Splash early warning method and device and electronic equipment

Abstract

The invention relates to the technical field of automobiles, in particular to a splash early warning method and device and electronic equipment.The method comprises the steps that environment sensing information of a first vehicle is obtained, and the environment sensing information comprises side vehicle sensing information and road sensing information; judging whether the first vehicle is in a potential splashing scene or not according to the side vehicle sensing information, the road sensing information and the vehicle information of the first vehicle; under the condition that the first vehicle is in the potential splashing scene, whether the first vehicle has a driving blinding risk or not is evaluated, and under the condition that the first vehicle has the driving blinding risk, early warning is conducted on the first vehicle; according to the method provided by the invention, before the first vehicle is blinded due to splashing caused by the side vehicle in the future, the early warning is given to the first vehicle in advance, so that a driver of the first vehicle can have sufficient time to make a reasonable driving decision for an imminent splashing blinding scene, and the driving safety of the first vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a water splash warning method, device and electronic equipment. Background Art

[0002] In the field of automotive technology, driving safety is always the primary issue in car driving. Among them, weather phenomena and road conditions are the key issues that affect driving safety, especially when there is water on the road. When the car next to you passes by you at high speed, it is easy to cause splashing water; when the splashing water covers the windshield of the vehicle, the driver's field of vision will be blocked; when the area of ​​the windshield covered by the splashing water is large enough, it will cause the driver to be blinded instantly.

[0003] When the driver loses his driving vision, he is prone to losing control of the car. Therefore, a water splash warning method is urgently needed to solve the above problem. Summary of the invention

[0004] In view of this, the embodiments of the present application propose a water splash warning method, device and electronic device, which can identify whether a first vehicle is in a potential water splash scene, and when the first vehicle is in a potential water splash scene, further evaluate the driving blinding risk of the first vehicle, and when the first vehicle is at a potential water splash scene, warn the first vehicle, thereby allowing the driver to have enough time to make correct driving decisions regarding the blinding risk.

[0005] The embodiment of the present application is implemented by adopting the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides a water splash warning method, the method comprising: obtaining environmental perception information of a first vehicle, the environmental perception information comprising side vehicle perception information and road perception information; identifying whether the first vehicle is in a potential water splash scene based on the side vehicle perception information, the road perception information and the vehicle information of the first vehicle; if the first vehicle is identified as being in a potential water splash scene, evaluating the risk of blinding the driver of the first vehicle due to water splashing caused by the side vehicles of the first vehicle in the future based on the side vehicle perception information, the road perception information and the vehicle information of the first vehicle, and obtaining a risk assessment result; if the risk assessment result indicates that there is a risk of blinding the driver of the first vehicle due to water splashing caused by the side vehicles of the first vehicle in the future, issuing a warning to the first vehicle.

[0007] In a second aspect, an embodiment of the present application provides a water splash warning device, which includes: an acquisition module, used to acquire environmental perception information of a first vehicle, the environmental perception information including side vehicle perception information and road perception information; an identification module, used to identify whether the first vehicle is in a potential water splash scene based on the side vehicle perception information, the road perception information and the vehicle information of the first vehicle; an evaluation module, used to evaluate the risk of blinding the driver of the first vehicle caused by water splashing in the future by the side vehicles of the first vehicle based on the side vehicle perception information, the road perception information and the vehicle information of the first vehicle if the first vehicle is identified as being in a potential water splash scene, and obtain a risk assessment result; a warning module, used to warn the first vehicle if the risk assessment result indicates that there is a risk of blinding the driver of the first vehicle caused by water splashing in the future by the side vehicles of the first vehicle.

[0008] In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor; a memory, wherein computer-readable instructions are stored in the memory, and when the computer-readable instructions are executed by the processor, the above method is implemented.

[0009] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores computer-readable instructions. When the computer-readable instructions are executed by a processor, the above method is implemented.

[0010] The embodiments of the present application provide a water splash warning method, device and electronic device. The method obtains environmental perception information of a first vehicle, wherein the environmental perception information includes adjacent vehicle perception information and road perception information; determines whether the first vehicle is in a potential water splash scene by using the adjacent vehicle perception information, the road perception information and the vehicle information of the first vehicle; obviously, if the first vehicle is not in a potential water splash scene, the first vehicle will not have a driving blinding risk; if the first vehicle is in a potential water splash scene, the first vehicle may have a driving blinding risk. In this case, the driving blinding risk of water splashing caused by adjacent vehicles of the first vehicle in the future to the first vehicle can be evaluated by using the adjacent vehicle perception information, the road perception information and the vehicle information of the first vehicle to obtain a risk assessment result; if the risk assessment result indicates that the driving blinding risk of water splashing caused by adjacent vehicles of the first vehicle in the future to the first vehicle exists, the first vehicle is warned; by using the method provided by the present application, a warning is issued to the first vehicle before the first vehicle is blinded by water splashing caused by adjacent vehicles in the future, so that the driver of the first vehicle can have sufficient time to make reasonable driving decisions for the impending driving blinding risk, thereby reducing the possibility of driving loss of control due to momentary driving blindness.

[0011] These and other aspects of the present application will become more apparent from the description of the following embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0013] Figure 1 A schematic flow chart of a water splash warning method provided in an embodiment of the present application is shown.

[0014] Figure 2 A road schematic diagram of a potential water splashing scenario involved in an embodiment of the present application is shown.

[0015] Figure 3 The embodiment of the present application provides Figure 1 Schematic diagram of the process of step S130.

[0016] Figure 4 A schematic diagram of the splashing area involved in an embodiment of the present application is shown.

[0017] Figure 5 The embodiment of the present application provides Figure 3 Schematic diagram of the process of step S132.

[0018] Figure 6 The embodiment of the present application provides Figure 5 Schematic diagram of the process of step S220.

[0019] Figure 7 A schematic diagram of a critical blinding visual field area and a target coordinate system involved in an embodiment of the present application is shown.

[0020] Figure 8 A schematic diagram of a road scene when there is a risk of blindness caused by driving involved in an embodiment of the present application is shown.

[0021] Fig. 9 Another schematic flow chart of the water splash warning method provided in an embodiment of the present application is shown.

[0022] Fig.10 An application flow chart involved in an embodiment of the present application is shown.

[0023] Fig.11 Another application flow chart involved in the embodiment of the present application is shown.

[0024] Fig.12 A schematic diagram of a water splash warning device provided in an embodiment of the present application is shown.

[0025] Fig.13A schematic diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0026] The embodiments of the present application are described in detail below, and examples of the embodiments 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 only used to explain the present application, and cannot be understood as limiting the present application.

[0027] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. According to the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0028] In the following description, the terms "first\second" and the like are only used to distinguish similar objects and do not represent a specific order for the objects. It is understandable that "first\second" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here. In the following description, "some embodiments or some embodiment modes" are involved, which describe a subset of all possible embodiments, but it is understandable that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0029] The term "multiple" as used herein 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.

[0030] In the field of automotive technology, driving safety is always the primary issue in car driving. Among them, weather phenomena and road conditions are the key issues that affect driving safety, especially when there is water on the road. When the car next to you passes by you at high speed, it is easy to cause splashing water; when the splashing water covers the windshield of the vehicle, the driver's field of vision will be blocked; when the area of ​​the windshield covered by the splashing water is large enough, it will cause the driver to be blinded instantly.

[0031] When the driver loses his driving vision, he is prone to losing control of the car. Therefore, a water splash warning method is urgently needed to solve the above problem.

[0032] The embodiments provided in this application will be described below with reference to the accompanying drawings.

[0033] See also Figure 1 , Figure 1 A schematic flow chart of a water splash warning method provided in an embodiment of the present application is given. The water splash warning method includes steps S110-S140:

[0034] S110. Obtain environmental perception information of the first vehicle, where the environmental perception information includes adjacent vehicle perception information and road perception information.

[0035] Among them, the side vehicle perception information refers to the information of the side vehicles of the first vehicle perceived. For example, the side vehicle perception information may include the position, size, motion state (such as speed, motion direction, acceleration), etc. of the side vehicles of the first vehicle. The side vehicles of the first vehicle refer to other vehicles that are close to the first vehicle, or refer to other vehicles located near the first vehicle. For example, the side vehicles of the first vehicle may be vehicles located in an adjacent lane to the lane where the first vehicle is located, and the distance between the side vehicles and the first vehicle is less than a distance threshold.

[0036] The road perception information refers to the road information of the road where the first vehicle is located, and the road perception information may include the road type, the depth of water accumulation on the road, etc.

[0037] In some embodiments, external data can be collected by a collection device installed on the first vehicle, and then the collected external data is processed by a processor to obtain environmental perception information of the first vehicle, wherein the collection device is, for example, a lidar, a camera, a millimeter-wave radar, etc.; point cloud data is collected by the lidar, and the position and motion status of the adjacent vehicle are calculated by the point cloud data; image data is collected by the camera, and the road type is identified by the road image, and the depth of water accumulation on the road is calculated, etc.

[0038] S120: Identify whether the first vehicle is in a potential water splashing scenario based on the adjacent vehicle perception information, the road perception information, and the vehicle information of the first vehicle.

[0039] It can be understood that, for the first vehicle, the first vehicle being in a potential water splashing scenario means that the water splashing caused by the adjacent vehicle may affect the first vehicle; that is, the water splashing caused may splash onto the front windshield of the first vehicle; generally, the deeper the water on the road and the higher the speed of the adjacent vehicle, the more likely the water splashing caused by the adjacent vehicle will splash onto the first vehicle.

[0040] In some embodiments, the vehicle-passing perception information includes the speed and moving direction of the vehicle passing by the first vehicle; the road perception information includes the depth of water on the road where the vehicle passing by the first vehicle is located; the vehicle information of the first vehicle includes the speed and moving direction of the first vehicle, and step S120 may include the following ① and ②:

[0041] ① If the side vehicle is located behind the first vehicle, the moving direction of the side vehicle is the same as that of the first vehicle, the speed of the side vehicle is greater than the speed of the first vehicle, and the depth of the accumulated water exceeds the depth threshold corresponding to the road grade to which the road belongs, it is determined that the first vehicle is in a potential water splashing scene.

[0042] When the depth of water on the road exceeds the depth threshold corresponding to the road grade to which the road belongs, and the speed of the side car is greater than the speed of the first vehicle, it means that the side car has a sufficient speed to cause water splashing; at the same time, when the side car is located behind the first vehicle, the movement direction of the side car is the same as that of the first vehicle, and the speed of the side car is greater than the speed of the first vehicle, it means that the side car will gradually catch up with the first vehicle in a period of time in the future, thereby shortening the distance between the side car and the first vehicle until the side car exceeds the first vehicle; in the above process, when the distance between the side car and the first vehicle is close enough, the water splashing caused by the side car may act on the first vehicle, and therefore, it can be determined that the first vehicle is in a potential water splashing scene.

[0043] ② If the side vehicle is located in front of the first vehicle, the moving direction of the side vehicle is opposite to that of the first vehicle, the speed of the side vehicle is greater than the speed threshold, and the depth of the accumulated water exceeds the depth threshold corresponding to the road grade to which the road belongs, it is determined that the first vehicle is in a potential water splashing scene.

[0044] Similarly, when the depth of water on the road exceeds the depth threshold corresponding to the road grade to which the road belongs, and the speed of the adjacent vehicle is greater than the speed threshold, it means that the adjacent vehicle has a sufficient speed to cause water splashing; at the same time, when the adjacent vehicle is located in front of the first vehicle and the movement direction of the adjacent vehicle is opposite to that of the first vehicle, it means that the adjacent vehicle and the first vehicle are likely to intersect in the future, and the distance between the vehicles when they intersect is relatively close, and the water splashing caused by the adjacent vehicle may affect the first vehicle. Therefore, it can be determined that the first vehicle is in a potential water splashing scene.

[0045] In other embodiments, when the depth of accumulated water exceeds the depth threshold corresponding to the road grade to which the road belongs, and the adjacent vehicle is located behind the first vehicle and the movement direction of the adjacent vehicle is the same as that of the first vehicle, it is also possible to determine whether the first vehicle is in a potential water splashing scene by using the acceleration of the adjacent vehicle; if the acceleration of the adjacent vehicle is greater than the acceleration of the first vehicle, it is determined that the first vehicle is in a potential water splashing scene.

[0046] To understand the above steps, please refer to Figure 2 , Figure 2 A schematic diagram of the relative positions of the first vehicle and the vehicle next to the first vehicle is given. Figure 2 a in the figure shows the relative position of the first vehicle C1 and the adjacent vehicle C2 when they are traveling in the same direction. Figure 2Figure a in the figure shows the schematic diagram of the positions of the first vehicle C1 and the adjacent vehicle C2 at time TO and at time T1 after time TO. At time T0, the adjacent vehicle C2 is located behind the first vehicle C1. If there is water on the road ahead of the adjacent vehicle C2 at time T0, and the speed v2 of the adjacent vehicle C2 is greater than the speed v1 of the first vehicle C1, or the acceleration a2 of the adjacent vehicle C2 is greater than the acceleration a1 of the first vehicle C1, after a short period of time, the distance between the first vehicle C1 and the adjacent vehicle C2 gradually shortens. In the process from time T0 to time T1, the splashing water caused by the adjacent vehicle C2 may act on the first vehicle C1. Therefore, it is determined that the first vehicle C1 is in a potential splashing water scene at time T0.

[0047] Similarly, Figure 2 b in the figure shows a schematic diagram of the relative positions of the first vehicle C1 and the adjacent vehicle C2 when they are traveling towards each other. Figure 2 Figure a in the figure shows the schematic diagram of the positions of the first vehicle C1 and the adjacent vehicle C2 at time TO and at time T1 after time TO. At time T0, the adjacent vehicle C2 is located in front of the first vehicle C1. After a short period of time, the distance between the first vehicle C1 and the adjacent vehicle C2 gradually shortens. For example, at time T1, the adjacent vehicle C2 intersects with the first vehicle C1. If there is water on the road ahead of the adjacent vehicle C2 at the time T0 and the depth of the water exceeds the depth threshold corresponding to the road grade to which the road belongs, and the speed v2 of the adjacent vehicle C2 is greater than the speed threshold, the splashing caused by the adjacent vehicle C2 may act on the first vehicle C1 during the process from time T0 to time T1. Therefore, it is determined that the first vehicle C1 is in a potential splashing scene at time T0.

[0048] It should be noted that the fact that the first vehicle is in a potential water splashing scene does not mean that the first vehicle must be at risk of driving blindness; but the fact that the first vehicle is not in a potential water splashing scene means that the first vehicle must not be at risk of driving blindness caused by water splashing.

[0049] S130: If it is identified that the first vehicle is in a potential water splashing scene, the risk of blinding the driver of the first vehicle due to water splashing caused by the vehicles beside the first vehicle in the future is evaluated based on the vehicle perception information, the road perception information and the vehicle information of the first vehicle, and a risk assessment result is obtained.

[0050] The risk assessment result is used to indicate whether water splashing caused by a vehicle beside the first vehicle in the future will cause blindness to the first vehicle.

[0051] In some embodiments, whether there is a risk of driving blindness can be determined based on the degree to which the driving field of view of the first vehicle is blocked by the splashing water caused by the adjacent vehicle; illustratively, if the degree to which the driving field of view of the first vehicle is blocked by the splashing water caused by the adjacent vehicle is greater than the blocking degree threshold, it is determined that there is a risk of driving blindness; if the degree to which the driving field of view of the first vehicle is blocked by the splashing water caused by the adjacent vehicle is not greater than the blocking degree threshold, it is determined that there is no risk of driving blindness.

[0052] In some embodiments, see Figure 3 , Figure 3 The embodiment of the present application provides Figure 1 Schematic diagram of the process of step S130, step S130 includes steps S131-S133:

[0053] S131. Determine, based on the adjacent vehicle perception information and the road perception information, area range parameters of an area of ​​water splashing caused by adjacent vehicles of the first vehicle in the future.

[0054] The splash zone area range parameter is used to determine the location and size of the splash zone.

[0055] In some embodiments, the adjacent vehicle perception information includes the position information and speed of the adjacent vehicle; the road perception information includes the depth of water on the road where the adjacent vehicle is located; the area range parameters of the splashing area include the relative boundary distance of the splashing area relative to the target reference point and the size parameters of the splashing area, and the target reference point refers to the projection point on the road of the position point where the center point of the adjacent vehicle is located when the adjacent vehicle causes the splashing area; step S131 may specifically include step 1 and step 2:

[0056] Step 1: Determine the size parameters of the splash area caused by the adjacent vehicle based on the speed of the adjacent vehicle and the depth of water on the road where the adjacent vehicle is located.

[0057] Among them, the splashing area caused by the adjacent car of the first vehicle in the future is a three-dimensional area. In actual circumstances, the splashing area is an irregular three-dimensional area. In this application, for the convenience of calculation, the splashing area is equivalent to a cubic area. Therefore, the size parameters of the splashing area include the lateral width (referring to the width in the direction perpendicular to the movement direction of the adjacent car), the longitudinal length (referring to the length along the movement direction of the adjacent car) and the vertical height of the splashing area.

[0058] In some embodiments, road tests can be conducted in advance to collect multiple sets of test data, wherein each set of test data includes the speed of the adjacent vehicle, the water accumulation depth, and the size parameters of the splashing area (the splashing area is the size parameters of a cube area after being equivalent to a cube area). Afterwards, data fitting is performed using the multiple sets of experimental data to obtain a function expression of the size parameters with respect to the speed and the water accumulation depth, that is, the size parameter of the splashing area D = f(v,H), wherein D represents the size parameter of the splashing area, v represents the speed of the adjacent vehicle, and H represents the water accumulation depth.

[0059] In other embodiments, road tests can also be carried out on roads of different road grades, and each set of test data includes road grade, speed of adjacent vehicles, water accumulation depth, and size parameters of the splashing area. Afterwards, data fitting is performed through multiple sets of experimental data to obtain a function expression of the size parameters with respect to road grade, speed, and water accumulation depth, that is, the size parameter of the splashing area D = f(v, H, R), wherein D represents the size parameter of the splashing area, v represents the speed of adjacent vehicles, H represents the water accumulation depth, and R represents the road grade parameter.

[0060] Step 2: Determine the relative boundary distance of the splash area relative to the target reference point based on the size parameters of the target reference point and the splash area.

[0061] The target reference point refers to the projection point on the road of the center point of the adjacent vehicle when the adjacent vehicle causes the splashing area.

[0062] In some embodiments, the first vehicle can collect the vehicle position data (such as the front position, rear position, etc. of the adjacent vehicle) and motion data (such as speed, acceleration) at the current moment, and then predict the vehicle position data of the adjacent vehicle when it causes splashing in the future based on the vehicle position data and motion data collected at the current moment, and determine the position of the center point of the adjacent vehicle when it causes splashing in the future in combination with the preset vehicle center point ratio parameters, thereby determining the target reference point.

[0063] The relative boundary distance of the splash area to the target reference point refers to the distance from each boundary of the splash area to the target reference point.

[0064] It can be understood that the position of the splash area can be determined by the target reference point and the relative boundary distance, and the size of the splash area can be determined by the size parameters of the splash area. Therefore, the splash area can be uniquely determined by the target reference point, the relative boundary distance of the splash area relative to the target reference point and the size parameters of the splash area.

[0065] For example, see Figure 4 , Figure 4 A schematic diagram of the water splashing area involved in the embodiment of the present application is given.

[0066] in, Figure 4 Figure c in the figure gives an exemplary schematic diagram of the projection of the splash area of ​​the adjacent car on the ground, wherein D0 is the center point of the adjacent car, that is, the target reference point, and the irregular area framed by the dotted line is the splash area determined based on the speed of the adjacent car and the depth of water on the road where the adjacent car is located. To simplify the calculation, this application simplifies the irregular splash area into the minimum circumscribed cube tangent to its outer contour, and correspondingly, the projection of the splash area on the ground is a rectangle D.

[0067] Figure 4 d in the figure gives an exemplary schematic diagram of the projection of the simplified splash area on the ground, wherein the direction of the arrow indicates the direction of movement of the adjacent vehicle, DW is the length of the splash area D in the direction of travel, i.e. the longitudinal length; DL is the length of the splash area D perpendicular to the direction of travel, i.e. the lateral length; l represents half of the lateral length DL, wf is the first boundary distance between the first lateral boundary f of the splash area D and the target reference point, wr is the second boundary distance between the second lateral boundary r of the splash area D and the target reference point, wherein, in the direction of movement of the adjacent vehicle, the first lateral boundary f is located before the second lateral boundary r.

[0068] S132: Determine, based on the area range parameters of the splash area and the vehicle information of the first vehicle, the degree to which the splash area blocks the driving field of view of the first vehicle.

[0069] The driving field of view of the first vehicle refers to the field of view that can be provided by the front windshield of the first vehicle. It is worth mentioning that, although the driving field of view of the first vehicle is relatively fixed relative to the position of the first vehicle, in the world coordinate system, since the first vehicle may be in motion, the position of the driving field of view of the first vehicle in the world coordinate system may change with the motion of the first vehicle.

[0070] It should be noted that, in step S132, the position of the driving field of view of the first vehicle refers to the position of the driving field of view of the first vehicle at the moment when the adjacent vehicle causes water splashing in the future.

[0071] In some embodiments, the ratio of the area of ​​the splashing area blocking the front windshield of the first vehicle to the area of ​​the entire front windshield may be used as the blocking degree of the driving field of view of the first vehicle by the splashing area; further, when the area ratio exceeds a ratio threshold, the blocking degree may be determined to be a blinding blocking degree, otherwise, it is a non-blinding blocking degree.

[0072] In other embodiments, taking into account that different positions of the front windshield have different degrees of influence on the vehicle's driving field of view, a critical blinding field of view area can be defined in the front windshield of the first vehicle, and the degree of obstruction of the critical blinding field of view area by the splashing area can be used as the degree of obstruction of the driving field of view area of ​​the first vehicle by the splashing area; for example, if the splashing area completely obstructs the critical blinding field of view area, the degree of obstruction is determined to be a blinding degree, otherwise, it is a non-blinding degree.

[0073] Among them, the critical blinding field of view area refers to a designated area in the front windshield that affects the driver's field of view, such as the area in the front windshield facing the driving seat.

[0074] S133. Determine a risk assessment result based on the degree of occlusion.

[0075] In some embodiments, the degree of obstruction includes a blinding degree of obstruction and a non-blinding degree of obstruction; if the degree of obstruction is a blinding degree of obstruction, the risk assessment result is determined to be a result indicating that the splashing caused by the vehicle next to the first vehicle poses a risk of blinding the first vehicle when driving.

[0076] If the shielding degree is a non-blinding shielding degree, it is determined that the risk assessment result is a result indicating that the splashing caused by the vehicle beside the first vehicle does not pose a risk of blinding the first vehicle.

[0077] In some embodiments, the degree of occlusion includes a blinding degree of occlusion and a non-blinding degree of occlusion; see Figure 5 , Figure 5 The embodiment of the present application provides Figure 3 Schematic diagram of the process of step S132, step S132 includes steps S210-S240:

[0078] S210. Determine position information of a critical blinding visual field area of ​​the first vehicle according to vehicle information of the first vehicle.

[0079] The critical blinding visual field area may be the entire visual field area of ​​the front windshield of the first vehicle, or may be a designated partial visual field area of ​​the front windshield of the first vehicle, such as the visual field area directly facing the driving seat.

[0080] In some embodiments, the position of the first vehicle at the moment when the adjacent vehicle causes splashing in the future can be predicted through the vehicle information of the first vehicle at the current moment (such as the current position, the current speed, the current acceleration, etc.). Since the driving field of view area of ​​the first vehicle is relatively fixed relative to the position of the first vehicle, the position of the driving field of view area of ​​the first vehicle can be determined based on the position of the first vehicle at the moment when the adjacent vehicle causes splashing in the future.

[0081] S220: Determine the occlusion relationship between the splashing area and the critical blinding visual field area according to the position information of the critical blinding visual field area and the area range parameters of the splashing area.

[0082] Among them, as in the aforementioned embodiment, the area range parameters of the splashing area include the relative boundary distance of the splashing area relative to the target reference point and the size parameters of the splashing area; the relative boundary distance includes the first boundary distance between the first lateral boundary of the splashing area and the target reference point, and the second boundary distance between the second lateral boundary of the splashing area and the target reference point. The target reference point refers to the projection point on the road of the position where the center point of the adjacent vehicle is located when the adjacent vehicle causes the splashing area.

[0083] It can be understood that the relative position between the critical blinding field of view area and the splashing area can be determined through the position information of the critical blinding field of view area and the area range parameters of the splashing area, and then the occlusion relationship between the splashing area and the critical blinding field of view area can be determined.

[0084] S230: If the occlusion relationship indicates that the splashing area completely blocks the critical blinding visual field area, determine that the occlusion degree is a blinding occlusion degree.

[0085] S240: If the occlusion relationship indicates that the splashing area does not completely block the critical blinding visual field area, determine that the occlusion degree is a non-blinding occlusion degree.

[0086] In some embodiments, the critical blinding area is the partial field of vision provided by the front windshield facing the driver's seat. Figure 6 , Figure 6 The present application embodiment provides Figure 5 In the flowchart of S220, step S220 includes steps S310-S320:

[0087] S310. Establish a target coordinate system according to the position information of the critical blinding visual field area, wherein the origin of the target coordinate system is the intersection of the upper boundary of the critical blinding visual field area and the vertical boundary of the critical blinding visual field area close to the co-pilot seat.

[0088] S320, transforming the position coordinates of the target reference point into a target coordinate system to obtain the target coordinates of the target reference point in the target coordinate system; the target coordinates include a target transverse coordinate, a target longitudinal coordinate, and a target vertical coordinate.

[0089] S330: If the target horizontal coordinate meets condition one, the target longitudinal coordinate meets condition two, and the target vertical coordinate meets condition three, it is determined that the occlusion relationship is that the splashing area completely blocks the critical blinding field of view area.

[0090] Condition 1: when the adjacent vehicle is located on a side away from the driving seat of the first vehicle, the sum of the absolute value of the target lateral coordinate and the target width is less than half of the lateral width; or, when the adjacent vehicle is located on a side close to the driving seat of the first vehicle, the absolute value of the target lateral coordinate is less than half of the lateral width; wherein the target width is the lateral width of the critical blinding visual field area.

[0091] It can be understood that, in the case where the adjacent vehicle is located on the side close to the driving seat of the first vehicle, since the critical blinding field of view is located on the side of the driving seat, and the origin of the target coordinate system is the intersection of the upper boundary of the critical blinding field of view and the vertical boundary of the critical blinding field of view on the side close to the co-pilot seat, the splashing area will preferentially cover the critical blinding field of view on the side close to the driving seat. If the absolute value of the target lateral coordinate is less than half of the lateral width, it means that the critical blinding field of view is completely located in the splashing area in the lateral direction.

[0092] In the case where the adjacent car is located on the side away from the driving seat of the first vehicle, since the critical blinding field of view is located on the driving seat side, and the origin of the target coordinate system is the intersection of the upper boundary of the critical blinding field of view and the vertical boundary of the critical blinding field of view close to the co-pilot side, it means that the adjacent car is far away from the critical blinding field of view, and the splashing area will preferentially cover the non-critical blinding field of view close to the co-pilot side. In other words, the adjacent car needs to be closer to the first vehicle to make the critical blinding field of view completely located in the splashing area in the lateral direction. Therefore, only when the sum of the absolute value of the target lateral coordinate and the target width is less than half of the lateral width, the critical blinding field of view will be completely located in the splashing area in the lateral direction.

[0093] Condition 2: When the target reference point is located in front of the first vehicle, the absolute value of the target longitudinal coordinate is less than the second boundary distance, or, when the target reference point is located behind the first vehicle, the absolute value of the target longitudinal coordinate is less than the first boundary distance.

[0094] It can be understood that, when the target reference point is located in front of the first vehicle, that is, the adjacent vehicle is located in front of the first vehicle, if the absolute value of the target longitudinal coordinate is less than the second boundary distance, it means that the first vehicle is in the splash zone of the adjacent vehicle in the longitudinal direction; similarly, when the target reference point is located behind the first vehicle, that is, the adjacent vehicle is located behind the first vehicle, if the absolute value of the target longitudinal coordinate is less than the first boundary distance, it also means that the first vehicle is in the splash zone of the adjacent vehicle in the longitudinal direction.

[0095] Condition three: The absolute value of the target vertical coordinate is less than the vertical height.

[0096] It can be understood that, since the target reference point is the projection point on the road of the position point where the center point of the adjacent car is located when the adjacent car causes the splashing area, the absolute value of the target vertical coordinate actually represents the height of the target coordinate system relative to the road surface, that is, the height of the origin of the target coordinate system from the road; since the origin of the target coordinate system is the intersection of the upper boundary of the critical blinding visual field and the vertical boundary of the critical blinding visual field close to the co-pilot side, the absolute value of the target vertical coordinate is less than the vertical height, which means that the vertical height of the splashing area exceeds the origin of the target coordinate system, that is, exceeds the upper boundary of the critical blinding visual field, that is, the critical blinding visual field can be completely located in the splashing area in the vertical direction.

[0097] To better understand the above steps, please refer to Figure 7 , a schematic diagram of the critical blinding field of view area and the target coordinate system of the first vehicle provided in an embodiment of the present application.

[0098] According to the national standard GB11562-2014 "Requirements and Measurement Methods for the Forward Vision of Automobile Drivers", in order to obtain the best vision, the driver's horizontal sight height should be higher than the middle and upper part of the front windshield. With reference to this standard, this application defines the occlusion range higher than 2 / 3 of the height of the front windshield and laterally exceeding the half side glass in front of the driver's seat as "large area occlusion", that is, the upper boundary of the critical blinding visual field area is defined as the horizontal line at 2 / 3 of the height of the front windshield, and the vertical boundary of the critical blinding visual field area close to the co-pilot side is defined as the horizontal 1 / 2 of the front windshield.

[0099] like Figure 7 As shown in Ⅰ, the width of the driving field of vision area B provided by the front windshield is 2m and the height is n; Figure 7 The area shown by the shaded part of Ⅰ is determined as the critical blinding field of view, and its width is m and its height is 2n / 3, that is, the area directly opposite to the driver's seat is regarded as the critical blinding field of view. It can be understood that the impact of the critical blinding field of view on the driving field of view is much greater than that of the non-critical blinding field of view in the front windshield on the driving field of view.

[0100] Further, such as Figure 7 As shown in Figure Ⅱ, the target coordinate system is established by the intersection of the upper boundary of the critical blinding visual field area and the vertical boundary of the critical blinding visual field area close to the co-pilot seat side, that is, Figure 7 The target coordinate system is established with point O as the origin. The x-axis of the target coordinate system is perpendicular to the moving direction of the first vehicle, and the side where the driver's seat is located is negative, and the side away from the driver's seat is positive. The y-axis of the target coordinate system is parallel to the moving direction of the first vehicle, and the moving direction of the first vehicle is positive. The z-axis of the target coordinate system is perpendicular to the road, and the top of the first vehicle is positive. The projection of the first vehicle on the xy plane of the target coordinate system is as follows: Figure 7 As shown in Ⅲ.

[0101] Please continue reading Figure 8 , taking the example of the side car C2 and the first vehicle C1 traveling in the same direction, taking the time T0 as the current time, at the time T0, the relative position between the first vehicle C1 and the side car C2 is as follows: Figure 8 As shown in the solid line frame (including the solid solid line frame and the hollow solid line frame), at this time, the relative position between the first vehicle C1 and the adjacent vehicle C2 at the future time T1 is calculated. At the time T1, the relative position between the first vehicle C1 and the adjacent vehicle C2 is as follows: Figure 8 As shown in the dashed box (including solid dashed box and hollow dashed box), at time T1, the target reference point of the splash area D of the adjacent vehicle C2 is D0; the target coordinates of the target reference point D0 (that is, the coordinates of the center point of the adjacent vehicle C2 at time T1) in the target coordinate system (that is, the coordinate system established with point O of the first vehicle at time T1 as the origin) are calculated.

[0102] It can be understood that the target lateral coordinate is also the lateral distance between the side vehicle C2 and the first vehicle C1. When the target lateral coordinate is greater than 0, it means that the side vehicle is located on the side away from the driving seat of the first vehicle, and when it is less than 0, it means that the side vehicle is located on the side close to the driving seat of the first vehicle; the target longitudinal coordinate is also the longitudinal distance between the side vehicle C2 and the first vehicle C1. When the target longitudinal coordinate is greater than 0, it means that the side vehicle is located in front of the first vehicle, and when it is less than 0, it means that the side vehicle is located behind the first vehicle; the absolute value of the target vertical coordinate is also the height of the target coordinate system relative to the road surface.

[0103] Therefore, when judging whether the splashing area caused by the future time T1 completely blocks the critical blinding field of view, the above conditions 1 to 3 can correspond to the following calculation formulas 1 to 3 respectively:

[0104] Calculation formula 1 (corresponding to condition 1): or,

[0105]

[0106] Calculation formula 2 (corresponding to condition 2): D oy -wr<0,D oy >0, or -D oy -wf<0,D oy <0.

[0107] Calculation formula 3 (corresponding to condition 3): -D oz -D H <0.

[0108] Among them, D ox , D oy , D ozCorresponding to the target horizontal coordinate, target vertical coordinate and target vertical coordinate respectively, D L is the lateral width of the splash area D, m is the target width, that is, the lateral width of the critical blinding field of view, wr is the second boundary distance of the splash area D, wf is the first boundary distance of the splash area D, D H is the vertical height of the splash area D.

[0109] S140: If the risk assessment result indicates that water splashing caused by a vehicle beside the first vehicle in the future may cause blindness to the first vehicle, a warning is issued to the first vehicle.

[0110] Among them, the early warning for the first vehicle may include multiple early warning methods such as voice playback of early warning prompt information, head-up display, instrument panel display prompt information, etc.

[0111] Through the method provided by the present application, a warning is issued to the first vehicle before the first vehicle is blinded by water splashing caused by the passing vehicle, so that the driver of the first vehicle can have sufficient time to make reasonable driving decisions for the impending risk of driving blindness, thereby reducing the possibility of driving out of control due to momentary driving blindness.

[0112] In some other embodiments, see Fig. 9 , Fig. 9 Another flow chart of the water splash warning method provided in the embodiment of the present application is given. After step S140, the water splash warning method may further include steps S410-S430:

[0113] S410: Determine assisted driving decision data for avoiding the risk of blindness caused by driving.

[0114] In some embodiments, after determining that there is a risk of blindness caused by driving, the assisted driving system in the first vehicle can generate assisted driving decision data aimed at avoiding the risk of blindness caused by driving. According to the knowledge learned by the assisted driving system and the assisted driving decision data, the above-determined risk of blindness caused by driving can be avoided. It is worth mentioning that in S410, the assisted driving system in the first vehicle can make a comprehensive decision based on the adjacent vehicle perception information obtained above, the determined area range parameters of the splash area, and the current vehicle information and position information of the first vehicle to obtain assisted driving decision data.

[0115] In other embodiments, the first vehicle can use a shadow following mode to simulate in real time the assisted driving decision data of the first vehicle within a preset time period in the future. Thereafter, after determining that the first vehicle is at risk of driving blindness, the assisted driving decision data within a preset time period in the future that has been generated is updated according to the driving blindness risk, so that the updated assisted driving decision data aims to avoid the driving blindness risk.

[0116] S420. Collect driving control data while the driver is operating the first vehicle to avoid the risk of blindness caused by driving.

[0117] In some embodiments, the timing may be started from the moment when it is determined that the first vehicle has a risk of blinding due to driving, and the driving control data within a preset time length is collected; alternatively, the timing may be started from the position of the first vehicle when it is determined that the first vehicle has a risk of blinding due to driving, and the driving control data within a preset driving length is collected.

[0118] S430: If the difference between the driving control data and the assisted driving decision data is greater than a preset difference threshold, control the first vehicle according to the assisted driving decision data to avoid the risk of driving blindness.

[0119] It is understandable that if, after determining that the first vehicle poses a risk of blindness due to driving, the first vehicle is directly controlled based on the assisted driving decision data, it is easy for the driver's decisions and the assisted driving decisions to frequently compete for control of the vehicle, thereby increasing the driver's discomfort in driving and easily leading to the driver's operating errors.

[0120] Therefore, in an embodiment of the present application, only when the difference between the driving control data and the assisted driving decision data is greater than a preset difference threshold, the first vehicle will be controlled according to the assisted driving decision data to avoid the risk of driving blindness, that is, the assisted driving intervenes in the control of the first vehicle to avoid the risk of driving blindness; and when the difference between the driving control data and the assisted driving decision data is not greater than the preset difference threshold, the first vehicle will not be controlled by the assisted driving decision data, that is, the assisted driving will not intervene in the control of the first vehicle, thereby ensuring the driver's full control over the first vehicle, thereby achieving a balance between driving comfort and ensuring safety.

[0121] It is understandable that if the difference between the driving control data and the assisted driving decision data is greater than the preset difference threshold, it means that the driver's control has made a major mistake or the driver's control is not enough to avoid the risk of driving blindness, which may easily lead to a driving accident. Therefore, in this case, the first vehicle is controlled based on the assisted driving decision data to avoid the risk of driving blindness; and the difference between the driving control data and the assisted driving decision data is not greater than the preset difference threshold, it means that even if the driver's operating decision is different from the assisted driving decision, the driver's operating decision is acceptable. In this case, the driver's operation is sufficient to control the first vehicle to avoid the risk of driving blindness. Therefore, there is no need for assisted driving decision data to intervene.

[0122] See also Fig.10 , Fig.10An application flow chart involved in an embodiment of the present application is given, which is applied to a first vehicle. When the driving mode of the first vehicle is a rainy day driving mode, the first vehicle can execute the method of the present application, and can obtain the decision results that need to be output to the downstream module by performing three types of tasks: scene recognition, risk assessment, and interactive decision-making.

[0123] Among them, the scene recognition task includes: obtaining environmental perception information and identifying potential water splashing scenes; specifically, the environmental perception information includes side vehicle perception information and road perception information. After obtaining the environmental perception information, it is identified whether the first vehicle is in a potential water splashing scene based on the side vehicle perception information, road perception information and vehicle information of the first vehicle.

[0124] The risk assessment tasks include: if it is identified that the first vehicle is in a potential water splashing scene, dynamically assessing the risk of blinding the driver of the first vehicle due to water splashing caused by the vehicles beside the first vehicle in the future; specifically, assessing the risk of blinding the driver of the first vehicle due to water splashing caused by the vehicles beside the first vehicle in the future based on the vehicle perception information, road perception information and vehicle information of the first vehicle.

[0125] Interactive decision-making tasks include: interactive warning of driving blindness risk and extension of anthropomorphic decision-making; interactive warning of driving blindness risk means that when it is determined that the splashing of water caused by the vehicle next to the first vehicle in the future poses a risk of driving blindness to the first vehicle, the first vehicle is warned through driving interaction (such as voice broadcast, head-up display, etc.); extension of anthropomorphic decision-making means that when the difference between the driver's driving control data and the assisted driving decision data is greater than a preset difference threshold, the first vehicle is controlled according to the assisted driving decision data to avoid the risk of driving blindness.

[0126] Finally, the decision result is output to the downstream module, and the decision result is used to indicate whether assisted driving intervention is required; specifically, when the difference between the driver's driving control data and the assisted driving decision data is not greater than the preset difference threshold, the decision result is used to indicate that assisted driving intervention is not required; when the difference between the driver's driving control data and the assisted driving decision data is greater than the preset difference threshold, the decision result is used to indicate that assisted driving intervention is required.

[0127] Please continue reading Fig.11 , Fig.11 Another application flow chart involved in the embodiment of the present application is provided, which is applied to a first vehicle and includes steps 1010-1090:

[0128] 1010. Acquire environmental perception information and vehicle information of the first vehicle in real time.

[0129] 1020. Based on the acquired environmental perception information and the vehicle information of the first vehicle, identify whether the vehicle is in a potential water splashing scene. If the vehicle is not in a potential water splashing scene, the process ends. If the vehicle is in a potential water splashing scene, execute step 1030.

[0130] 1030, assessing the risk of blindness caused by driving and obtaining a risk assessment result.

[0131] 1040, determine whether there is a risk of blindness caused by driving based on the risk assessment result, if yes, execute step 1050, if not, the process ends.

[0132] 1050, issuing a warning to the first vehicle and collecting driving control data.

[0133] 1060, update assisted driving decision data.

[0134] 1070, dynamically monitor the difference between driving control data and assisted driving decision data.

[0135] 1080, determine whether the deviation between the driving control data and the assisted driving decision data exceeds a preset difference threshold. If so, execute step 1090; if not, the process ends.

[0136] 1090, perform control correction based on assisted driving decision data.

[0137] See also Fig.12 , Fig.12 A schematic diagram of a water splash warning device provided in an embodiment of the present application is provided. The water splash warning device 500 includes:

[0138] The acquisition module 510 is used to acquire the environment perception information of the first vehicle, where the environment perception information includes the adjacent vehicle perception information and the road perception information.

[0139] The identification module 520 is used to identify whether the first vehicle is in a potential water splashing scene based on the adjacent vehicle perception information, the road perception information and the vehicle information of the first vehicle.

[0140] The evaluation module 530 is used to evaluate the risk of blinding the driver of the first vehicle due to splashing caused by the vehicles beside the first vehicle in the future based on the vehicle perception information, road perception information and vehicle information of the first vehicle if it is identified that the first vehicle is in a potential splashing scene, and obtain a risk assessment result.

[0141] The warning module 540 is used to warn the first vehicle if the risk assessment result indicates that water splashing caused by a vehicle next to the first vehicle in the future poses a risk of blinding the first vehicle.

[0142] In some embodiments, the assessment module 530 includes a parameter determination module for determining the area range parameters of the splash area that will be caused by the vehicles beside the first vehicle in the future based on the perception information of the vehicles beside the first vehicle and the road perception information; an occlusion determination module for determining the degree of occlusion of the splash area for the driving field of view of the first vehicle based on the area range parameters of the splash area and the vehicle information of the first vehicle; and a judgment module for determining the risk assessment result based on the degree of occlusion.

[0143] In some embodiments, the adjacent vehicle perception information includes the position information of the adjacent vehicle and the speed of the adjacent vehicle; the road perception information includes the depth of water on the road where the adjacent vehicle is located; the area range parameters of the splashing area include the relative boundary distance of the splashing area relative to the target reference point and the size parameters of the splashing area, and the target reference point refers to the projection point on the road of the position point where the center point of the adjacent vehicle is located when the adjacent vehicle causes the splashing area; the parameter determination module is specifically used to determine the size parameters of the splashing area caused by the adjacent vehicle according to the speed of the adjacent vehicle and the depth of water on the road where the adjacent vehicle is located; and, according to the target reference point and the size parameters of the splashing area, determine the relative boundary distance of the splashing area relative to the target reference point.

[0144] In some embodiments, the occlusion degree includes a blinding occlusion degree and a non-blinding occlusion degree; the occlusion determination module includes a critical blinding field of view area determination unit, which is used to determine the position information of the critical blinding field of view area of ​​the first vehicle according to the vehicle information of the first vehicle; an occlusion relationship determination unit, which is used to determine the occlusion relationship between the splash area and the critical blinding field of view area according to the position information of the critical blinding field of view area and the area range parameters of the splash area; if the occlusion relationship indicates that the splash area completely obscures the critical blinding field of view area, the occlusion degree is determined to be a blinding occlusion degree; if the occlusion relationship indicates that the splash area does not completely obstruct the critical blinding field of view area, the occlusion degree is determined to be a non-blinding occlusion degree.

[0145] In some embodiments, the area range parameters of the splash area include a relative boundary distance of the splash area relative to the target reference point and a size parameter of the splash area; the relative boundary distance includes a first boundary distance between a first lateral boundary of the splash area and the target reference point, and a second boundary distance between a second lateral boundary of the splash area and the target reference point, and the target reference point refers to the projection point on the road of the position point where the center point of the adjacent vehicle is located when the adjacent vehicle causes the splash area; the size parameters include a lateral width, a longitudinal length, and a vertical height, and the sum of the first boundary distance and the second boundary distance is equal to the longitudinal length; in the direction of movement of the adjacent vehicle, the first lateral boundary is located before the second lateral boundary; the occlusion relationship is determined by the monocular being specifically used to establish a target coordinate system based on the position information of the critical blinding visual field area, and the origin of the target coordinate system is the intersection of the upper boundary of the critical blinding visual field area and the vertical boundary of the critical blinding visual field area close to the co-pilot side; the position coordinates of the target reference point are transformed to the target coordinate system to obtain the target reference point. The target coordinates in the target coordinate system; the target coordinates include the target transverse coordinates, the target longitudinal coordinates and the target vertical coordinates; if the target transverse coordinates meet condition one, the target longitudinal coordinates meet condition two and the target vertical coordinates meet condition three, it is determined that the occlusion relationship is that the splash area completely blocks the critical blinding field of view area; condition one: when the adjacent vehicle is located on the side away from the driving seat of the first vehicle, the sum of the absolute value of the target transverse coordinate and the target width is less than half of the transverse width, or, when the adjacent vehicle is located on the side close to the driving seat of the first vehicle, the absolute value of the target transverse coordinate is less than half of the transverse width; wherein the target width is the transverse width of the critical blinding field of view area; condition two: when the target reference point is located in front of the first vehicle, the absolute value of the target longitudinal coordinate is less than the second boundary distance, or, when the target reference point is located behind the first vehicle, the absolute value of the target longitudinal coordinate is less than the first boundary distance; condition three: the absolute value of the target vertical coordinate is less than the vertical height.

[0146] In some embodiments, the judgment module is specifically used to determine, if the degree of obstruction is a blinding obstruction degree, a risk assessment result as a result indicating that the splashing caused by the vehicle beside the first vehicle poses a risk of blinding the first vehicle while driving; and if the degree of obstruction is a non-blinding obstruction degree, determine the risk assessment result as a result indicating that the splashing caused by the vehicle beside the first vehicle does not pose a risk of blinding the first vehicle while driving.

[0147] In some embodiments, the side vehicle perception information includes the speed and movement direction of the side vehicle of the first vehicle; the road perception information includes the depth of water on the road where the side vehicle of the first vehicle is located; the vehicle information of the first vehicle includes the speed and movement direction of the first vehicle; the identification module 520 is specifically used to determine that the first vehicle is in a potential water splashing scene if the side vehicle is located behind the first vehicle, the movement direction of the side vehicle is the same as the movement direction of the first vehicle, the speed of the side vehicle is greater than the speed of the first vehicle, and the depth of water exceeds the depth threshold corresponding to the road grade to which the road belongs; if the side vehicle is located in front of the first vehicle, the movement direction of the side vehicle is opposite to the movement direction of the first vehicle, the speed of the side vehicle is greater than the speed threshold, and the depth of water exceeds the depth threshold corresponding to the road grade to which the road belongs, determine that the first vehicle is in a potential water splashing scene.

[0148] In some embodiments, the water splash warning device 500 also includes a decision module, which is used to determine assisted driving decision data aimed at avoiding the risk of driving blindness; in the process of the driver operating the first vehicle to avoid the risk of driving blindness, the driving control data is collected; if the difference between the driving control data and the assisted driving decision data is greater than a preset difference threshold, the first vehicle is controlled according to the assisted driving decision data to avoid the risk of driving blindness.

[0149] In some implementations, according to the water splash warning method provided in the above embodiments, the embodiments of the present application also provide an electronic device, such as Fig.13 , Fig.13 A structural block diagram of an electronic device provided in an embodiment of the present application is given, where the electronic device 600 includes a processor 610; a memory 620; and computer-readable instructions are stored on the memory 620. When the computer-readable instructions are executed by the processor 610, the above method is implemented.

[0150] The electronic device 600 may be a terminal device, and the terminal device may be a vehicle-mounted terminal or the like.

[0151] The processor 610 may include one or more processing cores. The processor 610 uses various interfaces and lines to connect the various parts of the entire wearable device, and executes various functions of the wearable device and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 620, and calling data stored in the memory 620. Optionally, the processor 610 can be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor 610 can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing the content to be displayed; and the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor, but may be implemented separately through a communication chip.

[0152] The memory 620 may include a random access memory (RAM) or a read-only memory (ROM). The memory 620 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 620 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the following various method embodiments, etc. The data storage area may also store data created by the electronic device during use.

[0153] In some embodiments, the present application further provides a computer-readable storage medium having computer-readable instructions stored thereon, and when the computer-readable instructions are executed by the processor 610, the above method is implemented.

[0154] The computer-readable storage medium may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer-readable storage medium includes a non-transitory computer-readable storage medium. The computer-readable storage medium has storage space for computer-readable instructions for executing any method step of the above method. These computer-readable instructions may be read from or written to one or more computer program products. The computer-readable instructions may be compressed in an appropriate form.

[0155] In particular, according to an embodiment of the present application, the process described above 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 instruction. When the computer instruction is executed by a central processing unit (CPU), various functions defined in the system of the present application are executed.

[0156] In the embodiments of the present application, the term "module" or "unit" refers to a computer program or a part of a computer program with a predetermined function, and works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as processing circuits or memories) or a combination thereof. Similarly, a processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be a part of the overall module or unit of the module or unit function.

[0157] The above are only preferred embodiments of the present application, and are not intended to limit the present application in any form. Although the present application has been disclosed as above with preferred embodiments, it is not intended to limit the present application. Any technical personnel in the field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present application. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A water splash warning method, characterized in that: include: Acquiring environmental perception information of the first vehicle, wherein the environmental perception information includes adjacent vehicle perception information and road perception information; identifying whether the first vehicle is in a potential water splashing scene according to the adjacent vehicle perception information, the road perception information, and the vehicle information of the first vehicle; If it is identified that the first vehicle is in a potential water splashing scene, the risk of blinding the driver of the first vehicle due to water splashing caused by a vehicle next to the first vehicle in the future is evaluated according to the vehicle next to the vehicle perception information, the road perception information and the vehicle information of the first vehicle, and a risk assessment result is obtained; If the risk assessment result indicates that water splashing caused by a vehicle beside the first vehicle in the future poses a risk of blinding the first vehicle during driving, an early warning is issued to the first vehicle.

2. The method according to claim 1, characterized in that The step of evaluating the risk of blinding the first vehicle caused by splashing water in the future caused by a vehicle next to the first vehicle based on the vehicle next to the first vehicle perception information, the road perception information, and the vehicle information of the first vehicle, and obtaining a risk assessment result includes: Determining, according to the adjacent vehicle perception information and the road perception information, a region range parameter of a water splashing region caused by an adjacent vehicle of the first vehicle in the future; Determining, according to the area range parameter of the splash area and the vehicle information of the first vehicle, the degree to which the splash area blocks the driving field of view of the first vehicle; A risk assessment result is determined according to the shielding degree.

3. The method according to claim 2, characterized in that The adjacent car perception information includes the position information and speed of the adjacent car; the road perception information includes the depth of water on the road where the adjacent car is located; the area range parameters of the splash area include the relative boundary distance of the splash area relative to the target reference point and the size parameters of the splash area, and the target reference point refers to the projection point on the road of the position point where the center point of the adjacent car is located when the adjacent car causes the splash area in the future; The determining, based on the adjacent vehicle perception information and the road perception information, a regional range parameter of a water splashing area caused by an adjacent vehicle of the first vehicle comprises: Determining the size parameters of the splash area caused by the adjacent vehicle according to the speed of the adjacent vehicle and the depth of the water on the road where the adjacent vehicle is located; A relative boundary distance of the splash area relative to the target reference point is determined according to the size parameters of the target reference point and the splash area.

4. The method according to claim 2, characterized in that: The occlusion degree includes a blinding occlusion degree and a non-blinding occlusion degree; The determining, based on the area range parameter of the splash area and the vehicle information of the first vehicle, the degree of shielding of the driving field of vision of the first vehicle by the splash area includes: Determining, based on the vehicle information of the first vehicle, position information of a critical blinding visual field area of ​​the first vehicle; Determining the occlusion relationship between the splashing area and the critical blinding visual field area according to the position information of the critical blinding visual field area and the area range parameter of the splashing area; If the occlusion relationship indicates that the splashing area completely blocks the critical blinding visual field area, determining that the occlusion degree is a blinding occlusion degree; If the occlusion relationship indicates that the splashing area does not completely block the critical blinding visual field area, the occlusion degree is determined to be a non-blinding occlusion degree.

5. The method according to claim 4, characterized in that The area range parameters of the splash area include a relative boundary distance of the splash area relative to a target reference point and a size parameter of the splash area; the relative boundary distance includes a first boundary distance between a first lateral boundary of the splash area and the target reference point, and a second boundary distance between a second lateral boundary of the splash area and the target reference point, and the target reference point refers to a projection point on the road of the position point where the center point of the adjacent vehicle is located when the adjacent vehicle causes the splash area; The size parameters include a transverse width, a longitudinal length and a vertical height, the sum of the first boundary distance and the second boundary distance is equal to the longitudinal length; the first transverse boundary is located before the second transverse boundary in the moving direction of the adjacent vehicle; The determining, according to the position information of the critical blinding visual field area and the area range parameter of the splashing area, the blocking relationship between the splashing area and the critical blinding visual field area comprises: According to the position information of the critical blinding visual field area, a target coordinate system is established, wherein the origin of the target coordinate system is the intersection of the upper boundary of the critical blinding visual field area and the vertical boundary of the critical blinding visual field area close to the co-pilot seat side; Transforming the position coordinates of the target reference point into the target coordinate system to obtain the target coordinates of the target reference point in the target coordinate system; the target coordinates include a target horizontal coordinate, a target longitudinal coordinate and a target vertical coordinate; If the target transverse coordinate satisfies condition one, the target longitudinal coordinate satisfies condition two, and the target vertical coordinate satisfies condition three, it is determined that the occlusion relationship is that the splashing area completely occludes the critical blinding field of view area; Condition 1: when the adjacent vehicle is located on a side away from the driving position of the first vehicle, the sum of the absolute value of the target lateral coordinate and the target width is less than half of the lateral width; or, when the adjacent vehicle is located on a side close to the driving position of the first vehicle, the absolute value of the target lateral coordinate is less than half of the lateral width; wherein the target width is the lateral width of the critical blinding visual field area; Condition 2: when the target reference point is located in front of the first vehicle, the absolute value of the target longitudinal coordinate is less than the second boundary distance, or when the target reference point is located behind the first vehicle, the absolute value of the target longitudinal coordinate is less than the first boundary distance; Condition three: the absolute value of the target vertical coordinate is less than the vertical height.

6. The method according to claim 4 or 5, characterized in that: Determining the risk assessment result according to the shielding degree includes: If the occlusion degree is a blinding occlusion degree, determining the risk assessment result is a result indicating that water splashing caused by a vehicle beside the first vehicle in the future may cause blinding to the first vehicle; If the shielding degree is a non-blinding shielding degree, it is determined that the risk assessment result is a result indicating that water splashing caused by a vehicle beside the first vehicle in the future does not pose a risk of blinding the first vehicle.

7. The method according to any one of claims 1 to 5, characterized in that The adjacent vehicle perception information includes the speed and moving direction of the adjacent vehicle of the first vehicle; the road perception information includes the depth of water on the road where the adjacent vehicle of the first vehicle is located; the vehicle information of the first vehicle includes the speed and moving direction of the first vehicle; The identifying, according to the adjacent vehicle perception information, the road perception information, and the vehicle information of the first vehicle, whether the first vehicle is in a potential water splashing scene includes: If the adjacent vehicle is located behind the first vehicle, the moving direction of the adjacent vehicle is the same as that of the first vehicle, the speed of the adjacent vehicle is greater than that of the first vehicle, and the depth of the accumulated water exceeds the depth threshold corresponding to the road grade to which the road belongs, it is determined that the first vehicle is in a potential water splashing scene; If the accompanying vehicle is located in front of the first vehicle, the moving direction of the accompanying vehicle is opposite to the moving direction of the first vehicle, the speed of the accompanying vehicle is greater than the speed threshold, and the depth of the accumulated water exceeds the depth threshold corresponding to the road grade to which the road belongs, it is determined that the first vehicle is in a potential water splashing scene.

8. The method according to any one of claims 1 to 5, characterized in that If the risk assessment result indicates that the splashing caused by the vehicle next to the first vehicle poses a risk of blinding the first vehicle, after issuing an early warning to the first vehicle, the method further includes: Determining assisted driving decision data with the goal of avoiding the risk of blindness caused by driving; collecting driving control data during the process in which the driver controls the first vehicle to avoid the risk of blindness caused by driving; If the difference between the driving control data and the assisted driving decision data is greater than a preset difference threshold, the first vehicle is controlled according to the assisted driving decision data to avoid the driving blindness risk.

9. A water splash warning device, characterized in that: include: An acquisition module, used to acquire environmental perception information of the first vehicle, wherein the environmental perception information includes adjacent vehicle perception information and road perception information; an identification module, configured to identify whether the first vehicle is in a potential water splashing scene according to the adjacent vehicle perception information, the road perception information and the vehicle information of the first vehicle; an assessment module, configured to assess the risk of blinding the driver of the first vehicle due to splashing caused by a vehicle next to the first vehicle in the future based on the vehicle next to the first vehicle perception information, the road perception information and the vehicle information of the first vehicle if the first vehicle is identified as being in a potential splashing scene, and obtain a risk assessment result; The early warning module is used to issue an early warning to the first vehicle if the risk assessment result indicates that water splashing caused by a vehicle beside the first vehicle in the future poses a risk of blinding the first vehicle when driving.

10. An electronic device, characterized in that: include: processor; A memory having computer-readable instructions stored thereon, wherein when the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 8 is implemented.

11. 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, the method according to any one of claims 1 to 8 is implemented.

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