Traffic accident early warning method and related equipment

Abstract

The invention provides a traffic accident early warning method and related equipment, and the method comprises the steps: obtaining first driving data of a vehicle, and predicting a first driving track of the vehicle based on the first driving data; acquiring a second driving track of other vehicles which are in a preset range with the vehicle; in response to determining that the first driving track and the second driving track coincide, early warning information is generated and displayed, the technical problem that in the prior art, generated early warning information is not accurate is solved, and the accuracy of predicting the vehicle driving track is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a traffic accident warning method and related equipment. Background Art

[0002] At present, L2+ advanced assisted driving technology, L3, L4 autonomous driving technology have entered the market promotion stage. As the market penetration of intelligent driving vehicles continues to increase, the data used for autonomous driving training is also increasing, the "brain" of autonomous driving technology is becoming smarter and smarter, and travel safety is also constantly improving. However, the "eyes" of autonomous driving technology (sensing equipment such as cameras, lidar, millimeter-wave radar, etc.) still have technical limitations in extreme weather and road conditions, and are still limited by field of view distance and blind spots. When the "eyes" cannot see the road conditions clearly, the "brain" is powerless no matter how smart it is, resulting in the vehicle's decisions not always being accurate. Summary of the invention

[0003] In view of this, the purpose of this application is to propose a traffic accident warning method and related equipment to overcome all or part of the deficiencies in the prior art.

[0004] Based on the above-mentioned purpose, the present application provides a traffic accident warning method, including: obtaining first driving data of a vehicle, and predicting a first driving trajectory of the vehicle based on the first driving data; obtaining a second driving trajectory of other vehicles within a predetermined range with the vehicle; in response to determining that the first driving trajectory and the second driving trajectory have overlapping trajectories, generating and displaying warning information.

[0005] Optionally, in response to determining that the first driving trajectory and the second driving trajectory have an overlapping trajectory, generating and displaying warning information includes: in response to determining that the first driving trajectory and the second driving trajectory have an overlapping trajectory, determining a future time corresponding to the overlapping trajectory; based on the difference between the future time and the current time, searching a pre-constructed data table for a risk level corresponding to the difference; and generating and displaying the warning information based on the risk level.

[0006] Optionally, the first driving data includes multiple first trajectory points and a first time corresponding to each first trajectory point; predicting the first driving trajectory of the vehicle based on the first driving data includes: determining a trajectory equation of the vehicle based on the multiple first trajectory points and the first time corresponding to each first trajectory point, and predicting the first driving trajectory based on the trajectory equation.

[0007] Optionally, after generating and displaying the warning information based on the risk level, the method includes: in response to determining that the risk level is greater than a predetermined risk level, generating a driving strategy for the vehicle based on the first driving data, the second driving trajectory and the warning information.

[0008] Optionally, the first driving data includes horizontal acceleration, vertical acceleration and speed, and the method further includes: monitoring the rate of change of the horizontal acceleration, the rate of change of the vertical acceleration and the rate of change of the speed of the vehicle; in response to determining that the rate of change of the horizontal acceleration is greater than a first predetermined rate of change, and the rate of change of the speed is greater than a second predetermined rate of change, obtaining a first actual driving trajectory of the vehicle and a second actual driving trajectory of other vehicles within a predetermined range of the vehicle; based on the first actual driving trajectory and the second actual driving trajectory, determining that a first accident has occurred with the vehicle, generating and displaying first accident information, and sending the first accident information to the other vehicles; in response to determining that the rate of change of the horizontal acceleration is greater than the first predetermined rate of change, and the rate of change of the vertical acceleration is greater than a third predetermined rate of change, determining that a landslide has occurred on the road where the vehicle is located, generating and displaying second accident information, and sending the second accident information to the other vehicles.

[0009] Optionally, the first accident includes a multi-party accident and a unilateral accident; and determining that the vehicle has had a first accident based on the first actual driving trajectory and the second actual driving trajectory includes: in response to determining that the number of other vehicles corresponding to the second driving trajectory overlapping with the first actual driving trajectory is greater than or equal to a predetermined value, determining that the multi-party accident has occurred; in response to determining that the number of other vehicles corresponding to the second driving trajectory overlapping with the first actual driving trajectory is less than the predetermined value, determining that the unilateral accident has occurred.

[0010] Optionally, the method further includes: receiving third accident information sent by a wearable device of the user, and controlling the vehicle to avoid the accident according to the third accident information.

[0011] Based on the same inventive concept, the present application also provides a traffic accident warning device, including: a prediction module, configured to obtain first driving data of a vehicle, and predict a first driving trajectory of the vehicle based on the first driving data; an acquisition module, configured to obtain a second driving trajectory of other vehicles within a predetermined range with the vehicle; a generation module, configured to generate and display warning information in response to determining that the first driving trajectory and the second driving trajectory have overlapping trajectories.

[0012] Based on the same inventive concept, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the method as described above when executing the computer program.

[0013] Based on the same inventive concept, the present application also provides a vehicle, which includes the device or the electronic device.

[0014] From the above, it can be seen that the traffic accident warning method and related equipment provided by the present application include obtaining the first driving data of the vehicle, and predicting the first driving trajectory of the vehicle based on the first driving data, so that the driving trajectory predicted based on the accurate driving data is accurate. The second driving trajectory of other vehicles within a predetermined range with the vehicle is obtained, so as to achieve the purpose of screening other vehicles and the second driving trajectories corresponding to other vehicles. In response to determining that the first driving trajectory and the second driving trajectory have overlapping trajectories, warning information is generated and displayed, so that the driver can obtain accurate warning information in time, and then make corresponding decisions to ensure the safety of travelers. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 A flow chart of a traffic accident warning method according to an embodiment of the present application;

[0017] Figure 2 A schematic diagram of a vehicle travel map display interface according to an embodiment of the present application;

[0018] Figure 3 A schematic diagram of a specific process of a traffic accident warning method according to an embodiment of the present application;

[0019] Figure 4 A schematic diagram of an onboard travel map display interface of an embodiment of the present application;

[0020] Figure 5 A schematic diagram of the structure of a traffic accident warning device according to an embodiment of the present application;

[0021] Figure 6 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present application;

[0022] Figure 7Schematic diagram of the distance between the positioning point and the left front corner of the vehicle in a direction parallel to the center axis of the vehicle body according to an embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0024] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be the usual meanings understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0025] As mentioned in the background technology section, at present, L2+ advanced assisted driving technology, L3, L4 level autonomous driving technology have entered the market promotion stage, AI big models have also begun to be used in the field of autonomous driving, and major automobile companies have launched their own data platforms and AI big models. With the increasing market penetration of intelligent driving vehicles, the training data for autonomous driving is also increasing, the "brain" of autonomous driving technology is becoming smarter and smarter, and travel safety is also improving. However, the "eyes" of autonomous driving technology (sensing devices such as cameras, lidar, millimeter wave radar, etc.) still have technical limitations in extreme weather and road environments, and are still limited by the field of vision distance and blind spots. When the "eyes" cannot see the road conditions clearly, the "brain" is smart and powerless, resulting in the decision-making of the vehicle not always being accurate. In addition, there is no platform for sharing vehicle travel data between enterprises, nor is there a unified data standard. Therefore, there is a lack of travel information interaction when vehicles of different brands travel, and the travel data of traffic participants such as pedestrians, non-motor vehicles, and motorcycles cannot be accessed. Problems such as travel safety and travel efficiency still exist.

[0026] In addition, as civil drone technology becomes increasingly mature and widely used in various industries, and automobile companies begin to develop flying cars, the efficiency and safety issues brought about by the low-altitude economy will also face challenges. This is because there is a lack of three-dimensional reference targets in the air, and it is difficult to accurately judge the distance and height difference between aircraft by relying on pure visual methods. Equipment such as lidar also needs to be used in conjunction with high-precision inertial navigation devices to achieve higher accuracy.

[0027] In view of this, the present application embodiment proposes a traffic accident warning method, referring to Figure 1 , including the following steps:

[0028] Step 101: Acquire first driving data of a vehicle, and predict a first driving trajectory of the vehicle based on the first driving data.

[0029] In this step, due to the limitations of the vehicle's own sensors, the vehicle's driving data needs to be obtained from the outside. The first driving data of the vehicle is obtained. The driving data can reflect the historical driving trajectory of the vehicle. The driving data of the vehicle has certain regularities, and thus the driving trajectory also has certain regularities. Through the driving data, the future driving trajectory of the vehicle can be predicted, that is, based on the first driving data, the first driving trajectory of the vehicle is predicted. The acquired driving data is accurate, and thus the driving trajectory predicted based on the driving data is also accurate.

[0030] Step 102: Acquire a second driving trajectory of other vehicles within a predetermined range from the vehicle.

[0031] In this step, since there are many other vehicles on the road where the vehicle is located, other vehicles that are relatively far away from the vehicle will not cause safety risks to the vehicle, and other vehicles that are relatively close to the vehicle will cause safety risks to the vehicle. Therefore, the vehicle in the current lane, the vehicle that is about to enter the current lane, the vehicle that is about to merge into the lane, and the vehicle that is about to merge into the same lane as the vehicle should be screened out according to the lane number and the target lane number, and then the vehicle closest to the vehicle is screened out from the above vehicles according to the position relationship, and only the second driving trajectory of the above vehicles is focused on. It should be noted that each vehicle calculates its own driving trajectory without calculating the driving trajectory of other vehicles, but obtains the driving trajectory of other vehicles, which saves computing resources and can also obtain the driving data of other vehicles, but does not calculate the driving trajectory based on the driving data. For traffic safety considerations, the driving data of other vehicles that are far away from the vehicle (i.e., outside the predetermined range) will also be obtained, but generally no trajectory calculation will be performed, but simply read whether the acquired information contains reported accident information or fault information. If there is accident information or fault information, then perform trajectory calculation to avoid it. For the remaining vehicles that do not need to be tracked temporarily, their main travel information such as position, distance, speed, acceleration and deceleration, and estimated collision time (after entering the same lane) are directly displayed on the Figure 2 The travel map interface is shown. The second driving trajectory of other vehicles within the predetermined range with the vehicle is obtained, so as to achieve the purpose of screening other vehicles and the second driving trajectories corresponding to other vehicles. It should be noted that the vehicle can also obtain travel information sent by the wearable device of the user whose vehicle is within the predetermined range, and the above travel information includes travel data and travel trajectory. According to the travel trajectory, the vehicle can know the location of the user, and the vehicle can also obtain the travel information of users outside the predetermined range, but generally no trajectory calculation is performed, but simply reads whether the acquired information contains reported accident information or fault information. If there is accident information or fault information, the trajectory calculation is performed to avoid it.

[0032] Auxiliary positioning facilities are built around the road. Auxiliary positioning facilities can also be used to summarize driving data, and can achieve precise positioning with an accuracy better than 10cm. At the same time, the positioning frequency can be 10 to 1000 times / second. The specific positioning frequency is automatically adjusted according to the maximum movement speed of the traffic carrier. For example, pedestrians can be set to 10 times / second, non-motor vehicles can be set to 50 times / second, motor vehicles can be set to 100 times / second, and aircraft can be set to 1000 times / second. Vehicles use both network communication and point-to-point communication. First, the vehicle sends the driving information to the regional traffic information service center through network communication. At the same time, the vehicle automatically filters and downloads the driving information of other vehicles on the current road from the server of the regional traffic information service center. Then, the positions of all vehicles are displayed in real time, the numbers of other vehicles that are close to themselves are analyzed, and point-to-point communication is established with them. Among them, the driving information includes driving data and driving trajectory. It should be noted that in addition to actively collecting driving information of other vehicles, other vehicles that have been authorized by the data can also upload their own driving information at a frequency of once per second, and report it on the whole second. After uploading the driving information, the vehicle will track and calculate the difference between the driving information uploaded by itself and the driving information actively collected. If the calculated trajectory position error of the two reaches a certain range within 1 second, such as greater than 50cm, it will trigger the additional reporting mechanism, and the latest driving information will be immediately fed back to nearby vehicles.

[0033] Step 103: in response to determining that the first driving trajectory and the second driving trajectory have an overlapping trajectory, generate and display warning information.

[0034] In this step, the trajectory distance between the vehicle and other vehicles within a predetermined range of the above-mentioned vehicle is quickly calculated. When the first driving trajectory overlaps with the second driving trajectory, it indicates that there is a risk of collision between the vehicle and the other vehicles. In order to avoid the risk of collision, early warning information is generated and displayed, so that the driver can obtain accurate early warning information in time and make corresponding decisions, thereby ensuring the safety of travelers.

[0035] The specific process of this application is as follows Figure 3 As shown, first, driving data is generated by combining continuous and precise positioning information with road data. The driving information can be sent to other traffic participants and received from other traffic participants. Then, the trajectory is calculated based on its own positioning results, its own driving information, and the driving trajectories of other participants. Finally, a safe and efficient driving strategy is formulated based on the trajectory calculation results, and early warning reminders are issued for potential safety risks.

[0036] Through the above scheme, the first driving data of the vehicle is obtained, and the first driving trajectory of the vehicle is predicted based on the first driving data, so that the driving trajectory predicted based on accurate driving data is accurate. The second driving trajectory of other vehicles within a predetermined range with the vehicle is obtained, so as to achieve the purpose of screening other vehicles and second driving trajectories corresponding to other vehicles. In response to determining that the first driving trajectory and the second driving trajectory have overlapping trajectories, early warning information is generated and displayed, so that the driver can obtain accurate early warning information in time, and then make corresponding decisions to ensure the safety of travelers.

[0037] In some embodiments, in response to determining that the first driving trajectory and the second driving trajectory have an overlapping trajectory, generating and displaying warning information includes: in response to determining that the first driving trajectory and the second driving trajectory have an overlapping trajectory, determining the future time corresponding to the overlapping trajectory; based on the difference between the future time and the current time, searching a pre-constructed data table for a risk level corresponding to the difference; based on the risk level, generating and displaying the warning information.

[0038] In this embodiment, when the first driving trajectory and the second driving trajectory overlap, the future time corresponding to the overlapped trajectory is determined in combination with performance parameters such as the maximum braking force of the vehicle, so as to know the specific time when the vehicle is about to collide with the other vehicle. The difference between the future time and the current time is calculated. According to the difference, the risk level of the vehicle can be reflected. The corresponding relationship between the difference and the risk level is stored in the pre-constructed data table. The risk level corresponding to the difference is found in the data table. For example, when the difference is 3 seconds, it means that a collision is about to occur, and the risk level found in the data table is severe; when the difference is 5 seconds, it means that there is a relatively short time before the collision occurs, and the risk level found in the data table is medium; when the difference is 8 seconds, it means that there is a relatively long time before the collision occurs, and the risk level found in the data table is slight. According to the risk level, a warning message is generated and displayed so that the driver can be informed of the upcoming risk in time.

[0039] It should be noted that the displayed warning information can also be accompanied by a warning color. For example, when the risk level is serious, the screen interface of the vehicle displaying the warning information will display the background color of the lane that is about to collide as red; when the risk level is medium, the screen interface will display the background color of the lane that is about to collide as orange; when the risk level is slight, the screen interface will display the background color of the lane that is about to collide as yellow; when the risk level is no risk, the screen interface will display the background color of the lane as green. The displayed warning information can also be accompanied by the flashing of the indicator light. For example, when the risk level is serious, the indicator light of the vehicle flashes red. In addition to using different colors to distinguish threats of different risk levels, different symbols can also be used to distinguish them, such as √, ×, ○, □, △, etc., to help people with color recognition difficulties to interpret. The displayed warning information can also be accompanied by sound, and the risk level is broadcasted by voice, so that the driver can know the risk information of the vehicle in time.

[0040] For air traffic, such as Figure 4 The airborne travel map shown will display in real time the horizontal flight speed, flight direction, time required to reach the horizontal intersection point and current flight altitude of all aircraft within a radius of 20 kilometers. When two aircraft arrive at the horizontal intersection point at a close time (such as within 10 seconds) and the flight altitude difference is less than a certain altitude (such as 100 meters), an early warning will be issued. At the same time, reverse avoidance plan suggestions will be given to the two aircraft respectively, including but not limited to changing the flight speed (accelerating for the faster aircraft and decelerating for the slower aircraft) and changing the flight altitude (climbing for the higher altitude and descending for the lower altitude).

[0041] In some embodiments, the first driving data includes multiple first trajectory points and a first time corresponding to each first trajectory point; predicting the first driving trajectory of the vehicle based on the first driving data includes: determining a trajectory equation of the vehicle based on the multiple first trajectory points and the first time corresponding to each first trajectory point, and predicting the first driving trajectory based on the trajectory equation.

[0042] In this embodiment, the driving data includes multiple track points and the time corresponding to each track point. The track points can be represented by coordinates. Assume that the current time is t 10 , the current trajectory point is P 10 (X 10 ,Y 10 ,Z 10 ), there are 10 results in the previous 1 second, which are recorded as P in order. 0 (X 0 ,Y 0 ,Z 0 ), P 01 (X01 ,Y 01 ,Z 01 ), P 02 (X 02 ,Y 02 ,Z 02 ),…,P 08 (X 08 ,Y 08 ,Z 08 ), P 09 (X 09 ,Y 09 ,Z 09 ). Based on the multiple first trajectory points and the time corresponding to each trajectory point, the trajectory equation can be determined, and the purpose of accurately predicting the first driving trajectory can be achieved through the trajectory equation. It should be noted that the lane number, historical motion trajectory, forward azimuth, average horizontal speed, instantaneous speed, acceleration, turning radius, turning radius azimuth and target lane number can be calculated based on the driving data. The above parameters can be calculated based on the multiple trajectory points and the time corresponding to each trajectory point combined with the road data.

[0043] (1) Lane number: In the high-precision map database, administrative district codes are assigned to roads according to the administrative districts they are located in. Road numbers are then assigned to roads according to the highway department data. Lane numbers are then assigned to lanes on the road according to a certain rule, starting from the median strip in the middle of the road and moving toward both sides of the road. Numbers in the forward direction are positive, and numbers in the reverse direction are negative. They can also be numbered using letters plus numbers. Physical isolation facilities such as central green belts and isolation guardrails can be treated as a lane and numbered 00. When the median strip narrows to form a left-turn or U-turn lane, a new lane number MW01 or ME01 is added based on the positional relationship between the lane and the median strip. The sequence number follows the sequence number of the adjacent lane segment connected to it. For example, the lanes of a road are represented as: |W03|W02|W01|M00|ME01|E01|E02|E03|. Next, each lane is cut according to the actual road markings and the specified driving direction. In order to reduce the number of vehicles with the same lane or target lane number (i.e., limit the total number of vehicles in the same lane), reduce the amount of data during data screening, and improve operating efficiency, the length of each lane should not be greater than 100 meters. After cutting, the sequence numbers are assigned in sequence so that the sections with adjacent sequence numbers in the same lane are continuous. For the road database information content, see Appendix 1. n (X n ,Y n ,Z n ) is compared with the spatial map database to obtain the lane number of the vehicle's current position. For lanes at three-dimensional intersections, the lane number can also be accurately determined based on the elevation data (Zn).

[0044] Table 1 Road database information content

[0045]

[0046]

[0047] (2) Historical motion trajectory: The positioning trajectory points and time are recorded separately according to the coordinate components, such as trajectory point X and time (X 01 ,t 01 )、(X 02 ,t 02 )、(X 03 ,t 03 )…(X 08 ,t 08 )、(X 09 ,t 09 )、(X 10 ,t 10 ), according to the trajectory points of X and t, the motion trajectory equation X(t) of the vehicle on the X coordinate is calculated; similarly, according to the trajectory points of Y and t, the motion trajectory equation Y(t) of the vehicle on the Y coordinate is calculated; according to the trajectory points of Z and t, the motion trajectory equation Z(t) of the vehicle on the Z coordinate is calculated.

[0048] (3) Forward azimuth: The vehicle’s driving azimuth can be solved based on the historical motion trajectory equation. When the vehicle is traveling in a straight line, it can also be directly calculated from the two most recent positioning coordinates.

[0049] (4) Average plane velocity: According to P 0 , P 01 The positioning coordinates are calculated to obtain P 0 P 01 Plane distance Use the plane distance d 01 Divide by P 0 P 01 The time difference between the two positioning can be obtained as P 0 P 01 The average plane motion speed in this distance By analogy, we can get v 均02 、v 均03 …v 均09 、v 均10 .

[0050] (5) Instantaneous velocity: According to the motion equations X(t), Y(t), and Z(t), the instantaneous motion velocities in the three directions XYZ are Plane speed Overall speed

[0051] (6) Acceleration: According to the vehicle velocity formula, the accelerations in the three directions of X, Y, and Z can be calculated as follows: Planar acceleration Total acceleration If the vehicle is in uniformly accelerated motion, its planar acceleration can be quickly calculated based on the difference in average speed between the last two positioning segments and the duration of the two positioning segments.

[0052]

[0053] (7) Turning radius: When the vehicle is traveling along an arc, the coordinates of the center of the arc can be calculated based on the plane coordinates of the last three positioning results. For example, based on P 01 (X 01 ,Y 01 ), P 02 (X 02 ,Y 02 ), P 03 (X 03 ,Y 03 ) calculates the coordinates of the center of the arc O(X,Y), where:

[0054]

[0055] According to the center coordinates O(X,Y) and P 01 (X 01 ,Y 01 ), P 02 (X 02 ,Y 02 ), P 03 (X 03 ,Y 03 ) can be used to calculate the plane turning radius R.

[0056] (8) Turning radius azimuth: Based on the arc end point P n (X n ,Y n ) and the coordinates of the center of the arc O(X,Y), the turning radius azimuth can be calculated.

[0057] (9) Target lane number: The system infers the movement trajectory based on its current travel information and combines it with the lane range spatial data in the map database. When the movement trajectory of the vehicle (pedestrian) will partially or completely enter other lanes starting from 8 seconds, the system automatically extracts the target lane number data and fills it into the travel information.

[0058] The main data included in the driving data are shown in Table 2:

[0059] Table 2 Data included in driving data

[0060]

[0061]

[0062] In some embodiments, after generating and displaying the warning information based on the risk level, the method includes: in response to determining that the risk level is greater than a predetermined risk level, generating a driving strategy for the vehicle based on the first driving data, the second driving trajectory and the warning information.

[0063] In this embodiment, when the risk level is greater than the predetermined risk level, it means that if the vehicle continues to travel along the original driving trajectory, a vehicle collision will occur. In order to avoid the collision, a driving strategy for the vehicle is generated based on the first driving data, the second driving trajectory and the warning information. The vehicle travels according to the driving strategy, eliminating the possibility of a vehicle collision and ensuring driving safety. It should be noted that when the time to a collision is relatively short, a vehicle equipped with an automatic driving or assisted driving system can automatically execute the generated driving strategy. When the time to a collision is relatively long, a prompt message on whether to execute the driving strategy can be displayed on the vehicle's screen interface, and the driver can decide whether to execute the driving strategy according to actual needs.

[0064] In some embodiments, the first driving data includes horizontal acceleration, vertical acceleration and speed, and the method further includes: monitoring the rate of change of horizontal acceleration, vertical acceleration and speed of the vehicle; in response to determining that the rate of change of the horizontal acceleration is greater than a first predetermined rate of change, and the rate of change of the speed is greater than a second predetermined rate of change, acquiring a first actual driving trajectory of the vehicle and a second actual driving trajectory of other vehicles within a predetermined range of the vehicle; based on the first actual driving trajectory and the second actual driving trajectory, determining that a first accident has occurred with the vehicle, generating and displaying first accident information, and sending the first accident information to the other vehicles; in response to determining that the rate of change of the horizontal acceleration is greater than the first predetermined rate of change, and the rate of change of the vertical acceleration is greater than a third predetermined rate of change, determining that a landslide has occurred on the road where the vehicle is located, generating and displaying second accident information, and sending the second accident information to the other vehicles.

[0065] In this embodiment, when a vehicle collides or falls, the rate of change of the horizontal acceleration, the rate of change of the vertical acceleration and the rate of change of the speed of the vehicle will change significantly. Therefore, the rate of change of the horizontal acceleration, the rate of change of the vertical acceleration and the rate of change of the speed of the vehicle are monitored to determine whether the vehicle has an accident. When the rate of change of the horizontal acceleration is greater than the first predetermined rate of change, and the rate of change of the speed is greater than the second predetermined rate of change, it means that the vehicle has had an accident. However, in order to know the severity of the accident, it is necessary to obtain the first actual driving trajectory of the vehicle and the second actual driving trajectory of other vehicles within the predetermined range of the above-mentioned vehicle. By analyzing the first actual driving trajectory and the second actual driving trajectory, it is determined that the vehicle has a first accident, wherein the first accident can reflect the severity of the accident. Generate and display the first accident information, send the first accident information to other vehicles, so that other vehicles can take corresponding measures in time according to the accident information. It should be noted that in addition to sending accident information to other vehicles, the vehicle can also receive accident information sent by other vehicles, and control the vehicle to take corresponding measures in time according to the above accident information.

[0066] When the rate of change of the horizontal acceleration is greater than the first predetermined rate of change, and the rate of change of the vertical acceleration is greater than the third predetermined rate of change, it indicates that the road on which the vehicle is traveling may have collapsed, and the vehicle has fallen due to the collapse. Generate and display the second accident information, and send the second accident information to other vehicles so that other vehicles can take corresponding measures according to the second accident information, for example, pull over in time. The system on the vehicle involved in the accident will determine whether the vehicle has a unilateral collision or fall accident within the road surface range based on the changes in its own acceleration in all directions and the spatial data of the road map. If the plane speed suddenly drops to 0 but there is no change in the falling acceleration in the vertical direction, it can be determined that the current position has an upper slope collapse accident; if the vehicle is within the road range, but the acceleration in the vertical direction changes significantly and is close to the gravity acceleration g, it can be determined that the current position has a road collapse or bridge collapse accident. In particular, when the vehicle is outside the road range and the acceleration in the vertical direction changes significantly and is close to the gravity acceleration g, it is determined that the vehicle has run out of the road and fallen. In addition, monitoring devices can be installed on bridge support structures, bridge road guardrails, road slope protection structures, and hillsides prone to geological disasters. When an accident such as a road slope collapse or road collapse (bridge rupture) occurs, the monitoring device will move, and the type of accident will be determined based on the deployment location of the monitoring device, and then reported to the regional traffic information service center and surrounding vehicles for early warning. In addition, if the system on the vehicle in the accident is still working properly, it will also facilitate subsequent search and rescue work.

[0067] In some embodiments, the first accident includes a multi-party accident and a unilateral accident; determining that the vehicle has had a first accident based on the first actual driving trajectory and the second actual driving trajectory includes: in response to determining that the number of other vehicles corresponding to the second driving trajectory that coincides with the first actual driving trajectory is greater than or equal to a predetermined value, determining that the multi-party accident has occurred; in response to determining that the number of other vehicles corresponding to the second driving trajectory that coincides with the first actual driving trajectory is less than the predetermined value, determining that the unilateral accident has occurred.

[0068] In this embodiment, if the first actual driving trajectory coincides with multiple second actual driving trajectories, that is, the number of other vehicles corresponding to the second driving trajectory coincident with the first actual driving trajectory is greater than or equal to a predetermined value, it means that the vehicle has collided with multiple other vehicles, and it is determined that a multi-party accident has occurred. If the first actual driving trajectory does not coincide with the second actual driving trajectory, that is, the number of other vehicles corresponding to the second driving trajectory coincident with the first actual driving trajectory is less than a predetermined value, it means that the vehicle has not collided with other vehicles, and it is determined that a single-party accident has occurred. It should be noted that the actual travel trajectory sent by the user's wearable device can also be obtained. If the actual travel trajectory coincides with the first driving trajectory or the second driving trajectory, it means that the user corresponding to the wearable device has also had an accident; if the actual travel trajectory does not coincide with the first driving trajectory and the second driving trajectory, it means that the user corresponding to the wearable device has not had an accident. By analyzing whether the vehicle has a multi-party accident or a single-party accident, the severity of the accident can be reflected, so that other vehicles can take effective measures in time to avoid the occurrence of secondary accidents and ensure driving safety.

[0069] In some embodiments, the method further includes: receiving third accident information sent by a wearable device of the user, and controlling the vehicle to avoid the accident according to the third accident information.

[0070] In this embodiment, the wearable device of the user can monitor whether the user falls. For example, when the rate of change of the user's horizontal acceleration or the rate of change of the vertical acceleration is greater than a predetermined rate of change, the wearable device determines that the user falls, generates and sends the third accident information. The vehicle can receive the third accident information, and then know the position coordinates where the user falls, and control the vehicle to avoid, so as to avoid a secondary accident. It should be noted that the above-mentioned users do not include users in the vehicle.

[0071] It should be noted that when a pedestrian falls near the road, the wearable device detects a sharp increase in vertical acceleration in a short period of time, and its position does not change for a long time (for example, 1 minute) and the positioning coordinate elevation has not recovered to the value before the vertical acceleration changed. It is judged as a suspected pedestrian who is unable to get up on his own after falling. The system will extract such suspected accidents and send them to the nearest security patrolman or patrol police for confirmation.

[0072] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the described method.

[0073] It should be noted that the above describes some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0074] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a traffic accident warning device.

[0075] refer to Figure 5 , the traffic accident warning device comprises:

[0076] The prediction module 10 is configured to obtain first driving data of the vehicle, and predict a first driving trajectory of the vehicle based on the first driving data.

[0077] The acquisition module 20 is configured to acquire second driving trajectories of other vehicles within a predetermined range from the vehicle.

[0078] The generating module 30 is configured to generate and display warning information in response to determining that the first driving trajectory and the second driving trajectory have an overlapping trajectory.

[0079] Through the above device, the first driving data of the vehicle is obtained, and the first driving trajectory of the vehicle is predicted based on the first driving data, so that the driving trajectory predicted based on accurate driving data is accurate. The second driving trajectory of other vehicles within a predetermined range with the vehicle is obtained, so as to achieve the purpose of screening other vehicles and second driving trajectories corresponding to other vehicles. In response to determining that the first driving trajectory and the second driving trajectory have overlapping trajectories, early warning information is generated and displayed, so that the driver can obtain accurate early warning information in time, and then make corresponding decisions to ensure the safety of travelers.

[0080] In some embodiments, the generation module 30 is further configured to, in response to determining that the first driving trajectory and the second driving trajectory have an overlapping trajectory, determine a future time corresponding to the overlapping trajectory; based on the difference between the future time and the current time, search a pre-constructed data table for a risk level corresponding to the difference; and based on the risk level, generate and display the warning information.

[0081] In some embodiments, the prediction module 10 is further configured such that the first driving data includes multiple first trajectory points and a first time corresponding to each first trajectory point; based on the multiple first trajectory points and the first time corresponding to each first trajectory point, a trajectory equation of the vehicle is determined, and based on the trajectory equation, the first driving trajectory is predicted.

[0082] In some embodiments, a second generation module is also included. The second generation module is configured to generate and display the warning information based on the risk level, and then generate a driving strategy for the vehicle based on the first driving data, the second driving trajectory and the warning information in response to determining that the risk level is greater than a predetermined risk level.

[0083] In some embodiments, a determination module is also included, and the determination module is configured to monitor the rate of change of the horizontal acceleration, the rate of change of the vertical acceleration and the rate of change of the speed of the vehicle when the first driving data includes horizontal acceleration, vertical acceleration and speed; in response to determining that the rate of change of the horizontal acceleration is greater than a first predetermined rate of change, and the rate of change of the speed is greater than a second predetermined rate of change, obtain a first actual driving trajectory of the vehicle and a second actual driving trajectory of other vehicles within a predetermined range with the vehicle; based on the first actual driving trajectory and the second actual driving trajectory, determine that a first accident has occurred with the vehicle, generate and display first accident information, and send the first accident information to the other vehicles; in response to determining that the rate of change of the horizontal acceleration is greater than the first predetermined rate of change, and the rate of change of the vertical acceleration is greater than a third predetermined rate of change, determine that a landslide has occurred on the road where the vehicle is located, generate and display second accident information, and send the second accident information to the other vehicles.

[0084] In some embodiments, the determination module is also configured that the first accident includes a multi-party accident and a single-party accident; in response to determining that the number of other vehicles corresponding to the second driving trajectory overlapping with the first actual driving trajectory is greater than or equal to a predetermined value, it is determined that the multi-party accident has occurred; in response to determining that the number of other vehicles corresponding to the second driving trajectory overlapping with the first actual driving trajectory is less than the predetermined value, it is determined that the single-party accident has occurred.

[0085] In some embodiments, a control module is also included, and the control module is configured to receive third accident information sent by the user's wearable device, and control the vehicle to avoid the accident according to the third accident information.

[0086] For the convenience of description, the above device is described in terms of functions divided into various modules. Of course, when implementing the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0087] The device of the above embodiment is used to implement the corresponding traffic accident warning method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0088] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the traffic accident warning method as described in any of the above embodiments is implemented.

[0089] Figure 6A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0090] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0091] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0092] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0093] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0094] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0095] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0096] The electronic device of the above embodiment is used to implement the corresponding traffic accident warning method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0097] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the traffic accident warning method described in any of the above embodiments.

[0098] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0099] The computer instructions stored in the storage medium of the above embodiments are used to enable the computer to execute the traffic accident warning method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0100] Based on the same concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a computer program product, including computer program instructions. When the computer program instructions are run on a computer, the computer executes the traffic accident warning method described in any of the above embodiments, which has the beneficial effects of the corresponding method embodiments and will not be repeated here.

[0101] It should be noted that the embodiments of the present application can be further described in the following manner:

[0102] It is understandable that before using the technical solutions of each embodiment of the present disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved will be informed to the user in an appropriate manner, and the user's authorization will be obtained.

[0103] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly remind the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can independently choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.

[0104] As an optional but non-limiting implementation, in response to receiving the user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0105] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0106] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0107] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present application difficult to understand, the known power supply / ground connection with the integrated circuit (IC) chip and other components may or may not be shown in the provided drawings. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform to be implemented in the embodiments of the present application (that is, these details should be fully within the scope of understanding of those skilled in the art). In the case of elaborating specific details (e.g., circuits) to describe exemplary embodiments of the present application, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0108] Although the present application has been described in conjunction with specific embodiments of the present application, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0109] The embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A traffic accident early warning method, characterized in that: include: Acquire first driving data of a vehicle, and predict a first driving trajectory of the vehicle based on the first driving data; Acquire a second driving trajectory of other vehicles within a predetermined range from the vehicle; In response to determining that the first driving trajectory and the second driving trajectory have an overlapping trajectory, warning information is generated and displayed.

2. The method according to claim 1, characterized in that In response to determining that the first driving trajectory and the second driving trajectory have an overlapping trajectory, generating and displaying warning information includes: In response to determining that the first driving trajectory and the second driving trajectory have an overlapping trajectory, determining a future time corresponding to the overlapping trajectory; Based on the difference between the future time and the current time, searching a pre-built data table for a risk level corresponding to the difference; Based on the risk level, the warning information is generated and displayed.

3. The method according to claim 1, characterized in that The first driving data includes a plurality of first trajectory points and a first time corresponding to each first trajectory point; The predicting, based on the first driving data, a first driving trajectory of the vehicle includes: Based on the multiple first trajectory points and the first time corresponding to each first trajectory point, a trajectory equation of the vehicle is determined, and based on the trajectory equation, the first driving trajectory is predicted.

4. The method according to claim 2, characterized in that: After generating and displaying the warning information based on the risk level, the method includes: In response to determining that the risk level is greater than a predetermined risk level, a driving strategy for the vehicle is generated based on the first driving data, the second driving trajectory, and the warning information.

5. The method according to claim 1, characterized in that The first driving data includes horizontal acceleration, vertical acceleration and speed, The method further comprises: Monitoring the rate of change of the horizontal acceleration, the rate of change of the vertical acceleration and the rate of change of the speed of the vehicle; In response to determining that the rate of change of the horizontal acceleration is greater than a first predetermined rate of change and the rate of change of the speed is greater than a second predetermined rate of change, acquiring a first actual driving trajectory of the vehicle and a second actual driving trajectory of other vehicles within a predetermined range from the vehicle; Based on the first actual driving trajectory and the second actual driving trajectory, determining that a first accident occurs to the vehicle, generating and displaying first accident information, and sending the first accident information to the other vehicles; In response to determining that the rate of change of the horizontal acceleration is greater than the first predetermined rate of change, and the rate of change of the vertical acceleration is greater than the third predetermined rate of change, it is determined that a landslide has occurred on the road where the vehicle is located, second accident information is generated and displayed, and the second accident information is sent to the other vehicles.

6. The method according to claim 5, characterized in that The first accident includes a multi-party accident and a single-party accident; The determining, based on the first actual driving trajectory and the second actual driving trajectory, that the vehicle has a first accident includes: In response to determining that the number of other vehicles corresponding to the second driving trajectory that coincides with the first actual driving trajectory is greater than or equal to a predetermined value, determining that the multi-party accident has occurred; In response to determining that the number of other vehicles corresponding to the second driving trajectory that coincides with the first actual driving trajectory is less than the predetermined value, it is determined that the single-vehicle accident has occurred.

7. The method according to claim 1, characterized in that The method further comprises: Receive the third accident information sent by the wearable device of the user, and control the vehicle to avoid the accident according to the third accident information.

8. A traffic accident warning device, characterized in that: include: A prediction module is configured to obtain first driving data of a vehicle, and predict a first driving trajectory of the vehicle based on the first driving data; An acquisition module is configured to acquire a second driving trajectory of other vehicles within a predetermined range from the vehicle; The generating module is configured to generate and display warning information in response to determining that the first driving trajectory and the second driving trajectory have overlapping trajectories.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 7 is implemented.

10. A vehicle, characterized in that: Includes the device according to claim 8 or the electronic device according to claim 9.

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