Vehicle-road cooperation blind area early warning method and device, storage medium and electronic equipment

Abstract

The embodiment of the invention provides a vehicle-road cooperation blind area early warning method and device, a storage medium and electronic equipment, and the method comprises the steps: obtaining vehicle-road cooperation data; the vehicle-road cooperation data comprises state information of a plurality of traffic participants respectively sensed by the roadside equipment and the plurality of vehicle terminals at the traffic intersection; the plurality of traffic participants comprise motor vehicles and non-motor traffic participants; under the condition that the motor vehicle is in a moving state, predicting a first moving track of the motor vehicle in a future preset time period and predicting a second moving track of a non-motor traffic person in the future preset time period based on the vehicle-road cooperation data; and according to the distance between the predicted position points of the first moving track and the second moving track at the same moment, controlling roadside alarm equipment to give an alarm. According to the invention, the problem that the dead zone of the large vehicle cannot be fundamentally solved in the prior art is solved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of intelligent connected vehicles, and more specifically, to a blind spot warning method, device, storage medium and electronic device for vehicle-road collaboration. Background Art

[0002] With the acceleration of urbanization and the increase in the number of motor vehicles, traffic accidents, especially those involving pedestrians and non-motor vehicles, are frequent. Especially at traffic intersections, accidents caused by large vehicles due to their blind spots are common. When large vehicles pass through traffic intersections, especially when turning, they are prone to traffic accidents with pedestrians and non-motor vehicles due to the visual blind spots formed by the inner wheel difference of the turning.

[0003] Traditional safety measures such as traffic lights and zebra crossings can reduce accidents to a certain extent, but they cannot fundamentally solve the blind spot problem of large vehicles. Summary of the invention

[0004] The embodiments of the present application provide a blind spot warning method, device, storage medium and electronic device for vehicle-road collaboration, so as to at least solve the problem that the blind spot warning method for vehicle-road collaboration in the related art cannot fundamentally solve the blind spot problem of large vehicles.

[0005] According to one aspect of an embodiment of the present application, a blind spot warning method for vehicle-road collaboration is provided, including: acquiring vehicle-road collaboration data; the vehicle-road collaboration data includes status information of multiple traffic participants respectively sensed by roadside equipment and multiple vehicle terminals at traffic intersections; the multiple traffic participants include motor vehicles and non-motorized traffic participants; when the motor vehicle is in motion, based on the vehicle-road collaboration data, predicting a first operating trajectory of the motor vehicle within a future preset time period, and predicting a second operating trajectory of the non-motorized traffic participant within the future preset time period; the first operating trajectory includes the predicted position point of the motor vehicle at each moment in the future preset time period; the second operating trajectory includes the predicted position point of the non-motorized traffic participant at each moment in the future preset time period; and controlling the roadside alarm device to sound an alarm according to the distance between the predicted position points of the first operating trajectory and the second operating trajectory at the same moment.

[0006] According to another aspect of an embodiment of the present application, a blind spot warning device for vehicle-road collaboration is provided, including: a data acquisition module for acquiring vehicle-road collaboration data; the vehicle-road collaboration data includes status information of multiple traffic participants respectively sensed by roadside equipment and multiple vehicle terminals at traffic intersections; the multiple traffic participants include motor vehicles and non-motorized traffic participants; a trajectory prediction module for predicting a first operating trajectory of the motor vehicle within a future preset time period and a second operating trajectory of the non-motorized traffic participant within the future preset time period based on the vehicle-road collaboration data when the motor vehicle is in motion; the first operating trajectory includes the predicted position point of the motor vehicle at each moment in the future preset time period; the second operating trajectory includes the predicted position point of the non-motorized traffic participant at each moment in the future preset time period; a warning module for controlling the roadside alarm device to sound an alarm according to the distance between the predicted position points of the first operating trajectory and the second operating trajectory at the same moment.

[0007] According to another aspect of an embodiment of the present application, a computer-readable storage medium is further provided, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned blind spot warning method for vehicle-road collaboration when running.

[0008] According to another aspect of an embodiment of the present application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the blind spot warning method of vehicle-road collaboration through the computer program.

[0009] According to another aspect of the embodiments of the present application, a computer program product is also provided, including a computer program, which, when executed by a processor, implements the steps in any of the above-mentioned blind spot warning method embodiments of vehicle-road collaboration.

[0010] Through the embodiments of the present application, based on the real-time acquisition of the status information of traffic participants perceived by roadside equipment and vehicle terminals, the first running trajectory of motor vehicles and the second running trajectory of non-motorized traffic in the future time period can be quickly predicted, and an alarm can be issued based on the distance between the predicted position points of the first running trajectory and the second running trajectory at the same time. Compared with the trajectory intersection alarm scheme in the related art, the above scheme can, on the one hand, detect potential dangers earlier, trigger alarms in advance, and remind traffic participants to pay attention to potential dangers, thereby effectively preventing the occurrence of traffic accidents and significantly improving the safety and effectiveness of vehicle driving. On the other hand, the above scheme also provides additional redundant information. Even if there are errors in the prediction of the first running trajectory and the second running trajectory, as long as the distance between the motor vehicle and the non-motorized traffic meets the warning conditions, the alarm is triggered, which increases robustness and fault tolerance, and solves the problem of large vehicle blind spots that cannot be fundamentally solved in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a hardware structure block diagram of an optional vehicle-road collaborative blind spot warning method in an embodiment of the present application;

[0012] Figure 2 It is a flowchart of an optional vehicle-road collaboration blind spot warning method according to an embodiment of the present application;

[0013] Figure 3 is an architecture diagram of an optional vehicle-road cooperative system according to an embodiment of the present application;

[0014] Figure 4 is an optional large vehicle blind spot collision warning schematic diagram according to an embodiment of the present application;

[0015] Figure 5 is an optional blind spot warning determination flow chart according to an embodiment of the present application;

[0016] Figure 6 is a structural block diagram of an optional vehicle-road collaborative blind spot warning device according to an embodiment of the present application;

[0017] Figure 7 It is a structural block diagram of an optional electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the solution of the present application, 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 only 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 creative work should fall within the scope of protection of the present application.

[0019] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application 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 interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0020] According to one aspect of an embodiment of the present application, a blind spot warning method for vehicle-road collaboration is provided. Optionally, in this embodiment, the blind spot warning method for vehicle-road collaboration can be applied to Figure 1 The hardware environment shown in FIG. 1 is composed of multiple vehicle terminals 102, roadside equipment 104, roadside computing equipment 106 and roadside warning equipment 108. Figure 1 As shown, multiple vehicle terminals 102 obtain intersection traffic information through their own sensing devices, and send it to the roadside device 104 through V2X communication technology. The roadside device 104 senses the pedestrian and non-motor vehicle information at the traffic intersection, and sends the sensed pedestrian and non-motor vehicle information and the received intersection traffic information to the roadside computing device 106. Based on the pedestrian and non-motor vehicle information sensed by the roadside device 104 and the intersection traffic information sensed by the multiple vehicle terminals 102, the roadside computing device 106 monitors the blind spot collision of large vehicles in real time, and issues an early warning through the roadside alarm device 108 to avoid accidents.

[0021] Multiple vehicle terminals 102 are connected to the roadside device 104 through the network, and the roadside computing device 106 is connected to the roadside device 104 and the roadside alarm device 108 through the network respectively. It can be used to provide services (such as application services, etc.) for the client installed on the roadside device 104. A database can be set on the roadside computing device or independently of the roadside computing device to provide data storage services for the roadside computing device 106. Cloud computing and / or edge computing services can be configured on the roadside computing device or independently of the roadside computing device to provide data calculation services for the roadside computing device 106.

[0022] The above-mentioned network may include but is not limited to at least one of the following: wired network, wireless network. The above-mentioned wired network may include but is not limited to at least one of the following: wide area network, metropolitan area network, local area network, and the above-mentioned wireless network may include but is not limited to at least one of the following: WIFI, Bluetooth. The vehicle terminal 102 may not be limited to OBU (On board Unit), TBOX (Telematics Box, vehicle-mounted T-BOX), etc. The roadside equipment 104 may not be limited to laser radar, millimeter wave radar, camera and other equipment. The roadside computing device 106 may not be limited to a server, etc. The roadside warning device 108 may not be limited to a sound player, road text sign and road warning light, etc.

[0023] The vehicle-road collaboration blind spot warning method in this embodiment is executed by the roadside computing device 106. Figure 2 is a flow chart of an optional blind spot warning method for vehicle-road collaboration according to an embodiment of the present application, such as Figure 2 As shown, the process of the method may include the following steps:

[0024] Step S202, obtaining vehicle-road cooperative data; the vehicle-road cooperative data includes status information of multiple traffic participants sensed by roadside equipment and multiple vehicle terminals at traffic intersections; the multiple traffic participants include motor vehicles and non-motor vehicles.

[0025] Among them, VIS data refers to the data collected and transmitted by VIS technology in intelligent transportation systems. VIS data includes the status information of multiple traffic participants sensed by roadside equipment and multiple vehicle terminals at traffic intersections.

[0026] Status information refers to the real-time status of traffic participants, including location, speed, heading angle, length and width of vehicles or pedestrians, and other information.

[0027] Non-motorized traffic users refer to traffic participants who do not rely on motor vehicle power to travel. For example, non-motorized traffic users can be non-motorized vehicles, pedestrians, etc.

[0028] Optionally, Figure 3 FIG. 1 is an architecture diagram of a vehicle-road cooperative system in an embodiment. Figure 3 As shown, multiple vehicles use their own on-board sensing devices to sense the status information of multiple traffic participants at traffic intersections, and use V2X communication technology to send the sensed status information of multiple traffic participants to the roadside communication device (such as RSU (Road Side Unit)) of the roadside equipment through the on-board terminal. The roadside communication device sends the status information of multiple traffic participants sensed by the on-board terminal to the roadside computing device. The roadside sensing device (such as laser radar, millimeter wave radar, camera, etc.) in the roadside equipment senses the status information of multiple traffic participants at the same traffic intersection at the same time, and transmits the status information of multiple traffic participants sensed by the roadside sensing device to the roadside computing device through the network.

[0029] Among them, V2X communication technology is a comprehensive technology that enables vehicles to communicate with everything (vehicles, infrastructure, pedestrians, networks, etc.). It includes V2V (Vehicle-to-Vehicle), V2I (Vehicle-to-Infrastructure), V2P (Vehicle-to-Pedestrian) and V2N

[0030] (Vehicle-to-Network) and other communication methods. V2X technology can greatly improve the safety and efficiency of road traffic through real-time communication. V2X technology realizes real-time interconnection between road infrastructure and vehicles, pedestrians and cyclists. The embodiment of the present application specifically transmits the traffic information perceived by the vehicle perception device on the vehicle terminal to the roadside device through V2I, so that the roadside computing device comprehensively utilizes the perception information of the vehicle and the road, increases the integrity and richness of the perception information, and improves the reliability of the warning to prevent large vehicle blind spot collisions.

[0031] Step S204, when the motor vehicle is in motion, based on the vehicle-road cooperative data, predict the first operating trajectory of the motor vehicle within a future preset time period, and predict the second operating trajectory of non-motorized vehicles within a future preset time period; the first operating trajectory includes the predicted position points of the motor vehicle at each moment in the future preset time period; the second operating trajectory includes the predicted position points of non-motorized vehicles at each moment in the future preset time period.

[0032] Among them, the embodiment of the present application does not predict the running trajectory of the motor vehicle when it is in a stationary state, but only predicts the first running trajectory of the motor vehicle within a future preset time period when the motor vehicle is in motion, and predicts the second running trajectory of non-motorized traffic within a future preset time period. Since a motor vehicle in a stationary state will not move relative to non-motorized traffic and will not pose a potential collision threat, it is possible to avoid significantly reducing the consumption of computing resources.

[0033] Optionally, the roadside computing device collects the driving status of the motor vehicle, and when the motor vehicle is in motion, uses a prediction algorithm (such as a Kalman filter, a machine learning model, etc.) to process the status information of the motor vehicle in the vehicle-road cooperative data, and obtains the predicted position points of the motor vehicle at each moment in a future preset time period, and determines the path formed by connecting these predicted position points as the first running trajectory. The roadside computing device uses a prediction algorithm (such as a Kalman filter, a machine learning model, etc.) to process the status information of non-motorized traffic users in the vehicle-road cooperative data, and obtains the predicted position points of the non-motorized traffic users at each moment in a future preset time period, and determines the path formed by connecting these predicted position points as the second running trajectory.

[0034] In some embodiments, a first running trajectory of a motor vehicle in a future preset time period can be predicted by establishing a corresponding model, and a second running trajectory of a non-motorized vehicle in a future preset time period can be predicted. Taking the prediction of the first running trajectory of a motor vehicle in a future preset time period by establishing a simulation as an example, predicting the first running trajectory of a motor vehicle in a future preset time period specifically includes the following steps:

[0035] 1. The roadside computing equipment collects a large number of training samples through the vehicle-road cooperative system. Each training sample includes the driving status of the motor vehicle (such as speed, acceleration, steering angle, etc.), road conditions (such as road conditions, traffic signs, traffic signals, etc.), dynamic information of non-motorized traffic (such as speed, direction, position, etc.) and sample labels. Among them, the sample label is used to mark the actual operation trajectory of the motor vehicle in the future preset time period.

[0036] 2. Build an initial model (such as a time series analysis model, a machine learning model, or a deep learning model).

[0037] 3. Input each training sample into the initial model, and use the initial model to predict the predicted running trajectory of the motor vehicle in each training sample within a preset time period in the future; according to the difference between the predicted running trajectory corresponding to each training sample and the corresponding actual running trajectory, adjust the initial model until the training stop condition is reached to obtain a trained model.

[0038] 4. Input the state information of the motor vehicle in the vehicle-road cooperative data into the trained model, and use the trained model to predict the first running trajectory of the motor vehicle in a preset time period in the future.

[0039] In some embodiments, Figure 4 FIG. 1 is a schematic diagram of a large vehicle blind spot collision warning in an embodiment. The blind spot of a large vehicle is as follows: Figure 4 As shown in the dotted box in FIG. 1 , the first running trajectory of the large vehicle in the future preset time period and the second running trajectory of the non-motorized vehicle in the future preset time period are as shown in FIG. Figure 4 As shown, in Figure 4 In the scenario shown, the body of the large vehicle may collide with vulnerable traffic participants such as pedestrians and non-motorized vehicles. At this time, the roadside computing device controls the roadside alarm device to sound an alarm.

[0040] Step S206: Control the roadside alarm device to sound an alarm according to the distance between the predicted position points of the first running trajectory and the second running trajectory at the same time.

[0041] Roadside warning equipment refers to equipment installed on the road to issue warnings or prompts to traffic participants under certain conditions. Figure 3 As shown, the roadside warning equipment includes an audible and visual text warning device and a traffic light, wherein the audible and visual text warning device may include a sound player, a road text sign and a road warning light.

[0042] The related technology adopts a trajectory intersection alarm scheme, that is, it directly determines whether an alarm is needed based on whether there is an intersection between the first running trajectory and the second running trajectory. The trajectory intersection alarm scheme relies on the accurate prediction of the trajectory. However, due to the influence of factors such as prediction error, data noise or communication delay, the prediction of the trajectory may not always be accurate. Therefore, when the two trajectories are actually close to the extent that they may pose a danger, their intersection trend is still not detected, resulting in untimely warning. Furthermore, due to the problem of untimely warning in the trajectory intersection alarm scheme, the trajectory intersection alarm scheme may trigger an alarm only when the danger has occurred or is about to occur, thereby reducing the safety of vehicle driving. In addition, even if the roadside computing equipment can accurately predict the intersection of trajectories, it may not be able to effectively avoid accidents due to limitations such as the reaction time and braking distance of traffic participants, thereby reducing the safety of vehicle driving.

[0043] The embodiment of the present application controls the roadside alarm device to sound an alarm based on the distance between the predicted position points of the first running trajectory and the second running trajectory at the same time. It not only considers whether the trajectories intersect, but also considers the actual distance between motor vehicles and non-motorized traffic, thereby providing additional redundant information. Even if there are errors in the predictions of the first running trajectory and the second running trajectory, as long as the distance between motor vehicles and non-motorized traffic is kept within a safe range, the alarm will not be triggered, which increases robustness and fault tolerance. Compared with the trajectory intersection alarm scheme, the scheme of judging whether to sound an alarm based on the distance between the predicted position points of the first running trajectory and the second running trajectory at the same time can detect potential dangers earlier. When the distance between motor vehicles and non-motorized traffic is close to a preset safety threshold, an alarm can be triggered to remind motor vehicles and non-motorized traffic to take corresponding measures to avoid accidents. This early warning mechanism can significantly improve the safety and effectiveness of the system.

[0044] Optionally, the roadside computing device aligns the first running trajectory and the second running trajectory based on the timestamp, selects the predicted position points at the same time point in the first running trajectory and the second running trajectory, calculates the distance between the predicted position points at the same time point, and compares the distance with a preset distance threshold. When the distance is greater than the preset distance threshold, the roadside alarm device is controlled to sound an alarm.

[0045] Through the above steps S202 to S206, based on the real-time acquisition of the status information of traffic participants perceived by the roadside equipment and the vehicle terminal, the first running trajectory of the motor vehicle and the second running trajectory of the non-motorized traffic person in the future time period can be quickly predicted, and an alarm can be issued based on the distance between the predicted position points of the first running trajectory and the second running trajectory at the same time. Compared with the trajectory intersection alarm scheme in the related art, the above scheme can, on the one hand, detect potential dangers earlier, trigger the alarm in advance, and remind traffic participants to pay attention to potential dangers, thereby effectively preventing the occurrence of traffic accidents and significantly improving the safety and effectiveness of vehicle driving. On the other hand, the above scheme also provides additional redundant information. Even if there are errors in the prediction of the first running trajectory and the second running trajectory, as long as the distance between the motor vehicle and the non-motorized traffic person meets the warning conditions, the alarm is triggered, which increases the robustness and fault tolerance, and solves the problem of large vehicle blind spots that cannot be fundamentally solved in the related art.

[0046] In an exemplary embodiment, according to the distance between the predicted position points of the first running trajectory and the second running trajectory at the same time, controlling the roadside warning device to issue an alarm includes:

[0047] When the distance between the predicted position points of the first running trajectory and the second running trajectory at the same time is within a preset distance threshold range, the roadside alarm device is controlled to sound an alarm, wherein the preset distance threshold range is a pre-set distance threshold range between the running trajectory of the motor vehicle to be alarmed and the running trajectory of the non-motorized traffic person at the same time.

[0048] Optionally, for each moment in the future preset time period, the roadside computing device calculates the distance between the predicted position points of the motor vehicle and the non-motorized traffic person, and compares the calculated distance with a preset distance threshold range. If the distance is within the preset threshold range, it indicates that the relative position relationship between the motor vehicle and the non-motorized traffic person may constitute a potential safety risk, and the roadside alarm device is immediately triggered.

[0049] Through this embodiment, by real-time monitoring of the first running trajectory of the motor vehicle and the second running trajectory of the non-motorized traffic person, and triggering an alarm when the distance between the predicted position points of the first running trajectory and the second running trajectory at the same time is within a preset distance threshold range, traffic participants can be warned of potential collision risks in advance, which helps drivers and pedestrians take avoidance measures in time, thereby effectively preventing the occurrence of traffic accidents.

[0050] In an exemplary embodiment, the preset distance threshold range is divided into a plurality of preset ranges; different preset ranges in the plurality of preset ranges correspond to different alarm modes.

[0051] The purpose of dividing the preset distance threshold range into multiple preset ranges is to manage different types of potential risks more finely. Each preset range matches a specific alarm mode, which means that the system can take more personalized and targeted alarm measures according to the degree of risk. For example, when the distance of the predicted location point is at a lower risk level, only a sound alarm may be triggered; when the distance enters a higher risk level, multiple alarm modes such as sound, vision, and information push may be activated at the same time to ensure that traffic participants can quickly perceive and take corresponding actions.

[0052] In some embodiments, when the distance between the predicted position points of the first running trajectory and the second running trajectory at the same time is within the distance threshold range, controlling the roadside alarm device to alarm includes:

[0053] When the distance between the predicted position points of the first running trajectory and the second running trajectory at the same time is within a target preset range among multiple preset ranges, the roadside alarm device is controlled to sound an alarm according to an alarm mode corresponding to the target preset range.

[0054] The target preset range refers to a preset range in which the distance between the predicted position points of the first running track and the second running track at the same time is located among multiple preset ranges.

[0055] Optionally, the roadside computing device compares the distance between the predicted position points of the first running trajectory and the second running trajectory at the same time with multiple preset ranges, determines the target preset range within which the distance between the predicted position points of the first running trajectory and the second running trajectory at the same time is located, and controls the roadside alarm device to sound an alarm in an alarm mode corresponding to the target preset range.

[0056] Through this embodiment, the preset distance threshold range is divided into multiple preset ranges, and different preset ranges correspond to different alarm modes. Alarms are performed according to the alarm mode corresponding to the target preset range of the distance between the predicted position points of the first running trajectory and the second running trajectory at the same time, which helps to improve the accuracy of traffic warnings and thus better protect the safety of road users.

[0057] In an exemplary embodiment, the plurality of preset ranges include a first preset range, and the alarm mode corresponding to the first preset range is a first-level alarm mode.

[0058] The first preset range refers to a specific range. The first preset range represents that when the distance between the predicted position points of the motor vehicle and the non-motor vehicle at the same time is within the first preset range, there is a certain safety risk, but the risk level may be relatively low, and certain preventive measures need to be taken to avoid potential accidents. For example, the first preset range can be a range where the distance between the predicted position points of the first running track and the second running track at the same time is greater than 0.5m and less than 1m.

[0059] The first level alarm mode is an alarm measure or behavior corresponding to the first preset range. The first level alarm mode is usually a milder alarm method, which is intended to remind traffic participants to pay attention to safety, but does not necessarily require immediate emergency braking or avoidance measures. For example, the first level alarm mode includes sound alarms (such as a slight beep), visual alarms (such as flashing warning lights or text prompts on the display), etc.

[0060] In some embodiments, controlling the roadside alarm device to alarm according to the alarm mode corresponding to the target preset range includes:

[0061] When the target preset range is the first preset range, the roadside alarm device is controlled to start the first-level alarm mode; wherein the roadside alarm device includes a sound player and a road text sign; the first-level alarm mode includes the voice prompt of the sound player and the text prompt of the road text sign.

[0062] Optionally, Figure 5 FIG. 1 is a flow chart of blind spot warning judgment in an embodiment, as shown in FIG. Figure 5 As shown, the blind spot collision monitoring and early warning judgment cycle is 100ms. First, when the motor vehicle is in motion, the driving position area of ​​the motor vehicle in the next 3 seconds is predicted based on the status information of the motor vehicle in the vehicle-road cooperative data (position, speed, heading angle, and vehicle length and width). The driving position area of ​​the non-motorized vehicle in the next 3 seconds is predicted based on the status information of the non-motorized vehicle in the vehicle-road cooperative data (position, speed, heading angle, and non-motor vehicle or pedestrian length and width). In the driving position area of ​​the motor vehicle, the predicted position points of the motor vehicle at each moment in the future preset time period are predicted to obtain the first operation trajectory; in the driving position area of ​​the non-motorized vehicle, the predicted position points of the non-motorized vehicle at each moment in the future preset time period are predicted to obtain the second operation trajectory. The roadside computing device calculates the distance between the predicted position points of the first running trajectory and the second running trajectory at the same time. When the distance between the predicted position points of the first running trajectory and the second running trajectory at the same time is within a first preset range (greater than 0.5m and less than 1m), a command is sent to the sound player to activate the voice prompt function to remind pedestrians to stay away from large vehicles. At the same time, a command is sent to the road text sign to display the corresponding text prompt to remind motor vehicles to slow down, stop and pay attention.

[0063] Through this embodiment, when the distance between the predicted position points of a motor vehicle and a non-motor vehicle user at the same time is within a first preset range, the roadside alarm device can quickly activate the first-level alarm mode, and through the voice prompts of the sound player and the text prompts of the road text signs, promptly remind traffic participants to pay attention to safety and take appropriate preventive measures to reduce potential safety risks.

[0064] In an exemplary embodiment, the multiple preset ranges further include a second preset range, and the alarm mode corresponding to the second preset range is a secondary alarm mode.

[0065] The second preset range is one of multiple preset distance threshold ranges, existing in parallel with the first preset range, but with different risk levels and response strategies. Importantly, the upper limit of the second preset range is less than or equal to the lower limit of the first preset range, which means that when the distance between the predicted position points of the motor vehicle and the non-motor vehicle at the same time is within the second preset range, the distance between the two is closer than when it is within the first preset range, so the potential safety risk is also higher. For example, Figure 5 As shown, the second preset range may be a range in which the distance between the predicted position points of the first running track and the second running track at the same time is greater than 0.3 m and less than or equal to 0.5 m.

[0066] The second level alarm mode is an alarm measure or behavior corresponding to the second preset range. The alarm level of the second level alarm mode is higher than that of the first level alarm mode, which means that when the distance between the predicted position points of the motor vehicle and the non-motorized traffic person at the same time is within the second preset range, a higher level alarm measure will be triggered to remind traffic participants to pay attention to safety in a stronger way.

[0067] In some embodiments, controlling the roadside alarm device to alarm according to the alarm mode corresponding to the target preset range also includes:

[0068] When the target preset range is the second preset range, the roadside alarm device is controlled to start the secondary alarm mode; the upper limit value of the second preset range is less than or equal to the lower limit value of the first preset range; the alarm level of the secondary alarm mode is higher than the alarm level of the first alarm mode; wherein, the roadside alarm device also includes road warning lights; the secondary alarm mode includes voice prompts of the sound player, text prompts of the road text signs and light prompts of the road warning lights.

[0069] Optionally, when the distance between the predicted position points of the first running trajectory and the second running trajectory at the same time is within a second preset range, an instruction is sent to the sound player to activate the voice prompt function and increase the volume to remind pedestrians to stay away from large vehicles. At the same time, an instruction is sent to the road text sign to display corresponding text prompts to remind motor vehicles to slow down, stop and pay attention, and an instruction is sent to the road warning light to make it flash.

[0070] Through this embodiment, the upper limit value of the second preset range is set to be less than or equal to the lower limit value of the first preset range, so that high-risk situations can be identified more accurately. When the distance between the predicted position points of the first running trajectory and the second running trajectory at the same time is within the second preset range, it is immediately judged as a higher risk level, thereby triggering a higher level of alarm measures, thereby improving the accuracy of safety risk identification. In addition, the alarm level of the secondary alarm mode is set higher than that of the primary alarm mode, including voice prompts of the sound player, text prompts of the road text signs, and light prompts of the newly added road warning lights. This multi-dimensional alarm method can more strongly attract the attention of traffic participants and improve the effectiveness of the alarm.

[0071] In an exemplary embodiment, the plurality of preset ranges further include a third preset range, and the alarm mode corresponding to the third preset range is a third-level alarm mode.

[0072] The third preset range is one of multiple preset distance threshold ranges, existing in parallel with the first preset range and the second preset range, but with different risk levels and response strategies. Importantly, the upper limit of the third preset range is less than or equal to the lower limit of the second preset range, which means that when the distance between the predicted position points of the motor vehicle and the non-motor vehicle at the same time is within the third preset range, the distance between the two is closer than when it is within the second preset range, so the potential safety risk is also higher. For example, Figure 5 As shown, the third preset range may be a range in which the distance between the predicted position points of the first running track and the second running track at the same time is greater than 0 m and less than or equal to 0.3 m.

[0073] The third-level alarm mode is an alarm measure or behavior corresponding to the third preset range. The alarm level of the third-level alarm mode is higher than that of the second-level alarm mode, which means that when the distance between the predicted position points of motor vehicles and non-motorized traffic at the same time is within the third preset range, a higher-level alarm measure will be triggered to remind traffic participants to pay attention to safety in a stronger way.

[0074] In some embodiments, controlling the roadside alarm device to alarm according to the alarm mode corresponding to the target preset range also includes:

[0075] When the target preset range is the third preset range, the roadside alarm device is controlled to start the third-level alarm mode; the upper limit value of the third preset range is less than or equal to the lower limit value of the second preset range; the alarm level of the third-level alarm mode is higher than the alarm level of the second-level alarm mode; wherein, the roadside alarm device also includes traffic lights; the third-level alarm mode includes voice prompts of a sound player, text prompts of road text signs, light prompts of road warning lights, and instructions for controlling the traffic lights to switch to red lights, and the instructions are used to instruct motor vehicles to stop traffic.

[0076] Optionally, when the distance between the predicted position points of the first running trajectory and the second running trajectory at the same time is within a third preset range, an instruction is sent to the sound player to activate the voice prompt function and increase the volume to remind pedestrians to stay away from large vehicles, an instruction is sent to the road text sign to display corresponding text prompts to remind motor vehicles to slow down, stop and pay attention, an instruction is sent to the road warning light to make it flash continuously, and at the same time, an instruction is sent to the traffic light to switch it to a red light to instruct motor vehicles to stop traffic.

[0077] Through this embodiment, the upper limit of the third preset range is set to be less than or equal to the lower limit of the second preset range, so that a higher level of alarm can be issued in advance before the risk level further increases. This early warning mechanism helps traffic participants to react faster and take evasive or braking measures, thereby improving the timeliness of risk response and reducing the possibility of accidents. At the same time, the three-level alarm mode not only includes the voice prompts of the sound player, the text prompts of the road text signs, and the light prompts of the road warning lights, but also adds a new instruction to control the traffic lights to switch to red lights. This measure directly intervenes in the traffic flow and forces motor vehicles to stop traffic, thereby reducing traffic density in the shortest time and reducing potential accident risks.

[0078] In an exemplary embodiment, obtaining vehicle-road cooperative data includes:

[0079] Acquire first perception data of multiple traffic participants perceived by multiple vehicle terminals at a traffic intersection through roadside equipment; acquire second perception data of multiple traffic participants perceived by the roadside equipment at the traffic intersection; fuse the first perception data and the second perception data to obtain status information of each of the multiple traffic participants, and determine the collection of status information of each traffic participant as vehicle-road collaborative data.

[0080] The first perception data refers to the relevant information of multiple traffic participants perceived by the vehicle-mounted perception devices of multiple vehicle terminals (such as sensors, cameras, radars, etc. on the vehicles) at the traffic intersection. For example, the first perception data includes the speed, position, size, heading angle, etc. of road vehicles, non-motor vehicles, pedestrians and other traffic participants.

[0081] Second, perception data refers to the relevant information of multiple traffic participants sensed by roadside equipment (such as fixed cameras, radars, sensors, etc.) at traffic intersections. Roadside equipment is usually installed at a fixed location at a traffic intersection and can continuously monitor and record the real-time traffic conditions at the intersection, including the position, speed, heading angle of vehicles and pedestrians, and the length and width of vehicles or pedestrians.

[0082] Optionally, when the vehicle terminal drives to a traffic intersection, its on-board perception equipment (such as sensors, cameras, etc.) will perceive the surrounding traffic participants in real time, and send the perceived first perception data to the roadside communication equipment through V2X communication technology, and the roadside communication equipment will send the first perception data to the roadside computing equipment. When the vehicle terminal drives to the traffic intersection, the roadside equipment installed at the traffic intersection perceives and records the real-time traffic conditions of the traffic intersection in real time, and sends the perceived second perception data to the roadside computing equipment via wired or wireless means. After receiving the first perception data from the vehicle terminal and the second perception data from the roadside equipment, the roadside computing equipment fuses the first perception data and the second perception data to obtain the status information of each traffic participant, including position, speed, acceleration, driving direction, etc., and aggregates the fused status information of each traffic participant to form vehicle-road collaborative data.

[0083] Through this embodiment, real-time interaction between vehicles and the environment is realized. The vehicle terminal perceives the traffic intersection and sends the perceived first perception data to the roadside device, so that the road information obtained by the roadside computing device is more sufficient and comprehensive. The roadside computing device combines the first perception data of the vehicle terminal and the second perception data of the roadside device, predicts the possibility of motor vehicles colliding with non-motorized traffic, and immediately issues traffic lights and sound and light text alarms on the roadside, thereby effectively preventing collision accidents caused by blind spots of all large vehicles at the intersection (including those without perception devices and V2X communication terminals installed). In addition, vehicle terminals that do not have the conditions to install V2X communication terminals or perception devices at present can obtain collision warnings issued by roadside alarm devices through the embodiments of this application, which is equivalent to making full use of the first perception data of other intelligent driving vehicles and the second perception data perceived by the roadside device, which can improve the accessibility of collision warnings of vehicle terminals, increase the safety of traffic intersections, and when the vehicle terminal does not install V2X terminals and perception devices, the warning can still play a role, which has universal value for all vehicles and pedestrians at traffic intersections.

[0084] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0085] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus necessary general hardware roadside computing equipment, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM (Read-Only Memory) / RAM (Random Access Memory), a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a roadside computing device, or a network device, etc.) to execute the methods of each embodiment of the present application.

[0086] According to another aspect of the embodiments of the present application, a blind spot warning device for vehicle-road collaboration is also provided, and the device is used to implement the blind spot warning method for vehicle-road collaboration provided in the above-mentioned embodiments, which has been explained and will not be repeated here. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and conceivable.

[0087] Figure 6 is a structural block diagram of an optional vehicle-road collaborative blind spot warning device according to an embodiment of the present application, such as Figure 6 As shown, the device may include:

[0088] The data acquisition module 601 is used to acquire vehicle-road cooperative data; the vehicle-road cooperative data includes status information of multiple traffic participants respectively sensed by roadside equipment and multiple vehicle terminals at traffic intersections; the multiple traffic participants include motor vehicles and non-motor vehicles;

[0089] The trajectory prediction module 602 is used to predict the first running trajectory of the motor vehicle in a future preset time period and the second running trajectory of the non-motorized vehicle in the future preset time period based on the vehicle-road cooperative data when the motor vehicle is in motion; the first running trajectory includes the predicted position point of the motor vehicle at each moment in the future preset time period; the second running trajectory includes the predicted position point of the non-motorized vehicle at each moment in the future preset time period;

[0090] The early warning module 603 is used to control the roadside alarm device to issue an alarm according to the distance between the predicted position points of the first running trajectory and the second running trajectory at the same time.

[0091] In an exemplary embodiment, the early warning module 603 is also used to control the roadside alarm device to sound an alarm when the distance between the predicted position points of the first running trajectory and the second running trajectory at the same time is within a preset distance threshold range, wherein the preset distance threshold range is a pre-set distance threshold range between the position points of the running trajectory of the motor vehicle to be alarmed and the running trajectory of the non-motorized traffic person at the same time.

[0092] In an exemplary embodiment, the preset distance threshold range is divided into multiple preset ranges; different preset ranges in the multiple preset ranges correspond to different alarm modes; the early warning module 603 is also used to control the roadside alarm device to alarm according to the alarm mode corresponding to the target preset range when the distance between the predicted position points of the first running trajectory and the second running trajectory at the same time is within the target preset range among the multiple preset ranges.

[0093] In an exemplary embodiment, the multiple preset ranges include a first preset range, and the alarm mode corresponding to the first preset range is a first-level alarm mode; the early warning module 603 is also used to control the roadside alarm device to start the first-level alarm mode when the target preset range is the first preset range; wherein the roadside alarm device includes a sound player and a road text sign; the first-level alarm mode includes the voice prompt of the sound player and the text prompt of the road text sign.

[0094] In an exemplary embodiment, the multiple preset ranges also include a second preset range, and the alarm mode corresponding to the second preset range is a secondary alarm mode; the early warning module 603 is also used to control the roadside alarm device to start the secondary alarm mode when the target preset range is the second preset range; the upper limit value of the second preset range is less than or equal to the lower limit value of the first preset range; the alarm level of the secondary alarm mode is higher than the alarm level of the first alarm mode; wherein, the roadside alarm device also includes a road warning light; the secondary alarm mode includes the voice prompt of the sound player, the text prompt of the road text sign and the light prompt of the road warning light.

[0095] In an exemplary embodiment, the multiple preset ranges also include a third preset range, and the alarm mode corresponding to the third preset range is a three-level alarm mode; the early warning module 603 is also used to control the roadside alarm device to start the three-level alarm mode when the target preset range is the third preset range; the upper limit value of the third preset range is less than or equal to the lower limit value of the second preset range; the alarm level of the three-level alarm mode is higher than the alarm level of the two-level alarm mode; wherein the roadside alarm device also includes a traffic light; the three-level alarm mode includes the voice prompt of the sound player, the text prompt of the road text sign, the light prompt of the road warning light, and an instruction to control the traffic light to switch to a red light, and the instruction is used to instruct the motor vehicle to stop traffic.

[0096] In an exemplary embodiment, the data acquisition module 601 is also used to acquire first perception data of multiple traffic participants perceived by the multiple vehicle terminals at the traffic intersection through the roadside equipment; acquire second perception data of the multiple traffic participants perceived by the roadside equipment at the traffic intersection; fuse the first perception data and the second perception data to obtain status information of each of the multiple traffic participants, and determine the set of status information of each traffic participant as the vehicle-road collaborative data.

[0097] It should be noted 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. It should be noted that the above modules as part of the device can be run in Figure 1 In the hardware environment shown, it can be implemented by software or by hardware, wherein the hardware environment includes a network environment.

[0098] According to another aspect of the embodiments of the present application, a storage medium is further provided. Optionally, in this embodiment, the storage medium can be used to execute the program code of any of the above-mentioned vehicle-road collaboration blind spot warning methods in the embodiments of the present application.

[0099] Optionally, in this embodiment, the storage medium may be located on at least one network device among a plurality of network devices in the network shown in the above embodiment.

[0100] Optionally, in this embodiment, the storage medium is configured to store program code for executing any of the above-mentioned vehicle-road collaboration blind spot warning methods.

[0101] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, which will not be described in detail in this embodiment.

[0102] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a ROM, a RAM, a mobile hard disk, a magnetic disk, or an optical disk.

[0103] According to another aspect of an embodiment of the present application, an electronic device for implementing the above-mentioned vehicle-road collaborative blind spot warning method is also provided. The electronic device may be a smart device, a server, a terminal, or a combination thereof.

[0104] Figure 7 is a structural block diagram of an optional electronic device according to an embodiment of the present application, such as Figure 7 As shown, it includes a processor 702, a communication interface 704, a memory 706 and a communication bus 708, wherein the processor 702, the communication interface 704 and the memory 706 communicate with each other through the communication bus 708, wherein,

[0105] Memory 706, used to store computer programs;

[0106] The processor 702 is used to implement the program code of any of the above-mentioned blind spot warning methods for vehicle-road collaboration when executing the computer program stored in the memory 706.

[0107] Optionally, the communication bus may be a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 The communication interface is used for communication between the above electronic device and other devices.

[0108] The memory may include RAM, or may include 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.

[0109] As an example, the memory 706 may include but is not limited to the modules in the blind spot warning device for vehicle-road collaboration. In addition, it may also include but is not limited to other module units in the blind spot warning device for vehicle-road collaboration, which will not be repeated in this example.

[0110] The above-mentioned processor can be a general-purpose processor, which can include but not be limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; it can also be DSP (Digital Signal Processing), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0111] 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.

[0112] It can be understood by those skilled in the art that Figure 7 The structure shown is for illustration only. The device for implementing the above-mentioned vehicle-road collaborative blind spot warning method may be a terminal device, which may be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a PDA, a mobile Internet device (Mobile Internet Devices, MID), a PAD, and other terminal devices. Figure 7 The structure of the electronic device is not limited. Figure 7 More or fewer components (such as network interfaces, display devices, etc.) shown in, or having Figure 7 Different configurations shown.

[0113] An embodiment of the present application further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.

[0114] An embodiment of the present application further provides another computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.

[0115] The embodiments of the present application also provide a computer program, which includes computer instructions, which are stored in a computer-readable storage medium; a processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the steps in any one of the above method embodiments.

[0116] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a computer-readable storage medium, which can include: a flash drive, ROM, RAM, a magnetic disk or an optical disk, etc.

[0117] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0118] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling one or more computer devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.

[0119] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0120] In the several embodiments provided in the present application, it should be understood that the disclosed client can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units 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 through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0121] 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 provided in this embodiment.

[0122] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist physically separately, or at least two units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0123] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A blind spot warning method for vehicle-road collaboration, characterized in that: include: Acquire vehicle-road cooperative data; the vehicle-road cooperative data includes status information of multiple traffic participants respectively sensed by roadside equipment and multiple vehicle terminals at traffic intersections; The plurality of traffic participants include motor vehicles and non-motor vehicles; When the motor vehicle is in motion, based on the vehicle-road cooperative data, predicting a first running trajectory of the motor vehicle within a future preset time period, and predicting a second running trajectory of the non-motorized vehicle within the future preset time period; the first running trajectory includes a predicted position point of the motor vehicle at each moment within the future preset time period; The second running trajectory includes the predicted position point of the non-motorized vehicle at each moment in the future preset time period; According to the distance between the predicted position points of the first running trajectory and the second running trajectory at the same time, the roadside alarm device is controlled to issue an alarm.

2. The method according to claim 1, characterized in that The controlling the roadside alarm device to sound an alarm according to the distance between the predicted position points of the first running trajectory and the second running trajectory at the same time includes: When the distance between the predicted position points of the first running trajectory and the second running trajectory at the same time is within a preset distance threshold range, the roadside alarm device is controlled to sound an alarm, wherein the preset distance threshold range is a pre-set distance threshold range between the position points of the running trajectory of the motor vehicle to be alarmed and the running trajectory of the non-motorized vehicle at the same time.

3. The method according to claim 2, characterized in that The preset distance threshold range is divided into a plurality of preset ranges; different preset ranges in the plurality of preset ranges correspond to different alarm modes; When the distance between the predicted position points of the first running trajectory and the second running trajectory at the same time is within the distance threshold range, controlling the roadside alarm device to sound an alarm includes: When the distance between the predicted position points of the first running trajectory and the second running trajectory at the same time is within a target preset range among the multiple preset ranges, the roadside alarm device is controlled to sound an alarm according to an alarm mode corresponding to the target preset range.

4. The method according to claim 3, characterized in that The multiple preset ranges include a first preset range, and the alarm mode corresponding to the first preset range is a first-level alarm mode; and the controlling the roadside alarm device to alarm according to the alarm mode corresponding to the target preset range includes: When the target preset range is the first preset range, controlling the roadside alarm device to start the first level alarm mode; Among them, the roadside warning equipment includes a sound player and a road text sign; the first-level warning mode includes the voice prompt of the sound player and the text prompt of the road text sign.

5. The method according to claim 4, characterized in that The multiple preset ranges also include a second preset range, and the alarm mode corresponding to the second preset range is a secondary alarm mode; and the controlling the roadside alarm device to alarm according to the alarm mode corresponding to the target preset range also includes: When the target preset range is the second preset range, the roadside alarm device is controlled to start the secondary alarm mode; the upper limit value of the second preset range is less than or equal to the lower limit value of the first preset range; the alarm level of the secondary alarm mode is higher than the alarm level of the primary alarm mode; Among them, the roadside warning equipment also includes a road warning light; the secondary alarm mode includes the voice prompt of the sound player, the text prompt of the road text sign and the light prompt of the road warning light.

6. The method according to claim 5, characterized in that The multiple preset ranges also include a third preset range, and the alarm mode corresponding to the third preset range is a three-level alarm mode; and the controlling the roadside alarm device to alarm according to the alarm mode corresponding to the target preset range also includes: When the target preset range is the third preset range, the roadside alarm device is controlled to start the third-level alarm mode; the upper limit value of the third preset range is less than or equal to the lower limit value of the second preset range; the alarm level of the third-level alarm mode is higher than the alarm level of the second-level alarm mode; Among them, the roadside alarm equipment also includes a traffic light; the three-level alarm mode includes the voice prompt of the sound player, the text prompt of the road text sign, the light prompt of the road warning light, and an instruction to control the traffic light to switch to a red light, and the instruction is used to instruct the motor vehicle to stop traffic.

7. The method according to any one of claims 1 to 6, characterized in that: The obtaining of vehicle-road cooperative data includes: Acquiring, by the roadside equipment, first perception data of a plurality of traffic participants perceived by the plurality of vehicle terminals at the traffic intersection; Acquire second perception data of the plurality of traffic participants perceived by the roadside equipment at the traffic intersection; The first perception data and the second perception data are integrated to obtain status information of each of the multiple traffic participants, and a set of status information of each traffic participant is determined as the vehicle-road cooperative data.

8. A blind spot warning device for vehicle-road collaboration, characterized in that: include: A data acquisition module, used to acquire vehicle-road cooperative data; the vehicle-road cooperative data includes status information of multiple traffic participants respectively sensed by roadside equipment and multiple vehicle terminals at traffic intersections; the multiple traffic participants include motor vehicles and non-motor vehicles; A trajectory prediction module is used to predict a first running trajectory of the motor vehicle within a future preset time period based on the vehicle-road cooperative data when the motor vehicle is in motion, and predict a second running trajectory of the non-motorized vehicle within the future preset time period; the first running trajectory includes a predicted position point of the motor vehicle at each moment within the future preset time period; The second running trajectory includes the predicted position point of the non-motorized vehicle at each moment in the future preset time period; The early warning module is used to control the roadside alarm device to issue an alarm according to the distance between the predicted position points of the first running trajectory and the second running trajectory at the same time.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program implements the steps of any one of the methods of claims 1 to 7 when executed by a processor.

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

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