Vehicle early warning method and device, to-be-early-warned vehicle, storage medium and program product

Abstract

The invention discloses a vehicle early warning method and device, a to-be-early-warned vehicle, a storage medium and a program product, and particularly relates to the technical field of driving. According to the specific implementation scheme, the method comprises the steps of obtaining driving information, wherein the driving information comprises vehicle driving information of a to-be-early-warned vehicle and target driving information of a target vehicle; according to the vehicle driving information and the target driving information, determining a vehicle following state of the vehicle to be pre-warned relative to the target vehicle; target parameters corresponding to the early warning state of the vehicle to be early warned in the vehicle following state and the driving information are determined; and updating the early warning state of the vehicle to be subjected to early warning according to the target parameter. The driving information of the to-be-early-warned vehicle and the driving information of the target vehicle are obtained, the vehicle following state of the to-be-early-warned vehicle relative to the target vehicle is determined according to the driving information, and finally the early warning state of the to-be-early-warned vehicle is updated according to the driving information and the vehicle following state, so that more accurate vehicle following early warning is realized, the risk of rear-end collision is reduced, and the early warning efficiency is improved. And the driving safety is improved.

Description

Technical Field

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

[0002] When vehicles are driving, when the distance between the rear vehicle and the front vehicle is close, if the front vehicle slows down or brakes suddenly, it can easily cause a rear-end collision, which is not conducive to driving safety.

[0003] At present, the solution for warning against following vehicles too closely is generally to install warning devices such as display screens or warning lights on the rear of the front vehicle. When the camera detects that the distance between the rear vehicle and the front vehicle is too close or the front vehicle slows down, the warning device sends a warning message to the rear vehicle.

[0004] However, this solution relies on the on-board camera. In extreme environments such as low visibility, the camera cannot detect the driving data of the vehicle behind, resulting in the early warning device being unable to issue early warning information, increasing the risk of accidents. Summary of the invention

[0005] The present invention provides a vehicle early warning method, device, vehicle to be warned, storage medium and program product, so as to reduce the influence of environmental factors on vehicle early warning and reduce the risk of accidents such as rear-end collision.

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

[0007] Acquiring driving information, the driving information including the vehicle driving information of the vehicle to be warned and the target driving information of the target vehicle;

[0008] Determining the following state of the vehicle to be warned relative to the target vehicle according to the vehicle driving information and the target driving information;

[0009] Determine a target parameter corresponding to a warning state of the vehicle to be warned in the following vehicle state and the driving information;

[0010] The warning status of the vehicle to be warned is updated according to the target parameter.

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

[0012] An acquisition module, used for acquiring driving information, wherein the driving information includes the vehicle driving information of the vehicle to be warned and the target driving information of the target vehicle;

[0013] A determination module, used to determine the following state of the vehicle to be warned relative to the target vehicle according to the vehicle driving information and the target driving information;

[0014] A corresponding module, used to determine a target parameter corresponding to the warning state of the vehicle to be warned in the following vehicle state and the driving information;

[0015] An updating module is used to update the warning status of the vehicle to be warned according to the target parameters.

[0016] According to another aspect of the present invention, a vehicle to be warned is provided, the vehicle to be warned comprising:

[0017] at least one processor; and

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

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

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

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

[0022] The technical solution of the embodiment of the present invention obtains the driving information of the vehicle to be warned and the target vehicle through the vehicle wireless communication device, determines the following status of the vehicle to be warned relative to the target vehicle according to the driving information, and finally updates the warning status of the vehicle to be warned according to the driving information and the following status. By using the vehicle wireless communication device to obtain driving information and screen the target vehicle, the vehicle warning is realized, the influence of environmental factors on the vehicle warning is reduced, a more accurate vehicle following warning is realized, the risk of rear-end collision is reduced, and driving safety is improved.

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

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

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

[0026] Figure 2 is a flow chart of a method for determining a following vehicle state provided according to Embodiment 2 of the present invention;

[0027] Figure 3 is a structural schematic diagram of a vehicle warning device provided according to Embodiment 3 of the present invention;

[0028] Figure 4 It is a block diagram of a vehicle to be warned provided according to Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] Embodiment 1

[0032] Figure 1A flow chart of a vehicle warning method is provided for the first embodiment of the present invention. This embodiment is applicable to the case of updating the warning status of a vehicle to be warned. The method can be executed by a vehicle warning device. The vehicle warning device can be implemented in the form of hardware and / or software. The vehicle warning device can be configured in the vehicle to be warned. The vehicle to be warned is equipped with a vehicle wireless communication device. The vehicle wireless communication device uses wireless communication technology to communicate driving data, while the vehicle-mounted camera uses images to communicate driving information and is easily affected by the environment. Figure 1 As shown, the method includes:

[0033] S110, obtaining driving information, where the driving information includes the vehicle driving information of the vehicle to be warned and the target driving information of the target vehicle.

[0034] In this embodiment, the driving information can be understood as various data information related to vehicle driving, which may include the latitude and longitude, driving speed, acceleration, four-axis acceleration and vehicle heading angle of the vehicle during the driving process. The vehicle to be warned is a vehicle that provides warning information to the driver, such as the vehicle driven by the driver. The target vehicle can be understood as a vehicle that may trigger the vehicle to be warned to perform a vehicle warning, which may be a vehicle located in front of the vehicle to be warned in the same lane and the closest to it.

[0035] Specifically, both the vehicle to be warned and the target vehicle are equipped with a vehicle wireless communication device with vehicle wireless communication technology, and the vehicle driving information of the vehicle to be warned and the target driving information of the target vehicle are obtained through the above device, wherein the vehicle driving information includes the vehicle longitude and latitude and the vehicle driving speed, and the target driving information includes the target longitude and latitude and the target driving speed. The vehicle wireless communication device can realize the information interaction between the vehicle and the outside world, including the information interaction between the vehicle and various connectable devices, such as the information interaction between vehicles. The vehicle longitude and latitude and the vehicle driving speed represent the longitude and latitude information and driving speed information of the vehicle to be warned collected in real time during the driving process of the vehicle to be warned. Similarly, the target longitude and latitude and the target driving speed represent the longitude and latitude information and driving speed information of the target vehicle collected in real time during the driving process of the vehicle to be warned.

[0036] Exemplarily, a vehicle to be warned equipped with a vehicle wireless communication device is used to obtain the vehicle driving information of the vehicle to be warned. Similarly, a target vehicle equipped with a vehicle wireless communication device is used to obtain the target driving information of the target vehicle. The relative position relationship between the vehicle to be warned and the other vehicles on the road is determined by target classification, and the target vehicle required for this embodiment is determined accordingly. Target classification can be understood as a method of classifying targets according to features, which can be implemented based on a road network, based on the historical path of a vehicle equipped with a vehicle wireless communication device or a predicted trajectory of a vehicle, or based on the vehicle position.

[0037] S120: Determine the following state of the vehicle to be warned relative to the target vehicle according to the vehicle driving information and the target driving information.

[0038] In this embodiment, the following vehicle status can be understood as the relationship between the driving status of the rear vehicle and the front vehicle during the driving process, including the position relationship, speed relationship, etc. between the rear vehicle and the front vehicle. For example, the rear vehicle can be a vehicle to be warned, and the front vehicle can be a target vehicle.

[0039] Specifically, the following state of the vehicle to be warned relative to the target vehicle is divided into a stable following state and an unstable following state. The relative position relationship between the vehicle to be warned and the target vehicle is determined based on the vehicle longitude and latitude in the acquired vehicle driving information and the target longitude and latitude in the target driving information, and the following state of the vehicle to be warned relative to the target vehicle is determined based on the vehicle driving speed in the acquired vehicle driving information and the target driving speed in the target driving information.

[0040] Exemplarily, the safe following distance safe_followdis is first calculated, and the distance between the two vehicles is determined according to the latitude and longitude of the vehicle to be warned and the target latitude and longitude of the target vehicle, and compared with the safe following distance, and the count within a driving cycle is obtained by combining the vehicle driving speed hv_speed and the target driving speed rv_speed. The counts of multiple driving cycles are obtained, and the following state of the vehicle to be warned relative to the target vehicle can be determined accordingly. In this embodiment, the driving vehicle is divided into different driving stages according to the preset time period, and each driving stage is a driving cycle.

[0041] S130: Determine a target parameter corresponding to the warning state of the vehicle to be warned in the following vehicle state and the driving information.

[0042] In this embodiment, when the vehicle is in different warning states, the parameters used to update the vehicle warning state are different, and the parameters corresponding to different warning states are target parameters. When there is a risk of abnormal conditions during vehicle driving, the vehicle will issue a warning signal in advance, which is called the warning state.

[0043] Specifically, the parameters used to update the warning status of the vehicle to be warned include: the following vehicle status, the vehicle longitude and latitude and the vehicle speed in the vehicle driving information, and the target longitude and latitude and the target speed in the target driving information. Corresponding to different warning states, several parameters can be selected from the above parameters as the target parameters corresponding to the warning state according to the needs.

[0044] S140: Update the warning status of the vehicle to be warned according to the target parameter.

[0045] Specifically, the warning status of the vehicle to be warned includes a triggered warning status and an untriggered warning status. When the vehicle to be warned is at risk of colliding with the target vehicle, the vehicle to be warned triggers the warning, which is called the triggered warning status. When the vehicle to be warned is not at risk of colliding with the target vehicle, the vehicle to be warned stops warning, which is called the untriggered warning status. If the current warning status of the vehicle to be warned is the triggered warning status, it can be determined whether to update the warning status to the untriggered warning status based on the corresponding target parameters selected in S130. If the current warning status of the vehicle to be warned is the untriggered warning status, it can also be determined whether to update the warning status to the triggered warning status based on the corresponding target parameters selected in S130.

[0046] The technical solution of the embodiment of the present invention obtains the driving information of the vehicle to be warned and the target vehicle through the vehicle wireless communication device, determines the following status of the vehicle to be warned relative to the target vehicle according to the driving information, and finally updates the warning status of the vehicle to be warned according to the driving information and the following status. By using the vehicle wireless communication device to obtain driving information and screen the target vehicle, the vehicle warning is realized, the influence of environmental factors on the vehicle warning is reduced, a more accurate vehicle following warning is realized, the risk of rear-end collision is reduced, and driving safety is improved.

[0047] Based on the above embodiment, a variant embodiment of the above embodiment is proposed. It should be noted that in order to make the description concise, only the differences from the above embodiment are described in the variant embodiment.

[0048] In one embodiment, the determination of the target parameters corresponding to the warning state of the vehicle to be warned in the following vehicle status and the driving information includes: if the warning state of the vehicle to be warned is a triggered warning state, then the target parameters corresponding to the warning state of the vehicle to be warned include the vehicle longitude and latitude in the vehicle driving information and the target longitude and latitude in the target driving information; if the warning state of the vehicle to be warned is an untriggered warning state, then the target parameters corresponding to the warning state of the vehicle to be warned include the following vehicle status, the vehicle longitude and latitude and vehicle driving speed in the vehicle driving information, and the target longitude and latitude and target driving speed in the target driving information.

[0049] Specifically, the target parameters include the following vehicle status, the vehicle longitude and latitude and the vehicle speed in the vehicle driving information, and the target longitude and latitude and the target speed in the target driving information. The warning status of the vehicle to be warned is divided into a triggered warning status and an untriggered warning status. When the warning status of the vehicle to be warned is a triggered warning status, only the vehicle longitude and latitude and the target longitude and latitude are selected as the target parameters of the warning status; when the warning status of the vehicle to be warned is an untriggered warning status, all the above target parameters are used as the target parameters of this status.

[0050] In one embodiment, the target parameters include the vehicle longitude and latitude in the vehicle driving information and the target longitude and latitude in the target driving information, and updating the warning status of the vehicle to be warned according to the target parameters includes: determining the longitudinal distance between the vehicle to be warned and the target vehicle according to the vehicle longitude and latitude in the vehicle driving information and the target longitude and latitude in the target driving information, the longitudinal distance being the distance between the vehicle to be warned and the target vehicle along the driving direction of the vehicle to be warned; if the longitudinal distance is less than the safe following distance, maintaining the warning status of the vehicle to be warned as a triggered warning status; otherwise, updating the warning status of the vehicle to be warned to an untriggered warning status, and stopping triggering the warning.

[0051] In this embodiment, the longitudinal distance may be understood as the relative distance between two vehicles along the driving direction during the driving process of the vehicles.

[0052] Specifically, when the warning state of the vehicle to be warned is the triggered warning state, the corresponding target parameters are the vehicle longitude and latitude in the vehicle driving information and the target longitude and latitude in the target driving information. The positional relationship between the vehicle to be warned and the target vehicle is determined based on the vehicle longitude and latitude and the target longitude and latitude, and the longitudinal distance between the two vehicles is calculated. If the longitudinal distance is less than the safe following distance, its warning state is maintained as the triggered warning state; if the longitudinal distance is greater than the safe following distance, its warning state is updated to the untriggered warning state, and the triggering of the warning is stopped. The safe following distance can be understood as the safe distance that needs to be maintained between vehicles when the vehicles are driving normally. It is a necessary interval distance. The safe following distance is affected by many factors, such as vehicle speed, vehicle type, driver and road conditions.

[0053] Exemplarily, when the warning state of the vehicle to be warned in the previous driving cycle is the triggered warning state, the corresponding target parameters are the vehicle longitude and latitude in the vehicle driving information and the target longitude and latitude in the target driving information, and the longitudinal distance lon_dis between the vehicle to be warned and the target vehicle is calculated accordingly. If the longitudinal distance lon_dis is less than the safe following distance safe_followdis, the warning state of the current driving cycle is maintained as the triggered warning state; if the longitudinal distance lon_dis is greater than the safe following distance safe_followdis, the warning state of the current driving cycle is updated to the untriggered warning state, and the triggering of the warning stops.

[0054] In one embodiment, the target parameters include the following status, the vehicle longitude and latitude and the vehicle driving speed in the vehicle driving information, and the target longitude and latitude and the target driving speed in the target driving information. The updating of the warning status of the vehicle to be warned according to the target parameters includes: determining the longitudinal distance between the vehicle to be warned and the target vehicle according to the vehicle longitude and latitude in the vehicle driving information and the target longitude and latitude in the target driving information; when the following status of the vehicle to be warned relative to the target vehicle is a stable following status, if the longitudinal distance is less than the safe following distance and the vehicle driving speed is greater than the target driving speed, the warning status of the vehicle to be warned is updated to a triggered warning status, and a warning is triggered; otherwise, the warning status of the vehicle to be warned is maintained as a non-triggered warning status.

[0055] Specifically, when the warning state of the vehicle to be warned is the untriggered warning state, the corresponding target parameters are the following state, the vehicle longitude and latitude and the vehicle speed in the vehicle driving information, and the target longitude and latitude and the target speed in the target driving information, and the longitudinal distance between the vehicle to be warned and the target vehicle is calculated based on the vehicle longitude and latitude and the target longitude and latitude. When the following state of the vehicle to be warned relative to the target vehicle is a stable following state, if the longitudinal distance is less than the safe following distance, and the vehicle speed is greater than the target speed, the warning state of the vehicle to be warned is updated to the triggered warning state, and the warning is triggered; otherwise, the warning state of the vehicle to be warned is maintained as the untriggered warning state.

[0056] Exemplarily, when the warning state of the vehicle to be warned in the last driving cycle is the untriggered warning state, the corresponding target parameter is the following state, the vehicle longitude and latitude in the vehicle driving information and the vehicle driving speed hv_speed, and the target longitude and latitude and longitude and the target driving speed rv_speed in the target driving information, and the longitudinal distance lon_dis between the vehicle to be warned and the target vehicle is calculated according to the vehicle longitude and latitude and the target longitude and latitude. When the following state of the vehicle to be warned relative to the target vehicle is a stable following state, if the longitudinal distance lon_dis is less than the safe following distance safe_followdis, and the vehicle driving speed hv_speed is greater than the target driving speed rv_speed, then the warning state of the current driving cycle is maintained as the triggered warning state; otherwise, the warning state of the current driving cycle is updated to the untriggered warning state, and the triggering of the warning is stopped.

[0057] Optionally, the safe following distance is the product of the vehicle speed and the driver's reaction time in the driving information of the vehicle to be warned, and the sum of a preset safety distance of the vehicle to be warned, and the preset safety distance is proportional to the size of the vehicle to be warned.

[0058] In this embodiment, the preset safety distance can be understood as a factor related to the vehicle size in the safe following distance. Since vehicles of different sizes have different braking and handling performances, and the larger the vehicle size, the greater the inertia and braking distance of the vehicle, so a longer preset safety distance is required. The driver's reaction time can be understood as the time required from the driver discovering the situation to reacting, and the driver's reaction time is affected by many factors, such as the driver's age, fatigue, mood, etc.

[0059] Exemplarily, firstly, the preset safety distance safe_dis is determined according to the size of the vehicle to be warned, and the reserved driver reaction time reaction_time is determined. In this embodiment, the driver reaction time is a preset calibration value. Combined with the driving speed hv_speed of the vehicle to be warned, the safe following distance safe_followdis is calculated according to the following formula.

[0060] safe_followdis=safe_dis+hv_speed*reaction_time

[0061] In one embodiment, the obtaining of driving information includes: obtaining driving information through vehicle wireless communication technology, wherein the driving information includes the vehicle longitude and latitude and the vehicle speed of the vehicle to be warned and the target longitude and latitude and the target speed of the target vehicle.

[0062] In this embodiment, the vehicle wireless communication technology can be understood as an Internet of Things technology, the essence of which is to realize the intelligence of the entire road transportation through the coordination between various connectable devices such as roads, pedestrians, vehicles, etc. Various scenarios of vehicle wireless communication technology include: information interaction between vehicles, roads, people, or networks.

[0063] Specifically, both the vehicle to be warned and the target vehicle are equipped with a vehicle wireless communication device with vehicle wireless communication technology, and the vehicle driving information of the vehicle to be warned is obtained through the vehicle wireless communication device of the vehicle to be warned, and the target driving information of the target vehicle is obtained through the vehicle wireless communication device of the target vehicle, and the target driving information of the target vehicle is transmitted to the vehicle wireless communication device of the vehicle to be warned. The driving information of the vehicle to be warned includes the longitude and latitude of the vehicle and the driving speed of the vehicle, and the target driving information of the target vehicle includes the longitude and latitude of the target vehicle and the driving speed of the target vehicle.

[0064] Embodiment 2

[0065] Figure 2 This is a flow chart of a method for determining a following vehicle status provided in the second embodiment of the present invention. This embodiment is based on the determination of the following vehicle status of the vehicle to be warned relative to the target vehicle in the first embodiment. Figure 2As shown, the method includes:

[0066] S210. In a driving cycle, determine whether the vehicle to be warned meets the determination condition based on the vehicle driving information and the target driving information. If so, record the count as a first value; if not, record the count as a second value.

[0067] In this embodiment, the first value can be understood as a value used to identify this state when the vehicle meets the set judgment condition. The second value can be understood as a value used to identify this state when the vehicle does not meet the set judgment condition. The first value and the second value need to be set to different values ​​to record different states respectively.

[0068] Specifically, in a driving cycle, the vehicle longitude and latitude and the vehicle speed of the vehicle to be warned are obtained, the target longitude and latitude and the target speed of the target vehicle are obtained, and the longitudinal distance between the vehicle to be warned and the target vehicle is determined according to the vehicle longitude and latitude of the vehicle to be warned and the target longitude and latitude of the target vehicle. It is judged whether the vehicle to be warned meets the determination condition according to the vehicle speed, the target speed and the longitudinal distance. If it meets the condition, the count of the driving cycle is recorded as the first value, otherwise the count of the driving cycle is recorded as the second value.

[0069] For example, in a driving cycle, whether the vehicle to be warned meets the judgment condition is determined according to the vehicle driving speed hv_speed, the target driving speed rv_speed and the longitudinal distance lon_dis, and the results are recorded respectively. For example, the first value can be set to 1, and the second value can be set to -1. If the vehicle to be warned meets the judgment condition, the count can be recorded as 1, otherwise the count can be recorded as -1.

[0070] S220, obtaining counts of a set number of driving cycles, and placing the counts into a statistical array in time sequence.

[0071] Specifically, the counts of a set number of driving cycles are obtained, and the set number of driving cycles may be continuous driving cycles. The obtained counts are stored in a statistical array in chronological order.

[0072] Exemplarily, the counts of a set number of driving cycles are obtained, and the obtained counts are sequentially placed in the statistical array count_array in a time sequence. The set number may be an optimized empirical value of forty, for example, the counts of forty consecutive driving cycles may be obtained, that is, forty values ​​of 1 or -1 are obtained, and are sequentially placed in the statistical array count_array in a time sequence.

[0073] S230. If there are more than a first set number of consecutive second values ​​in the statistical array, or if there are more than a second set number of second values ​​in the statistical array, it is determined that the following state of the vehicle to be warned is an unstable following state; otherwise, it is determined that the following state of the vehicle to be warned is a stable following state.

[0074] In this embodiment, the first set number can be understood as a judgment threshold set for the number of different counts in the statistical array when judging the following vehicle state. The second set number can be understood as another judgment threshold set for the number of different counts in the statistical array when judging the following vehicle state. The first set number and the second set number need to be set to different values ​​for judging different following vehicle states.

[0075] Specifically, for a statistical array composed of counts of a set number of driving cycles, the number of first values ​​and second values ​​therein is counted. If there are more than the first set number of consecutive second values, or the number of second values ​​in the statistical array is greater than or equal to the second set number, the following state of the vehicle to be warned is determined as an unstable following state, otherwise it is determined as a stable following state. Both the first set number and the second set number are optimized preset empirical values.

[0076] Exemplarily, the number of the first values ​​in the statistical array count_array is recorded as right_count, and the number of the second values ​​is recorded as error_count. For example, according to the optimized experience value, the first set number can be set to 3, and the second set number can be set to 5. If there are more than 3 consecutive -1s in the statistical array count_array, or the value of error_count is greater than or equal to 5, the following state of the vehicle to be warned is determined as an unstable following state, otherwise, the following state of the vehicle to be warned is determined as a stable following state.

[0077] The technical solution of the embodiment of the present invention determines whether the vehicles to be warned in multiple driving circles meet the judgment conditions according to the driving information, determines the following vehicle status of the vehicle to be warned relative to the target vehicle, and updates the warning status of the vehicle to be warned according to the driving information and the following vehicle status. By screening the target vehicle and determining the following vehicle status to determine the warning status of the vehicle to be warned, a more accurate update of the vehicle warning is achieved.

[0078] Optionally, in one driving cycle, it is determined whether the vehicle to be warned meets the determination conditions according to the vehicle driving information and the target driving information, and if so, the count is recorded as a first value; if not, the count is recorded as a second value, including: in one driving cycle, according to the vehicle longitude and latitude in the vehicle driving information and the target longitude and latitude in the target driving information, the longitudinal distance between the vehicle to be warned and the target vehicle is determined, and the vehicle driving speed in the vehicle driving information and the target driving speed in the target driving information are determined; when the longitudinal distance, the vehicle driving speed and the target driving speed meet the determination conditions, the count of the driving cycle is recorded as the first value, otherwise it is recorded as the second value, and the determination conditions are that the vehicle driving speed is greater than the vehicle speed threshold, the longitudinal distance is less than a set multiple of the safe following distance, and the difference between the vehicle driving speed and the target driving speed is less than the vehicle speed difference threshold.

[0079] Specifically, in a driving cycle, the longitudinal distance between the vehicle to be warned and the target vehicle is obtained according to the longitude and latitude of the vehicle and the longitude and latitude of the target. When the vehicle to be warned and the target vehicle meet the conditions that the vehicle speed is greater than the speed threshold, the longitudinal distance is less than the set multiple of the safe following distance, and the difference between the vehicle speed and the target speed is less than the speed difference threshold, the count of this driving cycle is recorded as the first value, otherwise it is recorded as the second value. The speed threshold can be understood as the speed limit set during driving to determine the vehicle following state. In this embodiment, it is a preset value and is related to the vehicle size. Different speed thresholds can be set according to different vehicle sizes. The speed difference threshold can be understood as the critical value of the speed difference between the two vehicles set when the vehicle is driving to determine the vehicle following state. In this embodiment, it is also a preset value. In actual application, the values ​​of the speed threshold and the speed difference threshold can be continuously optimized according to specific circumstances.

[0080] Exemplarily, the longitudinal distance lon_dis between the vehicle to be warned and the target vehicle is obtained according to the longitude and latitude of the vehicle and the longitude and latitude of the target. For example, the setting multiple may be 1.5 times, that is, when the vehicle speed hv_speed is greater than the speed threshold hv_min_speed_threshold, the longitudinal distance lon_dis is less than 1.5*safe_followdis, and the difference between the vehicle speed hv_speed and the target speed rv_speed is less than the speed difference threshold hv_rv_speed_diff, the count is recorded as 1, otherwise the count is recorded as -1.

[0081] Embodiment 3

[0082] Figure 3 This is a schematic diagram of the structure of a vehicle warning device provided by Embodiment 3 of the present invention. Figure 3 As shown, the device comprises:

[0083] An acquisition module 310 is used to acquire driving information, wherein the driving information includes the vehicle driving information of the vehicle to be warned and the target driving information of the target vehicle;

[0084] A determination module 320, configured to determine a following state of the vehicle to be warned relative to the target vehicle according to the vehicle driving information and the target driving information;

[0085] A corresponding module 330 is used to determine a target parameter corresponding to the warning state of the vehicle to be warned in the following state and the driving information;

[0086] The updating module 340 is used to update the warning status of the vehicle to be warned according to the target parameters.

[0087] The vehicle warning device provided by the embodiment of the present invention first obtains the driving information of the vehicle to be warned and the target vehicle through the acquisition module, then determines the following status of the vehicle to be warned relative to the target vehicle according to the driving information through the determination module, and finally updates the warning status of the vehicle to be warned according to the driving information and the following status through the corresponding module and the update module. Through the cooperation between the modules, a more accurate vehicle following warning is achieved, the risk of rear-end collision is reduced, and driving safety is improved.

[0088] In one embodiment, the corresponding module 330 is specifically configured to:

[0089] If the warning state of the vehicle to be warned is a triggered warning state, the target parameters corresponding to the warning state of the vehicle to be warned include the vehicle longitude and latitude in the vehicle driving information and the target longitude and latitude in the target driving information;

[0090] If the warning state of the vehicle to be warned is an untriggered warning state, the target parameters corresponding to the warning state of the vehicle to be warned include the following vehicle state, the vehicle longitude and latitude and the vehicle driving speed in the vehicle driving information, and the target longitude and latitude and the target driving speed in the target driving information.

[0091] In one embodiment, the target parameters include the vehicle longitude and latitude in the vehicle driving information and the target longitude and latitude in the target driving information, and the updating module 340 is specifically used to:

[0092] Determine the longitudinal distance between the vehicle to be warned and the target vehicle according to the vehicle longitude and latitude in the vehicle driving information and the target longitude and latitude in the target driving information, wherein the longitudinal distance is the distance between the vehicle to be warned and the target vehicle along the driving direction of the vehicle to be warned;

[0093] If the longitudinal distance is less than the safe following distance, the warning state of the vehicle to be warned is maintained as the triggered warning state; otherwise, the warning state of the vehicle to be warned is updated to the untriggered warning state, and the triggering of the warning is stopped.

[0094] In one embodiment, the target parameters include the following vehicle state, the vehicle longitude and latitude and the vehicle driving speed in the vehicle driving information, and the target longitude and latitude and the target driving speed in the target driving information. The updating module 340 is specifically used to:

[0095] Determining the longitudinal distance between the vehicle to be warned and the target vehicle according to the vehicle longitude and latitude in the vehicle driving information and the target longitude and latitude in the target driving information;

[0096] When the following state of the vehicle to be warned relative to the target vehicle is a stable following state, if the longitudinal distance is less than the safe following distance and the vehicle driving speed is greater than the target driving speed, the warning state of the vehicle to be warned is updated to a triggered warning state, and a warning is triggered; otherwise, the warning state of the vehicle to be warned is maintained as a non-triggered warning state.

[0097] In one embodiment, the safe following distance is the product of the vehicle speed and the driver's reaction time in the driving information of the vehicle to be warned, and the sum of the preset safety distance of the vehicle to be warned, and the preset safety distance is proportional to the size of the vehicle to be warned.

[0098] In one embodiment, the determination module 320 includes:

[0099] A counting unit, used for judging whether the vehicle to be warned meets a judgment condition according to the vehicle driving information and the target driving information in a driving cycle, and if so, recording the count as a first value; if not, recording the count as a second value;

[0100] An acquisition unit, used for acquiring counts of a set number of driving cycles, and placing the counts into a statistical array in time sequence;

[0101] A determination unit is used to determine that the following state of the vehicle to be warned is an unstable following state if there are more than a first set number of consecutive second values ​​in the statistical array, or if there are more than a second set number of second values ​​in the statistical array; otherwise, determine that the following state of the vehicle to be warned is a stable following state.

[0102] In one embodiment, the counting unit is specifically used for:

[0103] In a driving cycle, according to the vehicle longitude and latitude in the vehicle driving information and the target longitude and latitude in the target driving information, the longitudinal distance between the vehicle to be warned and the target vehicle is determined, and the vehicle driving speed in the vehicle driving information and the target driving speed in the target driving information are determined;

[0104] When the longitudinal distance, the vehicle speed and the target speed meet the determination conditions, the count of the driving cycle is recorded as the first value, otherwise it is recorded as the second value. The determination conditions are that the vehicle speed is greater than the speed threshold, the longitudinal distance is less than a set multiple of the safe following distance, and the difference between the vehicle speed and the target speed is less than the speed difference threshold.

[0105] In one embodiment, the acquisition module 310 is specifically configured to:

[0106] The driving information is acquired through vehicle wireless communication technology, wherein the driving information includes the vehicle longitude and latitude and the vehicle speed of the vehicle to be warned and the target longitude and latitude and the target speed of the target vehicle.

[0107] The vehicle warning device provided in the embodiment of the present invention can execute the vehicle warning method provided in any embodiment of the present invention, completes the warning of the vehicle through the mutual cooperation and collaboration between the modules, and has the functional modules and beneficial effects corresponding to the execution method.

[0108] Embodiment 4

[0109] According to an embodiment of the present invention, the present invention also provides a vehicle to be warned, a computer-readable storage medium and a computer program product.

[0110] Figure 4 is a block diagram of a vehicle to be warned provided according to Embodiment 4 of the present invention, and the vehicle to be warned can implement the vehicle warning method described in the embodiment of the present invention. The vehicle to be warned is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The vehicle to be warned can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0111] like Figure 4As shown, the vehicle to be warned 410 includes at least one processor 411, and a memory connected to the at least one processor 411, such as a read-only memory (ROM) 412, a random access memory (RAM) 413, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 411 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 412 or the computer program loaded from the storage unit 418 to the random access memory (RAM) 413. In RAM 413, various programs and data required for the operation of the vehicle to be warned 410 can also be stored. The processor 411, ROM 412 and RAM 413 are connected to each other via a bus 414. An input / output (I / O) interface 415 is also connected to the bus 414.

[0112] Multiple components in the vehicle to be warned are connected to the I / O interface 415, including: an input unit 416, such as a keyboard, a mouse, etc.; an output unit 417, such as various types of displays, speakers, etc.; a storage unit 418, such as a disk, an optical disk, etc.; and a communication unit 419, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 419 allows the vehicle to be warned to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0113] The processor 411 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 411 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 411 executes the various methods and processes described above, such as a vehicle warning method.

[0114] In some embodiments, the vehicle warning method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 418. In some embodiments, part or all of the computer program may be loaded and / or installed on the vehicle to be warned 410 via ROM 412 and / or communication unit 419. When the computer program is loaded into RAM 413 and executed by processor 411, one or more steps of the vehicle warning method described above may be performed. Alternatively, in other embodiments, processor 411 may be configured to execute the vehicle warning method in any other appropriate manner (e.g., by means of firmware).

[0115] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0116] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0117] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0118] In order to provide interaction with the user, the systems and techniques described herein can be implemented on a vehicle to be warned, which has: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball), through which the user can provide input to the vehicle to be warned. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and the input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0119] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0120] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0121] In some embodiments, the computer program product includes a computer program, and when the computer program is executed by a processor, the vehicle warning method provided by the embodiment of the present invention is implemented.

[0122] The technical solution of the embodiment of the present invention, through a vehicle warning method, device, vehicle to be warned, storage medium and program product, obtains the driving information of the vehicle to be warned and the target vehicle through a vehicle wireless communication device, determines the following status of the vehicle to be warned relative to the target vehicle according to the driving information, and finally updates the warning status of the vehicle to be warned according to the driving information and the following status. By using the vehicle wireless communication device to obtain driving information and screen the target vehicle, the vehicle warning is realized, the influence of environmental factors on the vehicle warning is reduced, a more accurate vehicle following warning is realized, the risk of rear-end collision is reduced, and driving safety is improved.

[0123] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0124] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle early warning method, characterized in that: Applied to a vehicle to be warned, the method comprises: Acquiring driving information, the driving information including the vehicle driving information of the vehicle to be warned and the target driving information of the target vehicle; Determining the following state of the vehicle to be warned relative to the target vehicle according to the vehicle driving information and the target driving information; Determine a target parameter corresponding to a warning state of the vehicle to be warned in the following vehicle state and the driving information; The warning status of the vehicle to be warned is updated according to the target parameter.

2. The method according to claim 1, characterized in that The determining of the target parameter corresponding to the warning state of the vehicle to be warned in the following vehicle state and the driving information includes: If the warning state of the vehicle to be warned is a triggered warning state, the target parameters corresponding to the warning state of the vehicle to be warned include the vehicle longitude and latitude in the vehicle driving information and the target longitude and latitude in the target driving information; If the warning state of the vehicle to be warned is an untriggered warning state, the target parameters corresponding to the warning state of the vehicle to be warned include the following vehicle state, the vehicle longitude and latitude and the vehicle driving speed in the vehicle driving information, and the target longitude and latitude and the target driving speed in the target driving information.

3. The method according to claim 1, characterized in that: The target parameters include the vehicle longitude and latitude in the vehicle driving information and the target longitude and latitude in the target driving information. The updating of the warning state of the vehicle to be warned according to the target parameters includes: Determine the longitudinal distance between the vehicle to be warned and the target vehicle according to the vehicle longitude and latitude in the vehicle driving information and the target longitude and latitude in the target driving information, wherein the longitudinal distance is the distance between the vehicle to be warned and the target vehicle along the driving direction of the vehicle to be warned; If the longitudinal distance is less than the safe following distance, the warning state of the vehicle to be warned is maintained as the triggered warning state; otherwise, the warning state of the vehicle to be warned is updated to the untriggered warning state, and the triggering of the warning is stopped.

4. The method according to claim 1, characterized in that The target parameters include the following vehicle state, the vehicle longitude and latitude and the vehicle driving speed in the vehicle driving information, and the target longitude and latitude and the target driving speed in the target driving information. The updating of the warning state of the vehicle to be warned according to the target parameters includes: Determining the longitudinal distance between the vehicle to be warned and the target vehicle according to the vehicle longitude and latitude in the vehicle driving information and the target longitude and latitude in the target driving information; When the following state of the vehicle to be warned relative to the target vehicle is a stable following state, if the longitudinal distance is less than the safe following distance and the vehicle driving speed is greater than the target driving speed, the warning state of the vehicle to be warned is updated to a triggered warning state, and a warning is triggered; otherwise, the warning state of the vehicle to be warned is maintained as a non-triggered warning state.

5. The method according to claim 3 or 4, characterized in that: The safe following distance is the product of the vehicle speed and the driver's reaction time in the driving information of the vehicle to be warned, and the sum of the preset safety distance of the vehicle to be warned, and the preset safety distance is proportional to the size of the vehicle to be warned.

6. The method according to claim 1, characterized in that The determining, based on the vehicle driving information and the target driving information, the following state of the vehicle to be warned relative to the target vehicle comprises: In a driving cycle, judging whether the vehicle to be warned meets the judgment condition according to the vehicle driving information and the target driving information, and if so, recording the count as the first value; if not, recording the count as the second value; Obtaining counts of a set number of driving cycles, and placing the counts into a statistical array in time sequence; If there are more than a first set number of consecutive second values ​​in the statistical array, or if there are more than a second set number of second values ​​in the statistical array, it is determined that the following state of the vehicle to be warned is an unstable following state; otherwise, it is determined that the following state of the vehicle to be warned is a stable following state.

7. The method according to claim 6, characterized in that In one driving cycle, judging whether the vehicle to be warned meets a judgment condition according to the vehicle driving information and the target driving information, and if so, recording the count as a first value; If not, record the count as a second value, including: In a driving cycle, according to the vehicle longitude and latitude in the vehicle driving information and the target longitude and latitude in the target driving information, the longitudinal distance between the vehicle to be warned and the target vehicle is determined, and the vehicle driving speed in the vehicle driving information and the target driving speed in the target driving information are determined; When the longitudinal distance, the vehicle speed and the target speed meet the determination conditions, the count of the driving cycle is recorded as the first value, otherwise it is recorded as the second value. The determination conditions are that the vehicle speed is greater than the speed threshold, the longitudinal distance is less than a set multiple of the safe following distance, and the difference between the vehicle speed and the target speed is less than the speed difference threshold.

8. The method according to claim 1, characterized in that The obtaining of driving information includes: The driving information is acquired through vehicle wireless communication technology, wherein the driving information includes the vehicle longitude and latitude and the vehicle speed of the vehicle to be warned and the target longitude and latitude and the target speed of the target vehicle.

9. A vehicle warning device, characterized in that: include: An acquisition module, used for acquiring driving information, wherein the driving information includes the vehicle driving information of the vehicle to be warned and the target driving information of the target vehicle; A determination module, used to determine the following state of the vehicle to be warned relative to the target vehicle according to the vehicle driving information and the target driving information; A corresponding module, used to determine a target parameter corresponding to the warning state of the vehicle to be warned in the following vehicle state and the driving information; An updating module is used to update the warning status of the vehicle to be warned according to the target parameters.

10. A vehicle to be warned, characterized in that: The vehicles to be warned include: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle warning method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle warning method according to any one of claims 1 to 8 when executed.

12. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the vehicle early warning method according to any one of claims 1 to 8 is implemented.

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