Vehicle early warning method and device, electronic equipment and readable medium

Abstract

The invention relates to a vehicle early warning method and device, electronic equipment and a readable medium, and the method applied to a first vehicle terminal comprises the steps: obtaining the first position information of a first vehicle, and a map message and a signal lamp message of a road region where the vehicle is located at present every preset time; monitoring a first linear distance between the first vehicle and the first stop line according to the first position information and the map information, and judging whether the first vehicle has a red light running risk according to the first driving information of the first vehicle and the signal lamp information; when the first linear distance is smaller than the first distance and the first vehicle has the risk of running the red light, first early warning information is generated; and generating a first safety message and sending the first safety message to a second vehicle terminal, wherein the first safety message comprises the first position information, the first driving information and the first early warning information. The problem that the current vehicle collides with other vehicles running normally at the intersection due to the fact that the current vehicle runs the red light is solved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle early warning method, device, electronic device and readable medium. Background Art

[0002] With the development of society and the continuous growth of urban population, road traffic is becoming increasingly complex. Vehicle-road collaboration uses advanced wireless communications and new generation Internet technologies to perform active vehicle safety control and road collaborative management.

[0003] At present, vehicle-road collaboration only involves the interaction between the current vehicle and the roadside unit. If the current vehicle is heading towards a signal-controlled intersection (lane), and the traffic light is about to turn red or is in a red light state, but the vehicle fails to stop within the stop line and continues to move forward, the existing technology can issue a red light running warning to the driver of the current vehicle. However, the information that the current vehicle may run a red light is not conveyed to other vehicles heading towards the intersection. At this time, it is easy for the current vehicle to collide with other normally traveling vehicles at the intersection due to running a red light, affecting traffic safety.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The present application provides a vehicle warning method, device, electronic device and readable medium to solve the above-mentioned technical problem of "the current vehicle running a red light causes a collision with other normally traveling vehicles at an intersection".

[0006] According to one aspect of an embodiment of the present application, the present application provides a vehicle warning method, which is applied to a first vehicle terminal, including: obtaining the first position information of the first vehicle and the map message and traffic light message of the road area where the vehicle is currently located at preset time intervals; monitoring the first straight-line distance between the first vehicle and the first stop line according to the first position information and the map message, and judging whether the first vehicle has a risk of running a red light according to the first driving information and the traffic light message of the first vehicle; generating a first warning message when the first straight-line distance is less than the first distance and the first vehicle has a risk of running a red light; generating and sending a first safety message to a second vehicle terminal, the first safety message including the first position information, the first driving information and the first warning message, so as to remind the second vehicle to take measures based on the first safety message to avoid traffic accidents caused by the risk of running a red light, wherein the second vehicle and the first vehicle are both in the road area.

[0007] Optionally, the first straight-line distance between the first vehicle and the first stop line is monitored according to the first position information and the map message, and it is determined whether the first vehicle has a risk of running a red light according to the first driving information and the signal light message of the first vehicle, including: extracting the second position information of the first stop line from the map message; calculating the first straight-line distance between the first vehicle and the first stop line according to the first position information and the second position information; determining the current driving direction and driving speed of the first vehicle according to the first driving information; determining whether the first vehicle has a risk of running a red light through the first straight-line distance, the signal light message, the current driving direction and driving speed of the first vehicle.

[0008] Optionally, after determining whether the first vehicle has a risk of running a red light, the method further includes: generating a first warning message when the first straight-line distance is less than a second distance and the first vehicle has a risk of running a red light, wherein the second distance is greater than the first distance; issuing a red light running alarm corresponding to the first warning message until it is detected that the first vehicle does not have a risk of running a red light, and stopping the red light running alarm.

[0009] According to another aspect of an embodiment of the present application, the present application provides a vehicle warning method, which is applied to a second vehicle terminal, including: obtaining the third position information of the second vehicle and the map message and traffic light message of the road area where the vehicle is currently located at preset time intervals; when receiving the first safety message sent by the first vehicle terminal, monitoring the second straight-line distance between the second vehicle and the second stop line according to the third position information and the map message, wherein the first safety message includes the first position information, first driving information and first warning information of the first vehicle that there is a risk of running a red light; if the second straight-line distance is less than the third distance, judging whether there is a risk of collision between the second vehicle and the first vehicle according to the first safety message, the second driving information and the traffic light message of the second vehicle; if there is a risk of collision between the second vehicle and the first vehicle, generating a second warning message, and issuing an alarm corresponding to the second warning message to inform the driver of the collision risk.

[0010] Optionally, judging whether there is a risk of collision between the second vehicle and the first vehicle is based on the first safety message, the second driving information of the second vehicle and the traffic light message, including: generating a first driving trajectory of the first vehicle based on the first position information, the first driving information and the first warning information of the first vehicle, wherein each trajectory point on the first driving trajectory carries a timestamp; predicting a second driving trajectory of the second vehicle based on the second driving information and the traffic light message, wherein each trajectory point on the second driving trajectory carries a timestamp; judging whether there is an overlapping point between the first driving trajectory and the second driving trajectory; if there is an overlapping point, comparing the timestamps of the overlapping points on the first driving trajectory and the second driving trajectory respectively; if the timestamp of the overlapping points on the first driving trajectory is the same as the timestamp of the overlapping points on the second driving trajectory, judging that there is a risk of collision between the second vehicle and the first vehicle.

[0011] Optionally, after determining that the second straight-line distance is less than the third distance, the method also includes: determining the current driving direction and speed of the second vehicle based on the second driving information; determining whether the second vehicle has a risk of running a red light through the second straight-line distance, the traffic light message, the current driving direction and speed of the second vehicle; if the second vehicle has a risk of running a red light, generating a third warning message, and issuing a red light running alarm corresponding to the third warning message; generating and sending a second safety message to a third vehicle terminal to remind the third vehicle to take measures based on the second safety message to avoid traffic accidents caused by the risk of running a red light, wherein the second safety message includes third location information, second driving information and third warning information, and the third vehicle and the second vehicle are both in the road area.

[0012] According to another aspect of an embodiment of the present application, the present application provides a vehicle warning device, which is applied to a first vehicle terminal, and includes: a first acquisition module, which is used to obtain the first position information of the first vehicle and the map message and traffic light message of the road area where the vehicle is currently located at preset time intervals; a first monitoring module, which is used to monitor the second straight-line distance between the first vehicle and the first stop line according to the first position information and the map message, and determine whether the first vehicle has a risk of running a red light according to the first driving information and the traffic light message of the first vehicle; a first generation module, which is used to generate a first warning message when the first straight-line distance is less than the first distance and the first vehicle has a risk of running a red light; a sending module, which is used to generate and send a first safety message to the second vehicle terminal, the first safety message including the first position information, the first driving information and the first warning message, so as to remind the second vehicle to take measures based on the first safety message to avoid traffic accidents caused by the risk of running a red light, wherein the second vehicle and the first vehicle are both in the road area.

[0013] According to another aspect of an embodiment of the present application, the present application provides a vehicle warning device, which is applied to a second vehicle terminal, and includes: a second acquisition module, which is used to obtain the third position information of the second vehicle and the map message and traffic light message of the road area where the vehicle is currently located at preset time intervals; a second monitoring module, which is used to monitor the second straight-line distance between the second vehicle and the second stop line according to the third position information and the map message when receiving the first safety message sent by the first vehicle terminal, wherein the first safety message includes the first position information, first driving information and first warning information of the first vehicle that there is a risk of running a red light; a judgment module, which is used to judge whether there is a risk of collision between the second vehicle and the first vehicle according to the first safety message, the second driving information of the second vehicle and the traffic light message if the second straight-line distance is less than the third distance; a second generation module, which is used to generate second warning information if there is a risk of collision between the second vehicle and the first vehicle, and issue an alarm corresponding to the second warning information to inform the driver of the collision risk.

[0014] According to another aspect of an embodiment of the present application, the present application provides an electronic device, including a memory, a processor, a communication interface and a communication bus, wherein the memory stores a computer program that can be run on the processor, the memory and the processor communicate through the communication bus and the communication interface, and the steps of the above method are implemented when the processor executes the computer program.

[0015] According to another aspect of an embodiment of the present application, the present application also provides a computer-readable medium having a non-volatile program code executable by a processor, and the program code enables the processor to execute the above method.

[0016] The above technical solution provided by the embodiment of the present application has the following advantages compared with the related art:

[0017] The present application adopts a vehicle early warning method, which is applied to a first vehicle terminal, including: obtaining the first position information of the first vehicle and the map message and signal light message of the road area where the vehicle is currently located at a preset time interval; monitoring the first straight-line distance between the first vehicle and the first stop line according to the first position information and the map message, and judging whether the first vehicle has a risk of running a red light according to the first driving information and the signal light message of the first vehicle; generating a first early warning message when the first straight-line distance is less than the first distance and the first vehicle has a risk of running a red light; generating and sending a first safety message to a second vehicle terminal, the first safety message including the first position information, the first driving information and the first early warning message, so as to remind the second vehicle to take measures based on the first safety message to avoid traffic accidents caused by the risk of running a red light, wherein the second vehicle and the first vehicle are both in the road area. By timely sending its own position information, driving information and the first early warning message of the risk of running a red light to the second vehicle in the same road area when detecting that the first vehicle has a risk of running a red light, the second vehicle can timely learn the driving situation of the first vehicle, and can take necessary measures to avoid collision in time, thereby solving the problem of collision with other normally traveling vehicles at the intersection due to the current vehicle running a red light. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0020] Figure 1 A flowchart of an optional vehicle early warning method applied to a first vehicle terminal according to an embodiment of the present application;

[0021] Figure 2 A schematic diagram of an optional vehicle interaction scenario provided according to an embodiment of the present application;

[0022] Figure 3 A schematic diagram of the composition of an optional vehicle-mounted unit provided according to an embodiment of the present application;

[0023] Figure 4 A schematic diagram of an optional vehicle warning scenario provided according to an embodiment of the present application;

[0024] Figure 5A flowchart of an optional vehicle early warning method applied to a second vehicle terminal according to an embodiment of the present application;

[0025] Figure 6 A block diagram of an optional vehicle warning device applied to a first vehicle terminal according to an embodiment of the present application;

[0026] Figure 7 A block diagram of an optional vehicle warning device applied to a second vehicle terminal according to an embodiment of the present application;

[0027] Figure 8 A schematic diagram of an optional electronic device structure provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0029] In the subsequent description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present application and have no specific meaning. Therefore, "module" and "component" can be used interchangeably.

[0030] With the development of society and the continuous growth of urban population, road traffic is becoming increasingly complex. Vehicle-road collaboration uses advanced wireless communications and new generation Internet technologies to perform active vehicle safety control and road collaborative management.

[0031] At present, vehicle-road collaboration only involves the interaction between the current vehicle and the roadside unit. If the current vehicle is heading towards a signal-controlled intersection (lane), and the traffic light is about to turn red or is in a red light state, but the vehicle fails to stop within the stop line and continues to move forward, the existing technology can issue a red light running warning to the driver of the current vehicle. However, the information that the current vehicle may run a red light is not conveyed to other vehicles heading towards the intersection. At this time, it is easy for the current vehicle to collide with other normally traveling vehicles at the intersection due to running a red light, affecting traffic safety.

[0032] In order to solve the problems mentioned in the background technology, according to one aspect of an embodiment of the present application, a vehicle early warning method is provided, which is applied to a first vehicle terminal, such as Figure 1 As shown, including:

[0033] Step 101, obtaining first position information of a first vehicle and a map message and a traffic light message of a road area where the vehicle is currently located at a preset time interval;

[0034] Step 103, monitoring a first straight-line distance between the first vehicle and the first stop line according to the first position information and the map message, and determining whether the first vehicle has a risk of running a red light according to the first driving information and the signal light message of the first vehicle;

[0035] Step 105, generating first warning information when the first straight-line distance is less than the first distance and the first vehicle has a risk of running a red light;

[0036] Step 107, generate and send a first safety message to the second vehicle terminal, the first safety message including first location information, first driving information and first warning information, so as to remind the second vehicle to take measures based on the first safety message to avoid traffic accidents caused by the risk of running a red light, wherein the second vehicle and the first vehicle are both in the road area.

[0037] The OBU (on-board unit) of vehicles on the road can interact with the outside world through C-V2X (Cellular-Vehicle to Everything). Figure 2 A schematic diagram of a vehicle interaction scenario provided for the present application. As shown in the figure, the on-board units between vehicles can communicate through V2V (Vehicle-to-Vehicle) communication technology, the on-board units and RSU (road side unit) can communicate through V2I (Vehicle-to-Infrastructure), the on-board units and pedestrian devices can communicate through V2P (Vehicle-to-Pedestrian) technology, and the on-board units and mobile networks can communicate through V2N (Vehicle-to-Network) technology.

[0038] Figure 3 A schematic diagram of the composition of a vehicle-mounted unit provided for the present application, as shown in the figure, the vehicle-mounted unit OBU includes 4 modules, namely, a warning notification module, a message processing module, a position positioning module and a wireless communication module. The warning notification module is used to issue a warning notification to the driver, and the position positioning module is used to continuously obtain the location information and driving parameters (driving direction, driving speed, etc.) of its own vehicle. The message processing module is used to update the BSM information (Basic Safety Message) of its own vehicle in real time according to the information obtained by the position positioning module and periodically send it to surrounding vehicles. The wireless communication module is used to interact with the outside world.

[0039] Aiming at the field of V2X wireless communication, the present application proposes a vehicle warning method applied to the RLVW (Red Light Violation Warning) scenario, which fully considers the interaction between vehicles at intersections and between vehicles and roadside units. When a first vehicle is detected to have a risk of running a red light, the method promptly sends its own position information, driving information and a first warning information of the risk of running a red light to a second vehicle in the same road area, so that the second vehicle can promptly learn of the driving status of the first vehicle and can take necessary measures to avoid collision in time, which can further reduce traffic accidents caused by violation of red light rules at intersections and improve driving safety.

[0040] The second vehicle takes measures based on the first safety message to avoid traffic accidents caused by the risk of running a red light, including but not limited to a collision between the second vehicle and the first vehicle, or a rollover or other accidents when the second vehicle avoids the first vehicle that runs a red light.

[0041] Figure 4 A schematic diagram of a vehicle warning scenario provided for the present application, as shown in the figure, vehicle No. 1 and vehicle No. 2 correspond to the first vehicle and the second vehicle of the embodiment of the present application respectively, the RSU at the intersection will continue to send MAP messages (map messages) and SPAT messages (signal light messages) to vehicles in the road area, the MAP message includes road information (such as lane information) and stop line information of the intersection, the SPAT message includes traffic light information of the intersection, etc., vehicle No. 1 and vehicle No. 2 can also continue to send BSM information of their own vehicles to each other, vehicle No. 1 and vehicle No. 2 are both heading for the intersection where the traffic light is located, the stop line in front of vehicle No. 1 is the first stop line, and the stop line in front of vehicle No. 2 is the second stop line, D2 in the figure corresponds to the first distance of the present application, D1 in the figure corresponds to the second distance of the present application, and D3 in the figure corresponds to the third distance of the present application, and corresponding risk monitoring (red light running risk, collision risk, etc.) is performed based on the different distances between each vehicle and the stop line in front, and the two vehicles interact to perceive the driving conditions of the other party and take corresponding measures when necessary to avoid collision.

[0042] It should be noted that, the present application describes an embodiment using a first vehicle and a second vehicle, but the vehicle warning method provided by the present application can be applied to interactive collaboration between multiple vehicles to ensure road safety.

[0043] Specifically, the preset duration can be set according to actual conditions, and this application does not limit this.

[0044] The RSU in the road area will continuously broadcast map messages and traffic light messages to vehicles in the area through C-V2X wireless technology. The map messages contain road information at intersections (such as lane information) and stop line information, and the traffic light messages contain traffic light information at intersections.

[0045] Vehicles in the road area can not only continuously receive map messages and traffic light messages from the RSU, but also send their own BSM information to vehicles in the same road area. The BSM information includes current location information and driving information (driving direction and speed, etc.). If the current vehicle is at risk of running a red light, the warning information corresponding to the red light running risk will also be sent to other vehicles, so that other vehicles can take measures based on the BSM information to avoid collision with the red light running vehicle.

[0046] As an optional embodiment, a first straight-line distance between the first vehicle and the first stop line is monitored based on the first position information and the map message, and it is determined whether the first vehicle has a risk of running a red light based on the first driving information and the signal light message of the first vehicle, including: extracting the second position information of the first stop line from the map message; calculating the first straight-line distance between the first vehicle and the first stop line based on the first position information and the second position information; determining the current driving direction and driving speed of the first vehicle based on the first driving information; and determining whether the first vehicle has a risk of running a red light based on the first straight-line distance, the signal light message, the current driving direction and driving speed of the first vehicle.

[0047] When the first vehicle is traveling toward the intersection, the location positioning module of the OBU will continuously obtain its own real-time location information (ie, first location information) and speed information (ie, first driving information).

[0048] The first stop line is a stop line in front of the first vehicle, and a first straight-line distance between the vehicle and the stop line can be calculated according to the second position information of the first stop line and the first position information of the first vehicle.

[0049] It is necessary to combine the vehicle's current speed, driving direction, distance between the vehicle and the stop line, and the current timing of the traffic light to determine whether the vehicle is at risk of running a red light.

[0050] It should be noted that the determination of the risk of running a red light mentioned in this application includes vehicles that are going straight, turning left, and turning right in the determination range, but in actual situations, it can be adjusted based on the traffic rules of the current intersection. For example, at the current intersection, vehicles that are turning right can turn right when the light is red without affecting the passage of other vehicles and pedestrians, while vehicles that are turning left and going straight need to wait for the green light. In this case, it is only necessary to analyze the risk of running a red light when the vehicle is going straight and turning left, and the situation where the vehicle is turning right can be ignored.

[0051] Specifically, determine the current color of the traffic light (red, green or yellow) and the remaining flashing time, obtain the first straight-line distance, calculate the time required for the vehicle to reach the stop line based on the current speed of the vehicle and the first straight-line distance, and judge whether the vehicle can pass the first stop line before the red light comes on (or before the green light ends) based on the required time and the time when the traffic light changes. If it cannot pass, it will be judged that there is a risk of running a red light.

[0052] Divide the first straight-line distance by the current speed to obtain the target time required for the first vehicle to reach the stop line; if the traffic light at the current intersection is red, obtain the first time from the current moment to the next green light turning on and the duration of the green light. If the target time is less than the first time (this means that the traffic light is still red when the vehicle reaches the stop line), it is determined that the vehicle is at risk of running a red light; if the target time is greater than or equal to the first time and less than the sum of the first time and the duration (this means that the vehicle can pass the stop line before the traffic light turns red again), it is determined that the vehicle does not have a risk of running a red light; if the traffic light at the current intersection is green, obtain the remaining flashing time of the green light. If the target time is greater than or equal to the remaining flashing time (meaning that the vehicle cannot pass the stop line during the green light period, and therefore cannot pass the intersection during the green light period), it is determined that the vehicle is at risk of running a red light; if the target time is less than the remaining flashing time (meaning that the intersection still shows a green light when the vehicle reaches the stop line), it is determined that the vehicle does not have a risk of running a red light.

[0053] For example, a predicted driving trajectory with a timestamp can also be generated based on the current speed of the first vehicle. If the traffic light at the current intersection is green, the first moment when the next red light turns on is determined, and the point of the vehicle corresponding to the first moment on the predicted driving trajectory is determined. If the point of the vehicle indicates that the first vehicle has passed the current intersection at the first moment, it is determined that the vehicle does not have a risk of running a red light. If the point of the vehicle indicates that the first vehicle has not passed the current intersection at the first moment, it is determined that the vehicle has a risk of running a red light. If the traffic light at the current intersection is red, the second moment when the next green light turns on is determined, and the point of the vehicle corresponding to the second moment on the predicted driving trajectory is determined. If the point of the vehicle indicates that the first vehicle has not passed the stop line at the second moment, it is determined that the vehicle does not have a risk of running a red light. If the point of the vehicle indicates that the first vehicle has passed the stop line at the second moment, it is determined that the vehicle has a risk of running a red light. As an optional embodiment, after determining whether the first vehicle has a risk of running a red light, the method further includes: generating a first warning message when the first straight-line distance is less than the second distance and the first vehicle has a risk of running a red light, wherein the second distance is greater than the first distance; issuing a red light running alarm corresponding to the first warning message until it is detected that the first vehicle does not have a risk of running a red light, and stopping the red light running alarm.

[0054] When the straight-line distance between the first vehicle and the first stop line is less than the second distance, it will be detected whether the first vehicle has a risk of running a red light. If there is a risk of running a red light, a corresponding first warning message will be generated, and a red light running alarm will be issued. The driver can know through the red light running alarm that if he continues to drive with the current driving information, he may run a red light, so the driver can take braking and deceleration measures in time.

[0055] The red light running risk of the vehicle is continuously monitored. If the risk of running a red light no longer exists after the vehicle slows down, the red light running alarm will stop being issued.

[0056] When the first vehicle is still a certain distance away from the first stop line (i.e. the straight-line distance is greater than the first distance), even if there is a risk of running a red light, the driver is only reminded. At this time, there is enough distance for the driver to take measures. Only after the straight-line distance between the first vehicle and the first stop line is less than the first distance, if the vehicle still has a risk of running a red light, it is necessary to send a warning message to other vehicles in the road area.

[0057] The present application is applied to a first vehicle terminal through a vehicle early warning method, including: obtaining first position information of the first vehicle and map messages and traffic light messages of the current road area of ​​the vehicle at preset time intervals; monitoring a first straight-line distance between the first vehicle and a first stop line according to the first position information and the map message, and judging whether the first vehicle has a risk of running a red light according to the first driving information and the traffic light message of the first vehicle; generating a first safety message when the first straight-line distance is less than the first distance and the first vehicle has a risk of running a red light, wherein the first safety message includes the first position information, the first driving information and the first early warning information that the first vehicle has a risk of running a red light; sending the first safety message to a second vehicle terminal, so that the second vehicle takes measures based on the first safety message to avoid traffic accidents caused by the risk of running a red light, wherein the second vehicle terminal is a terminal of a second vehicle that is in a different lane direction from the first vehicle in the road area. When a first vehicle is detected to be at risk of running a red light, the system promptly sends its own location information, driving information and the first warning information of the risk of running a red light to the second vehicle in the same road area, so that the second vehicle can be informed of the driving conditions of the first vehicle in a timely manner and can take necessary measures to avoid collision in time, thus solving the problem of the current vehicle colliding with other normally driving vehicles at an intersection due to running a red light.

[0058] According to another aspect of the embodiment of the present application, a vehicle early warning method is provided, which is applied to a second vehicle terminal, such as Figure 5 As shown, including:

[0059] Step 501, obtaining the third position information of the second vehicle and the map information and traffic light information of the road area where the vehicle is currently located at every preset time period;

[0060] Step 503, upon receiving a first safety message sent by the first vehicle terminal, monitoring a second straight-line distance between the second vehicle and the second stop line according to the third position information and the map message, wherein the first safety message includes the first position information of the first vehicle, the first driving information, and the first warning information that the first vehicle has a risk of running a red light;

[0061] Step 505: if the second straight-line distance is less than the third distance, determining whether there is a collision risk between the second vehicle and the first vehicle according to the first safety message, the second driving information of the second vehicle, and the signal light message;

[0062] Step 507: If there is a risk of collision between the second vehicle and the first vehicle, a second warning message is generated, and an alarm corresponding to the second warning message is issued to inform the driver of the collision risk.

[0063] When the second vehicle is traveling toward the intersection, the location positioning module of the OBU will continuously obtain its own real-time location information (ie, the third location information) and speed information (ie, the second driving information).

[0064] Each vehicle in the road area can exchange safety messages in real time. Under normal circumstances, the safety messages will not carry warning messages corresponding to the risk of running a red light. If the straight-line distance between the current vehicle and the stop line ahead is less than the first distance, and it is detected that there is still a risk of running a red light, it is also necessary to send a safety message carrying a red light running warning information to other vehicles.

[0065] The first warning information indicates that the vehicle predicts that it may not have enough time to brake and cross the stop line before reaching the intersection.

[0066] During the entire driving process, the second vehicle will perform its own red light running detection and send out safety messages in accordance with the vehicle warning method of the first vehicle terminal mentioned above. If it receives a safety message carrying the first warning information of the risk of running a red light sent by other vehicle terminals, it will judge whether there is a risk of collision between the second vehicle and the first vehicle that may run a red light based on the safety message, the second driving information of the vehicle and the traffic light message. Once the risk of collision with the first vehicle is detected, an alarm corresponding to the second warning information is issued to inform the driver of the collision risk. At this time, the driver can take corresponding measures in time to avoid the occurrence of a collision incident.

[0067] If the second vehicle detects that there is a risk of collision between itself and the vehicle at risk of running a red light, a second warning message will be generated, and then an alarm corresponding to the second warning message will be issued to the driver. At the same time, the second warning message will be added to its own second safety message, and the second safety message will be sent to other vehicles in the area, so that the drivers of other vehicles can be informed in advance that an accident may be about to occur at the intersection ahead.

[0068] Collision risk includes traffic accidents caused by the second vehicle due to the risk of the first vehicle running a red light. This application uses the direct collision between the first vehicle and the second vehicle as the collision risk for judgment, but there are other collision risk events (such as the second vehicle rolling over or other traffic accidents in order to avoid the first vehicle).

[0069] If the drivers of the first vehicle and the second vehicle take corresponding measures (such as braking, deceleration, etc.) to successfully avoid running a red light or successfully avoid a collision, their respective warning notification modules cancel the warning.

[0070] As an optional embodiment, judging whether there is a risk of collision between the second vehicle and the first vehicle based on the first safety message, the second driving information of the second vehicle and the traffic light message includes: generating a first driving trajectory of the first vehicle based on the first position information, the first driving information and the first warning information of the first vehicle, wherein each trajectory point on the first driving trajectory carries a timestamp; predicting a second driving trajectory of the second vehicle based on the second driving information and the traffic light message, wherein each trajectory point on the second driving trajectory carries a timestamp; judging whether there is an overlapping point between the first driving trajectory and the second driving trajectory; if there is an overlapping point, comparing the timestamps of the overlapping points on the first driving trajectory and the second driving trajectory respectively; if the timestamp of the overlapping points on the first driving trajectory is the same as the timestamp of the overlapping points on the second driving trajectory, judging that there is a risk of collision between the second vehicle and the first vehicle.

[0071] Taking the current time as the starting point, the first driving trajectory and the second driving trajectory are generated at the same time. Each trajectory point on the first driving trajectory and the second driving trajectory carries a timestamp. As long as the first vehicle and the second vehicle are not at the same trajectory point at the same time (or the two trajectory points are infinitely close), it can be ensured that the two vehicles will not collide.

[0072] The first driving trajectory and the second driving trajectory are not necessarily straight-line trajectories. When generating the first driving trajectory and the second driving trajectory, the vehicle's steering information may also be combined. That is to say, the present application takes the steering situation into consideration when detecting a collision between vehicles. The first vehicle and the second vehicle of the present application may be two vehicles traveling in any direction on the same road area.

[0073] As an optional embodiment, after determining that the second straight-line distance is less than the third distance, the method also includes: determining the current driving direction and driving speed of the second vehicle based on the second driving information; determining whether the second vehicle has a risk of running a red light through the second straight-line distance, the traffic light message, the current driving direction and driving speed of the second vehicle; if the second vehicle has a risk of running a red light, generating a third warning message, and issuing a red light running alarm corresponding to the third warning message; generating and sending a second safety message to a third vehicle terminal to remind the third vehicle to take measures based on the second safety message to avoid traffic accidents caused by the risk of running a red light, wherein the second safety message includes third location information, second driving information and third warning information, and the third vehicle and the second vehicle are both in the road area.

[0074] The method of determining whether the second vehicle has a risk of running a red light is similar to the method of determining whether the first vehicle has run a red light as described above, and will not be repeated here.

[0075] The third vehicle and the second vehicle are both in the road area and may also be the first vehicle.

[0076] It should be noted that any vehicle in the road area can simultaneously execute the vehicle warning method applied to the first vehicle terminal and the second vehicle terminal described in this application. The method of generating the third warning information is the same as the method of generating the first warning message mentioned above, and the method of generating the second safety message is the same as the method of generating the second safety message mentioned above, which will not be repeated here.

[0077] The third distance may be the same as the second distance above.

[0078] If the straight-line distance between the second vehicle and the second stop line is less than the first distance and there is still a risk of running a red light, it is also necessary to send a BSM message (ie, a second safety message) carrying red light running warning information to other vehicles.

[0079] The vehicle warning method provided in this application fully considers the information exchange between vehicles at intersections and the interaction between vehicles and roadside units, which can further reduce traffic accidents caused by violations of red light rules at intersections and improve driving safety.

[0080] The present application adopts a vehicle warning method, which is applied to a second vehicle terminal, including: obtaining the third position information of the second vehicle and the map message and signal light message of the road area where the vehicle is currently located at a preset time interval; in the case of receiving the first safety message sent by the first vehicle terminal, monitoring the second straight-line distance between the second vehicle and the second stop line according to the third position information and the map message, wherein the first safety message includes the first position information, the first driving information and the first warning information of the first vehicle having the risk of running a red light; if the second straight-line distance is less than the third distance, judging whether there is a collision risk between the second vehicle and the first vehicle according to the first safety message, the second driving information and the signal light message of the second vehicle; if there is a collision risk between the second vehicle and the first vehicle, generating a second warning message, and issuing an alarm corresponding to the second warning message to inform the driver of the collision risk. By receiving the position information, driving information and the first warning information of the risk of running a red light sent by the first vehicle, the second vehicle can timely learn about the driving situation of the first vehicle, and can take necessary measures to avoid collision in time, thereby solving the problem of collision with other normally driving vehicles at the intersection due to the current vehicle running a red light.

[0081] According to another aspect of the embodiment of the present application, the present application provides a vehicle warning device, which is applied to a first vehicle terminal, such as Figure 6 As shown, including:

[0082] A first acquisition module 602 is used to acquire first position information of a first vehicle and a map message and a traffic light message of a road area where the vehicle is currently located at every preset time period;

[0083] A first monitoring module 604 is used to monitor a first straight-line distance between the first vehicle and the first stop line according to the first position information and the map message, and to determine whether the first vehicle has a risk of running a red light according to the first driving information and the signal light message of the first vehicle;

[0084] A first generating module 606, configured to generate first warning information when the first straight-line distance is less than the first distance and the first vehicle has a risk of running a red light;

[0085] The sending module 608 is used to generate and send a first safety message to the second vehicle terminal, wherein the first safety message includes first location information, first driving information and first warning information, so as to remind the second vehicle to take measures based on the first safety message to avoid traffic accidents caused by the risk of running a red light, wherein the second vehicle and the first vehicle are both in the road area.

[0086] It should be noted that the first acquisition module 602 in this embodiment can be used to execute step 101 in the embodiment of the present application, the first monitoring module 604 in this embodiment can be used to execute step 103 in the embodiment of the present application, the first generation module 606 in this embodiment can be used to execute step 105 in the embodiment of the present application, and the sending module 608 in this embodiment can be used to execute step 107 in the embodiment of the present application.

[0087] Optionally, the first monitoring module 604 is also used to extract the second position information of the first stop line from the map message; calculate the first straight-line distance between the first vehicle and the first stop line based on the first position information and the second position information; determine the current driving direction and driving speed of the first vehicle based on the first driving information; determine whether the first vehicle has a risk of running a red light through the first straight-line distance, the traffic light message, the current driving direction and driving speed of the first vehicle.

[0088] Optionally, the device also includes a first processing module, which is used to generate a first warning message after determining whether the first vehicle has a risk of running a red light, when the first straight-line distance is less than the second distance and the first vehicle has a risk of running a red light, wherein the second distance is greater than the first distance; and issue a red light running alarm corresponding to the first warning message until it is detected that the first vehicle does not have a risk of running a red light, and the red light running alarm is stopped.

[0089] According to another aspect of the embodiment of the present application, the present application provides a vehicle warning device, which is applied to a second vehicle terminal, such as Figure 7 As shown, including:

[0090] The second acquisition module 702 is used to acquire the third position information of the second vehicle and the map information and traffic light information of the road area where the vehicle is currently located at every preset time period;

[0091] The second monitoring module 704 is configured to monitor the second straight-line distance between the second vehicle and the second stop line according to the third position information and the map message when receiving the first safety message sent by the first vehicle terminal, wherein the first safety message includes the first position information of the first vehicle, the first driving information, and the first warning information that the first vehicle has a risk of running a red light;

[0092] A judgment module 706 is configured to judge whether there is a collision risk between the second vehicle and the first vehicle according to the first safety message, the second driving information of the second vehicle, and the signal light message if the second straight-line distance is less than the third distance;

[0093] The second generating module 708 is used to generate second warning information if there is a risk of collision between the second vehicle and the first vehicle, and issue an alarm corresponding to the second warning information to inform the driver of the collision risk.

[0094] It should be noted that the second acquisition module 702 in this embodiment can be used to execute step 501 in the embodiment of the present application, the second monitoring module 704 in this embodiment can be used to execute step 503 in the embodiment of the present application, the judgment module 706 in this embodiment can be used to execute step 505 in the embodiment of the present application, and the second generation module 708 in this embodiment can be used to execute step 507 in the embodiment of the present application.

[0095] Optionally, the judgment module 706 is also used to generate a first driving trajectory of the first vehicle based on the first position information, the first driving information and the first warning information of the first vehicle, wherein each trajectory point on the first driving trajectory carries a timestamp; predict a second driving trajectory of the second vehicle based on the second driving information and the traffic light message, wherein each trajectory point on the second driving trajectory carries a timestamp; judge whether there are overlapping points between the first driving trajectory and the second driving trajectory; if there are overlapping points, compare the timestamps of the overlapping points on the first driving trajectory and the second driving trajectory respectively; if the timestamp of the overlapping points on the first driving trajectory is the same as the timestamp on the second driving trajectory, determine that there is a risk of collision between the second vehicle and the first vehicle.

[0096] Optionally, the device also includes a second processing module, which is used to determine the current driving direction and speed of the second vehicle according to the second driving information after determining that the second straight-line distance is less than the third distance; determine whether the second vehicle has a risk of running a red light through the second straight-line distance, the traffic light message, the current driving direction and speed of the second vehicle; if the second vehicle has a risk of running a red light, generate a third warning message and issue a red light running alarm corresponding to the third warning message; generate and send a second safety message to the third vehicle terminal to remind the third vehicle to take measures based on the second safety message to avoid traffic accidents caused by the risk of running a red light, wherein the second safety message includes third position information, second driving information and third warning information, and the third vehicle and the second vehicle are both in the road area.

[0097] It should be noted here that the examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the contents disclosed in the above embodiments.

[0098] According to another aspect of the embodiments of the present application, the present application provides an electronic device, such as Figure 8 As shown, it includes a memory 801, a processor 803, a communication interface 805 and a communication bus 807. The memory 801 stores a computer program that can be run on the processor 803. The memory 801 and the processor 803 communicate through the communication interface 805 and the communication bus 807. When the processor 803 executes the computer program, the steps of the above method are implemented.

[0099] The memory and processor in the above electronic device communicate via a communication bus and a communication interface. The communication bus may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus may be divided into an address bus, a data bus, a control bus, etc.

[0100] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0101] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0102] The electronic device provided in the embodiment of the present application may specifically be a module capable of realizing a communication function or a terminal device including the module, etc. The terminal device may be a mobile terminal or a smart terminal. The mobile terminal may specifically be at least one of a mobile phone, a tablet computer, a laptop computer, etc.; the smart terminal may specifically be a terminal including a wireless communication module such as a smart car, a smart watch, a shared bicycle, a smart cabinet, etc.; the module may specifically be a wireless communication module, such as any one of a 2G communication module, a 3G communication module, a 4G communication module, a 5G communication module, and a NB-IOT communication module.

[0103] According to another aspect of the embodiments of the present application, a computer-readable medium having a non-volatile program code executable by a processor is provided.

[0104] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment will not be described in detail here.

[0105] When the embodiments of the present application are specifically implemented, reference may be made to the above-mentioned embodiments, which have corresponding technical effects.

[0106] It is understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit may be implemented in one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), general purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described in the present application, or a combination thereof.

[0107] For software implementation, the technology described herein can be implemented by a unit that performs the functions described herein. The software code can be stored in a memory and executed by a processor. The memory can be implemented in the processor or outside the processor.

[0108] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0109] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0110] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0111] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0112] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0113] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk. It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the term "include", "include" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements inherent to such a process, method, article or device. Without more constraints, an element defined by the phrase "comprising a..." does not exclude the existence of other identical elements in the process, method, article or apparatus comprising the element.

[0114] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A vehicle early warning method, characterized in that: Applied to a first vehicle terminal, the method comprises: Obtaining the first position information of the first vehicle and the map information and the traffic light information of the road area where the vehicle is currently located at a preset time interval; monitoring a first straight-line distance between the first vehicle and a first stop line according to the first position information and the map message, and determining whether the first vehicle has a risk of running a red light according to the first driving information of the first vehicle and the signal light message; When the first straight-line distance is less than the first distance and the first vehicle has the risk of running a red light, generating a first warning message; Generate and send a first safety message to a second vehicle terminal, wherein the first safety message includes the first location information, the first driving information, and the first warning information, so as to remind the second vehicle to take measures based on the first safety message to avoid traffic accidents caused by the risk of running a red light, wherein the second vehicle and the first vehicle are both in the road area.

2. The method according to claim 1, characterized in that: The monitoring a first straight-line distance between the first vehicle and a first stop line according to the first position information and the map message, and determining whether the first vehicle has a risk of running a red light according to the first driving information of the first vehicle and the signal light message, includes: extracting second position information of the first stop line from the map message; Calculate the first straight-line distance between the first vehicle and the first stop line according to the first position information and the second position information; determining a current driving direction and a current driving speed of the first vehicle according to the first driving information; Whether the first vehicle has a risk of running a red light is determined by using the first straight-line distance, the signal light message, the current driving direction and the driving speed of the first vehicle.

3. The method according to claim 1, characterized in that After determining whether the first vehicle has a risk of running a red light, the method further includes: generating the first warning information when the first straight-line distance is less than the second distance and the first vehicle has the risk of running a red light, wherein the second distance is greater than the first distance; A red light running alarm corresponding to the first warning information is issued until it is detected that the first vehicle does not have the red light running risk, and the red light running alarm is stopped.

4. A vehicle early warning method, characterized in that: Applied to a second vehicle terminal, the method includes: Obtaining the third position information of the second vehicle and the map information and traffic light information of the road area where the vehicle is currently located at a preset time interval; Upon receiving a first safety message sent by a first vehicle terminal, monitoring a second straight-line distance between the second vehicle and a second stop line according to the third position information and the map message, wherein the first safety message includes first position information of the first vehicle, first driving information, and first warning information that the first vehicle is at risk of running a red light; If the second straight-line distance is less than the third distance, determining whether there is a collision risk between the second vehicle and the first vehicle according to the first safety message, the second driving information of the second vehicle, and the signal light message; If the second vehicle and the first vehicle have the collision risk, a second warning message is generated, and an alarm corresponding to the second warning message is issued to inform the driver of the collision risk.

5. The method according to claim 4, characterized in that The determining, according to the first safety message, the second driving information of the second vehicle, and the signal light message, whether there is a collision risk between the second vehicle and the first vehicle includes: generating a first driving trajectory of the first vehicle according to the first position information of the first vehicle, the first driving information, and the first warning information, wherein each trajectory point on the first driving trajectory carries a timestamp; Predicting a second driving trajectory of the second vehicle according to the second driving information and the signal light message, wherein each trajectory point on the second driving trajectory carries a timestamp; Determining whether the first driving trajectory and the second driving trajectory have an overlapping point; If the coincident point exists, comparing the timestamps of the coincident point on the first driving trajectory and the second driving trajectory respectively; If the timestamp of the coincident point on the first driving trajectory is the same as the timestamp of the coincident point on the second driving trajectory, it is determined that the second vehicle and the first vehicle have the collision risk.

6. The method according to claim 4, characterized in that After determining that the second straight-line distance is less than the third distance, the method further includes: determining a current driving direction and a current driving speed of the second vehicle according to the second driving information; determining whether the second vehicle has a risk of running a red light according to the second straight-line distance, the signal light message, the current driving direction and the driving speed of the second vehicle; If the second vehicle has the risk of running a red light, generating third warning information, and issuing a red light running alarm corresponding to the third warning information; Generate and send a second safety message to a third vehicle terminal to remind the third vehicle to take measures based on the second safety message to avoid traffic accidents caused by the risk of running a red light, wherein the second safety message includes the third location information, the second driving information and the third warning information, and the third vehicle and the second vehicle are both in the road area.

7. A vehicle warning device, characterized in that: Applied to the first vehicle terminal, comprising: A first acquisition module, used to acquire first position information of a first vehicle and a map message and a traffic light message of a road area where the vehicle is currently located at every preset time period; a first monitoring module, configured to monitor a first straight-line distance between the first vehicle and a first stop line according to the first position information and the map message, and to determine whether the first vehicle has a risk of running a red light according to first driving information of the first vehicle and the signal light message; A first generating module, configured to generate first warning information when the first straight-line distance is less than a first distance and the first vehicle has the risk of running a red light; A sending module is used to generate and send a first safety message to a second vehicle terminal, wherein the first safety message includes the first location information, the first driving information and the first warning information, so as to remind the second vehicle to take measures based on the first safety message to avoid traffic accidents caused by the risk of running a red light, wherein the second vehicle and the first vehicle are both in the road area.

8. A vehicle warning device, characterized in that: Applied to the second vehicle terminal, comprising: A second acquisition module is used to acquire the third position information of the second vehicle and the map information and traffic light information of the road area where the vehicle is currently located at every preset time period; a second monitoring module, configured to monitor, upon receiving a first safety message sent by a first vehicle terminal, a second straight-line distance between the second vehicle and a second stop line according to the third position information and the map message, wherein the first safety message includes first position information of the first vehicle, first driving information, and first warning information that the first vehicle is at risk of running a red light; a judgment module, configured to judge whether there is a collision risk between the second vehicle and the first vehicle according to the first safety message, the second driving information of the second vehicle, and the signal light message if the second straight-line distance is less than a third distance; The second generating module is used to generate second warning information if there is the collision risk between the second vehicle and the first vehicle, and issue an alarm corresponding to the second warning information to inform the driver of the collision risk.

9. An electronic device, comprising a memory, a processor, a communication interface and a communication bus, wherein the memory stores a computer program that can be run on the processor, and the memory and the processor communicate through the communication bus and the communication interface, characterized in that: When the processor executes the computer program, the steps of the method described in any one of claims 1 to 3 or 4 to 6 are implemented.

10. A computer readable medium having a non-volatile program code executable by a processor, characterized in that: The program code enables the processor to execute the method of any one of claims 1 to 3 or 4 to 6.

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