Splash warning method and device, and electronic device

Abstract

The application relates to the technical field of automobiles, in particular to a water splashing early warning method and device and electronic equipment. The method comprises the following steps: acquiring environment sensing information of a first vehicle, wherein the environment sensing information comprises side vehicle sensing information and road sensing information; judging whether the first vehicle is in a potential water splashing scene according to the side vehicle sensing information, the road sensing information and vehicle information of the first vehicle; in the case that the first vehicle is in the potential water splashing scene, evaluating whether the first vehicle has a driving blinding risk, and giving a warning to the first vehicle in the case that the first vehicle has the driving blinding risk; according to the method, a warning can be given to the first vehicle in advance before the first vehicle is blinded by water splashing caused by a side vehicle in the future, so that the driver of the first vehicle can have sufficient time to make a reasonable driving decision for the water splashing blinding scene, and the driving safety of the first vehicle is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobiles, in particular to a water splashing early warning method and device and electronic equipment. BACKGROUND

[0002] In the field of automobile technology, driving safety is always the primary problem of automobile driving, among which, weather phenomena and road conditions are the key problems affecting driving safety. In particular, in the presence of road water, the water splashing caused by the side car when passing the host car at high speed; the water splashing on the windshield of the vehicle will cause the driver's vision to be blocked; when the area of water splashing on the windshield is large enough, it will cause the driver's instantaneous blindness.

[0003] In the case of loss of driving vision, the driver is easy to lose control of driving, therefore, an early warning method for water splashing is needed to solve the above problems. SUMMARY

[0004] Therefore, the embodiments of the present application propose a water splashing early warning method, device and electronic equipment, which can identify whether the first vehicle is in a potential water splashing scene, and further evaluate the driving blindness risk of the first vehicle in the case that the first vehicle is in the potential water splashing scene, and warn the first vehicle in the case that the first vehicle has driving blindness risk, so that the driver has enough time to make correct driving decisions for the blindness risk.

[0005] The embodiments of the present application are implemented by adopting the following technical solutions:

[0006] In a first aspect, the embodiments of the present application provide a water splashing early warning method, which comprises: acquiring environmental perception information of a first vehicle, the environmental perception information comprising side car perception information and road perception information; identifying whether the first vehicle is in a potential water splashing scene according to the side car perception information, the road perception information and vehicle information of the first vehicle; if it is identified that the first vehicle is in a potential water splashing scene, evaluating the driving blindness risk of the first vehicle caused by water splashing in the future by a side car according to the side car perception information, the road perception information and the vehicle information of the first vehicle, to obtain a risk evaluation result; and if the risk evaluation result indicates that the water splashing in the future by a side car of the first vehicle exists driving blindness risk to the first vehicle, warning the first vehicle.

[0007] In a second aspect, an embodiment of the present application provides a splash warning device, the device comprising: an acquisition module configured to acquire environmental perception information of a first vehicle, the environmental perception information comprising side vehicle perception information and road perception information; an identification module configured to identify whether the first vehicle is in a potential splash scenario according to the side vehicle perception information, the road perception information, and vehicle information of the first vehicle; an evaluation module configured to, if it is identified that the first vehicle is in the potential splash scenario, evaluate a splash-induced driving blindness risk of the first vehicle caused by a future splash of a side vehicle of the first vehicle according to the side vehicle perception information, the road perception information, and the vehicle information of the first vehicle, to obtain a risk evaluation result; and a warning module configured to, if the risk evaluation result indicates that the future splash of the side vehicle of the first vehicle exists a driving blindness risk to the first vehicle, warn the first vehicle.

[0008] In a third aspect, an embodiment of the present application provides an electronic device, the electronic device comprising a processor, and a memory having computer readable instructions stored thereon, the computer readable instructions, when executed by the processor, implement the method described above.

[0009] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium having computer readable instructions stored thereon, the computer readable instructions, when executed by a processor, implement the method described above.

[0010] The splash warning method, device, and electronic device provided by the embodiments of the present application, by acquiring environmental perception information of a first vehicle, the environmental perception information comprising side vehicle perception information and road perception information, judging whether the first vehicle is in a potential splash scenario according to the side vehicle perception information, the road perception information, and vehicle information of the first vehicle, it is obvious that if the first vehicle is not in the potential splash scenario, the first vehicle will not exist a driving blindness risk, if the first vehicle is in the potential splash scenario, the first vehicle may exist a driving blindness risk, in this case, the splash-induced driving blindness risk of the first vehicle caused by a future splash of a side vehicle of the first vehicle can be evaluated according to the side vehicle perception information, the road perception information, and the vehicle information of the first vehicle, to obtain a risk evaluation result, if the risk evaluation result indicates that the future splash of the side vehicle of the first vehicle exists a driving blindness risk to the first vehicle, the first vehicle is warned; by the method provided by the present application, the first vehicle is warned before the first vehicle is blinded by the splash caused by the future side vehicle, so that the driver of the first vehicle can have sufficient time to make a reasonable driving decision in response to the imminent driving blindness risk, thereby reducing the possibility of driving out of control due to instantaneous driving blindness.

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

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0013] Figure 1 A flowchart of a water splashing early warning method provided by an embodiment of the present application is shown.

[0014] Figure 2 A road schematic diagram of a potential water splashing scene related by an embodiment of the present application is shown.

[0015] Figure 3 A flowchart of a water splashing early warning method provided by an embodiment of the present application is shown. Figure 1 A flowchart of step S130 in the method is shown.

[0016] Figure 4 A schematic diagram of a water splashing area related by an embodiment of the present application is shown.

[0017] Figure 5 A flowchart of a water splashing early warning method provided by an embodiment of the present application is shown. Figure 3 A flowchart of step S132 in the method is shown.

[0018] Figure 6 A flowchart of a water splashing early warning method provided by an embodiment of the present application is shown. Figure 5 A flowchart of step S220 in the method is shown.

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

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

[0021] Figure 9 A flowchart of a water splashing early warning method provided by an embodiment of the present application is shown.

[0022] Figure 10 An application flowchart related by an embodiment of the present application is shown.

[0023] Figure 11 A further application flowchart related by an embodiment of the present application is shown.

[0024] Figure 12 A schematic diagram of a water splashing early warning device provided by an embodiment of the present application is shown.

[0025] Figure 13A schematic diagram of an electronic device is shown. DETAILED DESCRIPTION

[0026] Embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below are exemplary and are only used to explain the present application, and cannot be understood as a limitation of 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 described clearly and completely below in combination 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, not all the embodiments. According to the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0028] In the following description, the terms "first\second" and the like are only to distinguish similar objects, and do not represent a specific order of the objects. Understandably, "first\second" can be interchanged in a specific order or sequence as allowed, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In the following description, "some embodiments or some embodiment modes" are described as a subset of all possible embodiments, but it can be understood that "some embodiments" can be the same or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0029] "Multiple" referred to herein means two or more. "And / or" describes the association between the associated objects, which means that there can be three relationships, for example, A and / or B can represent the following three cases: A exists alone, A and B exist together, and B exists alone. The character " / " generally represents that the front and rear associated objects are in an "or" relationship.

[0030] In the field of automobile technology, driving safety is always the primary problem of automobile driving, among which weather phenomena and road conditions are the key problems affecting driving safety. Especially in the presence of road water, the splashing water caused by the side car when it rushes through the car; the splashing water covering the windshield of the vehicle will cause the driver's vision to be blocked; when the area of the splashing water covering the windshield is large enough, it will cause the driver to be momentarily blinded.

[0031] In the case of loss of driving vision, the driver is easy to lose control of driving, therefore, an urgent need for a splashing water warning method to solve the above problems.

[0032] The embodiments provided by the present application will be described below with reference to the drawings.

[0033] Please refer to Figure 1 , Figure 1 A flowchart of a water splashing early warning method provided by an embodiment of the present application is shown in FIG. 1. The water splashing early warning method comprises steps S110-S140.

[0034] S110, obtaining environmental perception information of the first vehicle, the environmental perception information comprising side vehicle perception information and road perception information.

[0035] The side vehicle perception information refers to information of a side vehicle of the first vehicle perceived by the first vehicle. For example, the side vehicle perception information can comprise the position, size, and motion state (such as speed, motion direction, and acceleration) of the side vehicle of the first vehicle. The side vehicle of the first vehicle refers to another vehicle close to the first vehicle in position, or another vehicle in the vicinity of the first vehicle. For example, the side vehicle of the first vehicle can be a vehicle in the adjacent lane of the lane where the first vehicle is located, and the distance between the vehicle and the first vehicle is less than a distance threshold.

[0036] The road perception information refers to road information of the road where the first vehicle is located. The road perception information can comprise the road type and the water depth of the road.

[0037] In some embodiments, the environmental perception information of the first vehicle can be obtained by collecting external data through a collection device installed on the first vehicle and processing the collected external data through a processor. The collection device can be, for example, a laser radar, a camera, a millimeter wave radar, etc. The position and motion state of the side vehicle can be calculated through point cloud data collected by the laser radar. The road type and the water depth of the road can be calculated through image data collected by the camera.

[0038] S120, identifying whether the first vehicle is in a potential water splashing scenario according to the side vehicle perception information, the road perception information, and 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 water splashing caused by the side vehicle can act on the first vehicle. That is, the water splashing caused by the side vehicle can splash onto the front windshield of the first vehicle. Generally, the deeper the water depth on the road, the higher the speed of the side vehicle, and the more likely the water splashing caused by the side vehicle to splash onto the first vehicle.

[0040] In some embodiments, the side vehicle perception information comprises the speed and motion direction of the side vehicle of the first vehicle; the road perception information comprises the water depth of the road where the side vehicle of the first vehicle is located; and the vehicle information of the first vehicle comprises the speed and motion direction of the first vehicle. Step S120 can comprise the following ① and ②:

[0041] 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 water depth 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 splashing water scenario.

[0042] In the case where the water depth of the road exceeds the depth threshold corresponding to the road grade to which the road belongs, and the speed of the side vehicle is greater than the speed of the first vehicle, it means that the side vehicle has a large enough speed to cause splashing water. At the same time, in the case where 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, and the speed of the side vehicle is greater than the speed of the first vehicle, it means that the side vehicle will gradually catch up with the first vehicle in a future period of time, thereby shortening the distance between the side vehicle and the first vehicle until the side vehicle exceeds the first vehicle. In the above process, when the distance between the side vehicle and the first vehicle is close enough, the splashing water caused by the side vehicle can act on the first vehicle, and therefore it can be determined that the first vehicle is in a potential splashing water scenario.

[0043] 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 water depth 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 splashing water scenario.

[0044] Similarly, in the case where the water depth of the road exceeds the depth threshold corresponding to the road grade to which the road belongs, and the speed of the side vehicle is greater than the speed threshold, it means that the side vehicle has a large enough speed to cause splashing water. At the same time, in the case where 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, it means that the side vehicle and the first vehicle will probably intersect in the future, and the distance between the side vehicle and the first vehicle is close when the vehicles intersect, so the splashing water caused by the side vehicle can act on the first vehicle, and therefore it can be determined that the first vehicle is in a potential splashing water scenario.

[0045] In other embodiments, in the case where the water depth exceeds the depth threshold corresponding to the road grade to which the road belongs, the side vehicle is located behind the first vehicle, and the movement direction of the side vehicle is the same as the movement direction of the first vehicle, the acceleration of the side vehicle can also be used to determine whether the first vehicle is in a potential splashing water scenario. If the acceleration of the side vehicle is greater than the acceleration of the first vehicle, it is determined that the first vehicle is in a potential splashing water scenario.

[0046] For the convenience of understanding the above steps, please refer to Figure 2 , Figure 2 The relative position of the first vehicle and the side vehicle of the first vehicle is shown in the following figure. In Figure 2 , Figure a shows a schematic diagram of the relative position of the first vehicle C1 and the side vehicle C2 when they travel in the same direction, Figure 2Fig. 1a illustrates a schematic diagram of the positions of the first vehicle C1 and the side vehicle C2 at a time T0 and at a time T1 after the time T0. At the time T0, the side vehicle C2 is behind the first vehicle C1. If there is water on the road in front of the position of the side vehicle C2 at the time T0, and the speed v2 of the side vehicle C2 is greater than the speed v1 of the first vehicle C1, or the acceleration a2 of the side vehicle C2 is greater than the acceleration a1 of the first vehicle C1, the distance between the first vehicle C1 and the side vehicle C2 gradually shortens after a short time, and the splashing water caused by the side vehicle C2 can act on the first vehicle C1 during the process from the time T0 to the time T1. Therefore, it is determined that the first vehicle C1 is in a potential splashing water scenario at the time T0.

[0047] Similarly, Figure 2 Fig. 1b illustrates a schematic diagram of the relative positions of the first vehicle C1 and the side vehicle C2 when the first vehicle C1 and the side vehicle C2 are driving towards each other, Figure 2 Fig. 1a illustrates a schematic diagram of the positions of the first vehicle C1 and the side vehicle C2 at a time T0 and at a time T1 after the time T0. At the time T0, the side vehicle C2 is behind the first vehicle C1. If there is water on the road in front of the position of the side vehicle C2 at the time T0, and the speed v2 of the side vehicle C2 is greater than the speed v1 of the first vehicle C1, or the acceleration a2 of the side vehicle C2 is greater than the acceleration a1 of the first vehicle C1, the distance between the first vehicle C1 and the side vehicle C2 gradually shortens after a short time, and the splashing water caused by the side vehicle C2 can act on the first vehicle C1 during the process from the time T0 to the time T1. Therefore, it is determined that the first vehicle C1 is in a potential splashing water scenario at the time T0.

[0048] It should be noted that the first vehicle being in a potential splashing water scenario does not mean that the first vehicle must have a driving blinding risk; but the first vehicle not being in a potential splashing water scenario means that the first vehicle must not have a driving blinding risk caused by splashing water.

[0049] S130, if it is identified that the first vehicle is in a potential splashing water scenario, the driving blinding risk of the first vehicle caused by the splashing water caused by the side vehicle in the future is evaluated according to the side vehicle perception information, the road perception information and the vehicle information of the first vehicle, to obtain a risk evaluation result.

[0050] The risk evaluation result is used to indicate whether the first vehicle has a driving blinding risk caused by the splashing water caused by the side vehicle in the future.

[0051] In some implementations, the presence of a risk of blindness can be determined based on the degree to which water splashes caused by a neighboring vehicle obstruct the driver's field of vision of the first vehicle. For example, if the degree of obstruction of the driver's field of vision caused by water splashes caused by a neighboring vehicle is greater than an obstruction threshold, it is determined that there is a risk of blindness; if the degree of obstruction of the driver's field of vision caused by water splashes caused by a neighboring vehicle is not greater than an obstruction threshold, it is determined that there is no risk of blindness.

[0052] In some implementations, please refer to Figure 3 , Figure 3 The embodiments provided in this application are given Figure 1 A flowchart of step S130 is shown. Step S130 includes steps S131-S133:

[0053] S131. Based on the vehicle perception information and road perception information, determine the area range parameters of the water splash area that the vehicle next to the first vehicle will cause in the future.

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

[0055] In some implementations, the vehicle perception information includes the vehicle's position and speed; the road perception information includes the water depth on the road where the vehicle is located; the area parameters of the splash zone include the relative boundary distance of the splash zone with respect to the target reference point and the size parameters of the splash zone, where the target reference point is the projection of the center point of the vehicle on the road when the vehicle causes the splash zone; step S131 may specifically include step one and step two:

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

[0057] In this application, the water splash area caused by the vehicle next to the first vehicle is a three-dimensional area. In reality, the water splash area is an irregular three-dimensional area. For ease of calculation, the water splash area is equivalent to a cubic area. Therefore, the size parameters of the water splash area include the lateral width (the width in the direction perpendicular to the direction of movement of the vehicle next to it), the longitudinal length (the length in the direction of movement of the vehicle next to it), and the vertical height.

[0058] In some embodiments, road tests can be performed in advance to collect multiple sets of test data, wherein each set of test data includes the speed of the passing vehicle, the depth of the accumulated water, and the size parameter of the splashing water area (the size parameter of the cuboid region after the splashing water area is equivalent to a cuboid region). Then, data fitting is performed on the multiple sets of test data to obtain a functional expression of the size parameter with respect to the speed and the depth of the accumulated water, i.e., the size parameter D of the splashing water area = f(v, H), where D represents the size parameter of the splashing water area, v represents the speed of the passing vehicle, and H represents the depth of the accumulated water.

[0059] In other embodiments, road tests can also be performed on roads of different road grades, and each set of test data includes the road grade, the speed of the passing vehicle, the depth of the accumulated water, and the size parameter of the splashing water area. Then, data fitting is performed on the multiple sets of test data to obtain a functional expression of the size parameter with respect to the road grade, the speed, and the depth of the accumulated water, i.e., the size parameter D of the splashing water area = f(v, H, R), where D represents the size parameter of the splashing water area, v represents the speed of the passing vehicle, H represents the depth of the accumulated water, and R represents the road grade parameter.

[0060] Step two, determining the relative boundary distance of the splashing water area with respect to the target reference point according to the target reference point and the size parameter of the splashing water area.

[0061] The target reference point refers to the position point on the road where the center point of the passing vehicle is projected when the passing vehicle causes the splashing water area.

[0062] In some embodiments, the vehicle position data (such as the front end position and the rear end position of the passing vehicle) and the motion data (such as the speed and the acceleration) of the passing vehicle at the current time can be collected by the first vehicle. Then, the vehicle position data of the passing vehicle when it causes splashing water in the future is predicted according to the vehicle position data and the motion data collected at the current time, and the position point of the center point of the passing vehicle when it causes splashing water in the future is determined in combination with the preset vehicle center point proportion parameter, so as to determine the target reference point.

[0063] The relative boundary distance of the splashing water area with respect to the target reference point refers to the distance from each boundary of the splashing water area to the target reference point.

[0064] It can be understood that the position of the splashing water area can be determined through the target reference point and the relative boundary distance, and the area size of the splashing water area can be determined through the size parameter of the splashing water area. Therefore, the splashing water area can be uniquely determined through the target reference point, the relative boundary distance of the splashing water area with respect to the target reference point, and the size parameter of the splashing water area.

[0065] For example, please refer to Figure 4 , Figure 4 A schematic diagram of the splashing water area related to the embodiments of the present application is given.

[0066] wherein, Figure 4 An exemplary schematic diagram of the projection of the splashing area of the side vehicle on the ground is given in FIG. 17B, wherein D0 is the center point of the side vehicle, i.e., the target reference point, and the irregular area framed by the dashed line is the splashing area determined based on the speed of the side vehicle and the water depth on the road where the side vehicle is located. For the purpose of simplifying the calculation, the irregular splashing area is simplified as a minimum circumscribed cube tangent to the outer contour thereof, and correspondingly, the projection of the splashing area on the ground is a rectangle D.

[0067] Figure 4 An exemplary schematic diagram of the projection of the simplified splashing area on the ground is given in FIG. 18B, wherein the arrow direction indicates the moving direction of the side vehicle, DW is the length of the splashing area D in the driving direction, i.e., the longitudinal length, DL is the length of the splashing area D in the direction perpendicular to the driving direction, i.e., the transverse length, l represents half of the transverse length DL, wf is the first boundary distance between the first transverse boundary f of the splashing area D and the target reference point, and wr is the second boundary distance between the second transverse boundary r of the splashing area D and the target reference point, wherein the first transverse boundary f is located before the second transverse boundary r in the moving direction of the side vehicle.

[0068] S132, determining the degree of occlusion of the splashing area to the driving field of view area of the first vehicle according to the area range parameter of the splashing area and the vehicle information of the first vehicle.

[0069] It is worth mentioning that although the driving field of view area of the first vehicle is relatively fixed relative to the position of the first vehicle, in the world coordinate system, the position of the driving field of view area of the first vehicle in the world coordinate system can change with the movement of the first vehicle.

[0070] It is worth mentioning that in step S132, the position of the driving field of view area of the first vehicle refers to the position of the driving field of view area of the first vehicle at the time when the side vehicle will cause splashing in the future.

[0071] In some embodiments, the area proportion of the occluded area of the splashing area to the entire front windshield of the first vehicle can be taken as the degree of occlusion of the splashing area to the driving field of view area of the first vehicle, and further, when the area proportion exceeds a proportion threshold, the degree of occlusion can be determined as a blinding degree of occlusion, otherwise, as a non-blinding degree of occlusion.

[0072] In some embodiments, the degree of obstruction includes a blinding obstruction degree and a non-blinding obstruction degree; if the degree of obstruction is the blinding obstruction degree, the risk assessment result is determined as a result indicating that the splashing water caused by the side vehicle poses a driving blinding risk to the first vehicle.

[0073] The critical blinding field of view region refers to a specified region in the front windshield that affects the driver's field of view, for example, a region in the front windshield directly facing the driver's seat.

[0074] S133, determining a risk assessment result according to the degree of obstruction.

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

[0076] If the degree of obstruction is the non-blinding obstruction degree, the risk assessment result is determined as a result indicating that the splashing water caused by the side vehicle does not pose a driving blinding risk to the first vehicle.

[0077] In some embodiments, the degree of obstruction includes a blinding obstruction degree and a non-blinding obstruction degree; please refer to Figure 5 , Figure 5 The flowchart of step S132 in the method provided by the embodiments of the present application is shown in FIG. 2, and step S132 includes steps S210-S240. Figure 3 The flowchart of step S132 in the method provided by the embodiments of the present application is shown in FIG. 2, and step S132 includes steps S210-S240.

[0078] S210, determining the position information of the critical blinding field of view region of the first vehicle according to the vehicle information of the first vehicle.

[0079] The critical blinding field of view region can be the entire field of view region of the front windshield of the first vehicle, or a specified part of the field of view region of the front windshield of the first vehicle, such as the field of view region directly facing the driver's seat.

[0080] In some embodiments, the position of the first vehicle at the time when the side vehicle causes splashing water in the future can be predicted through the vehicle information of the first vehicle at the current time (such as the position at the current time, the speed at the current time, the acceleration at the current time, etc.), and since the driving field of view region of the first vehicle is relatively fixed relative to the position of the first vehicle, the position of the driving field of view region of the first vehicle can be determined according to the position of the first vehicle at the time when the side vehicle causes splashing water in the future.

[0081] S220, determining the occlusion relationship between the critical blinding visual field region and the water splashing region according to the position information of the critical blinding visual field region and the region range parameter of the water splashing region.

[0082] In the foregoing embodiment, the region range parameter of the water splashing region includes a relative boundary distance of the water splashing region relative to the target reference point and a size parameter of the water splashing region; the relative boundary distance includes a first boundary distance between a first lateral boundary of the water splashing region and the target reference point and a second boundary distance between a second lateral boundary of the water splashing region and the target reference point, and the target reference point refers to a position point on a road where a center point of the oncoming vehicle is located when the water splashing region is caused by the oncoming vehicle.

[0083] It can be understood that the relative position between the critical blinding visual field region and the water splashing region can be determined through the position information of the critical blinding visual field region and the region range parameter of the water splashing region, and then the occlusion relationship between the water splashing region and the critical blinding visual field region can be determined.

[0084] S230, if the occlusion relationship indicates that the water splashing region completely occludes the critical blinding visual field region, determining that the occlusion degree is a blinding occlusion degree.

[0085] S240, if the occlusion relationship indicates that the water splashing region does not completely occlude the critical blinding visual field region, determining that the occlusion degree is a non-blinding occlusion degree.

[0086] In some embodiments, the critical blinding region is a part of the visual field region of the front windshield that faces the driver's seat, and on this basis, please refer to Figure 6 , Figure 6 The flowchart of S220 in the embodiment provided by the present application is given, and step S220 includes steps S310-S320: Figure 5

[0087] S310, establishing a target coordinate system according to the position information of the critical blinding visual field region, and the origin of the target coordinate system is the intersection point of the upper boundary of the critical blinding visual field region and the vertical boundary of the critical blinding visual field region close to the co-driver's seat.

[0088] S320, transforming the position coordinates of the target reference point to 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 lateral coordinate, a target longitudinal coordinate and a target vertical coordinate.

[0089] S330, if the target lateral coordinate satisfies condition one, the target longitudinal coordinate satisfies condition two, and the target vertical coordinate satisfies condition three, determining that the occlusion relationship is that the water splashing region completely occludes the critical blinding visual field region.

[0090] ​Condition one: in the case that the side-by-side vehicle is located on the side far 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 in the case that the side-by-side vehicle is located on the 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 blind area.

[0091] It can be understood that in the case that the side-by-side vehicle is located on the side close to the driving seat of the first vehicle, since the critical blind area 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 blind area and the vertical boundary of the critical blind area close to the side of the co-driver seat, the splashing area will preferentially cover the critical blind area on the side close to the driving seat, and if the absolute value of the target lateral coordinate is less than half of the lateral width, it means that the critical blind area is completely located in the splashing area in the lateral direction.

[0092] And in the case that the side-by-side vehicle is located on the side far away from the driving seat of the first vehicle, since the critical blind area 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 blind area and the vertical boundary of the critical blind area close to the side of the co-driver seat, it means that the side-by-side vehicle is far away from the critical blind area, and the splashing area will preferentially cover the non-critical blind area on the side close to the co-driver, that is, the side-by-side vehicle needs to be closer to the first vehicle to make the critical blind area completely located in the splashing area in the lateral direction, therefore, only in the case that 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 blind area will be completely located in the splashing area in the lateral direction.

[0093] Condition two: in the case that 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 in the case that 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 in the case that the target reference point is located in front of the first vehicle, that is, the side-by-side 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 located in the splashing area of the side-by-side vehicle in the longitudinal direction; similarly, in the case that the target reference point is located behind the first vehicle, that is, the side-by-side 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 located in the splashing area of the side-by-side 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 of the position point where the center point of the side-by-side car causing the splashing water area is located on the road, the absolute value of the target vertical coordinate actually represents the height of the target coordinate system relative to the road, 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 blind area and the vertical boundary of the critical blind area close to the co-driver side, the absolute value of the target vertical coordinate is less than the vertical height, which means that the vertical height of the splashing water area exceeds the origin of the target coordinate system, that is, exceeds the upper boundary of the critical blind area, that is, the critical blind area can be completely located in the splashing water area in the vertical direction.

[0097] For better understanding of the above steps, please refer to Figure 7 The schematic diagram of the critical blind area of the first vehicle and the target coordinate system provided by the embodiments of the present application.

[0098] According to the national standard GB11562-2014 "Automobile Driver's Front View Requirements and Measurement Methods", in order to obtain the best view, the driver's horizontal line of sight height should be higher than the middle upper part of the front windshield. Referring to the standard, the present application defines the upper boundary of the critical blind area as the horizontal line at 2 / 3 of the height of the front windshield, and the vertical boundary of the critical blind area close to the co-driver side as the transverse 1 / 2 of the front windshield, as a "large area of obstruction", that is, the upper boundary of the critical blind area is defined as the horizontal line at 2 / 3 of the height of the front windshield, and the vertical boundary of the critical blind area close to the co-driver side is defined as the transverse 1 / 2 of the front windshield.

[0099] As shown in Figure 7 I, the driving view area B provided by the front windshield has a width of 2m and a height of n; the area shown by the shaded part of Figure 7 I is determined as the critical blind area, which has a width of m and a height of 2n / 3, that is, the area directly opposite the driver's side is regarded as the critical blind area; it can be understood that the influence of the critical blind area on the driving view is much greater than the influence of the non-critical blind area of the front windshield on the driving view.

[0100] Further, as shown in Figure 7 II, a target coordinate system is established at the intersection of the upper boundary of the critical blind area and the vertical boundary of the critical blind area close to the co-driver side, that is, the target coordinate system is established with the O point in Figure 7 as the origin, the x-axis of the target coordinate system is perpendicular to the movement 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 movement direction of the first vehicle, and the movement direction of the first vehicle is positive, the z-axis of the target coordinate system is perpendicular to the road, and the upper side of the first vehicle is positive; the projection of the first vehicle on the xy plane of the target coordinate system is as shown inFigure 7 as shown in the solid line box (including the solid solid line box and the hollow solid line box) in FIG. 3B, at this time, the relative position between the first vehicle C1 and the side vehicle C2 at the future T1 time is calculated, and the relative position between the first vehicle C1 and the side vehicle C2 at the T1 time is as shown in the dashed line box (including the solid dashed line box and the hollow dashed line box) in FIG. 3B.

[0101] Please continue to refer to Figure 8 For example, taking the case of driving in the same direction as the side vehicle C2 and the first vehicle C1, taking T0 time as the current time, at T0 time, the relative position between the first vehicle C1 and the side vehicle C2 is as shown in the solid line box (including the solid solid line box and the hollow solid line box) in FIG. 3B, at this time, the relative position between the first vehicle C1 and the side vehicle C2 at the future T1 time is calculated, and the relative position between the first vehicle C1 and the side vehicle C2 at the T1 time is as shown in the dashed line box (including the solid dashed line box and the hollow dashed line box) in FIG. 3B. Figure 8 as shown in the solid line box (including the solid solid line box and the hollow solid line box) in FIG. 3B, at this time, the relative position between the first vehicle C1 and the side vehicle C2 at the future T1 time is calculated, and the relative position between the first vehicle C1 and the side vehicle C2 at the T1 time is as shown in the dashed line box (including the solid dashed line box and the hollow dashed line box) in FIG. 3B. Figure 8 as shown in the solid line box (including the solid solid line box and the hollow solid line box) in FIG. 3B, at this time, the relative position between the first vehicle C1 and the side vehicle C2 at the future T1 time is calculated, and the relative position between the first vehicle C1 and the side vehicle C2 at the T1 time is as shown in the dashed line box (including the solid dashed line box and the hollow dashed line box) in FIG. 3B.

[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, and when the target lateral coordinate is greater than 0, it represents that the side vehicle is located away from the driving position of the first vehicle, and when it is less than 0, it represents that the side vehicle is located close to the driving position of the first vehicle; the target longitudinal coordinate is also the longitudinal distance between the side vehicle C2 and the first vehicle C1, and when the target longitudinal coordinate is greater than 0, it represents that the side vehicle is located in front of the first vehicle, and when it is less than 0, it represents 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 water area caused at the future T1 time completely blocks the critical blind area, the foregoing conditions one to three can correspond to the following calculation formulas one to three respectively:

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

[0105]

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

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

[0108] wherein, D ox , D oy , D ozrespectively correspond to a target horizontal coordinate, a target vertical coordinate, and a target vertical coordinate, D L is a horizontal width of the splash area D, m is a target width, that is, a horizontal width of the critical blinding field area, wr is a second boundary distance of the splash area D, and wf is a first boundary distance of the splash area D, D H is a vertical height of the splash area D.

[0109] S140, if the risk assessment result indicates that the splash caused by the future of the side vehicle poses a driving blinding risk to the first vehicle, the first vehicle is warned.

[0110] Among them, warning the first vehicle can include a variety of warning methods such as voice playing warning prompt information, heads-up display, instrument panel display prompt information, etc.

[0111] Through the method provided in the present application, the first vehicle is warned before it is blinded by the splash caused by the future of the side vehicle, so that the driver of the first vehicle can have sufficient time to make reasonable driving decisions in response to the imminent driving blinding risk, thereby reducing the possibility of driving out of control due to instantaneous driving blinding.

[0112] In other embodiments, please refer to Figure 9 , Figure 9 Another flowchart of the splash warning method provided by the embodiments of the present application is given, after step S140, the splash warning method can further include steps S410-S430:

[0113] S410, determine the auxiliary driving decision data targeted at avoiding the driving blinding risk.

[0114] In some embodiments, the first vehicle can be that after determining that there is a driving blinding risk, the auxiliary driving system in the first vehicle can generate auxiliary driving decision data targeted at avoiding the driving blinding risk. According to the knowledge learned by the auxiliary driving system, the vehicle can be controlled according to the auxiliary driving decision data, which can avoid the above-mentioned driving blinding risk. It is worth mentioning that in S410, the auxiliary driving system in the first vehicle can comprehensively make decisions according to the side vehicle perception information obtained above, as well as the region range parameters of the splash area determined and the current vehicle information and position information of the first vehicle, to obtain the auxiliary driving decision data.

[0115] In other embodiments, the first vehicle can simulate the auxiliary driving decision data of the first vehicle within a future preset time length in real time through a shadow following mode, and then, after determining that the first vehicle has a driving blinding risk, update the auxiliary driving decision data within the future preset time length that has been generated according to the driving blinding risk, so that the updated auxiliary driving decision data is targeted at avoiding the driving blinding risk.

[0116] S420, collecting driving control data in the process that the driver manipulates the first vehicle to avoid the driving blinding risk.

[0117] In some embodiments, the driving control data within a preset time period can be collected since the moment when it is determined that the first vehicle has the driving blinding risk; or the driving control data within a preset driving length can be collected since the position of the first vehicle when it is determined that the first vehicle has the driving blinding risk.

[0118] S430, if the difference between the driving control data and the auxiliary driving decision data is greater than a preset difference threshold, controlling the first vehicle according to the auxiliary driving decision data to avoid the driving blinding risk.

[0119] It can be understood that if the first vehicle is directly controlled according to the auxiliary driving decision data after it is determined that the first vehicle has the driving blinding risk, the situation that the driver's decision and the auxiliary driving decision frequently snatch the control right of the vehicle is likely to occur, thereby increasing the manipulation discomfort of the driver and easily leading to the manipulation error of the driver.

[0120] Therefore, in the embodiments of the present application, the first vehicle is controlled according to the auxiliary driving decision data to avoid the driving blinding risk only when the difference between the driving control data and the auxiliary driving decision data is greater than the preset difference threshold, that is, the auxiliary driving intervenes in the control of the first vehicle to avoid the driving blinding risk; and the first vehicle is not controlled by the auxiliary driving decision data when the difference between the driving control data and the auxiliary driving decision data is not greater than the preset difference threshold, that is, the auxiliary driving does not intervene in the control of the first vehicle, ensuring the complete control of the driver over the first vehicle, thereby balancing the driving comfort on the premise of ensuring safety.

[0121] It can be understood that the difference between the driving control data and the auxiliary driving decision data being greater than the preset difference threshold means that the manipulation of the driver has a large error or the manipulation of the driver is not enough to avoid the driving blinding risk, which is likely to lead to a driving accident, and therefore, the first vehicle is controlled according to the auxiliary driving decision data to avoid the driving blinding risk in this case; and the difference between the driving control data and the auxiliary driving decision data being not greater than the preset difference threshold means that even if there is a difference between the operation decision of the driver and the auxiliary driving decision, the operation decision of the driver is acceptable, and in this case, the operation of the driver is enough to control the first vehicle to avoid the driving blinding risk, and therefore, the auxiliary driving decision data does not need to intervene.

[0122] Please refer to Figure 10 , Figure 10An application flowchart related to the 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 a decision result to be output to a downstream module by executing three types of tasks, i.e., scene recognition, risk assessment and interactive decision.

[0123] The scene recognition task includes: obtaining environment perception information, and identifying a potential splashing water scene. Specifically, the environment perception information includes side-by-side vehicle perception information and road perception information. After obtaining the environment perception information, the side-by-side vehicle perception information, the road perception information and the vehicle information of the first vehicle are used to identify whether the first vehicle is in the potential splashing water scene.

[0124] The risk assessment task includes: if it is identified that the first vehicle is in the potential splashing water scene, dynamically assessing the driving blinding risk of the first vehicle caused by the future splashing water of the side-by-side vehicle of the first vehicle. Specifically, the driving blinding risk of the first vehicle caused by the future splashing water of the side-by-side vehicle of the first vehicle is assessed according to the side-by-side vehicle perception information, the road perception information and the vehicle information of the first vehicle.

[0125] The interactive decision task includes: driving blinding risk interactive early warning and personification decision extension. The driving blinding risk interactive early warning refers to early warning the first vehicle by driving interaction (such as voice broadcast, head-up display, etc.) in the case that it is determined that the future splashing water of the side-by-side vehicle of the first vehicle exists driving blinding risk to the first vehicle. The personification decision extension refers to controlling the first vehicle to avoid the driving blinding risk according to the auxiliary driving decision data in the case that the difference between the driving control data of the driver and the auxiliary driving decision data is greater than a preset difference threshold.

[0126] Finally, the decision result is output to the downstream module, and the decision result is used to indicate whether the intervention of the auxiliary driving is needed. Specifically, in the case that the difference between the driving control data of the driver and the auxiliary driving decision data is not greater than the preset difference threshold, the decision result is used to indicate that the intervention of the auxiliary driving is not needed. In the case that the difference between the driving control data of the driver and the auxiliary driving decision data is greater than the preset difference threshold, the decision result is used to indicate that the intervention of the auxiliary driving is needed.

[0127] Please continue to refer to Figure 11 , Figure 11 Another application flowchart related to the embodiment of the present application is given, which is applied to a first vehicle, and includes steps 1010-1090:

[0128] 1010, real-time obtaining environment perception information and vehicle information of the first vehicle.

[0129] 1020, according to the obtained environmental perception information and the vehicle information of the first vehicle, whether a potential water splashing scenario is identified, if not, the process ends, if yes, step 1030 is performed.

[0130] 1030, the driving blinding risk is evaluated, and a risk evaluation result is obtained.

[0131] 1040, according to the risk evaluation result, whether the driving blinding risk exists is judged, if yes, step 1050 is performed, if not, the process ends.

[0132] 1050, the first vehicle is warned, and driving control data is collected.

[0133] 1060, the auxiliary driving decision data is updated.

[0134] 1070, the difference between the driving control data and the auxiliary driving decision data is dynamically monitored.

[0135] 1080, whether the deviation between the driving control data and the auxiliary driving decision data exceeds a preset difference threshold is judged, if yes, step 1090 is performed, if not, the process ends.

[0136] 1090, the control correction is performed according to the auxiliary driving decision data.

[0137] Please refer to Figure 12 , Figure 12 A schematic diagram of the water splashing warning device provided by the embodiments of the present application is given, and the water splashing warning device 500 comprises:

[0138] The acquisition module 510 is configured to acquire the environmental perception information of the first vehicle, and the environmental perception information comprises the side vehicle perception information and the road perception information.

[0139] The identification module 520 is configured to identify whether the first vehicle is in a potential water splashing scenario according to the side vehicle perception information, the road perception information and the vehicle information of the first vehicle.

[0140] The evaluation module 530 is configured to, if it is identified that the first vehicle is in a potential water splashing scenario, evaluate the driving blinding risk of the first vehicle caused by the water splashing of the side vehicle of the first vehicle in the future according to the side vehicle perception information, the road perception information and the vehicle information of the first vehicle, and obtain a risk evaluation result.

[0141] The warning module 540 is configured to, if the risk evaluation result indicates that the water splashing of the side vehicle of the first vehicle in the future exists the driving blinding risk to the first vehicle, warn the first vehicle.

[0142] In some embodiments, the evaluation module 530 comprises a parameter determination module configured to determine, according to the side-by-side vehicle perception information and the road perception information, a region range parameter of a splash water region caused by a future side-by-side vehicle of the first vehicle; a blocking determination module configured to determine, according to the region range parameter of the splash water region and vehicle information of the first vehicle, a blocking degree of the splash water region to a driving view region of the first vehicle; and a judgment module configured to determine the risk evaluation result according to the blocking degree.

[0143] In some embodiments, the side-by-side vehicle perception information comprises position information of the side-by-side vehicle and a speed of the side-by-side vehicle; the road perception information comprises a water depth on a road where the side-by-side vehicle is located; and the region range parameter of the splash water region comprises a relative boundary distance of the splash water region relative to a target reference point and a size parameter of the splash water region, the target reference point being a position point on the road where a center point of the side-by-side vehicle is located when the side-by-side vehicle causes the splash water region; the parameter determination module is specifically configured to determine the size parameter of the splash water region caused by the side-by-side vehicle according to the speed of the side-by-side vehicle and the water depth on the road where the side-by-side vehicle is located; and determine the relative boundary distance of the splash water region relative to the target reference point according to the target reference point and the size parameter of the splash water region.

[0144] In some embodiments, the blocking degree comprises a blinding blocking degree and a non-blinding blocking degree; the blocking determination module comprises a critical blinding view region determination unit configured to determine, according to the vehicle information of the first vehicle, position information of a critical blinding view region of the first vehicle; a blocking relationship determination unit configured to determine, according to the position information of the critical blinding view region and the region range parameter of the splash water region, a blocking relationship between the splash water region and the critical blinding view region; and if the blocking relationship indicates that the splash water region completely blocks the critical blinding view region, determine the blocking degree as the blinding blocking degree; and if the blocking relationship indicates that the splash water region does not completely block the critical blinding view region, determine the blocking degree as the non-blinding blocking degree.

[0145] In some embodiments, the area range parameter of the splashing water region comprises a relative boundary distance of the splashing water region relative to a target reference point and a size parameter of the splashing water region; the relative boundary distance comprises a first boundary distance between a first lateral boundary of the splashing water region and the target reference point, a second boundary distance between a second lateral boundary of the splashing water region and the target reference point, the target reference point being a point on a road at which a center point of the side-by-side vehicle is located when the side-by-side vehicle causes the splashing water region; the size parameter comprises a lateral width, a longitudinal length, and a vertical height, and a sum of the first boundary distance and the second boundary distance being equal to the longitudinal length; the first lateral boundary is located before the second lateral boundary in a moving direction of the side-by-side vehicle; the occlusion relationship determination unit is specifically configured to: establish a target coordinate system according to the position information of the critical blind area, an origin of the target coordinate system being an intersection of an upper boundary of the critical blind area and a vertical boundary of the critical blind area close to the front passenger seat; transform the position coordinates of the target reference point to the target coordinate system to obtain target coordinates of the target reference point in the target coordinate system; the target coordinates comprising a target lateral coordinate, a target longitudinal coordinate, and a target vertical coordinate; and determine that the occlusion relationship is that the splashing water region completely occludes the critical blind area if the target lateral coordinate satisfies condition one, the target longitudinal coordinate satisfies condition two, and the target vertical coordinate satisfies condition three; condition one: in a case where the side-by-side vehicle is located away from the driver seat of the first vehicle, a sum of an absolute value of the target lateral coordinate and a target width is less than half of the lateral width, or in a case where the side-by-side vehicle is located close to the driver seat of the first vehicle, an absolute value of the target lateral coordinate is less than half of the lateral width; the target width being a lateral width of the critical blind area; condition two: in a case where the target reference point is located in front of the first vehicle, an absolute value of the target longitudinal coordinate is less than the second boundary distance, or in a case where the target reference point is located behind the first vehicle, an absolute value of the target longitudinal coordinate is less than the first boundary distance; and condition three: an absolute value of the target vertical coordinate is less than the vertical height.

[0146] In some embodiments, the judgment module is specifically configured to: if the occlusion degree is the blind occlusion degree, determine the risk assessment result as a result indicating that the splashing water caused by the side-by-side vehicle of the first vehicle exists a driving blind risk to the first vehicle; and if the occlusion degree is the non-blind occlusion degree, determine the risk assessment result as a result indicating that the splashing water caused by the side-by-side vehicle of the first vehicle does not exist a driving blind risk to the first vehicle.

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

[0148] In some embodiments, the water splashing warning device 500 further includes a decision module configured to determine auxiliary driving decision data aiming at avoiding the driving blinding risk; collect driving control data in a process in which the driving personnel controls the first vehicle to avoid the driving blinding risk; and control the first vehicle to avoid the driving blinding risk according to the auxiliary driving decision data if a difference between the driving control data and the auxiliary driving decision data is greater than a preset difference threshold.

[0149] In some embodiments, according to the water splashing warning method provided in the above embodiments, the present embodiment further provides an electronic device, such as Figure 13 , Figure 13 A structural block diagram of an electronic device provided in the present embodiment is given, and the electronic device 600 includes a processor 610, a memory 620, and the memory 620 has computer readable instructions stored thereon, and the computer readable instructions are executed by the processor 610 to implement the above method.

[0150] The electronic device 600 can be a terminal device, and the terminal device can be a vehicle-mounted terminal, etc.

[0151] The processor 610 can include one or more processing cores. The processor 610 connects various parts within the wearable device with various interfaces and lines, performs 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. Alternatively, the processor 610 can be implemented in at least one of a hardware form of a digital signal processing (DSP), a field-programmable gate array (FPGA), a programmable logic array (PLA). The processor 610 can integrate a combination of one or several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes operating systems, user interfaces, and application programs, etc.; the GPU is responsible for rendering and drawing the content to be displayed; and the modem is used for processing wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor, but can be realized by a separate communication chip.

[0152] The memory 620 can include a random access memory (RAM) and can also include a read-only memory (ROM). The memory 620 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 620 can include a program storage area and a data storage area, wherein the program storage area can store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing each of the methods described below, etc. The data storage area can also store data created by the electronic device in use.

[0153] In some embodiments, the present application also provides a computer readable storage medium having computer readable instructions stored thereon, which, when executed by the processor 610, implement the above method.

[0154] The computer readable storage medium can be an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device. More specific examples (a non- exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), and the Internet or other communication networks. In other embodiments, the computer readable storage medium includes non-transitory computer-readable media.

[0155] In particular, the processes described above can be implemented as a computer software program according to embodiments of the present application. For example, embodiments of the present application include a computer program product which includes computer instructions. When the computer instructions are executed by a central processing unit (CPU), various functions defined in the system of the present application are performed.

[0156] In 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 with other related parts to achieve a predetermined target, and can be implemented entirely or partially by using software, hardware (such as processing circuitry or memory), or a combination thereof, and similarly, one processor (or multiple processors or memory) can be used to implement one or more modules or units. In addition, each module or unit can be a whole module or unit of the function of the module or unit, or a part of the module or unit.

[0157] The above is only a preferred embodiment of the present application, and does not limit the present application in any form. Although the present application has been disclosed as above with a preferred embodiment, it is not intended to limit the present application. Any person skilled in the art can make some changes or modifications to the above disclosed technical content to make equivalent embodiments with equivalent changes, without departing from the scope of the technical solutions of the present application. Any modification, equivalent change and modification of the above embodiments made in accordance with the technical essence of the present application, without departing from the technical solutions of the present application, are still within the scope of the technical solutions of the present application.

Claims

1. A splash warning method, characterized by, The method comprises: obtaining environment perception information of a first vehicle, the environment perception information comprising side vehicle perception information and road perception information; the side vehicle perception information comprises position information of a side vehicle and speed of the side vehicle; the road perception information comprises water depth on a road where the side vehicle is located; according to the side vehicle perception information, the road perception information and vehicle information of the first vehicle, identifying whether the first vehicle is in a potential water splashing scenario; if it is identified that the first vehicle is in a potential water splashing scenario, according to the side vehicle perception information, the road perception information and the vehicle information of the first vehicle, evaluating a risk of driving blindness of the first vehicle caused by water splashing in the future by a side vehicle of the first vehicle, to obtain a risk evaluation result; if the risk evaluation result indicates that there is a risk of driving blindness of the first vehicle caused by water splashing in the future by a side vehicle of the first vehicle, warning the first vehicle; wherein the evaluating a risk of driving blindness of the first vehicle caused by water splashing in the future by a side vehicle of the first vehicle according to the side vehicle perception information, the road perception information and the vehicle information of the first vehicle, to obtain a risk evaluation result, comprises: determining a size parameter of a water splashing area caused by the side vehicle according to the speed of the side vehicle and the water depth on the road where the side vehicle is located; determining a relative boundary distance of the water splashing area relative to a target reference point according to the target reference point and the size parameter of the water splashing area; wherein the target reference point refers to a projection point on the road of a position point where a center point of the side vehicle is located when the side vehicle causes the water splashing area in the future; determining an occlusion degree of the water splashing area to a driving field of view area of the first vehicle according to a region range parameter of the water splashing area and the vehicle information of the first vehicle; the region range parameter of the water splashing area comprises the relative boundary distance of the water splashing area relative to the target reference point and the size parameter of the water splashing area; determining the risk evaluation result according to the occlusion degree.

2. The method of claim 1, wherein, The occlusion degree comprises a blinding occlusion degree and a non-blinding occlusion degree; the determining the occlusion degree of the water splashing area to the driving field of view area of the first vehicle according to the region range parameter of the water splashing area and the vehicle information of the first vehicle, comprises: determining position information of a critical blinding field of view area of the first vehicle according to the vehicle information of the first vehicle; determining an occlusion relationship between the water splashing area and the critical blinding field of view area according to the position information of the critical blinding field of view area and the region range parameter of the water splashing area; if the occlusion relationship indicates that the water splashing area completely occludes the critical blinding field of view area, determining the occlusion degree as a blinding occlusion degree; if the occlusion relationship indicates that the water splashing area does not completely occlude the critical blinding field of view area, determining the occlusion degree as a non-blinding occlusion degree.

3. The method of claim 2, wherein, The area range parameter of the water splashing region comprises a relative boundary distance of the water splashing region relative to a target reference point and a size parameter of the water splashing region; the relative boundary distance comprises a first boundary distance between a first lateral boundary of the water splashing region and the target reference point and a second boundary distance between a second lateral boundary of the water splashing region and the target reference point, and the target reference point refers to a projection point on a road of a position point where a center point of the side-by-side vehicle is located when the side-by-side vehicle causes the water splashing region; the size parameter comprises a lateral width, a longitudinal length and a vertical height, and a sum of the first boundary distance and the second boundary distance is equal to the longitudinal length; the first lateral boundary is located before the second lateral boundary in a moving direction of the side-by-side vehicle; the determining of the occlusion relationship between the water splashing region and the critical blind area according to the position information of the critical blind area and the area range parameter of the water splashing region comprises: establishing a target coordinate system according to the position information of the critical blind area, wherein an origin of the target coordinate system is an intersection point of an upper boundary of the critical blind area and a vertical boundary of the critical blind area close to a side of a front passenger seat; transforming a position coordinate of the target reference point to the target coordinate system to obtain a target coordinate of the target reference point in the target coordinate system; the target coordinate comprises a target lateral coordinate, a target longitudinal coordinate and a target vertical coordinate; if the target lateral 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 water splashing region completely occludes the critical blind area; condition one: in a case where the side-by-side vehicle is located away from a driving seat of the first vehicle, an absolute value of the target lateral coordinate and a target width are less than half of the lateral width, or in a case where the side-by-side vehicle is located close to the driving seat of the first vehicle, an absolute value of the target lateral coordinate is less than half of the lateral width; wherein the target width is a lateral width of the critical blind area; condition two: in a case where the target reference point is located in front of the first vehicle, an absolute value of the target longitudinal coordinate is less than the second boundary distance, or in a case where the target reference point is located behind the first vehicle, an absolute value of the target longitudinal coordinate is less than the first boundary distance; condition three: an absolute value of the target vertical coordinate is less than the vertical height.

4. The method according to claim 2 or 3, characterized in that, the determining of the risk assessment result according to the occlusion degree comprises: if the occlusion degree is a blind occlusion degree, it is determined that the risk assessment result is a result indicating that a water splashing caused by the side-by-side vehicle of the first vehicle in the future exists a driving blind risk to the first vehicle; if the occlusion degree is a non-blind occlusion degree, it is determined that the risk assessment result is a result indicating that a water splashing caused by the side-by-side vehicle of the first vehicle in the future does not exist a driving blind risk to the first vehicle.

5. The method according to any one of claims 1 to 3, characterized in that, The side-by-side vehicle perception information includes a speed and a moving direction of a side-by-side vehicle of the first vehicle; the road perception information includes a water depth on a road where the side-by-side vehicle of the first vehicle is located; vehicle information of the first vehicle includes a speed and a moving direction of the first vehicle; The identifying whether the first vehicle is in a potential water splashing scenario according to the side-by-side vehicle perception information, the road perception information and the vehicle information of the first vehicle includes: If the side-by-side vehicle is located behind the first vehicle, the moving direction of the side-by-side vehicle is the same as the moving direction of the first vehicle, the speed of the side-by-side vehicle is greater than the speed of the first vehicle, and the water depth exceeds a depth threshold corresponding to a road grade to which the road belongs, it is determined that the first vehicle is in a potential water splashing scenario; If the side-by-side vehicle is located in front of the first vehicle, the moving direction of the side-by-side vehicle is opposite to the moving direction of the first vehicle, the speed of the side-by-side vehicle is greater than a speed threshold, and the water depth exceeds a depth threshold corresponding to a road grade to which the road belongs, it is determined that the first vehicle is in a potential water splashing scenario.

6. The method according to any one of claims 1 to 3, characterized in that, If the risk assessment result indicates that water splashing caused by a side-by-side vehicle of the first vehicle has a driving blinding risk to the first vehicle, the method further includes: determining auxiliary driving decision data aiming at avoiding the driving blinding risk; collecting driving control data in a process in which a driver controls the first vehicle to avoid the driving blinding risk; if a difference between the driving control data and the auxiliary driving decision data is greater than a preset difference threshold, controlling the first vehicle according to the auxiliary driving decision data to avoid the driving blinding risk.

7. A splash warning device, characterized in that includes: an acquisition module, configured to acquire environmental perception information of a first vehicle, the environmental perception information including side-by-side vehicle perception information and road perception information; and a water splashing area includes a relative boundary distance of the water splashing area relative to a target reference point and a size parameter of the water splashing area; an identification module, configured to identify whether the first vehicle is in a potential water splashing scenario according to the side-by-side vehicle perception information, the road perception information and vehicle information of the first vehicle; An evaluation module is configured to, if it is identified that the first vehicle is in a potential water splashing scenario, evaluate, according to the side-by-side vehicle perception information, the road perception information, and vehicle information of the first vehicle, a risk of driving blindness of the first vehicle caused by water splashing by a side-by-side vehicle in the future, to obtain a risk evaluation result. Specifically, a size parameter of a water splashing area caused by the side-by-side vehicle is determined according to a speed of the side-by-side vehicle and a water depth on a road where the side-by-side vehicle is located; a relative boundary distance of the water splashing area relative to a target reference point is determined according to the target reference point and the size parameter of the water splashing area; the target reference point refers to a projection point on a road of a position point where a center point of the side-by-side vehicle is located when the side-by-side vehicle causes the water splashing area in the future; an occlusion degree of the water splashing area to a driving field of view area of the first vehicle is determined according to a region range parameter of the water splashing area and the vehicle information of the first vehicle; the region range parameter of the water splashing area includes the relative boundary distance of the water splashing area relative to the target reference point and the size parameter of the water splashing area; and the risk evaluation result is determined according to the occlusion degree. A warning module is configured to, if the risk evaluation result indicates that there is a risk of driving blindness of the first vehicle caused by water splashing by a side-by-side vehicle in the future, give a warning to the first vehicle.

8. An electronic device, comprising: comprise: a processor; a memory, the memory having computer readable instructions stored thereon, the computer readable instructions, when executed by the processor, implementing the method of any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, a memory, the memory having computer readable instructions stored thereon, the computer readable instructions, when executed by the processor, implementing the method of any one of claims 1-6.

Images