device (RSU) summarizes the vehicle information near the curve, it processes the speed. First, it determines whether the vehicle is entering or exiting the curve, and then superimposes the vehicle's speed information. The vehicle's curve situation can be judged by the change in the distance between the vehicle and the roadside terminal device (RSU), as follows:

[0107] Calculate the distance D between HV and RSU hv-rsu , the formula is as follows: hv-rsu

[0108]

[0109] Where R is the radius of the earth, α is the absolute value of the latitude difference between the vehicle and the roadside terminal device, β is the absolute value of the longitude difference between the vehicle and the roadside terminal device, rLat0 and rLat1 are the latitude radians of the vehicle and the roadside terminal device;

[0110] Compare multiple message cycles D hv-rsu If D hv-rsu As the speed V hv The mark is positive; otherwise, it is determined that the vehicle is out of the curve, and the vehicle speed V hv Marked as negative.

[0111] Exemplarily, multiple traffic condition information within a preset time period is collected from the roadside terminal equipment. This information may include but is not limited to vehicle flow, speed, road occupancy, pedestrian activities, and possible other traffic events. Next, the system needs to use the acquired location information of the roadside terminal equipment and the vehicle's operating information (such as GPS location, speed, direction, etc.) to calculate the distance between the vehicle and each relevant roadside terminal equipment. The vehicle's operating information can be obtained through on-board sensors, GPS systems, or communication between vehicles and traffic management systems. Through calculation, multiple distance values ​​between the vehicle and multiple roadside terminal equipment can be obtained. Within a preset time period, the system needs to continuously monitor and calculate the distance value between the vehicle and the roadside terminal equipment. If multiple distance values ​​decrease over time during this time period, this usually means that the vehicle is gradually approaching these roadside terminal equipment. It should be noted that in order to make an accurate judgment, the speed and direction of the vehicle may need to be considered to ensure that the decrease in the distance value is due to the vehicle moving to the preset road section rather than other factors (such as the movement of the roadside terminal equipment or the temporary parking of the vehicle).

[0112] If within a preset time period, multiple distance values ​​between the vehicle and multiple roadside terminal devices decrease over time, and this decreasing trend is consistent with the direction in which the vehicle moves toward the preset road section, it can be determined that the vehicle is in a state of entering the preset road section.

[0113] In this embodiment, traffic condition information, including vehicle flow, speed, road status, etc., is collected in real time through roadside terminal equipment, providing timely and accurate data support for traffic monitoring and management. When the system determines that a vehicle is about to enter a preset section of road, it can send a warning message to the driver in advance to remind them to pay attention to traffic safety or adjust traffic management strategies.

[0114] Fig. 9It is a schematic diagram of a simple process of driving warning in a navigation interface under an exemplary application scenario. In the application scenario shown in 9, if the vehicle arrives within the preset road section, a V2X message is sent to the roadside terminal device, and the V2X message includes the working condition information corresponding to the vehicle; the traffic condition information returned by the roadside terminal device is received, and the traffic condition information is determined based on the working condition information of the vehicle within the preset road section and the road information corresponding to the preset road section; if the traffic condition information determines that the vehicle is in the state of entering the preset road section, the driving direction relationship between the vehicle and other vehicles within the preset range is determined based on the traffic condition information; the quadrant relationship between the vehicle's front azimuth and the front azimuth of other vehicles in the preset coordinate system is determined; if the quadrant relationship meets the preset collision condition, it is determined that the vehicle has a collision relationship with the other vehicles. . Obtain the target vehicle closest to the vehicle within the preset road section; extract the working condition information corresponding to the target vehicle from the traffic condition information; determine the collision time between the vehicle and the target vehicle based on the working condition information, road information and working condition information of the target vehicle; determine the driving warning level of the vehicle based on the collision time. For the detailed implementation process, please refer to the records in the aforementioned embodiments, which will not be described in detail here.

[0115] Fig.10 is a block diagram of a vehicle warning device shown in an exemplary embodiment of the present application. The device can be applied to Figure 1 The implementation environment shown is specifically configured in the intelligent terminal 110. The device may also be applicable to other exemplary implementation environments and specifically configured in other devices. This embodiment does not limit the implementation environment applicable to the device.

[0116] like Fig.10 As shown, the exemplary driving warning device includes: a sending module 1010, which is used to send a V2X message to a roadside terminal device if the vehicle arrives within a preset road section, and the V2X message includes the operating condition information corresponding to the vehicle; a receiving module 1020, which is used to receive traffic condition information returned by the roadside terminal device, and the traffic condition information is determined based on the operating condition information of the vehicle within the preset range and the road information corresponding to the preset road section; a determining module 1030, which is used to determine the vehicle's driving warning level based on the vehicle's operating condition information and traffic condition information; a generating module 1040, which is used to generate a driving warning message for the vehicle based on the driving warning level.

[0117] According to one aspect of an embodiment of the present application, the above-mentioned determination module 1030 is also used to, if the traffic condition information determines that the vehicle is in a state of entering a preset road section, determine the driving direction relationship between the vehicle and other vehicles within a preset range based on the traffic condition information; and determine the vehicle's driving warning level based on the driving direction relationship.

[0118] According to one aspect of an embodiment of the present application, the above-mentioned determination module 1030 is also used to obtain the target vehicle that is closest to the vehicle within a preset road section; extract the operating condition information corresponding to the target vehicle from the traffic condition information; determine the collision time between the vehicle and the target vehicle based on the operating condition information of the target vehicle, road information and the operating condition information of the vehicle; and determine the vehicle's driving warning level based on the collision time.

[0119] According to one aspect of an embodiment of the present application, the above-mentioned generation module 1040 is also used to determine the collision time between the vehicle and the target vehicle based on the vehicle speed and current geographic information and the target vehicle speed and current geographic information; if the collision time is less than a preset collision time threshold, the driving warning level is determined to be the first warning level; if the collision time is greater than or equal to the preset collision time threshold, the driving warning level is determined to be the second warning level, wherein the risk value of the first warning level is greater than the risk value of the second warning level.

[0120] According to one aspect of an embodiment of the present application, the above-mentioned determination module 1030 is also used to determine the driving orientation relationship between the vehicle and other vehicles based on the vehicle's front azimuth angle and the front azimuth angles of other vehicles; and to determine whether there is a collision relationship between the vehicle and other vehicles based on the driving orientation relationship.

[0121] According to one aspect of an embodiment of the present application, the above-mentioned determination module 1030 is also used to determine the quadrant relationship between the vehicle's front azimuth angle and the front azimuth angles of other vehicles in a preset coordinate system; if the quadrant relationship meets the preset collision condition, it is determined that the vehicle has a collision relationship with the other vehicles.

[0122] According to one aspect of an embodiment of the present application, the above-mentioned driving warning device also includes: an acquisition module, which is used to obtain multiple traffic condition information returned by the roadside terminal equipment within a preset time; a distance determination module, which is used to determine multiple distance values ​​between the vehicle and the roadside terminal equipment based on the location information of the roadside terminal equipment and the operating condition information of the vehicle in the multiple traffic condition information; a state determination module, which is used to determine that the vehicle is in a state of entering a preset road section if the multiple distance values ​​decrease over time within a preset time period.

[0123] It should be noted that the traffic warning device provided in the above embodiment and the traffic warning method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment, and will not be repeated here. In actual application, the traffic warning device provided in the above embodiment can distribute the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0124] An embodiment of the present application also provides an electronic device, including: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by one or more processors, the electronic device implements the driving warning method provided in the above-mentioned embodiments.

[0125] Fig.11 The structure diagram of the computer system suitable for implementing the electronic device of the embodiment of the present application is shown. It should be noted that: Fig.11 The computer system 1100 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0126] like Fig.11 As shown, the computer system 1100 includes a central processing unit (CPU) 1101, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1102 or the program loaded from the storage part 1108 to the random access memory (RAM) 1103, such as executing the method in the above embodiment. In the RAM 1103, various programs and data required for system operation are also stored. The CPU 1101, the ROM 1102 and the RAM 1103 are connected to each other through the bus 1104. The input / output (I / O) interface 1105 is also connected to the bus 1104.

[0127] The following components are connected to the I / O interface 1105: an input section 1106 including a keyboard, a mouse, etc.; an output section 1107 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1108 including a hard disk, etc.; and a communication section 1109 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 1109 performs communication processing via a network such as the Internet. A drive 1110 is also connected to the I / O interface 1105 as needed. A removable medium 1111, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1110 as needed so that a computer program read therefrom is installed into the storage section 1108 as needed.

[0128] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program 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 section 1109, and / or installed from a removable medium 1111. When the computer program is executed by a central processing unit (CPU) 1101, various functions defined in the system of the present application are executed.

[0129] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can 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), a 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 the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. This propagated data signal can take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0130] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, 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 box can also occur in a different order from the order marked in the accompanying drawings. For example, two 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 box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart 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.

[0131] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0132] Another aspect of the present application also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the driving warning method as described above is implemented. The computer-readable storage medium can be included in the electronic device described in the above embodiment, or it can exist independently without being assembled into the electronic device.

[0133] Another aspect of the present application also provides a computer program product or a computer program, which includes a computer instruction stored in a computer-readable storage medium. A processor of a computer device reads the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes the driving warning method provided in each of the above embodiments.

[0134] The above content is only a preferred exemplary embodiment of the present application and is not intended to limit the implementation scheme of the present application. A person skilled in the art can easily make corresponding changes or modifications based on the main concept and spirit of the present application. Therefore, the scope of protection of the present application shall be based on the scope of protection required by the claims.

Claims

1. A driving warning method, characterized in that: include: If the vehicle reaches the preset road section, a V2X message is sent to the roadside terminal device, and the V2X message includes the working condition information corresponding to the vehicle; Receiving traffic condition information returned by the roadside terminal device, the traffic condition information being determined based on operating condition information of vehicles within the preset road section and road information corresponding to the preset road section; Determining a driving warning level of the vehicle based on the operating condition information of the vehicle and the traffic condition information; A driving warning message for the vehicle is generated based on the driving warning level.

2. The method according to claim 1, characterized in that The method further comprises: If the traffic condition information determines that the vehicle is in the state of entering the preset road section, determining the driving direction relationship between the vehicle and other vehicles within the preset range based on the traffic condition information; A driving warning level of the vehicle is determined based on the driving direction relationship.

3. The method according to claim 2, characterized in that The method further comprises: Acquire a target vehicle that is closest to the vehicle within a preset road section; Extracting the operating condition information corresponding to the target vehicle from the traffic condition information; Determining a collision time between the vehicle and the target vehicle based on the operating condition information of the target vehicle, the road information, and the operating condition information of the vehicle; A driving warning level of the vehicle is determined based on the collision time.

4. The method according to claim 3, characterized in that The operating condition information includes vehicle speed and current geographic information, and the method further includes: Determining a collision time between the vehicle and the target vehicle based on the vehicle speed and current geographic information of the vehicle and the vehicle speed and current geographic information of the target vehicle; If the collision time is less than a preset collision time threshold, determining the driving warning level to be the first warning level; If the collision time is greater than or equal to a preset collision time threshold, the driving warning level is determined to be a second warning level, wherein the risk value of the first warning level is greater than the risk value of the second warning level.

5. The method according to claim 2, characterized in that The operating condition information includes the vehicle head azimuth, and the method further includes: Determining a driving orientation relationship between the vehicle and the other vehicles based on the vehicle head orientation angle and the vehicle head orientation angle of the other vehicles; Based on the driving orientation relationship, it is determined whether the vehicle has a collision relationship with the other vehicle.

6. The method according to claim 2, characterized in that The method further comprises: Determine the quadrant relationship between the front azimuth angle of the vehicle and the front azimuth angles of the other vehicles in a preset coordinate system; If the quadrant relationship satisfies a preset collision condition, it is determined that the vehicle has a collision relationship with the other vehicle.

7. The method according to claim 2, characterized in that The method further comprises: Acquire multiple traffic condition information returned by the roadside terminal device within a preset time; Determine a plurality of distance values ​​between the vehicle and the roadside terminal device based on the location information of the roadside terminal device and the operating condition information of the vehicle in the plurality of traffic condition information; If the multiple distance values ​​decrease with time within a preset time period, it is determined that the vehicle is in a state of entering the preset road section.

8. A vehicle driving warning device, characterized in that: The device comprises: A sending module, configured to send a V2X message to a roadside terminal device if the vehicle arrives within a preset road section, wherein the V2X message includes operating condition information corresponding to the vehicle; A receiving module, configured to receive traffic condition information returned by the roadside terminal device, wherein the traffic condition information is determined based on the operating condition information of all vehicles within the preset range and the road information corresponding to the preset road section; A determination module, configured to determine a driving warning level of the vehicle based on the operating condition information of the vehicle and the traffic condition information; A generating module is used to generate a driving warning message for the vehicle based on the driving warning level.

9. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, enables the electronic device to implement the driving warning method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Computer-readable instructions are stored thereon, and when the computer-readable instructions are executed by a processor of a computer, the computer is enabled to execute the traffic warning method according to any one of claims 1 to 7.

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