Vehicle early warning method and device, electronic equipment, storage medium and program product

Abstract

The invention discloses a vehicle early warning method and device, electronic equipment, a storage medium and a program product. According to the specific implementation scheme, the method comprises the steps that in the driving process of a vehicle, vehicle driving information at different time and pedestrian motion information in a road section where the vehicle is located are sequentially obtained; aiming at the vehicle driving information at each time, determining a current vehicle turning state corresponding to the vehicle driving information; under the condition that the current vehicle turning state is the target turning state, determining a vehicle early warning area corresponding to the target turning state; and based on the vehicle early warning area and the corresponding pedestrian motion information, determining a vehicle early warning level and outputting an early warning corresponding to the vehicle early warning level. According to the method, the early warning areas are divided, the vehicle early warning levels are determined, early warning of different levels is generated according to the collision risk degrees, the reliability of vehicle early warning is improved, graded early warning better conforms to actual driving behaviors, and collision accidents are reduced.

Description

Technical Field

[0001] The present invention relates to the field of driving technology, and in particular to a vehicle early warning method, device, electronic equipment, storage medium and program product. Background Art

[0002] When a vehicle turns, the driver will have a blind spot due to factors such as the turning radius, inner wheel difference, and line of sight height. This blind spot becomes larger as the size of the vehicle increases. Therefore, large vehicles have a greater risk of collision with pedestrians when turning.

[0003] Turn assist warning can warn pedestrians who are at risk of collision when large vehicles are turning, helping drivers avoid or reduce the risk of collision with pedestrians on the side. Currently, vehicle turn assist warning mainly relies on collision risk determination. The warning system identifies that the vehicle intends to turn and there is a risk of collision between the vehicle and pedestrians in the risk area, then generates a vehicle turn assist warning.

[0004] However, the current warning algorithm relies on high-definition map data, and the current warning method only has one warning level for all possible collision risks, which cannot meet current warning needs. Summary of the invention

[0005] The present invention provides a vehicle early warning method, device, electronic device, storage medium and program product to classify vehicle early warning levels, achieve more reliable vehicle early warning and improve vehicle traffic safety.

[0006] According to one aspect of the present invention, a vehicle early warning method is provided, comprising:

[0007] During the driving process of the vehicle, sequentially obtaining the vehicle driving information at different times and the pedestrian movement information in the road section where the vehicle is located;

[0008] For each time period of vehicle driving information, determining a current vehicle turning state corresponding to the vehicle driving information;

[0009] When the current vehicle turning state is a target turning state, determining a vehicle warning area corresponding to the target turning state;

[0010] Based on the vehicle warning area and the corresponding pedestrian movement information, a vehicle warning level is determined and a warning corresponding to the vehicle warning level is output.

[0011] According to another aspect of the present invention, there is provided a vehicle warning device, comprising:

[0012] An acquisition module, used to sequentially acquire vehicle driving information at different times and pedestrian movement information on a road section where the vehicle is located during the driving process of the vehicle;

[0013] A first determination module is used to determine the current vehicle turning state corresponding to the vehicle driving information at each time;

[0014] A second determination module is used to determine a vehicle warning area corresponding to the target turning state when the current vehicle turning state is the target turning state;

[0015] The third determination module is used to determine the vehicle warning level based on the vehicle warning area and the corresponding pedestrian movement information and output a warning corresponding to the vehicle warning level.

[0016] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0017] at least one processor; and

[0018] a memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle warning method described in any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle warning method described in any embodiment of the present invention when executed.

[0021] According to another aspect of the present invention, a computer program product is provided. The computer program product includes a computer program. When the computer program is executed by a processor, the vehicle warning method according to any embodiment of the present invention is implemented.

[0022] The technical solution of the embodiment of the present invention obtains the current vehicle turning state based on the vehicle driving information obtained in real time using the vehicle wireless communication device, obtains the target turning state and its corresponding vehicle warning area from the vehicle turning state, determines the vehicle warning level based on the pedestrian movement information and vehicle warning area obtained using the roadside wireless communication device, and outputs the corresponding warning. By dividing the warning area and determining the vehicle warning level, different levels of warnings are generated according to the degree of collision risk, which improves the reliability of vehicle warnings, and the graded warnings are more in line with actual driving behavior, reducing the occurrence of collision accidents.

[0023] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1A is a flow chart of a vehicle early warning method provided according to Embodiment 1 of the present invention;

[0026] Figure 1B is a schematic diagram of a vehicle driving process provided according to Embodiment 1 of the present invention;

[0027] Figure 1C is a flow chart of vehicle warning level determination provided according to the first embodiment of the present invention;

[0028] Figure 2A is a flow chart of a method for determining a vehicle turning state according to a second embodiment of the present invention;

[0029] Figure 2B is a flow chart of a method for determining a current vehicle turning state provided according to a second embodiment of the present invention;

[0030] Figure 3 is a structural schematic diagram of a vehicle warning device provided according to Embodiment 3 of the present invention;

[0031] Figure 4 It is a block diagram of an electronic device provided according to a fourth embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] Embodiment 1

[0035] FIG1 is a flow chart of a vehicle warning method provided in Embodiment 1 of the present invention. This embodiment is applicable to providing a warning to a vehicle when a collision risk occurs. The method can be executed by a vehicle warning device. The vehicle warning device can be implemented in the form of hardware and / or software. The vehicle warning device can be configured in an electronic device. The electronic device can be a vehicle wireless communication device configured on the vehicle. As shown in FIG1 , the method includes:

[0036] S110. During the driving of the vehicle, sequentially obtain vehicle driving information at different times and pedestrian movement information on the road section where the vehicle is located.

[0037] In this embodiment, the vehicle driving information can be understood as the data information of the vehicle itself during the driving process. The vehicle driving information can include the vehicle's turn signal data, steering wheel angle data and vehicle speed, etc. The turn signal data can be understood as the steering data of the vehicle's turn signal during the driving process. When the vehicle is about to make a turn, the turn signal will send a turn signal for other road users to identify. The steering wheel angle data can be understood as the angle of deflection of the steering wheel position at this time relative to the initial position during the driving process of the vehicle. Pedestrian movement information can be understood as the data information generated when a pedestrian moves in a certain area, which can include the longitude and latitude of the pedestrian, the walking speed and the walking direction, etc. The longitude and latitude of the pedestrian can be used to determine the current location of the pedestrian, and the walking direction is the direction of the pedestrian's movement.

[0038] Specifically, when the vehicle is driving, the vehicle driving information at different times is obtained in real time through the vehicle-mounted sensors, and the pedestrian movement information of the pedestrians located in the road section where the vehicle is located is obtained through the third-party sensing device. The vehicle driving information and pedestrian movement information obtained are transmitted to the vehicle-mounted vehicle wireless communication device. The road section where the vehicle is located can be a part of the road where the vehicle is located during the vehicle driving process. The scope of the road section where the vehicle is located is not limited here. It can be the driving section of the vehicle when the vehicle is in the turning area, or when the vehicle is driving in the turning lane, it is located in the turning direction of the vehicle and is adjacent to the lane. The vehicle-mounted sensor is a vehicle component used to collect various driving information of the vehicle in real time and convert it into readable data. The third-party sensing device is a device located on the roadside and used to collect information such as pedestrians and road conditions in real time. The vehicle wireless communication device can realize information interaction between the vehicle and the outside world, including information interaction between the vehicle and various connectable devices, such as information interaction between the vehicle and vehicles, people or roads.

[0039] For example, when a vehicle is traveling in a certain area, the vehicle driving information at different times is obtained in real time through the vehicle-mounted sensor, and the vehicle driving information obtained by the vehicle-mounted sensor is transmitted to the vehicle wireless communication device using the vehicle-mounted CAN (Controller Area Network) bus. The pedestrian movement information of pedestrians located on the road section where the vehicle is traveling is obtained through a third-party sensing device, and the pedestrian movement information is parsed and filled into a standard spatial situation message (Spatial Situation Message, SSM message) using the roadside wireless communication device. The SSM message is verified and encrypted and then broadcasted through the port at a frequency of 10hz. At this time, the vehicle wireless communication device can receive the pedestrian movement information. The vehicle-mounted CAN bus can be used to realize communication between devices and systems, and transmit information in the form of broadcasting through serial data communication. The roadside wireless communication device can realize information exchange between itself and the outside world, and its working principle is the same as that of the vehicle wireless communication device. The SSM message is a sensor sharing message, which is a standard information format that can be directly received by other wireless communication devices.

[0040] S120. For the vehicle driving information at each time, determine the current vehicle turning state corresponding to the vehicle driving information.

[0041] In this embodiment, the vehicle turning state is a dynamic information characterizing the turning state during the vehicle driving process, and different turning states of the vehicle can be judged according to information such as the vehicle driving track, the change of the vehicle head direction and the vehicle turn signal.

[0042] Specifically, the vehicle turning state includes five states: not turning, about to turn, turning transition, turning, and ending. During the driving process of the vehicle, the vehicle driving information at each time is obtained, and the road condition information obtained through the roadside wireless communication device is combined to obtain the current vehicle turning state corresponding to the vehicle driving information at each time. The road condition information can be understood as the road information of the vehicle turning area. The vehicle turning area can be an intersection or other area where the vehicle can make a turn. The road condition information can include the width of the road on which the vehicle is driving, turn-related information, lane traffic signs and other information.

[0043] S130: When the current vehicle turning state is a target turning state, determine a vehicle warning area corresponding to the target turning state.

[0044] In this embodiment, the target turning state can be understood as a vehicle turning state related to the vehicle warning area among multiple vehicle turning states. During vehicle driving, an area that may cause a vehicle collision risk is set as a vehicle warning area. When a target that may collide, such as a pedestrian, appears in the vehicle warning area, the vehicle can provide a warning signal to the driver.

[0045] Specifically, if the current vehicle turning state is a preset target turning state, the vehicle warning area corresponding to each target turning state is determined according to the vehicle driving information and road condition information corresponding to the target turning state. The target turning state can be set as an about-to-turn state and a turning state.

[0046] In one embodiment, the vehicle warning area corresponding to the impending turning state can be determined by the vehicle driving information and the road condition information in the following manner: the positional relationship between the vehicle warning area and the vehicle and the boundaries of the vehicle warning area behind the vehicle and in the turning direction are determined by the vehicle driving information; the boundaries of the vehicle warning area in front of the vehicle are determined based on the vehicle driving information and the road condition information, thereby determining the vehicle warning area corresponding to the impending turning state.

[0047] In one embodiment, the vehicle warning area corresponding to the turning state can be determined by the vehicle driving information and the road condition information in the following manner: the center of the vehicle warning area is determined by the road condition information, and the arc boundary of the vehicle warning area is determined by the vehicle driving information and the road condition information, so as to determine the vehicle warning area corresponding to the turning state.

[0048] Exemplarily, when the vehicle is turning, the vehicle driving information of the vehicle is obtained in real time, and the vehicle turning state is determined in real time according to the vehicle driving information. When the current turning state of the vehicle is the target turning state, the vehicle warning area corresponding to the target turning state is determined. For example, if the current vehicle turning state is the about-to-turn state, the vehicle warning area corresponding to the about-to-turn state can be determined through the vehicle driving information; if the current vehicle turning state is the turning state, the vehicle warning area corresponding to the turning state can be determined through the road condition information.

[0049] S140: Based on the vehicle warning area and the corresponding pedestrian movement information, determine a vehicle warning level and output a warning corresponding to the vehicle warning level.

[0050] In this embodiment, the vehicle warning level can be understood as a standard for grading the collision risks that may occur during vehicle driving. The greater the degree of collision risk, the higher the vehicle warning level, which is intended to help the driver identify and respond to potential safety risks in a timely manner.

[0051] Specifically, during vehicle driving, when the vehicle turning state is not in the turning state, the turning transition state and the end of the turning state, the vehicle has no collision risk and the vehicle warning level is also the lowest level; when the vehicle turning state is about to turn, it is necessary to confirm the vehicle warning level and the corresponding warning based on the vehicle driving information, the vehicle warning area and the pedestrian movement information. If the pedestrian movement information indicates that the pedestrian is located in the vehicle warning area corresponding to the about to turn state, and the vehicle driving information and the pedestrian movement information both meet the conditions, then at this time, there is a weaker collision risk between the vehicle and the pedestrian, and the vehicle warning level is intermediate; when the vehicle turning state is turning, it is necessary to confirm the vehicle warning level and the corresponding warning based on the vehicle warning area and the corresponding pedestrian movement information. If the pedestrian movement information indicates that the pedestrian is located in the vehicle warning area corresponding to the turning state or it is predicted that the pedestrian will move to the vehicle warning area corresponding to the turning state in a short time, then at this time, there is a risk of collision between the vehicle and the pedestrian, and the vehicle warning level is the highest level.

[0052] The technical solution of the embodiment of the present invention obtains the current vehicle turning state based on the vehicle driving information obtained in real time using the vehicle wireless communication device, obtains the target turning state and its corresponding vehicle warning area from the vehicle turning state, determines the vehicle warning level based on the pedestrian movement information and vehicle warning area obtained using the roadside wireless communication device, and outputs the corresponding warning. By dividing the warning area and determining the vehicle warning level, different levels of warnings are generated according to the degree of collision risk, which improves the reliability of vehicle warnings, and the graded warnings are more in line with actual driving behavior, reducing the occurrence of collision accidents.

[0053] Based on the above embodiment, a variant embodiment of the above embodiment is proposed. It should be noted that in order to make the description concise, only the differences from the above embodiment are described in the variant embodiment.

[0054] In one embodiment, determining the current vehicle turning state corresponding to the vehicle driving information includes:

[0055] Determine the current turning state of the vehicle according to the vehicle driving information and the turning related information;

[0056] The turning related information includes one or more of the following: stop line position; turning lane position; previous vehicle turning state; turning initial position;

[0057] The current vehicle turning state includes one or more of the following: not in a turning state; about to turn; turning transition state; turning state; and ending turning state.

[0058] In this embodiment, the turning-related information can be understood as various types of information obtained when the vehicle travels from one road to another and changes its direction during driving, including the stop line position, the turning lane position, the turning state of the previous vehicle, the initial turning position, etc. The stop line position can be understood as the dividing line between the current lane and the turning area. The turning lane position can be understood as a lane that can be used for turning actions by the vehicle according to traffic regulations and road planning. The vehicle can only turn when it is in the turning lane position. The turning state of the previous vehicle can be understood as the turning state of the vehicle before the current vehicle turning state during the driving process. The initial turning position can be understood as the initial position of the vehicle entering the turning area.

[0059] Specifically, the vehicle driving information and turning related information of the vehicle are obtained in real time. The turning related information includes the stop line position, the turning lane position, the turning state of the previous vehicle and the initial turning position. The vehicle driving information includes the vehicle's turn signal data, steering wheel angle data and vehicle speed. Determine whether the current vehicle turning state is not in a turning state based on the vehicle's distance from the stop line position. Determine whether the current vehicle turning state is about to turn based on the vehicle's distance from the stop line position and the turning lane position. Determine whether the current vehicle turning state is a turning transition state based on the vehicle's distance from the stop line position, the previous vehicle turning state and the vehicle's steering wheel angle data. Determine whether the current vehicle turning state is a turning state based on the distance from the vehicle to the initial turning position, the previous vehicle turning state and the vehicle's steering wheel angle data. Determine whether the current vehicle turning state is a turning state based on the distance from the vehicle to the initial turning position, the previous vehicle turning state and the vehicle's steering wheel angle data. Determine whether the current vehicle turning state is a turning state based on the previous vehicle turning state and the distance from the vehicle to the initial turning position.

[0060] For example, Figure 1BA schematic diagram of a vehicle driving process. Figure 1B The five vehicles in the figure represent different vehicle turning states, where 1 means not turning, 2 means about to turn, 3 means turning transition, 4 means turning, and 5 means ending turning. In the figure, vehicles 1-3 are all located in the turning lane. The front position of vehicle 3 is the initial position of the turn, and the vertical line through the initial position to the turning lane is the stop line position.

[0061] In one embodiment, determining the vehicle warning area corresponding to the target turning state includes:

[0062] A vehicle warning area corresponding to the target turning state is determined according to the vehicle driving information and lane traffic signs.

[0063] In this embodiment, lane traffic signs can be understood as various sign information on the road used to convey road information to the driver. Lane traffic signs can provide the driver with correct lane information and clarify the driving direction of the vehicle on the road. Lane traffic signs include straight lane signs, left turn lane signs, right turn lane signs, and stop line signs.

[0064] Specifically, the target turning state includes a state of about to turn and a state of turning. During the process of the vehicle turning, the vehicle turning state is determined in real time according to the vehicle driving information obtained in real time. When the vehicle turning state is the target turning state, the vehicle warning area corresponding to the target turning state is determined. When the vehicle turning state is a state of about to turn, the vehicle driving information includes the center point of the vehicle, and the lane traffic sign includes the position of the turning stop line. The positional relationship between the vehicle warning area and the vehicle and the boundary of the vehicle warning area behind the vehicle and in the turning direction are determined by the center point of the vehicle. The boundary of the vehicle warning area in front of the vehicle is determined according to the center point of the vehicle and the position of the turning stop line, so as to determine the vehicle warning area corresponding to the state of about to turn. When the vehicle turning state is a state of turning, the center of the vehicle warning area is determined by the lane traffic sign, and the arc boundary of the vehicle warning area is determined by the vehicle driving information, so as to determine the vehicle warning area corresponding to the state of turning.

[0065] Optionally, the target turning state includes an upcoming turning state, the lane traffic sign includes a turning stop line position, and the vehicle driving information includes the center point latitude and longitude of the vehicle center point;

[0066] Accordingly, determining the vehicle warning area corresponding to the target turning state according to the vehicle driving information and the lane traffic sign includes:

[0067] A polygonal area in the turning direction of the vehicle formed by a first length from the longitude and latitude of the center point to the rear of the vehicle, a second length from the longitude and latitude of the center point to the turning direction of the vehicle, and a third length from the vehicle to the turning stop line position is determined as the vehicle warning area corresponding to the impending turning state.

[0068] In this embodiment, the center point of the vehicle can be understood as the center position of the vehicle, and the center point of the vehicle can be determined according to the latitude and longitude of the vehicle. The first length can be understood as a distance from the center point of the vehicle to the opposite direction of the vehicle's travel direction. The second length can be understood as a distance from the center point of the vehicle to the direction in which the vehicle turns. The third length can be understood as the distance between the vehicle and the stop line. There is no necessary connection between the first length, the second length and the third length.

[0069] Specifically, when the vehicle is about to turn, the center point of the vehicle is obtained according to the vehicle driving information, and the longitude and latitude of the center point are obtained. The first length from the center point of the vehicle to the rear of the vehicle's driving direction is obtained according to the longitude and latitude of the center point, where the first length is a preset empirical value. Similarly, the second length from the center point of the vehicle to the direction of the vehicle's turn is obtained according to the longitude and latitude of the center point, where the second length is also a preset empirical value. Finally, the third length is obtained according to the distance between the position of the turn stop line of the lane traffic sign and the vehicle. The polygonal area located in the direction of the vehicle's turn composed of the first length, the second length and the third length is used as the vehicle warning area corresponding to the state of about to turn.

[0070] For example, Figure 1B The first length is behind_threshold, the second length is right_threshold, and the third length is vul_threshold. For example, a vehicle turns right and the turning intersection is a perpendicular intersection. Figure 1B The rectangular shadow part composed of the first length, the second length and the third length is the warning area of ​​the vehicle about to turn. Figure 1B The warning area for the vehicle is marked as a weak warning area.

[0071] Optionally, the target turning state includes a turning state, and determining the vehicle warning area corresponding to the target turning state according to the vehicle driving information and the lane traffic sign includes:

[0072] Determine the intersection of the end point of the turning lane where the vehicle is located, the start point of the entrance lane of the vehicle in the opposite lane, and the perpendicular lines to the respective lanes;

[0073] Taking the intersection as the center, determine a first arc and a second arc located on both sides of the driving path of the vehicle, wherein a radius of the first arc is smaller than a distance from the center of the circle to the right lane line of the lane where the vehicle is located, and a radius of the second arc is larger than a distance from the center of the circle to the left lane line of the lane;

[0074] An area formed by the first arc and the second arc is determined as a vehicle warning area corresponding to the turning state.

[0075] In this embodiment, the first arc can be understood as the inner boundary of the vehicle warning area corresponding to the turning state. The second arc can be understood as the outer boundary of the vehicle warning area corresponding to the turning state. The center of the first arc and the second arc is the same.

[0076] Specifically, first determine the end point of the turning lane where the vehicle is located and the start point of the vehicle entrance lane of the opposite lane according to the lane traffic signs, draw perpendicular lines from the end point and the start point to the respective lanes, and use the intersection of the two perpendicular lines as the center of the circle. Then use the arcs on both sides of the vehicle's driving path as boundaries to form an area, which is composed of a first arc and a second arc, where the radius of the first arc is the distance from the center of the circle to the right lane line minus a set value, and the radius of the second arc is the distance from the center of the circle to the left lane line plus a set value. The purpose of adding the set value is to expand the range of the vehicle warning area. Finally, the area formed by the first arc and the second arc is used as the vehicle warning area corresponding to the turning state.

[0077] For example, Figure 1B In the example, lane_threshold is the set value. It can be seen that the radius of the first arc is the distance from the center of the circle to the right lane line - lane_threshold, and the radius of the second arc is the distance from the center of the circle to the left lane line + lane_threshold. The area formed by the first arc and the second arc is the vehicle warning area corresponding to the turning state. Figure 1B The vehicle warning area is marked as a strong warning area.

[0078] In one embodiment, the pedestrian movement information includes pedestrian position information and pedestrian movement direction, and determining the vehicle warning level based on the vehicle warning area and the corresponding pedestrian movement information includes:

[0079] If it is determined based on the pedestrian position information that the pedestrian is located in the vehicle warning area corresponding to the upcoming turning state in the current vehicle turning state, and the turn signal information in the vehicle driving information indicates turning and the pedestrian's movement direction meets the collision expectation, then the vehicle warning level is determined to be the first warning level; otherwise, the vehicle warning level is determined to be the second warning level; the first warning level is higher than the second warning level;

[0080] If it is determined based on the pedestrian position information that the pedestrian is located in the vehicle warning area corresponding to the turning state in the current vehicle turning state, the vehicle warning level is determined to be the third warning level; otherwise, it is determined whether the pedestrian is in the vehicle warning area corresponding to the turning state after a set period of time; if so, the vehicle warning level is determined to be the third warning level; otherwise, the vehicle warning level is determined to be the second warning level, and the third warning level is higher than the first warning level.

[0081] In this embodiment, the pedestrian position information can be understood as the data information in the pedestrian movement information indicating the current position of the pedestrian. The pedestrian movement direction can be understood as the data information in the pedestrian movement information indicating the current movement direction of the pedestrian. The collision expectation can be understood as a state in which the vehicle travel direction and the pedestrian travel direction may collide. During the vehicle driving process, due to the different degrees of the risk of vehicle collision, the vehicle warning level is divided into the first warning level, the second warning level and the third warning level. Among them, the third warning level indicates that the risk of vehicle collision is the greatest, and the second warning level indicates that the risk of vehicle collision is the smallest. The third warning level is higher than the first warning level, and the first warning level is higher than the second warning level.

[0082] Specifically, if the current vehicle turning state is not in the turning state, the turning transition state, and the end of the turning state, the vehicle warning level is determined to be the second warning level. If the current vehicle turning state is the about-to-turn state, when the pedestrian is located in the vehicle warning area corresponding to the about-to-turn state, the turn signal in the vehicle driving information indicates the turn, and the pedestrian's movement direction is consistent with the collision expectation, the risk of collision between the vehicle and the pedestrian is small at this time, so the vehicle warning level is determined to be the first warning level; otherwise, the vehicle warning level is determined to be the second warning level. If the current vehicle turning state is the turning state, and the pedestrian is located in the vehicle warning area corresponding to the turning state, the risk of collision between the vehicle and the pedestrian is the greatest at this time, so the vehicle warning level is determined to be the third warning level. If the current vehicle turning state is the turning state, and the pedestrian is not located in the vehicle warning area corresponding to the turning state, it is necessary to predict whether the pedestrian is located in the vehicle warning area corresponding to the turning state after a set time according to the pedestrian movement information. If so, the vehicle warning level is determined to be the third warning level; if not, the vehicle warning level is determined to be the second warning level.

[0083] For example, Figure 1C The present invention is a flow chart for judging the vehicle warning level, wherein the third warning level is set as the strong warning level, the first warning level is set as the weak warning level, and the second warning level is set as the non-warning level. The weak warning area is the vehicle warning area corresponding to the state of about to turn, and the strong warning area is the vehicle warning area corresponding to the state of turning. If the current vehicle turning state is not in the turning state, the turning transition state, and the end of turning state, the vehicle warning level is determined to be the non-warning level. If the current vehicle turning state is the state of about to turn, when the pedestrian is in the weak warning area, the turn signal indicates the turn, and the pedestrian's movement direction meets the collision expectation, the vehicle warning level is determined to be the weak warning level; otherwise, the vehicle warning level is determined to be the non-warning level. If the current vehicle turning state is the state of turning, when the pedestrian is in the strong warning area, the vehicle warning level is determined to be the strong warning level; otherwise, the pedestrian trajectory is predicted based on the pedestrian movement information, and it is determined whether the pedestrian is in the strong warning area after three seconds. If so, the vehicle warning level is determined to be the strong warning level; if not, the vehicle warning level is determined to be the non-warning level.

[0084] Embodiment 2

[0085] Figure 2A This is a flow chart of a method for determining a vehicle turning state provided in Embodiment 2 of the present invention. This embodiment is based on the method for determining a vehicle turning state in the above embodiment. Figure 2A As shown, the method includes:

[0086] S210: When the distance between the vehicle and the stop line is less than a first set threshold and greater than a second set threshold, and the vehicle is located in a turning lane, determine that the current turning state of the vehicle is an impending turning state.

[0087] In this embodiment, the first set threshold value can be understood as a set threshold value used to define the distance between the vehicle and the stop line when judging the turning state of the vehicle during the vehicle driving process. The second set threshold value can be understood as another set threshold value used to define the distance between the vehicle and the stop line when judging the turning state of the vehicle during the vehicle driving process. The first set threshold value and the second set threshold value need to be set to different values.

[0088] Specifically, during the driving process of the vehicle, when the vehicle is located in the turning lane and the distance from the stop line to the vehicle is between the first set threshold and the second set threshold, the current vehicle turning state is considered to be the about-turning state. Before the vehicle is in the about-turning state, when the distance from the vehicle to the stop line is greater than or equal to the first set threshold, the current vehicle turning state is considered to be the not-turning state.

[0089] For example, Figure 2BThis is a flow chart of a method for determining a current vehicle turning state provided according to Embodiment 2 of the present invention. Figure 2B end_threshold is the first set threshold, which can be set to 70m, and the second set threshold can be set to 0m. For example, when the vehicle is located in the turning lane and the distance from the stop line to the vehicle is greater than 0m and less than 70m, the current vehicle turning state is considered to be about to turn. Figure 1B The vehicle with the number 2 is in the state of about to turn. When the distance between the vehicle and the stop line is greater than or equal to 70m, the current vehicle turning state is considered to be not in the turning state. Figure 1B The state of the vehicle with the label number 1 is not in the turning state.

[0090] S220. When the distance between the vehicle and the stop line is less than or equal to the second set threshold value and the previous turning state of the vehicle is a state of about to turn, determine that the current vehicle turning state is a state of entering a turning transition, and determine the position information of the vehicle at the current moment as the initial turning position.

[0091] Specifically, during the driving process of the vehicle, when the previous turning state of the vehicle is the turning state, and the distance between the vehicle and the stop line is less than or equal to the second set threshold, it is considered that the turning state of the vehicle has ended, and the current turning state of the vehicle is the turning transition state. The position of the vehicle at this time is defined as the initial turning position, and its position information is determined.

[0092] For example, Figure 2B When the previous turning state of the vehicle is about to turn, and the distance between the vehicle and the stop line is less than or equal to 0m, it means that the vehicle has reached the stop line, and the current turning state of the vehicle is considered to be entering the turning transition state. Figure 1B The state of the vehicle numbered 3 is the state of entering the turning transition state, and the position of the vehicle numbered 3 is the initial position of the turning.

[0093] S230. When the distance between the vehicle and the initial turning position is less than a third set threshold, the previous vehicle turning state is entering a turning transition state and the steering wheel angle of the vehicle is less than a first steering wheel angle threshold, determine that the current vehicle turning state is maintaining a turning transition state.

[0094] In this embodiment, the third set threshold value can be understood as a set threshold value for defining the distance between the vehicle and the initial position of the turn when judging the turning state of the vehicle during the driving process of the vehicle, and the third set threshold value is related to the road condition information of the current area. The first steering wheel angle threshold value can be understood as a set threshold value for defining the steering wheel angle state of the vehicle when judging the turning state of the vehicle during the driving process of the vehicle.

[0095] Specifically, during vehicle driving, when the previous turning state of the vehicle is entering a turning transition state, the distance between the vehicle and the initial turning position is less than a third set threshold, and the steering wheel angle of the vehicle is less than a first steering wheel angle threshold, the vehicle has passed the initial turning position but the turning angle of the vehicle is small, then it is considered that the current turning state of the vehicle is maintaining a turning transition state.

[0096] For example, Figure 2B , dis_threshold is the third set threshold value, which can be set to 50m, and angle_threshold is the first steering wheel angle threshold value, which can be set to 5°. For example, when the previous turning state of the vehicle is entering the turning transition state, the distance between the vehicle and the initial turning position is less than 50m, and the steering wheel angle of the vehicle is less than 5°, the current turning state of the vehicle is considered to be maintaining the turning transition state.

[0097] S240. When the distance between the vehicle and the initial turning position is less than the third set threshold, the previous vehicle turning state is a turning transition state, and the steering wheel angle is greater than or equal to the first steering wheel angle threshold, determine that the current vehicle turning state is entering a turning state.

[0098] Specifically, during the driving process of the vehicle, the turning transition state includes entering the turning transition state and maintaining the turning transition state. When the previous turning state of the vehicle is the turning transition state, the distance between the vehicle and the initial turning position is less than the third set threshold, and the steering wheel angle of the vehicle is greater than or equal to the first steering wheel angle threshold, the vehicle has passed the initial turning position and the turning angle of the vehicle is large, and the vehicle is already turning, then it is considered that the current turning state of the vehicle is entering the turning state.

[0099] For example, Figure 2B , when the vehicle's previous turning state is a turning transition state, the distance between the vehicle and the initial turning position is less than 50m, and the vehicle's steering wheel angle is greater than or equal to 5°, the current vehicle turning state is considered to be entering a turning state. Figure 1B The vehicle numbered 4 is in a state of turning.

[0100] S250. When the previous vehicle turning state was entering a turning state and the steering wheel angle is greater than or equal to a second steering wheel angle threshold, or when the previous vehicle turning state was entering a turning state and the difference between the steering wheel angle and the steering wheel angle when the vehicle is located at the initial turning position is less than a third steering wheel angle threshold, determine that the current vehicle turning state is maintaining a turning state.

[0101] In this embodiment, the second steering wheel angle threshold can be understood as another set threshold for defining the vehicle steering wheel angle state when judging the vehicle turning state during vehicle driving. The first steering wheel angle threshold and the second steering wheel angle threshold need to be set to different angles. The third steering wheel angle threshold is related to the current road condition of the vehicle, and can be the angle between the turning lane and the opposite lane where the current vehicle is located. For example, when the vehicle turns at a mutually perpendicular intersection, the third steering wheel angle threshold can be set to 90°.

[0102] Specifically, during vehicle driving, when the vehicle's previous turning state was entering a turning state and the vehicle steering wheel angle is greater than or equal to a second steering wheel angle threshold, or when the vehicle's previous turning state was entering a turning state, and the difference between the current steering wheel angle and the steering wheel angle when the vehicle is in the initial turning position is less than a third steering wheel angle threshold, the vehicle has entered the turning state but has not completed the turning action, so the current vehicle turning state is considered to be maintaining a turning state.

[0103] For example, the second steering wheel angle threshold can be set to 0°. Figure 1B For the road condition at a mid-turn intersection, the third steering wheel angle threshold can be set to 90°. For example, when the last turning state of the vehicle is entering a turning state and the vehicle steering wheel angle is greater than or equal to 0°, or when the last turning state of the vehicle is entering a turning state and the difference between the current steering wheel angle and the steering wheel angle when the vehicle is at the initial turning position is less than 90°, the current vehicle turning state is considered to be maintaining a turning state.

[0104] S260: When the previous vehicle turning state is a turning state and the distance between the vehicle and the turning initial state position is greater than or equal to the third set threshold, determine that the current vehicle turning state is an ending turning state.

[0105] Specifically, during the driving process of the vehicle, the turning state includes entering the turning state and maintaining the turning state. When the previous turning state of the vehicle is the turning state, and the distance between the vehicle and the turning initial state position is greater than or equal to the third set threshold, the vehicle has passed the turning area and completed the turn, so the current vehicle turning state is considered to be the end of turning state.

[0106] For example, Figure 2B , when the previous vehicle turning state is the turning state, and the distance between the vehicle and the initial turning state position is greater than or equal to 50m, the vehicle has already driven out of the turning intersection and entered the opposite lane, then the current vehicle turning state is the ending turning state. Figure 1BThe state of the vehicle numbered 5 is the end of the turn.

[0107] The technical solution of the embodiment of the present invention divides the vehicle turning state according to the vehicle driving information obtained in real time by the vehicle wireless communication device, determines which vehicle turning state the current vehicle is in, and realizes a more reliable early warning for the vehicle. In addition, according to the vehicle driving information obtained in real time, timely vehicle early warning can be realized, reducing the occurrence of collision accidents.

[0108] Embodiment 3

[0109] Figure 3 This is a schematic diagram of the structure of a vehicle warning device provided by Embodiment 3 of the present invention. Figure 3 As shown, the device comprises:

[0110] The acquisition module 310 is used to sequentially acquire the vehicle driving information at different times and the pedestrian movement information in the road section where the vehicle is located during the driving process of the vehicle;

[0111] A first determination module 320 is used to determine the current vehicle turning state corresponding to the vehicle driving information at each time;

[0112] A second determination module 330 is used to determine a vehicle warning area corresponding to the target turning state when the current vehicle turning state is the target turning state;

[0113] The third determination module 340 is used to determine the vehicle warning level based on the vehicle warning area and the corresponding pedestrian movement information and output a warning corresponding to the vehicle warning level.

[0114] The vehicle warning device provided in the embodiment of the present invention first obtains vehicle driving information in real time using the vehicle wireless communication device through the acquisition module, obtains the current vehicle turning state through the first determination module, obtains the target turning state and its corresponding vehicle warning area from the vehicle turning state through the second determination module, and finally determines the vehicle warning level according to the pedestrian movement information and vehicle warning area obtained using the roadside wireless communication device through the third determination module, and outputs the corresponding warning. Through the cooperation between the modules, the warning area is divided, and the vehicle warning level is determined, so that different levels of warnings are generated according to the degree of collision risk, which improves the reliability of vehicle warnings, and the graded warnings are more in line with actual driving behavior, reducing the occurrence of collision accidents.

[0115] In one embodiment, the first determining module 320 includes:

[0116] A state determination unit, configured to determine a current vehicle turning state according to the vehicle driving information and turning related information;

[0117] The turn-related information includes one or more of the following:

[0118] Stop line position;

[0119] Turn lane location;

[0120] The previous vehicle turning status;

[0121] Turn initial position;

[0122] The current vehicle turning state includes one or more of the following:

[0123] Not in a turning position;

[0124] About to turn state;

[0125] Turn transition state;

[0126] Turning state;

[0127] End the turning state.

[0128] In one embodiment, the turning transition state includes entering a turning transition state and maintaining a turning transition state; the turning state includes entering a turning state and maintaining a turning state; the state determination unit is specifically used to:

[0129] When the distance between the vehicle and the stop line is less than a first set threshold and greater than a second set threshold, and the vehicle is located in a turning lane, determining that the current turning state of the vehicle is an impending turning state;

[0130] When the distance between the vehicle and the stop line is less than or equal to the second set threshold value and the previous turning state of the vehicle is a turning state, determining the current turning state of the vehicle is a turning transition state, and determining the position information of the vehicle at the current moment as the turning initial position;

[0131] When the distance between the vehicle and the initial turning position is less than a third set threshold, the previous vehicle turning state is entering a turning transition state, and the steering wheel angle of the vehicle is less than a first steering wheel angle threshold, determining that the current vehicle turning state is maintaining a turning transition state;

[0132] When the distance between the vehicle and the initial turning position is less than the third set threshold, the previous vehicle turning state is a turning transition state, and the steering wheel angle is greater than or equal to the first steering wheel angle threshold, determining that the current vehicle turning state is entering a turning state;

[0133] When the last vehicle turning state is entering a turning state and the steering wheel angle is greater than or equal to a second steering wheel angle threshold, or when the last vehicle turning state is entering a turning state and the difference between the steering wheel angle and the steering wheel angle when the vehicle is at the initial turning position is less than a third steering wheel angle threshold, determining that the current vehicle turning state is maintaining a turning state;

[0134] When the previous vehicle turning state is a turning state and the distance between the vehicle and the turning initial state position is greater than or equal to the third set threshold, it is determined that the current vehicle turning state is a turning end state.

[0135] In one embodiment, the second determination module 330 includes:

[0136] The area determination unit is used to determine the vehicle warning area corresponding to the target turning state according to the vehicle driving information and the lane traffic sign.

[0137] In one embodiment, the target turning state includes an upcoming turning state, the lane traffic sign includes a turning stop line position, and the vehicle driving information includes the center point longitude and latitude of the center point of the vehicle; accordingly, the area determination unit is specifically used to:

[0138] A polygonal area in the turning direction of the vehicle formed by a first length from the longitude and latitude of the center point to the rear of the vehicle, a second length from the longitude and latitude of the center point to the turning direction of the vehicle, and a third length from the vehicle to the turning stop line position is determined as the vehicle warning area corresponding to the impending turning state.

[0139] In one embodiment, the target turning state includes a turning state, and the area determination unit according to the vehicle driving information and the lane traffic sign is specifically used to:

[0140] Determine the intersection of the end point of the turning lane where the vehicle is located, the start point of the entrance lane of the vehicle in the opposite lane, and the perpendicular lines to the respective lanes;

[0141] Taking the intersection as the center, determine a first arc and a second arc located on both sides of the driving path of the vehicle, wherein a radius of the first arc is smaller than a distance from the center of the circle to the right lane line of the lane where the vehicle is located, and a radius of the second arc is larger than a distance from the center of the circle to the left lane line of the lane;

[0142] An area formed by the first arc and the second arc is determined as a vehicle warning area corresponding to the turning state.

[0143] In one embodiment, the pedestrian movement information includes pedestrian position information and pedestrian movement direction. The third determination module 340 is specifically configured to:

[0144] If it is determined based on the pedestrian position information that the pedestrian is located in the vehicle warning area corresponding to the upcoming turning state in the current vehicle turning state, and the turn signal information in the vehicle driving information indicates turning and the pedestrian's movement direction meets the collision expectation, then the vehicle warning level is determined to be the first warning level; otherwise, the vehicle warning level is determined to be the second warning level; the first warning level is higher than the second warning level;

[0145] If it is determined based on the pedestrian position information that the pedestrian is located in the vehicle warning area corresponding to the turning state in the current vehicle turning state, the vehicle warning level is determined to be the third warning level; otherwise, it is determined whether the pedestrian is in the vehicle warning area corresponding to the turning state after a set period of time; if so, the vehicle warning level is determined to be the third warning level; otherwise, the vehicle warning level is determined to be the second warning level, and the third warning level is higher than the first warning level.

[0146] The vehicle warning device provided in the embodiment of the present invention can execute the vehicle warning method provided in any embodiment of the present invention, completes the warning of the vehicle through the mutual cooperation and collaboration between the modules, and has the functional modules and beneficial effects corresponding to the execution method.

[0147] Embodiment 4

[0148] According to an embodiment of the present invention, the present invention also provides an electronic device, a computer-readable storage medium and a computer program product.

[0149] Figure 4 It is a block diagram of an electronic device provided according to Embodiment 4 of the present invention, and the electronic device can implement the vehicle warning method described in the embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0150] like Figure 4As shown, the electronic device 410 includes at least one processor 411, and a memory connected to the at least one processor 411 in communication, such as a read-only memory (ROM) 412, a random access memory (RAM) 413, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 411 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 412 or the computer program loaded from the storage unit 418 to the random access memory (RAM) 413. In the RAM 413, various programs and data required for the operation of the electronic device 410 can also be stored. The processor 411, the ROM 412, and the RAM 413 are connected to each other via a bus 414. An input / output (I / O) interface 415 is also connected to the bus 414.

[0151] A number of components in the electronic device are connected to the I / O interface 415, including: an input unit 416, such as a keyboard, a mouse, etc.; an output unit 417, such as various types of displays, speakers, etc.; a storage unit 418, such as a disk, an optical disk, etc.; and a communication unit 419, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 419 allows the electronic device to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0152] The processor 411 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 411 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 411 executes the various methods and processes described above, such as a vehicle warning method.

[0153] In some embodiments, the vehicle warning method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 418. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 410 via the ROM 412 and / or the communication unit 419. When the computer program is loaded into the RAM 413 and executed by the processor 411, one or more steps of the vehicle warning method described above may be performed. Alternatively, in other embodiments, the processor 411 may be configured to execute the vehicle warning method in any other appropriate manner (e.g., by means of firmware).

[0154] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0155] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0156] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, 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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0157] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0158] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0159] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0160] In some embodiments, the computer program product includes a computer program, and when the computer program is executed by a processor, the vehicle warning method provided by the embodiment of the present invention is implemented.

[0161] The technical solution of the embodiment of the present invention, through a vehicle warning method, device, electronic device, storage medium and program product, obtains the current vehicle turning state according to the vehicle driving information obtained in real time by using the vehicle wireless communication device, obtains the target turning state and its corresponding vehicle warning area from the vehicle turning state, determines the vehicle warning level according to the pedestrian movement information and vehicle warning area obtained by using the roadside wireless communication device, and outputs the corresponding warning. By dividing the warning area and determining the vehicle warning level, it is realized to generate different levels of warning according to the degree of collision risk, improves the reliability of vehicle warning, and the graded warning is more in line with the actual driving behavior, reducing the occurrence of collision accidents.

[0162] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0163] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle early warning method, characterized in that: include: During the driving process of the vehicle, sequentially obtaining the vehicle driving information at different times and the pedestrian movement information in the road section where the vehicle is located; For each time period of vehicle driving information, determining a current vehicle turning state corresponding to the vehicle driving information; When the current vehicle turning state is a target turning state, determining a vehicle warning area corresponding to the target turning state; Based on the vehicle warning area and the corresponding pedestrian movement information, a vehicle warning level is determined and a warning corresponding to the vehicle warning level is output.

2. The method according to claim 1, characterized in that The determining the current vehicle turning state corresponding to the vehicle driving information includes: Determine the current turning state of the vehicle according to the vehicle driving information and the turning related information; The turn-related information includes one or more of the following: Stop line position; Turn lane location; The previous vehicle turning status; Turn initial position; The current vehicle turning state includes one or more of the following: Not in a turning position; About to turn state; Turn transition state; Turning state; End the turning state.

3. The method according to claim 2, characterized in that The turning transition state includes entering the turning transition state and maintaining the turning transition state; the turning state includes entering the turning state and maintaining the turning state; Determining the current vehicle turning state according to the vehicle driving information and the turning related information includes: When the distance between the vehicle and the stop line is less than a first set threshold and greater than a second set threshold, and the vehicle is located in a turning lane, determining that the current turning state of the vehicle is an impending turning state; When the distance between the vehicle and the stop line is less than or equal to the second set threshold value and the previous turning state of the vehicle is a turning state, determining the current turning state of the vehicle is a turning transition state, and determining the position information of the vehicle at the current moment as the turning initial position; When the distance between the vehicle and the initial turning position is less than a third set threshold, the previous vehicle turning state is entering a turning transition state, and the steering wheel angle of the vehicle is less than a first steering wheel angle threshold, determining that the current vehicle turning state is maintaining a turning transition state; When the distance between the vehicle and the initial turning position is less than the third set threshold, the previous vehicle turning state is a turning transition state, and the steering wheel angle is greater than or equal to the first steering wheel angle threshold, determining that the current vehicle turning state is entering a turning state; When the last vehicle turning state is entering a turning state and the steering wheel angle is greater than or equal to a second steering wheel angle threshold, or when the last vehicle turning state is entering a turning state and the difference between the steering wheel angle and the steering wheel angle when the vehicle is at the initial turning position is less than a third steering wheel angle threshold, determining that the current vehicle turning state is maintaining a turning state; When the previous vehicle turning state is a turning state and the distance between the vehicle and the turning initial state position is greater than or equal to the third set threshold, it is determined that the current vehicle turning state is a turning end state.

4. The method according to claim 1, characterized in that: The determining of the vehicle warning area corresponding to the target turning state includes: A vehicle warning area corresponding to the target turning state is determined according to the vehicle driving information and lane traffic signs.

5. The method according to claim 4, characterized in that The target turning state includes an upcoming turning state, the lane traffic sign includes a turning stop line position, and the vehicle driving information includes the center point longitude and latitude of the center point of the vehicle; Accordingly, determining the vehicle warning area corresponding to the target turning state according to the vehicle driving information and the lane traffic sign includes: A polygonal area in the turning direction of the vehicle formed by a first length from the longitude and latitude of the center point to the rear of the vehicle, a second length from the longitude and latitude of the center point to the turning direction of the vehicle, and a third length from the vehicle to the turning stop line position is determined as the vehicle warning area corresponding to the impending turning state.

6. The method according to claim 4, characterized in that The target turning state includes a turning state, and determining a vehicle warning area corresponding to the target turning state according to the vehicle driving information and the lane traffic sign includes: Determine the intersection of the end point of the turning lane where the vehicle is located, the start point of the entrance lane of the vehicle in the opposite lane, and the perpendicular lines to the respective lanes; Taking the intersection as the center, determine a first arc and a second arc located on both sides of the driving path of the vehicle, wherein a radius of the first arc is smaller than a distance from the center of the circle to the right lane line of the lane where the vehicle is located, and a radius of the second arc is larger than a distance from the center of the circle to the left lane line of the lane; An area formed by the first arc and the second arc is determined as a vehicle warning area corresponding to the turning state.

7. The method according to claim 1, characterized in that The pedestrian movement information includes pedestrian position information and pedestrian movement direction, and the determining of the vehicle warning level based on the vehicle warning area and the corresponding pedestrian movement information includes: If it is determined based on the pedestrian position information that the pedestrian is located in the vehicle warning area corresponding to the upcoming turning state in the current vehicle turning state, and the turn signal information in the vehicle driving information indicates turning and the pedestrian's movement direction meets the collision expectation, then the vehicle warning level is determined to be the first warning level; otherwise, the vehicle warning level is determined to be the second warning level; the first warning level is higher than the second warning level; If it is determined based on the pedestrian position information that the pedestrian is located in the vehicle warning area corresponding to the turning state in the current vehicle turning state, the vehicle warning level is determined to be the third warning level; otherwise, it is determined whether the pedestrian is in the vehicle warning area corresponding to the turning state after a set period of time; if so, the vehicle warning level is determined to be the third warning level; otherwise, the vehicle warning level is determined to be the second warning level, and the third warning level is higher than the first warning level.

8. A vehicle warning device, characterized in that: include: An acquisition module, used to sequentially acquire vehicle driving information at different times and pedestrian movement information on a road section where the vehicle is located during the driving process of the vehicle; A first determination module is used to determine the current vehicle turning state corresponding to the vehicle driving information at each time; A second determination module is used to determine a vehicle warning area corresponding to the target turning state when the current vehicle turning state is the target turning state; The third determination module is used to determine the vehicle warning level based on the vehicle warning area and the corresponding pedestrian movement information and output a warning corresponding to the vehicle warning level.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle warning method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle warning method according to any one of claims 1 to 7 when executed.

11. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the vehicle early warning method according to any one of claims 1 to 7 is implemented.

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