Vehicle collision warning method and system

Abstract

The present invention provides a vehicle collision warning method and system, the method comprising: identifying a set of pending driving vehicles based on vehicle driving images; performing a first screening on the set of pending driving vehicles based on angle information to obtain a first screened vehicle set; determining a dangerous area based on the first screened vehicle set and the heading of a target vehicle, and performing a second screening on the first screened vehicle set based on the dangerous area to obtain a second screened vehicle set; obtaining a historical driving data set of the target vehicle, dividing the behavior of the driver of the target vehicle based on the historical driving data set and determining the behavior weight; and issuing a warning based on the behavior weight, the target vehicle and the second screened vehicle set. The present invention can improve the accuracy of collision warning in one step and reduce the risk probability of collision.

Description

Technical Field

[0001] The present invention belongs to the technical field of collision warning, and in particular relates to a vehicle collision warning method and system. Background Art

[0002] During the driving process of a car, collisions between vehicles often occur. The reasons for car collisions include driver distraction, failure to brake in time, and the distance between the two vehicles being too close. Therefore, in order to avoid vehicle collisions as much as possible, existing cars will be equipped with early warning radars, laser transmitters and other equipment in the car before leaving the factory, so as to sense the distance between the target vehicle and other vehicles, and then issue an early warning of the car collision. However, the above-mentioned equipment can only issue early warnings for vehicles at a relatively small distance, and cannot effectively avoid collision warnings between the target vehicle and vehicles at a longer distance, thereby increasing the risk probability of car collisions. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a vehicle collision warning method and system, which are used to solve the technical problems in the prior art.

[0004] On the one hand, the present invention provides the following technical solution, a vehicle collision warning method, comprising:

[0005] Acquire a vehicle driving image by using a camera disposed in the target vehicle, and identify a set of pending driving vehicles based on the vehicle driving image;

[0006] Identifying angle information between the pending traveling vehicle set and the target vehicle, and performing a first screening on the pending traveling vehicle set based on the angle information to obtain a first screened vehicle set;

[0007] Identifying the headings of the first screened vehicle set and the target vehicle, determining a dangerous area based on the headings of the first screened vehicle set and the target vehicle, and performing a second screening on the first screened vehicle set based on the dangerous area to obtain a second screened vehicle set;

[0008] Acquire a historical driving data set of the target vehicle, and divide the behavior of the driver of the target vehicle based on the historical driving data set and determine the behavior weight;

[0009] An early warning is issued based on the behavior weight, the target vehicle and the second screened vehicle set.

[0010] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention first obtains a vehicle driving image through a camera arranged in a target vehicle, and identifies a set of pending driving vehicles based on the vehicle driving image; then identifies the angle information of the pending driving vehicle set and the target vehicle, and performs a first screening on the pending driving vehicle set based on the angle information to obtain a first screened vehicle set; then identifies the headings of the first screened vehicle set and the target vehicle, determines a dangerous area based on the headings of the first screened vehicle set and the target vehicle, and performs a second screening on the first screened vehicle set based on the dangerous area to obtain a second screened vehicle set; then obtains a historical driving data set of the target vehicle, divides the behavior of the driver of the target vehicle based on the historical driving data set and determines the behavior weight; finally, based on the behavior weight, the target vehicle and the second screened vehicle set, an early warning is issued. By performing two screening processes on the remaining vehicles, the present invention can effectively eliminate vehicles with no collision risk with the target vehicle, avoid irrelevant vehicles affecting the accuracy of the collision warning, and also improve the running speed of the algorithm, and by determining the behavior weight and then considering the behavioral differences of different drivers in car driving collisions, the accuracy of the collision warning can be further improved.

[0011] Preferably, the step of performing a first screening on the set of pending traveling vehicles based on the angle information to obtain a first screened vehicle set includes:

[0012] Calculate the first angle difference between the pending moving vehicle in the pending moving vehicle set and the target vehicle :

[0013] ;

[0014] In the formula, , , Respectively represent the coordinate positions of the pending vehicle, the target vehicle and the intersection, represents the inverse tangent function;

[0015] Calculate the second angle difference between the pending moving vehicle in the pending moving vehicle set and the target vehicle :

[0016] ;

[0017] In the formula, Respectively represent the compass angles of the pending moving vehicle and the target vehicle;

[0018] Determining the target position and the position of the pending vehicle entering the intersection based on a preset angle threshold, the first angle difference, and the second angle difference;

[0019] Determining whether the target vehicle and the to-be-determined vehicle's driving trajectory partially overlap based on the entry intersection position and a preset intersection rule;

[0020] If there is a partial overlap between the driving trajectories of the target vehicle and the pending vehicle, the corresponding pending vehicle will be used as the first screening vehicle and the first screening vehicle will be retained; if there is no partial overlap between the driving trajectories of the target vehicle and the pending vehicle, the corresponding pending vehicle will be used as the first safety vehicle and the first safety vehicle will be eliminated to obtain a first screening vehicle set.

[0021] Preferably, the steps of identifying the first screening vehicle set and the heading of the target vehicle, determining a dangerous area based on the first screening vehicle set and the heading of the target vehicle, and performing a second screening on the first screening vehicle set based on the dangerous area to obtain a second screening vehicle set include:

[0022] Identify the target vehicle and the longitude and latitude of the first screening vehicle in the first screening vehicle set, and convert the coordinates of the target vehicle into and converting the coordinates of the first screening vehicle into :

[0023] ;

[0024] ;

[0025] In the formula, Indicates the latitude and longitude of the target vehicle, Indicates the latitude and longitude of the first screening vehicle, represents the radius of the Earth;

[0026] The coordinates of the first screening vehicle Rotate to get new coordinates :

[0027] ;

[0028] ;

[0029] In the formula, represents the heading angle of the first screening vehicle;

[0030] The first ray is determined with the target vehicle as the starting point and the heading of the target vehicle as the direction, and the new coordinates of the first screening vehicle are determining a second ray with the first screening vehicle as a starting point and the heading of the first screening vehicle as a direction;

[0031] Determine a ray intersection point between the first ray and the second ray, and determine a danger zone with the ray intersection point as the center and a preset distance as the radius;

[0032] The first screened vehicle set is screened for a second time based on the dangerous area to obtain a second screened vehicle set.

[0033] Preferably, the step of performing a second screening on the first screened vehicle set based on the dangerous area to obtain a second screened vehicle set comprises:

[0034] Calculate the first time required for the target vehicle to reach the center of the danger zone and a second time required for the first screening vehicle to reach the center of the danger zone :

[0035] ;

[0036] ;

[0037] In the formula, , Respectively represent the average speed of the target vehicle and the first screening vehicle;

[0038] Calculate the difference between the first time and the second time to obtain a time difference :

[0039] ;

[0040] Determine whether the first time is less than a first time threshold and whether the time difference is less than a second time threshold;

[0041] If the first time is less than the first time threshold and the time difference is less than the second time threshold, the corresponding first screening vehicle is used as the second screening vehicle and the second screening vehicle is retained; if the first time is not less than the first time threshold and / or the time difference is not less than the second time threshold, the corresponding first screening vehicle is used as the second safety vehicle and the second safety vehicle is eliminated to obtain a second screening vehicle set.

[0042] Preferably, the step of dividing the behaviors of the drivers of the target vehicle and determining the behavior weights based on the historical driving data set includes:

[0043] Acquire a driving characteristic data set, determine each collision influencing factor and a corresponding influencing characteristic value in the driving characteristic data set, and perform standardization processing on each influencing characteristic value to obtain a number of standard data;

[0044] Calculate the actual characteristic value of each of the collision influencing factors :

[0045] ;

[0046] In the formula, represents the number of collision influencing factors, Indicates the number of standard data corresponding to a collision influencing factor. Indicates The first collision influencing factor corresponds to Standard data of

[0047] Based on the actual characteristic value Calculate the evaluation value :

[0048] ;

[0049] The driving characteristic data set is converted into a characteristic matrix based on each collision influencing factor. , and based on the feature matrix Construct proximity matrix With degree matrix ;

[0050] Based on proximity matrix With degree matrix Determine the true feature matrix :

[0051] ;

[0052] Arranging the eigenvalues ​​of the real feature matrix in descending order to obtain a feature set, and selecting the first several eigenvalues ​​from the feature set to obtain several real eigenvalues;

[0053] The corresponding behavior weight is output based on a plurality of real feature values ​​and the historical driving data set.

[0054] Preferably, the step of outputting corresponding behavior weights based on a number of real feature values ​​and the historical driving data set includes:

[0055] Determine the eigenvectors corresponding to several real eigenvalues ​​and sort them by row vector to obtain a sorting matrix;

[0056] Performing clustering processing on each row of the sorting matrix to obtain a number of clusters, calculating an evaluation value of each of the clusters, arranging the clusters in ascending order according to the evaluation value of each cluster to obtain an arrangement cluster, and assigning a corresponding behavior label to each cluster based on the evaluation value corresponding to the cluster in the arrangement cluster;

[0057] Calculating the evaluation value of the historical driving data set, selecting a cluster with the closest evaluation value from the arranged clusters, and outputting a behavior label corresponding to the historical driving set;

[0058] The corresponding behavior weight is determined based on the behavior label corresponding to the historical driving set.

[0059] Preferably, the step of providing an early warning based on the behavior weight, the target vehicle and the second screened vehicle set includes:

[0060] Calculate the first specific maximum speed of the target vehicle With the first specific minimum speed :

[0061] ;

[0062] ;

[0063] In the formula, represents the speed of the target vehicle, , Indicates the maximum acceleration and deceleration of the target vehicle. Indicates the maximum speed that the target vehicle can reach under road restrictions. Indicates the distance from the target vehicle to the danger zone;

[0064] Calculate a second specific maximum speed of the second screened vehicle in the second screened vehicle set With the second specific minimum speed :

[0065] ;

[0066] ;

[0067] In the formula, represents the speed of the second screening vehicle, , Indicates the maximum acceleration and maximum deceleration of the second screening vehicle, It indicates the maximum speed that the second screening vehicle can reach under the road restriction conditions. Indicates the distance from the second screening vehicle to the danger zone;

[0068] Based on the first specific maximum speed , first specific minimum speed , second specific maximum speed , second specific minimum speed , Behavior weight determines collision evaluation value :

[0069] ;

[0070] ;

[0071] ;

[0072] In the formula, represents the behavior weight, , , Respectively , , The speed function, represents the double integral region;

[0073] If the collision evaluation value If the value is not less than the evaluation threshold, a corresponding warning operation is performed on the target vehicle.

[0074] In a second aspect, the present invention provides the following technical solution, a vehicle collision warning system, the system comprising:

[0075] An identification module, used for acquiring a vehicle driving image through a camera disposed in a target vehicle, and identifying a set of pending driving vehicles based on the vehicle driving image;

[0076] A first screening module, used for identifying angle information between the pending traveling vehicle set and the target vehicle, and performing a first screening on the pending traveling vehicle set based on the angle information to obtain a first screened vehicle set;

[0077] a second screening module, configured to identify the first screening vehicle set and the heading of the target vehicle, determine a dangerous area based on the first screening vehicle set and the heading of the target vehicle, and perform a second screening on the first screening vehicle set based on the dangerous area to obtain a second screening vehicle set;

[0078] A weight module, used to obtain a historical driving data set of the target vehicle, and to classify the behaviors of the drivers of the target vehicle based on the historical driving data set and determine the behavior weights;

[0079] An early warning module is used to issue an early warning based on the behavior weight, the target vehicle and the second screened vehicle set.

[0080] In a third aspect, the present invention provides the following technical solution: a computer comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the vehicle collision warning method as described above when executing the computer program.

[0081] In a fourth aspect, the present invention provides the following technical solution: a storage medium having a computer program stored thereon, wherein the computer program implements the vehicle collision warning method as described above when executed by a processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0082] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0083] Figure 1 A flow chart of a vehicle collision warning method provided in Embodiment 1 of the present invention;

[0084] Figure 2 A structural block diagram of a vehicle collision warning system provided in Embodiment 2 of the present invention;

[0085] Figure 3 A schematic diagram of the hardware structure of a computer provided in another embodiment of the present invention.

[0086] The embodiments of the present invention will be further described below with reference to the accompanying drawings. DETAILED DESCRIPTION

[0087] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the embodiments of the present invention, and should not be construed as limiting the present invention.

[0088] In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0089] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0090] In the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0091] Embodiment 1

[0092] In the first embodiment of the present invention, Figure 1 As shown, a vehicle collision warning method includes:

[0093] S1, acquiring a vehicle driving image by a camera arranged in a target vehicle, and identifying a set of pending driving vehicles based on the vehicle driving image;

[0094] Specifically, the camera installed in the target vehicle can be a binocular camera, which can obtain images of vehicles outside the target vehicle, identify the vehicles in the image through an existing target recognition algorithm, and mark them accordingly, thereby obtaining a set of pending driving vehicles.

[0095] S2, identifying angle information between the pending traveling vehicle set and the target vehicle, and performing a first screening on the pending traveling vehicle set based on the angle information to obtain a first screened vehicle set;

[0096] Wherein, the step S2 comprises:

[0097] S21, calculating a first angle difference between the to-be-determined moving vehicle in the to-be-determined moving vehicle set and the target vehicle :

[0098] ;

[0099] In the formula, , , Respectively represent the coordinate positions of the pending vehicle, the target vehicle and the intersection, represents the inverse tangent function;

[0100] Specifically, for the first angle difference, its value range is In order to facilitate the determination of the position of the pending vehicle entering the intersection, when the first angle difference is a negative value, it is necessary to add .

[0101] S23, calculating a second angle difference between the to-be-determined moving vehicle in the to-be-determined moving vehicle set and the target vehicle :

[0102] ;

[0103] In the formula, Respectively represent the compass angles of the pending moving vehicle and the target vehicle;

[0104] Specifically, the compass angle range is .

[0105] S23, judging the target position and the entry position of the to-be-determined vehicle at the intersection based on a preset angle threshold, the first angle difference, and the second angle difference;

[0106] Specifically, this application takes a crossroad as an example, when the first angle difference is When the first angle difference is within the range of When the first angle difference is within the range of If the target vehicle is within the range of , it means that the pending vehicle is at the intersection on the left side of the target vehicle;

[0107] At the same time, when the second angle difference is When the second angle difference is within the range of When the second angle difference is within the range of If it is within the range of , it means that the pending vehicle is at the intersection on the left side of the target vehicle.

[0108] S24, judging whether the driving trajectories of the target vehicle and the to-be-determined driving vehicle partially overlap based on the entry intersection position and the preset intersection rule;

[0109] Specifically, the preset intersection rule is as follows: the driving state of the target needs to be determined in advance here. First, when the target vehicle needs to turn left, the pending vehicles at the left intersection will have a partial overlap in driving trajectories when turning left or going straight. When the pending vehicles at the left intersection turn right, there will be no partial overlap in driving trajectories. When the pending vehicles at the opposite intersection turn right or go straight, there will be a partial overlap in driving trajectories. When the pending vehicles at the opposite intersection turn left, there will be no partial overlap in driving trajectories. When the pending vehicles at the right intersection turn left or go straight, there will be a partial overlap in driving trajectories. When the pending vehicles at the right intersection turn right, there will be no partial overlap in driving trajectories.

[0110] Similarly, when the target vehicle needs to go straight, the pending vehicles at the left intersection will have partially overlapping driving trajectories when they turn left or go straight. When the pending vehicles at the left intersection turn right, there will be no partially overlapping driving trajectories. When the pending vehicles at the opposite intersection turn left, there will be partially overlapping driving trajectories. When the pending vehicles at the opposite intersection turn right or go straight, there will be no partially overlapping driving trajectories. When the pending vehicles at the right intersection turn left, go straight, or turn right, there will be partially overlapping driving trajectories.

[0111] When the target vehicle needs to turn right, the pending vehicle at the left intersection will go straight, and there will be partial overlap of the driving trajectory. When the pending vehicle at the left intersection turns right or left, there will be no partial overlap of the driving trajectory. When the pending vehicle at the opposite intersection turns left, there will be partial overlap of the driving trajectory. When the pending vehicle at the opposite intersection turns right or goes straight, there will be no partial overlap of the driving trajectory. When the pending vehicle at the right intersection turns left, goes straight, or turns right, there will be no partial overlap of the driving trajectory.

[0112] S25. If the driving trajectories of the target vehicle and the pending vehicle partially overlap, the corresponding pending vehicle is used as the first screening vehicle and the first screening vehicle is retained; if the driving trajectories of the target vehicle and the pending vehicle do not partially overlap, the corresponding pending vehicle is used as the first safety vehicle and the first safety vehicle is eliminated to obtain a first screening vehicle set.

[0113] S3, identifying the headings of the first screened vehicle set and the target vehicle, determining a dangerous area based on the headings of the first screened vehicle set and the target vehicle, and performing a second screening on the first screened vehicle set based on the dangerous area to obtain a second screened vehicle set;

[0114] Wherein, the step S3 comprises:

[0115] S31, identifying the target vehicle and the longitude and latitude of the first screening vehicle in the first screening vehicle set, and converting the coordinates of the target vehicle into and converting the coordinates of the first screening vehicle into :

[0116] ;

[0117] ;

[0118] In the formula, Indicates the latitude and longitude of the target vehicle, Indicates the latitude and longitude of the first screening vehicle, represents the radius of the Earth;

[0119] Specifically, in step S31, the target vehicle is taken as the origin, and a new coordinate system is established, and then the new coordinates of the first screened vehicle in the new coordinate system are determined.

[0120] S32, the coordinates of the first screening vehicle Rotate to get new coordinates :

[0121] ;

[0122] ;

[0123] In the formula, represents the heading angle of the first screening vehicle.

[0124] S33, taking the target vehicle as the starting point and the heading of the target vehicle as the direction to determine the first ray, and taking the new coordinates of the first screening vehicle as the A second ray is determined with the first screening vehicle as a starting point and the heading of the first screening vehicle as a direction.

[0125] S34, determining a ray intersection point between the first ray and the second ray, and determining a danger zone with the ray intersection point as the center and a preset distance as the radius;

[0126] Specifically, the preset distance may be the length of the target vehicle.

[0127] S35, performing a second screening on the first screened vehicle set based on the dangerous area to obtain a second screened vehicle set;

[0128] Wherein, the step S35 comprises:

[0129] S351, calculating the first time required for the target vehicle to reach the center of the dangerous area and a second time required for the first screening vehicle to reach the center of the danger zone :

[0130] ;

[0131] ;

[0132] In the formula, , Respectively represent the average speed of the target vehicle and the first screened vehicle.

[0133] S352: Calculate the difference between the first time and the second time to obtain a time difference. :

[0134] .

[0135] S353: Determine whether the first time is less than a first time threshold and whether the time difference is less than a second time threshold.

[0136] S354, if the first time is less than a first time threshold and the time difference is less than a second time threshold, the corresponding first screening vehicle is used as a second screening vehicle and the second screening vehicle is retained; if the first time is not less than the first time threshold and / or the time difference is not less than the second time threshold, the corresponding first screening vehicle is used as a second safety vehicle and the second safety vehicle is eliminated to obtain a second screening vehicle set;

[0137] Specifically, in this embodiment, the first time threshold is 5S, and the second time threshold is 1S.

[0138] S4, obtaining a historical driving data set of the target vehicle, and dividing the behavior of the driver of the target vehicle based on the historical driving data set and determining the behavior weight;

[0139] Wherein, the step S4 comprises:

[0140] S41, obtaining a driving characteristic data set, determining each collision influencing factor and a corresponding influencing characteristic value in the driving characteristic data set, and performing standardization processing on each influencing characteristic value to obtain a plurality of standard data;

[0141] Specifically, the driving feature set here is specifically a historical driving data set of different drivers, and as for the collision influencing factors, it may include the vehicle speed during avoidance, the average speed during avoidance, the time required for avoidance, the reaction time for advance avoidance, the average deceleration, the maximum deceleration, the minimum deceleration, the steering wheel turning angle, etc.

[0142] S42, calculating the actual characteristic value of each of the collision influencing factors :

[0143] ;

[0144] In the formula, represents the number of collision influencing factors, Indicates the number of standard data corresponding to a collision influencing factor. Indicates The first collision influencing factor corresponds to standard data.

[0145] S43, based on the actual characteristic value Calculate the evaluation value :

[0146] .

[0147] S44, converting the driving characteristic data set into a characteristic matrix based on each collision influencing factor , and based on the feature matrix Constructing proximity matrix With degree matrix ;

[0148] Specifically, each row in the feature matrix corresponds to each collision influencing factor.

[0149] S45, based on proximity matrix With degree matrix Determine the true feature matrix :

[0150] ;

[0151] S46. Arrange the eigenvalues ​​of the real feature matrix in descending order to obtain a feature set, and select the first several eigenvalues ​​from the feature set to obtain several real eigenvalues.

[0152] S47, outputting corresponding behavior weights based on a number of real feature values ​​and the historical driving data set;

[0153] Wherein, the step S47 comprises:

[0154] S471. Determine eigenvectors corresponding to a number of true eigenvalues ​​and sort them by row vectors to obtain a sorting matrix.

[0155] S472, performing clustering processing on each row of the sorting matrix to obtain a plurality of clusters, calculating an evaluation value of each of the clusters, arranging the plurality of clusters in ascending order according to the evaluation value of each cluster to obtain an arrangement cluster, and assigning a corresponding behavior label to each cluster based on the evaluation value corresponding to the cluster in the arrangement cluster;

[0156] Specifically, the clustering algorithm here can adopt a spectral clustering algorithm, and when the evaluation value is in the range of [1,1.25), it means that the driver is a level 4 driver, when the evaluation value is in the range of [1.25,1.5), it means that the driver is a level 3 driver, when the evaluation value is in the range of [1.5,1.75), it means that the driver is a level 2 driver, and when the evaluation value is in the range of [1.75,2], it means that the driver is a level 1 driver. In this application, four behavior labels are specifically determined. A level 1 driver indicates that the driver has excellent habits and excellent ability to respond to collisions in advance. A level 2 driver indicates that the driver has good driving habits and good ability to respond to collisions in advance. A level 3 driver indicates that the driver has average driving habits and average ability to respond to collisions in advance. A level 4 driver indicates that the driver has poor driving habits and poor ability to respond to collisions in advance, or even cannot respond to collision risks in advance.

[0157] S473, calculating the evaluation value of the historical driving data set, selecting a cluster with the closest evaluation value from the arrangement clusters, and outputting a behavior label corresponding to the historical driving set.

[0158] S474, determining a corresponding behavior weight based on the behavior label corresponding to the historical driving set;

[0159] Specifically, when allocating corresponding behavior weights, the behavior weight corresponding to the first-level driver is the smallest, and the behavior weight corresponding to the fourth-level driver is the largest. In the present application, the behavior weights of the first-level to fourth-level drivers are 0.6, 0.8, 1, and 1.2, respectively.

[0160] S5. Issue an early warning based on the behavior weight, the target vehicle and the second screened vehicle set.

[0161] Wherein, the step S5 comprises:

[0162] S51, calculating the first specific maximum speed of the target vehicle With the first specific minimum speed :

[0163] ;

[0164] ;

[0165] In the formula, represents the speed of the target vehicle, , Indicates the maximum acceleration and deceleration of the target vehicle. Indicates the maximum speed that the target vehicle can reach under road restrictions. Indicates the distance from the target vehicle to the danger zone;

[0166] S52: Calculate the second specific maximum speed of the second screened vehicle in the second screened vehicle set. With the second specific minimum speed :

[0167] ;

[0168] ;

[0169] In the formula, represents the speed of the second screening vehicle, , Indicates the maximum acceleration and maximum deceleration of the second screening vehicle, It indicates the maximum speed that the second screening vehicle can reach under the road restriction conditions. Indicates the distance from the second screening vehicle to the danger zone;

[0170] S53, based on the first specific maximum speed , first specific minimum speed , second specific maximum speed , second specific minimum speed , Behavior weight determines collision evaluation value :

[0171] ;

[0172] ;

[0173] ;

[0174] In the formula, represents the behavior weight, , , Respectively , , The speed function, represents the double integral region;

[0175] Specifically, for the double integral region here, it includes two regions. The first region is the function ,function ,function The area enclosed by the second area is the function ,function ,function The area enclosed by , Respectively represent the length and width of the second screening vehicle, , Represent the length and width of the target vehicle respectively.

[0176] S54, if the collision evaluation value If the value is not less than the evaluation threshold, a corresponding warning operation is performed on the target vehicle;

[0177] Specifically, the evaluation threshold here is 0.2, and the present application adopts a graded warning mechanism. When the collision evaluation value is less than 0.2, it indicates that the target vehicle is safe and will not collide. When the collision evaluation value is between 0.2 and 0.4, a screen prompt warning can be given and the vehicle can be controlled to travel at a smaller deceleration. When the evaluation value is greater than 0.4, a sound warning can be given and the vehicle can be controlled to decelerate and brake at a larger deceleration.

[0178] The vehicle collision warning method provided in the first embodiment of the present invention first obtains a vehicle driving image through a camera set in the target vehicle, and identifies a set of pending driving vehicles based on the vehicle driving image; then identifies the angle information of the pending driving vehicle set and the target vehicle, and performs a first screening on the pending driving vehicle set based on the angle information to obtain a first screened vehicle set; then identifies the headings of the first screened vehicle set and the target vehicle, determines a dangerous area based on the headings of the first screened vehicle set and the target vehicle, and performs a second screening on the first screened vehicle set based on the dangerous area to obtain a second screened vehicle set; then obtains a historical driving data set of the target vehicle, and divides the behavior of the driver of the target vehicle based on the historical driving data set and determines the behavior weight; finally, based on the behavior weight, the target vehicle and the second screened vehicle set, a warning is issued. The present invention can effectively eliminate vehicles with no collision risk with the target vehicle by performing two screening processes on the remaining vehicles, avoid irrelevant vehicles from affecting the accuracy of the collision warning, and also improve the running speed of the algorithm, and further improve the accuracy of the collision warning by determining the behavior weight and considering the behavioral differences of different drivers in car driving collisions.

[0179] Embodiment 2

[0180] like Figure 2 As shown, in the second embodiment of the present invention, a vehicle collision warning system is provided, and the system includes:

[0181] An identification module 1 is used to obtain a vehicle driving image through a camera arranged in a target vehicle, and to identify a set of pending driving vehicles based on the vehicle driving image;

[0182] A first screening module 2, used for identifying angle information between the pending vehicle set and the target vehicle, and performing a first screening on the pending vehicle set based on the angle information to obtain a first screened vehicle set;

[0183] A second screening module 3 is used to identify the headings of the first screening vehicle set and the target vehicle, determine a dangerous area based on the headings of the first screening vehicle set and the target vehicle, and perform a second screening on the first screening vehicle set based on the dangerous area to obtain a second screening vehicle set;

[0184] A weight module 4 is used to obtain a historical driving data set of the target vehicle, and to classify the behaviors of the drivers of the target vehicle based on the historical driving data set and determine the behavior weights;

[0185] An early warning module 5 is used for issuing an early warning based on the behavior weight, the target vehicle and the second screened vehicle set;

[0186] The first screening module 2 comprises:

[0187] The first angle difference calculation submodule is used to calculate the first angle difference between the pending moving vehicle in the pending moving vehicle set and the target vehicle. :

[0188] ;

[0189] In the formula, , , Respectively represent the coordinate positions of the pending vehicle, the target vehicle and the intersection, represents the inverse tangent function;

[0190] The second angle difference calculation submodule is used to calculate the second angle difference between the pending moving vehicle in the pending moving vehicle set and the target vehicle. :

[0191] ;

[0192] In the formula, Respectively represent the compass angles of the pending moving vehicle and the target vehicle;

[0193] An intersection determination submodule, configured to determine the target position and the entry position of the to-be-determined vehicle into the intersection based on a preset angle threshold and the first angle difference and the second angle difference;

[0194] A trajectory judgment submodule, used for judging whether the driving trajectory of the target vehicle and the to-be-determined driving vehicle partially overlaps based on the entry position of the intersection and the preset intersection rule;

[0195] The first screening submodule is used to, if there is a partial overlap between the driving trajectory of the target vehicle and the driving trajectory of the pending vehicle, use the corresponding pending vehicle as the first screening vehicle and retain the first screening vehicle; if there is no partial overlap between the driving trajectory of the target vehicle and the driving trajectory of the pending vehicle, use the corresponding pending vehicle as the first safety vehicle and eliminate the first safety vehicle to obtain a first screening vehicle set.

[0196] The second screening module 3 comprises:

[0197] The identification submodule is used to identify the target vehicle and the longitude and latitude of the first screening vehicle in the first screening vehicle set, and convert the coordinates of the target vehicle into and converting the coordinates of the first screening vehicle into :

[0198] ;

[0199] ;

[0200] In the formula, Indicates the latitude and longitude of the target vehicle, Indicates the latitude and longitude of the first screening vehicle, represents the radius of the Earth;

[0201] A rotation submodule is used to transform the coordinates of the first screening vehicle Rotate to get new coordinates :

[0202] ;

[0203] ;

[0204] In the formula, represents the heading angle of the first screening vehicle;

[0205] The ray submodule is used to determine a first ray with the target vehicle as the starting point and the heading of the target vehicle as the direction, and to determine a new coordinate of the first screening vehicle with the first determining a second ray with the first screening vehicle as a starting point and the heading of the first screening vehicle as a direction;

[0206] An area submodule, used to determine the intersection of the first ray and the second ray, and determine a dangerous area with the intersection of the ray as the center and a preset distance as the radius;

[0207] The second screening submodule is used to perform a second screening on the first screened vehicle set based on the dangerous area to obtain a second screened vehicle set.

[0208] The second screening submodule comprises:

[0209] A time calculation unit, used to calculate the first time required for the target vehicle to reach the center of the dangerous area and a second time required for the first screening vehicle to reach the center of the danger zone :

[0210] ;

[0211] ;

[0212] In the formula, , Respectively represent the average speed of the target vehicle and the first screening vehicle;

[0213] A difference calculation unit, used to calculate the difference between the first time and the second time to obtain a time difference :

[0214] ;

[0215] A time judgment unit, used to judge whether the first time is less than a first time threshold and whether the time difference is less than a second time threshold;

[0216] A screening unit is configured to, if the first time is less than a first time threshold and the time difference is less than a second time threshold, use the corresponding first screened vehicle as a second screened vehicle and retain the second screened vehicle; if the first time is not less than the first time threshold and / or the time difference is not less than the second time threshold, use the corresponding first screened vehicle as a second safety vehicle and eliminate the second safety vehicle to obtain a second screening vehicle set.

[0217] The weight module 4 comprises:

[0218] A standardization submodule is used to obtain a driving characteristic data set, determine each collision influencing factor and a corresponding influencing characteristic value in the driving characteristic data set, and perform standardization processing on each influencing characteristic value to obtain a number of standard data;

[0219] The characteristic submodule is used to calculate the actual characteristic value of each of the collision influencing factors. :

[0220] ;

[0221] In the formula, represents the number of collision influencing factors, Indicates the number of standard data corresponding to a collision influencing factor. Indicates The first collision influencing factor corresponds to Standard data of

[0222] Evaluation submodule for evaluating the actual feature value based on the Calculate the evaluation value :

[0223] ;

[0224] A matrix construction submodule is used to convert the driving feature data set into a feature matrix based on each collision influencing factor. , and based on the feature matrix Constructing proximity matrix With degree matrix ;

[0225] Matrix determination submodule for determining the With degree matrix Determine the true feature matrix :

[0226] ;

[0227] A sorting submodule, used for arranging the eigenvalues ​​of the real feature matrix in descending order to obtain a feature set, and selecting the first several eigenvalues ​​from the feature set to obtain several real eigenvalues;

[0228] The output submodule is used to output corresponding behavior weights based on a number of real feature values ​​and the historical driving data set.

[0229] The output submodule comprises:

[0230] A sorting unit, used for determining eigenvectors corresponding to a number of true eigenvalues ​​and sorting them by row vectors to obtain a sorting matrix;

[0231] A clustering unit, configured to perform clustering processing on each row of the sorting matrix to obtain a plurality of clusters, calculate an evaluation value of each of the clusters, arrange the plurality of clusters in ascending order according to the evaluation value of each cluster to obtain an arranged cluster, and assign a corresponding behavior label to each cluster based on the evaluation value corresponding to the cluster in the arranged cluster;

[0232] A labeling unit, used to calculate the evaluation value of the historical driving data set, select a cluster with the closest evaluation value from the arrangement clusters, and output a behavior label corresponding to the historical driving set;

[0233] A weighting unit is used to determine a corresponding behavior weight based on the behavior label corresponding to the historical driving set.

[0234] The early warning module 5 comprises:

[0235] The first speed calculation submodule is used to calculate the first specific maximum speed of the target vehicle. With the first specific minimum speed :

[0236] ;

[0237] ;

[0238] In the formula, represents the speed of the target vehicle, , Indicates the maximum acceleration and deceleration of the target vehicle. Indicates the maximum speed that the target vehicle can reach under road restrictions. Indicates the distance from the target vehicle to the danger zone;

[0239] A second speed calculation submodule is used to calculate a second specific maximum speed of the second screened vehicle in the second screened vehicle set. With the second specific minimum speed :

[0240] ;

[0241] ;

[0242] In the formula, represents the speed of the second screening vehicle, , Indicates the maximum acceleration and maximum deceleration of the second screening vehicle, It indicates the maximum speed that the second screening vehicle can reach under the road restriction conditions. Indicates the distance from the second screening vehicle to the danger zone;

[0243] The collision evaluation value calculation submodule is used to calculate the collision evaluation value based on the first specific maximum speed. , first specific minimum speed , second specific maximum speed , second specific minimum speed , Behavior weight determines collision evaluation value :

[0244] ;

[0245] ;

[0246] ;

[0247] In the formula, represents the behavior weight, , , Respectively , , The speed function, represents the double integral region;

[0248] The early warning submodule is used to If the value is not less than the evaluation threshold, a corresponding warning operation is performed on the target vehicle.

[0249] In some other embodiments of the present invention, the embodiments of the present invention provide the following technical solution: a computer, comprising a memory 102, a processor 101, and a computer program stored in the memory 102 and executable on the processor 101, wherein the processor 101 implements the vehicle collision warning method as described above when executing the computer program.

[0250] Specifically, the processor 101 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 embodiment of the present invention.

[0251] Among them, the memory 102 may include a large-capacity memory for data or instructions. By way of example and not limitation, the memory 102 may include a hard disk drive (HDD), a floppy disk drive, a solid state drive (SSD), 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. Where appropriate, the memory 102 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 102 may be inside or outside the data processing device. In a specific embodiment, the memory 102 is a non-volatile memory. In a specific embodiment, the memory 102 includes a read-only memory (ROM) and a random access memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically alterable ROM (EAROM) or a flash memory (FLASH), or a combination of two or more of these. Under appropriate circumstances, the RAM can be a static random access memory (SRAM) or a dynamic random access memory (DRAM), wherein the DRAM can be a fast page mode dynamic random access memory (FPMDRAM), an extended data output dynamic random access memory (EDODRAM), a synchronous dynamic random access memory (SDRAM), etc.

[0252] The memory 102 may be used to store or cache various data files that need to be processed and / or used for communication, as well as possible computer program instructions executed by the processor 101 .

[0253] The processor 101 implements the above-mentioned vehicle collision warning method by reading and executing the computer program instructions stored in the memory 102.

[0254] In some embodiments, the computer may further include a communication interface 103 and a bus 100. Figure 3 As shown, the processor 101, the memory 102, and the communication interface 103 are connected via a bus 100 and communicate with each other.

[0255] The communication interface 103 is used to implement communication between the modules, devices, units and / or equipment in the embodiment of the present invention. The communication interface 103 can also implement data communication with other components such as: external devices, image / data acquisition equipment, databases, external storage, and image / data processing workstations.

[0256] The bus 100 includes hardware, software or both, and couples the components of the computer device to each other. The bus 100 includes but is not limited to at least one of the following: a data bus, an address bus, a control bus, an expansion bus, and a local bus. By way of example and not limitation, bus 100 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses or a combination of two or more of these. Where appropriate, bus 100 may include one or more buses. Although embodiments of the present invention describe and illustrate a particular bus, the present invention contemplates any suitable bus or interconnect.

[0257] The computer can execute the vehicle collision warning method of the present invention based on the acquired vehicle collision warning system, thereby realizing vehicle collision warning.

[0258] In some further embodiments of the present invention, in combination with the above-mentioned vehicle collision warning method, the embodiments of the present invention provide the following technical solutions: a storage medium having a computer program stored thereon, and the computer program implements the above-mentioned vehicle collision warning method when executed by a processor.

[0259] Those skilled in the art will appreciate that the logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For purposes of this specification, "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0260] More specific examples of readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0261] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or a combination thereof: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0262] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0263] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A vehicle collision warning method, characterized in that: include: Acquire a vehicle driving image by using a camera disposed in the target vehicle, and identify a set of pending driving vehicles based on the vehicle driving image; Identifying angle information between the pending traveling vehicle set and the target vehicle, and performing a first screening on the pending traveling vehicle set based on the angle information to obtain a first screened vehicle set; Identifying the headings of the first screened vehicle set and the target vehicle, determining a dangerous area based on the headings of the first screened vehicle set and the target vehicle, and performing a second screening on the first screened vehicle set based on the dangerous area to obtain a second screened vehicle set; Acquire a historical driving data set of the target vehicle, and divide the behavior of the driver of the target vehicle based on the historical driving data set and determine the behavior weight; Producing an early warning based on the behavior weight, the target vehicle, and the second screened vehicle set; The steps of identifying the first screening vehicle set and the heading of the target vehicle, determining a dangerous area based on the first screening vehicle set and the heading of the target vehicle, and performing a second screening on the first screening vehicle set based on the dangerous area to obtain a second screening vehicle set include: Identify the target vehicle and the longitude and latitude of the first screening vehicle in the first screening vehicle set, and convert the coordinates of the target vehicle into and converting the coordinates of the first screening vehicle into : ； ； In the formula, Indicates the latitude and longitude of the target vehicle, Indicates the latitude and longitude of the first screening vehicle, represents the radius of the Earth; The coordinates of the first screening vehicle Rotate to get new coordinates : ； ； In the formula, represents the heading angle of the first screening vehicle; The first ray is determined with the target vehicle as the starting point and the heading of the target vehicle as the direction, and the new coordinates of the first screening vehicle are determining a second ray with the first screening vehicle as a starting point and the heading of the first screening vehicle as a direction; Determine a ray intersection point between the first ray and the second ray, and determine a danger zone with the ray intersection point as the center and a preset distance as the radius; Performing a second screening on the first screened vehicle set based on the dangerous area to obtain a second screened vehicle set; The step of performing a second screening on the first screened vehicle set based on the dangerous area to obtain a second screened vehicle set comprises: Calculate the first time required for the target vehicle to reach the center of the danger zone and a second time required for the first screening vehicle to reach the center of the danger zone : ； ； In the formula, , Respectively represent the average speed of the target vehicle and the first screening vehicle; Calculate the difference between the first time and the second time to obtain a time difference : ； Determine whether the first time is less than a first time threshold and whether the time difference is less than a second time threshold; If the first time is less than the first time threshold and the time difference is less than the second time threshold, the corresponding first screening vehicle is used as the second screening vehicle and the second screening vehicle is retained; if the first time is not less than the first time threshold and / or the time difference is not less than the second time threshold, the corresponding first screening vehicle is used as the second safety vehicle and the second safety vehicle is eliminated to obtain a second screening vehicle set.

2. The vehicle collision warning method according to claim 1, characterized in that: The step of performing a first screening on the pending driving vehicle set based on the angle information to obtain a first screened vehicle set comprises: Calculate the first angle difference between the pending moving vehicle in the pending moving vehicle set and the target vehicle : ； In the formula, , , Respectively represent the coordinate positions of the pending vehicle, the target vehicle and the intersection, represents the inverse tangent function; Calculate the second angle difference between the pending moving vehicle in the pending moving vehicle set and the target vehicle : ； In the formula, Respectively represent the compass angles of the pending moving vehicle and the target vehicle; Determine the entry positions of the target vehicle and the pending vehicle based on a preset angle threshold, the first angle difference, and the second angle difference; Determining whether the target vehicle and the to-be-determined vehicle's driving trajectory partially overlap based on the entry intersection position and a preset intersection rule; If there is a partial overlap between the driving trajectories of the target vehicle and the pending vehicle, the corresponding pending vehicle will be used as the first screening vehicle and the first screening vehicle will be retained; if there is no partial overlap between the driving trajectories of the target vehicle and the pending vehicle, the corresponding pending vehicle will be used as the first safety vehicle and the first safety vehicle will be eliminated to obtain a first screening vehicle set.

3. The vehicle collision warning method according to claim 1, characterized in that: The step of dividing the behavior of the driver of the target vehicle based on the historical driving data set and determining the behavior weight comprises: Acquire a driving characteristic data set, determine each collision influencing factor and a corresponding influencing characteristic value in the driving characteristic data set, and perform standardization processing on each influencing characteristic value to obtain a number of standard data; Calculate the actual characteristic value of each of the collision influencing factors : ； In the formula, represents the number of collision influencing factors, Indicates the number of standard data corresponding to a collision influencing factor. Indicates The first collision influencing factor corresponds to Standard data of Based on the actual characteristic value Calculate the evaluation value : ； The driving characteristic data set is converted into a characteristic matrix based on each collision influencing factor. , and based on the feature matrix Constructing proximity matrix With degree matrix ; Based on proximity matrix With degree matrix Determine the true feature matrix : ； Arranging the eigenvalues ​​of the real feature matrix in descending order to obtain a feature set, and selecting the first several eigenvalues ​​from the feature set to obtain several real eigenvalues; The corresponding behavior weight is output based on a plurality of real feature values ​​and the historical driving data set.

4. The vehicle collision warning method according to claim 3, characterized in that: The step of outputting corresponding behavior weights based on a number of real feature values ​​and the historical driving data set comprises: Determine the eigenvectors corresponding to several real eigenvalues ​​and sort them by row vector to obtain a sorting matrix; Performing clustering processing on each row of the sorting matrix to obtain a number of clusters, calculating an evaluation value of each of the clusters, arranging the clusters in ascending order according to the evaluation value of each cluster to obtain an arrangement cluster, and assigning a corresponding behavior label to each cluster based on the evaluation value corresponding to the cluster in the arrangement cluster; Calculating the evaluation value of the historical driving data set, selecting a cluster with the closest evaluation value from the arranged clusters, and outputting a behavior label corresponding to the historical driving set; The corresponding behavior weight is determined based on the behavior label corresponding to the historical driving set.

5. The vehicle collision warning method according to claim 1, characterized in that: The step of providing an early warning based on the behavior weight, the target vehicle and the second screened vehicle set comprises: Calculate the first specific maximum speed of the target vehicle With the first specific minimum speed : ； ； In the formula, represents the speed of the target vehicle, , Indicates the maximum acceleration and deceleration of the target vehicle. Indicates the maximum speed that the target vehicle can reach under road restrictions. Indicates the distance from the target vehicle to the danger zone; Calculate a second specific maximum speed of the second screened vehicle in the second screened vehicle set With the second specific minimum speed : ； ； In the formula, represents the speed of the second screening vehicle, , Indicates the maximum acceleration and maximum deceleration of the second screening vehicle, It indicates the maximum speed that the second screening vehicle can reach under the road restriction conditions. Indicates the distance from the second screening vehicle to the danger zone; Based on the first specific maximum speed , first specific minimum speed , second specific maximum speed , second specific minimum speed , Behavior weight determines collision evaluation value : ； ； ； In the formula, represents the behavior weight, , , Respectively , , The speed function, represents the double integral region; If the collision evaluation value If the value is not less than the evaluation threshold, a corresponding warning operation is performed on the target vehicle.

6. A vehicle collision warning system, the system adopting the vehicle collision warning method according to claim 1, characterized in that: The system comprises: An identification module, used for acquiring a vehicle driving image through a camera disposed in a target vehicle, and identifying a set of pending driving vehicles based on the vehicle driving image; A first screening module, used for identifying angle information between the pending traveling vehicle set and the target vehicle, and performing a first screening on the pending traveling vehicle set based on the angle information to obtain a first screened vehicle set; a second screening module, configured to identify the first screening vehicle set and the heading of the target vehicle, determine a dangerous area based on the first screening vehicle set and the heading of the target vehicle, and perform a second screening on the first screening vehicle set based on the dangerous area to obtain a second screening vehicle set; A weight module, used to obtain a historical driving data set of the target vehicle, and to classify the behaviors of the drivers of the target vehicle based on the historical driving data set and determine the behavior weights; An early warning module is used to issue an early warning based on the behavior weight, the target vehicle and the second screened vehicle set.

7. A computer comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the vehicle collision warning method according to any one of claims 1 to 5 is implemented.

8. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, the vehicle collision warning method according to any one of claims 1 to 5 is implemented.

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