Vehicle early warning control method and device, storage medium and electronic equipment

Abstract

The embodiment of the invention provides a vehicle early warning control method and device, a storage medium and electronic equipment, and the method comprises the steps: obtaining the positioning precision information of a target positioning module which is a positioning module used for positioning a current vehicle, the positioning precision information is used for describing the current positioning precision of the target positioning module; a candidate early warning scene set corresponding to the current positioning precision in a plurality of early warning scene sets is determined, and in the plurality of early warning scene sets, the positioning precision corresponding to an active safety early warning scene set is higher than the positioning precision corresponding to an event reminding scene set; based on the candidate early warning scene set, an early warning scene is selected from early warning scenes obtained by the current vehicle for early warning, and the selected early warning scene belongs to the candidate early warning scene set. Through the embodiment of the invention, the effect of adopting different early warning strategies according to the positioning accuracy can be realized.

Description

Technical Field

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

[0002] The vehicle can be equipped with a safety warning system to warn of specific warning scenarios to ensure the safety of vehicle operation, such as collision warning, congestion reminder, etc. However, if the positioning accuracy of the vehicle is low, the false alarm rate of safety warning will increase, and more false alarms will not only make the driver nervous and anxious, but also may make the driver distrust the warning results, and may even ignore the real dangerous situation and cause traffic accidents.

[0003] It can be seen that the vehicle early warning control method in the related art has the problem of high false alarm rate of safety warning due to the positioning accuracy of the vehicle. Summary of the invention

[0004] The embodiments of the present application provide a vehicle warning control method and device, a storage medium and an electronic device to at least solve the problem of a high false alarm rate of safety warnings in the vehicle warning control method in the related art due to the positioning accuracy of the vehicle itself.

[0005] According to one aspect of an embodiment of the present application, a vehicle warning control method is provided, including: obtaining positioning accuracy information of a target positioning module, wherein the target positioning module is a positioning module used to position a current vehicle, and the positioning accuracy information is used to describe the current positioning accuracy of the target positioning module; determining a candidate warning scene set corresponding to the current positioning accuracy in a plurality of warning scene sets, wherein, in the plurality of warning scene sets, the positioning accuracy corresponding to the active safety warning scene set is higher than the positioning accuracy corresponding to the event reminder scene set; based on the candidate warning scene set, selecting a warning scene from the warning scenes obtained by the current vehicle for warning, wherein the selected warning scene belongs to the candidate warning scene set.

[0006] According to another aspect of an embodiment of the present application, a vehicle warning control device is also provided, including: an acquisition unit, used to acquire positioning accuracy information of a target positioning module, wherein the target positioning module is a positioning module used to position the current vehicle, and the positioning accuracy information is used to describe the current positioning accuracy of the target positioning module; a determination unit, used to determine a candidate warning scene set corresponding to the current positioning accuracy in a plurality of warning scene sets, wherein, among the plurality of warning scene sets, the positioning accuracy corresponding to the active safety warning scene set is higher than the positioning accuracy corresponding to the event reminder scene set; a selection unit, used to select a warning scene from the warning scenes acquired by the current vehicle for warning based on the candidate warning scene set, wherein the selected warning scene belongs to the candidate warning scene set.

[0007] In an exemplary embodiment, the positioning accuracy of the target positioning module is characterized by the horizontal positioning error of the target positioning module, the positioning accuracy of the target positioning module is negatively correlated with the horizontal positioning error of the target positioning module, and the current positioning accuracy is the current horizontal positioning error; the determination unit includes: a first determination module, which is used to determine the first group of warning scene sets in the multiple warning scene sets as the candidate warning scene set when the current horizontal positioning error is less than or equal to the first positioning error threshold, wherein the first group of warning scene sets includes the active safety warning scene set and the event reminder scene set; a second determination module, which is used to determine the second group of warning scene sets in the multiple warning scene sets as the candidate warning scene set when the current horizontal positioning error is greater than the first positioning error threshold, wherein the second group of warning scene sets includes the event reminder scene set and does not include the active safety warning scene set.

[0008] In an exemplary embodiment, the device also includes: a shut-down unit, which is used to shut down the map matching function of the current vehicle after the positioning accuracy information output by the target positioning module is acquired, when the current horizontal positioning error is greater than the first positioning error threshold, wherein the map matching function is a function of matching the vehicle position information output by the target positioning module with a map.

[0009] In an exemplary embodiment, the device also includes: a first execution unit, which is used to traverse a group of first traffic participants after the positioning accuracy information output by the target positioning module is obtained, when the candidate warning scene set includes an active safety warning scene set, when the current horizontal positioning error is greater than the second positioning error threshold and there is no map to be matched, and use the traversed first traffic participants as the current first traffic participants to perform the following operations to obtain the active safety warning scene to be triggered, wherein the first positioning error threshold is greater than the second positioning error threshold, and the group of first traffic participants are traffic participants located within the active safety warning range of the current vehicle: determine the first current judgment result corresponding to the current first traffic participant The first current judgment result is used to indicate a safety warning scenario triggered by the current first traffic participant within the first collision time when the current vehicle deviates to the left by the first distance; a second current judgment result corresponding to the current first traffic participant is determined, wherein the second current judgment result is used to indicate a safety warning scenario triggered by the current first traffic participant within the first collision time when the current vehicle deviates to the right by the first distance; when the safety warning scenario indicated by the first current judgment result and the safety warning scenario indicated by the second current judgment result are the same safety warning scenario, the safety warning scenario indicated by the first current judgment result is determined as an active safety warning scenario to be triggered.

[0010] In an exemplary embodiment, the device further includes: a matching unit, which is used to match the vehicle position information output by the target positioning module with the designated map after the positioning accuracy information output by the target positioning module is acquired, when the candidate warning scene set includes an active safety warning scene set, when the current horizontal positioning error is greater than a second positioning error threshold and there is a designated map to be matched, to obtain first lane information and second lane information, wherein the first positioning error threshold is greater than the second positioning error threshold, the first lane information is used to indicate the first lane where the current vehicle is located when the current vehicle is offset to the left by the second distance, and the second lane information is used to indicate the first lane where the current vehicle is located when the current vehicle is offset to the right by the second distance. The second lane where the current vehicle is located; a second execution unit, used to traverse a group of second traffic participants when the first lane and the second lane are the same lane, and use the traversed second traffic participants as the current second traffic participants to perform the following operations to obtain an active safety warning scenario to be triggered, wherein the group of second traffic participants are traffic participants located within the active safety warning range of the current vehicle and located in a determined lane: determine a third current judgment result corresponding to the current second traffic participant, wherein the third current judgment result is used to indicate a safety warning scenario triggered by the current second traffic participant within the second collision time; determine the safety warning scenario indicated by the third current judgment result as an active safety warning scenario to be triggered.

[0011] In an exemplary embodiment, the active safety warning scene set includes a first warning scene set with a scene type of collision risk, a second warning scene set with a scene type of potential risk, and a third warning scene set with a scene type of prompt information, the scene priority of the active safety warning scene in the first warning scene set is higher than the scene priority of the active safety warning scene in the second warning scene set, and the scene priority of the active safety warning scene in the second warning scene set is higher than the scene priority of the active safety warning scene in the third warning scene set; the selection unit includes: an execution module for, when the candidate warning scene set includes the active safety warning scene set, based on the candidate warning scene set, selecting each unit time The following warning operations are performed using the current unit time as the current unit time, wherein the active safety warning scenarios acquired by the current vehicle within the current unit time are a group of current active safety warning scenarios: when the current unit time exists in the previous unit time, determine whether there is a designated active safety warning scenario in the group of current active safety warning scenarios, wherein the designated active safety warning scenario is the active safety warning scenario with the highest scene priority and the smallest collision time among the active safety warning scenarios acquired by the current vehicle within the previous unit time; when the designated active safety warning scenario exists in the group of current active safety warning scenarios, use the designated active safety warning scenario as the selected active safety warning scenario for warning.

[0012] In an exemplary embodiment, the first warning scenario set includes at least one of the following active safety warning scenarios: forward collision warning scenario, intersection collision warning scenario, vulnerable traffic participant collision warning scenario, left turn auxiliary warning scenario, and reverse overtaking warning scenario; the second warning scenario set includes at least one of the following active safety warning scenarios: lane change auxiliary warning scenario, close following warning scenario, and emergency braking warning scenario; the third warning scenario set includes at least one of the following active safety warning scenarios: blind spot warning scenario, abnormal vehicle warning scenario, out-of-control vehicle warning scenario, and emergency vehicle warning scenario.

[0013] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps in any one of the above method embodiments are implemented.

[0014] According to another aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the above method embodiments when executing the computer program.

[0015] According to another aspect of the embodiments of the present application, a computer program product or a computer program is provided, the computer program product or the computer program includes computer instructions, the computer instructions 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 performs the steps in any of the above method embodiments.

[0016] In an embodiment of the present application, the warning scene is divided into different warning scene sets and the positioning accuracy of the positioning module is matched with the warning scene set to selectively warn. The positioning accuracy information of the target positioning module is obtained, wherein the target positioning module is a positioning module used to position the current vehicle, and the positioning accuracy information is used to describe the current positioning accuracy of the target positioning module; a candidate warning scene set corresponding to the current positioning accuracy in multiple warning scene sets is determined, wherein the positioning accuracy corresponding to the active safety warning scene set in multiple warning scene sets is higher than the positioning accuracy corresponding to the event reminder scene set; based on the candidate warning scene set, a warning scene is selected from the warning scenes obtained by the current vehicle for warning, wherein the selected warning scene belongs to the candidate warning scene set, because the corresponding warning scene set is matched according to the positioning accuracy of the positioning module, and only the warning scenes in the candidate warning scene set that match the current positioning accuracy are warned, for warning scenes with high positioning accuracy requirements, such as active safety warning scenes, no warning is given when the positioning accuracy is low, so as to achieve the technical effect of reducing the false alarm rate, thereby solving the technical problem that the vehicle warning control method in the related art has a high false alarm rate of safety warning due to the positioning accuracy of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0019] Figure 1 It is a schematic diagram of an application scenario of a vehicle early warning control method according to an embodiment of the present application.

[0020] Figure 2 It is a flow chart of an optional vehicle early warning control method according to an embodiment of the present application.

[0021] Figure 3 It is a schematic diagram of an optional vehicle early warning control method according to an embodiment of the present application.

[0022] Figure 4 It is a schematic diagram of another optional vehicle early warning control method according to an embodiment of the present application.

[0023] Figure 5 It is a schematic diagram of another optional vehicle early warning control method according to an embodiment of the present application.

[0024] Figure 6 It is a schematic diagram of another optional vehicle early warning control method according to an embodiment of the present application.

[0025] Figure 7 It is a schematic diagram of another optional vehicle early warning control method according to an embodiment of the present application.

[0026] Figure 8 It is a schematic diagram of another optional vehicle early warning control method according to an embodiment of the present application.

[0027] Fig. 9 It is a schematic diagram of another optional vehicle early warning control method according to an embodiment of the present application.

[0028] Fig.10 It is a flow chart of another optional vehicle warning control method according to an embodiment of the present application.

[0029] Fig.11 It is a structural block diagram of an optional vehicle warning control device according to an embodiment of the present application.

[0030] Fig.12 It is a block diagram of a computer system structure of an optional electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0031] The embodiments of the present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0033] According to one aspect of an embodiment of the present application, a vehicle early warning control method is provided. Optionally, in this embodiment, the vehicle early warning control method can be applied to Figure 1 In the hardware environment including the current vehicle 102 and the satellite system 104, the current vehicle 102 may be a vehicle with a positioning module, and the satellite system 104 may be at least one satellite system that provides a positioning function to a ground terminal. Figure 1 As shown, the current vehicle 102 communicates with the satellite system 104 through a positioning module. After receiving a signal from the satellite system 104, the positioning module of the current vehicle 102 can locate the current vehicle 102 by analyzing the signal.

[0034] In this embodiment, the above-mentioned positioning module may include but is not limited to at least one of the following: wiring type GPS (Global Positioning System), OBD (On-Board Diagnostics) interface type GPS, strong magnetic free installation type GPS, etc.; the above-mentioned satellite system may include but is not limited to at least one of the following: GPS (Global Positioning System), GLONASS (GLOBAL NAVIGATIONSATELLITE SYSTEM), Galileo (Galileo satellite navigation system), BDS (Beidou Navigation Satellite System), etc.

[0035] Figure 2 is a flow chart of an optional vehicle early warning control method according to an embodiment of the present application, such as Figure 2 As shown, the above method includes steps S202 to S206.

[0036] Step S202, obtaining positioning accuracy information output by the target positioning module, wherein the target positioning module is a positioning module used to position the current vehicle, and the positioning accuracy information is used to describe the current positioning accuracy of the target positioning module.

[0037] The vehicle warning control method in this embodiment can be applied to the field of intelligent transportation and to the scene of providing safety warning for vehicles. In the field of intelligent transportation, the warning system of the vehicle can provide warning for specific scenes to improve the safety and efficiency of road traffic. The above-mentioned specific scenes can include active safety warning scenes (for example, collision risk scenes, potential risk scenes, prompt information scenes), event reminder scenes (event reminder scenes, for example, road hazard condition prompts, speed limit warnings, in-car signs, congestion reminders ahead, emergency brake warnings, emergency vehicle reminders), etc., among which the warning system for providing warning for active safety warning scenes can be an active safety warning system.

[0038] The active safety warning system can obtain information about the vehicle's surroundings through on-board radar, cameras or V2X (Vehicle to Everything) technology, and provide relevant reminders to the driver when specific safety warning scenarios are triggered to assist the driver in driving safely. The active safety warning system based on V2X technology is the V2X active safety warning system, which can achieve early warning of potential dangers through information exchange and sharing between V2V (Vehicle to Vehicle) and V2I (Vehicle to Infrastructure), thereby improving the safety and efficiency of road traffic.

[0039] However, the positioning accuracy of the vehicle is a key factor affecting the accuracy and effectiveness of active safety warnings. Lower positioning accuracy will lead to an increase in the false alarm rate of active safety warnings. This is because when the positioning accuracy of the vehicle is low, the surrounding information obtained by the warning system will be inaccurate, leading to misjudgment of the active safety warning scene and triggering false alarms. A high false alarm rate will make the driver nervous and anxious, and then cause distrust of the warning results, and may even ignore the real dangerous conditions and cause traffic accidents.

[0040] In order to at least partially solve the above problems, in this embodiment, the warning scenarios can be divided into different warning scenario sets, and the positioning accuracy of the positioning module can be matched with the warning scenario set to selectively issue warnings: the corresponding warning scenario set is matched according to the positioning accuracy of the positioning module, and only the warning scenarios in the warning scenario set that match the current positioning accuracy are warned. Through the above method, for active safety warning scenarios with high positioning accuracy requirements (for example, collision risk scenarios), no warning is issued when the positioning accuracy is low, which can solve the problem of high false alarm rate when the positioning accuracy is low to a certain extent, and improve the effectiveness of active safety warnings.

[0041] For the current vehicle, in order to issue an early warning to the current vehicle, the on-board terminal of the current vehicle can obtain the positioning accuracy information of the target positioning module. The target positioning module is a positioning module used to locate the current vehicle. The output information of the target positioning module may include: vehicle position information, which is used to indicate the vehicle position of the located current vehicle; positioning accuracy information, which is used to describe the current positioning accuracy of the target positioning module.

[0042] Based on different positioning strategies, the target positioning module can be different. The target positioning module can be one of the following: the positioning module of the vehicle-mounted terminal of the current vehicle, the positioning module of the vehicle computer of the current vehicle (the vehicle computer refers to the abbreviation of the vehicle-mounted infotainment product installed in the vehicle, and the vehicle computer can functionally realize the information communication between people and vehicles, and between vehicles and the outside world); the positioning module on the external device of the current vehicle (for example, a smart phone, tablet computer, or other device with positioning function placed on the current vehicle, the external connection method can be to establish a communication connection, or it can be a device and vehicle binding). Optionally, the target positioning module can also be a positioning module outside the current vehicle. For example, the perception unit on the road side (for example, laser radar, millimeter wave, camera, etc.) perceives the vehicle position of the current vehicle and determines the positioning accuracy, and outputs the vehicle position information and positioning accuracy information. In this embodiment, there is no limitation on the target positioning module.

[0043] The positioning accuracy can be represented by the size of the positioning error. There is a negative correlation between the positioning accuracy and the positioning error, that is, the larger the positioning error, the lower the positioning accuracy, and vice versa, the smaller the positioning error, the higher the positioning accuracy. The vehicle position of the current vehicle located by the target positioning module may have deviations in longitudinal and lateral positions from the actual position of the current vehicle. Among them, the deviation in the longitudinal position mainly affects the path distance with other vehicles, that is, the longitudinal distance in the direction of travel of the vehicle, and has little effect on the calculation of the collision time when the distance between the two vehicles is large; and the deviation in the lateral position will directly affect the judgment of whether there is a collision risk. Therefore, in an embodiment of the present application, the positioning accuracy information can mainly consider the deviation in the lateral position.

[0044] Here, the vehicle-mounted terminal can be an OBU (OnBoardUnit) device, which is installed inside the vehicle and can be used for V2X (Vehicle to Everything) communication (in this case, OBU is V2X-OBU), specifically including communication with other vehicles (V2V), roadside equipment (V2I), pedestrian equipment (V2P) and network (V2N), so as to realize vehicle-road collaboration, inter-vehicle communication, driving assistance and other functions, and improve the safety of vehicle driving. Among them, the OBU device and the RSU (Road SideUnit) device (RSU is V2X-OBU) can exchange information and transmit data through different communication interfaces (mainly including PC5 interface and UU interface), realize real-time information exchange between vehicles and road infrastructure, and provide functions such as traffic information, alarms and collaborative driving. In an embodiment of the present application, the OBU device can be used to provide safety warnings for vehicles.

[0045] Step S204, determining a candidate warning scene set corresponding to the current positioning accuracy from among multiple warning scene sets, wherein, among the multiple warning scene sets, the positioning accuracy corresponding to the active safety warning scene set is higher than the positioning accuracy corresponding to the event reminder scene set.

[0046] In order to warn the warning scenes in the candidate warning scene set, the corresponding candidate warning scene set can be determined according to the current positioning accuracy, wherein the warning scene can be divided into multiple warning scene sets, and the multiple warning scene sets can be divided according to the requirements of the warning scene for positioning accuracy, or according to the degree of danger of the warning scene, and the warning scenes in a warning scene set can correspond to the same scene type. In this embodiment, the warning scene set can include an active safety warning scene set and an event reminder scene set, etc., and can also include other warning scene sets, which are not limited in this embodiment.

[0047] Among them, the active safety warning scenario is a scenario for warning collision risks, potential risks, and prompt information, while the event reminder scenario is a scenario for reminding specific events (for example, speed limit, congestion, etc.). The active safety warning scenario has higher requirements for positioning accuracy than the event reminder scenario, and is more prone to false alarms when the positioning accuracy is low. Therefore, the positioning accuracy corresponding to the active safety warning scenario set can be configured to be higher than the positioning accuracy corresponding to the event reminder scenario set. In this case, when the positioning accuracy is high, both the active safety warning scenario and the event reminder scenario can be warned, and when the positioning accuracy is low, the event reminder scenario can be warned. While ensuring timely warnings for event reminder scenarios, it reduces false alarms of active safety warnings caused by low positioning accuracy and improves the effectiveness of active safety collision warnings.

[0048] Step S206, based on the candidate warning scene set, a warning scene is selected from the warning scenes acquired by the current vehicle for warning, wherein the selected warning scene belongs to the candidate warning scene set.

[0049] In order to reduce the false alarm rate of the active safety warning system, after determining the corresponding candidate warning scene set based on the current positioning accuracy information, warnings can be issued only for the warning scenes existing in the above candidate warning scene set. For example, when the current positioning accuracy is lower than the positioning accuracy corresponding to the active safety warning scene set, no warnings will be issued for the warning scenes belonging to the active safety warning scene set, so as to reduce the false alarm rate of the active safety warning system under low positioning accuracy.

[0050] In this embodiment, based on the candidate warning scene set, a warning scene can be selected from the warning scenes obtained by the current vehicle for warning, and the selected warning scene belongs to the candidate warning scene set. Here, there are many ways to select warning scenes from the warning scenes obtained by the current vehicle for warning. For example, all warning scenes belonging to the candidate warning scene set in the warning scenes obtained by the current vehicle can be selected for warning, that is, all the warning scenes belonging to the candidate warning scene set obtained are warned. In the case of multiple warning scenes belonging to the candidate warning scene set being triggered in a short period of time, if each warning scene is warned, multiple warnings will be issued in a short period of time, and too concentrated warnings will lead to the inability to accurately obtain warning information (there will be interference in the information broadcast), distracting the driver's attention. In this regard, some warning scenes can be selected from the warning scenes belonging to the candidate warning scene set in the warning scenes obtained by the current vehicle for warning.

[0051] Optionally, the basis for selecting some warning scenes for warning can be the priority between warning scenes or the degree of danger of warning scenes. For example, different time periods can be divided, and one or a specified number of warning scenes with the highest priority or the highest degree of danger are selected in each time period for warning; the basis for selecting some warning scenes for warning can also be the time interval of the receiving time of the warning scenes. For example, after a warning scene is warned, the warning scenes received in the specified time period thereafter (to ensure that the time interval between two warnings is not shorter than the set time interval) are ignored, or some types of warning scenes are ignored, and the warning scenes are re-selected for warning after the specified time period. In addition, warning scenes can also be selected for warning according to other schemes, which are not limited in this embodiment.

[0052] Through the embodiments provided in the present application, the positioning accuracy information of the target positioning module is obtained, wherein the target positioning module is a positioning module used to position the current vehicle, and the positioning accuracy information is used to describe the current positioning accuracy of the target positioning module; a candidate warning scene set corresponding to the current positioning accuracy in multiple warning scene sets is determined, wherein, in the multiple warning scene sets, the positioning accuracy corresponding to the active safety warning scene set is higher than the positioning accuracy corresponding to the event reminder scene set; based on the candidate warning scene set, a warning scene is selected from the warning scenes obtained by the current vehicle for warning, wherein the selected warning scene belongs to the candidate warning scene set, thereby solving the technical problem of a high false alarm rate of safety warnings due to the positioning accuracy of the vehicle itself in the vehicle warning control method in the related art, and reducing the false alarm rate of safety warnings.

[0053] In an exemplary embodiment, in order to improve the convenience of vehicle warning control, the positioning accuracy of the target positioning module can be characterized by the horizontal positioning error of the target positioning module. The positioning accuracy of the target positioning module is negatively correlated with the horizontal positioning error of the target positioning module, and the current positioning accuracy is the current horizontal positioning error.

[0054] The horizontal positioning error is the positioning error in the horizontal direction (perpendicular to the driving direction of the current vehicle), and the vertical positioning error is the positioning error in the vertical direction (parallel to the driving direction of the current vehicle), without considering the positioning error in the height direction. The positioning error in the vertical direction mainly affects the path distance between the current vehicle and other vehicles, and has little effect on the calculation of the collision time when the distance between the two vehicles is large; while the positioning error in the horizontal direction will directly affect the judgment of whether there is a collision risk. Therefore, in the embodiment of the present application, the positioning accuracy information mainly considers the positioning error in the horizontal direction.

[0055] For example, Figure 3 As shown in the figure, the current vehicle is the main vehicle, which is driving on the road. Assume that the TTC (Time to Collision) between the main vehicle and vehicles A, B, and C on the path distance is less than the threshold. In the case of low positioning accuracy, the positioning information output by the target positioning module may be located at the actual position H, or at the wrong position H1, H2, or H3. Figure 3 It can be seen that the positioning error in the vertical direction (longitudinal position deviation of the vehicle) mainly affects the path distance, and has little effect on the calculation of TTC when the distance between the two vehicles is large. The positioning error in the horizontal direction (i.e., lateral position deviation) is a direct factor in determining whether there is a collision risk. It can be seen that the positioning error in the horizontal direction is the main cause of false alarms. We can mainly consider eliminating the influence of the lateral position deviation. Therefore, the positioning accuracy can be characterized by the horizontal positioning error.

[0056] It should be noted that in order to obtain positioning accuracy information, a large amount of sample data can be collected to train the neural network model, and the relationship between parameters such as longitude and latitude errors and heading angle errors and the positioning environment (number of satellites used, precision attenuation factor DOP, signal strength, etc.) can be obtained. The trained model is deployed on the OBU, and the positioning error of the current positioning module can be obtained in real time through the positioning environment. Positioning accuracy information is usually expressed in positioning error. When the positioning error only involves longitude and latitude parameters, it can be measured in meters, accurate to decimeters or centimeters. Positioning accuracy information can also be obtained in other ways. This is only an example, and it can also be obtained in other ways. For example, if the positioning module manufacturer integrates the accuracy measurement function into the positioning module, then in this solution, such a module can be directly used to output real-time positioning accuracy.

[0057] Correspondingly, a candidate warning scene set corresponding to the current positioning accuracy is determined from multiple warning scene sets, including: when the current horizontal positioning error is less than or equal to the first positioning error threshold, a first group of warning scene sets from multiple warning scene sets is determined as a candidate warning scene set, wherein the first group of warning scene sets includes an active safety warning scene set and an event reminder scene set; when the current horizontal positioning error is greater than the first positioning error threshold, a second group of warning scene sets from multiple warning scene sets is determined as a candidate warning scene set, wherein the second group of warning scene sets includes an event reminder scene set, but does not include an active safety warning scene set.

[0058] In this embodiment, in order to determine the warning scene sets corresponding to different positioning accuracies, the error threshold of the horizontal positioning error, that is, the first positioning error threshold, can be set, and the corresponding candidate warning scene set can be determined based on the relationship between the current horizontal positioning error and the first positioning error threshold. Figure 4 As shown, according to the first positioning error threshold, the warning scene set can be divided into a first warning scene set and a second warning scene set. When the horizontal positioning error is less than or equal to the first positioning error threshold, the candidate warning scene set is the first warning scene set, including an active safety warning scene set and an event reminder scene set; when the horizontal positioning error is greater than the first positioning error threshold, the candidate warning scene set is the second warning scene set, including an event reminder scene set.

[0059] Optionally, the first positioning error threshold can be set based on experience, and its value can be related to the width of the lane. For example, it can be half the width of the lane (for a 3-meter lane, the first positioning error threshold can be 1.5 meters), 2 / 3 the width of the lane (for a 3-meter lane, the first positioning error threshold can be 2 meters), and the first positioning error threshold can also be other values, which is not limited in this embodiment.

[0060] For example, taking the first positioning error threshold of 1.5 meters as an example, if the OBU device detects that its own positioning accuracy is extremely low and does not meet the threshold condition (the threshold condition is that the horizontal positioning error is less than or equal to 1.5 meters), the active safety warning function is turned off and only the warning function for event reminder scenarios is retained; if the OBU device detects that its own positioning accuracy meets the threshold condition, the active safety warning function and the warning function for event reminder scenarios are turned on at the same time.

[0061] Through this embodiment, the corresponding candidate warning scene set is determined according to the relationship between the current horizontal positioning error of the positioning module and the set positioning error threshold, which can improve the convenience of determining the warning scene set, ensure that more comprehensive warnings are provided when the positioning accuracy is high, and reduce the false alarm rate when the positioning accuracy is low.

[0062] In an exemplary embodiment, after obtaining the positioning accuracy information of the target positioning module, the above method also includes: when the current horizontal positioning error is greater than the first positioning error threshold, turning off the map matching function of the current vehicle, wherein the map matching function is a function of matching the vehicle position information output by the target positioning module with the map.

[0063] In order to facilitate the driver to intuitively know the current vehicle's location, the environment information around the current vehicle, the driving route planned for the current vehicle and other information, a map matching function can be configured for the current vehicle. The way to configure the map matching function for the current vehicle can be: configure the map matching function on the vehicle terminal of the current vehicle. The above-mentioned map matching function is a function of matching the vehicle location information output by the target positioning module with the map, which is often used in intelligent navigation and automatic driving.

[0064] In order to accurately match the map, it is necessary to obtain the accurate vehicle position. When the positioning accuracy is low and the accurate vehicle position cannot be obtained, continuing to use the map matching function may result in matching the wrong map position (for example, the vehicle matches the wrong lane, the vehicle leaves the lane), causing the driver to misjudge the current vehicle location, or the navigation system points to the wrong route. Therefore, in this case, the map matching function can be turned off to avoid the above problems.

[0065] In this embodiment, if the current horizontal positioning error is greater than the first positioning error threshold, the vehicle position error output by the target positioning module is extremely large and the credibility of the vehicle position is low. In this case, in addition to the determined candidate warning scene set not including the active safety warning scene set, the map matching function of the current vehicle can also be turned off to reduce the impact of false alarms of collision warning scenes on the driver, while further reducing the impact of map error matching on the driver.

[0066] For example, taking the first positioning error threshold of 1.5 meters as an example, if the OBU device detects that its own positioning accuracy is extremely low (horizontal positioning error is greater than 1.5 meters), the active safety warning function is turned off, and only the warning function of event reminder scenarios is retained, and the map matching function is turned off at the same time.

[0067] Through this embodiment, when the current horizontal error is greater than the first positioning error threshold, the map matching function can be actively turned off, thereby avoiding a series of problems that may be caused by matching to an erroneous map position and improving the safety of vehicle driving.

[0068] In an exemplary embodiment, after obtaining the positioning accuracy information of the target positioning module, the above method also includes: when the candidate warning scene set includes an active safety warning scene set, when the current horizontal positioning error is greater than the second positioning error threshold and there is no map to be matched, traverse a group of first traffic participants, and use the traversed first traffic participants as the current first traffic participants to perform the following operations to obtain the active safety warning scene to be triggered, wherein the first positioning error threshold is greater than the second positioning error threshold, and a group of first traffic participants are traffic participants located within the active safety warning range of the current vehicle: determine a first current judgment result corresponding to the current first traffic participant, wherein the first current judgment result is used to indicate the safety warning scene triggered by the current first traffic participant within the first collision time when the current vehicle is offset to the left by a first distance; determine a second current judgment result corresponding to the current first traffic participant, wherein the second current judgment result is used to indicate the safety warning scene triggered by the current first traffic participant within the first collision time when the current vehicle is offset to the right by a first distance; when the safety warning scene indicated by the first current judgment result and the safety warning scene indicated by the second current judgment result are the same safety warning scene, determine the safety warning scene indicated by the first current judgment result as an active safety warning scene to be triggered.

[0069] If the positioning accuracy of the current vehicle is extremely low (the horizontal positioning error is greater than the first positioning error threshold), the active safety warning triggered based on the positioned vehicle position has no reference value. At this time, the active safety warning function can be turned off to avoid frequent erroneous active safety warnings from having a negative impact on the driver. If the positioning accuracy of the current vehicle is low, although the active safety warning triggered based on the positioned vehicle position has a certain reference value, the false triggering of the active safety warning may still have a negative impact on the driver. In this regard, a second positioning error threshold can be set. If the current horizontal positioning error is less than or equal to the first positioning error threshold and greater than the second positioning error threshold, all traffic participants within the current vehicle warning range can be traversed, and for each traffic participant, it is judged whether the current vehicle has triggered the same safety warning scene within a certain period of time after a certain distance to the left and a certain distance to the right, and whether the active safety warning scene to be triggered is determined based on the judgment result.

[0070] Here, the first positioning error threshold is greater than the second positioning error threshold, and the second positioning error threshold can be set according to the width of the vehicle body or according to experience. The unit and accuracy of the second positioning error threshold can be similar to or different from the first positioning error threshold, which is not limited in this embodiment. For example, the second positioning error threshold can be 0.05 meters, 0.1 meters, 0.5 meters or other values.

[0071] In order to determine the traffic participants who may trigger the active safety warning of the current vehicle, an active safety warning range can be set. The above active safety warning range can be set based on experience, for example, 10 meters, 8 meters or 5 meters, and its value can also be related to the speed of the current vehicle. For example, if the current vehicle speed is fast, the active safety warning range can be expanded accordingly, and if the current vehicle speed is slow, the active safety warning range can be reduced accordingly. The active safety warning range can also be related to the direction of vehicle travel. For example, the active safety warning range is a certain range in front of the current vehicle body. The active safety warning range can also be set based on other factors, which are not limited in this embodiment.

[0072] In this embodiment, when the candidate warning scene set includes an active safety warning scene, if the current horizontal error is less than the first positioning error threshold and greater than the second positioning error threshold, the current vehicle's own positioning accuracy is low and the positioning information has a certain error. The active safety warning scene can be optimized for scene warning to reduce its false alarm rate. The above scene warning optimization method can be:

[0073] All first traffic participants within the active safety warning range can be traversed, and the traversed first traffic participants are used as the current first traffic participants to perform the following operations:

[0074] The positioning coordinates of the current vehicle are shifted to the left by a first distance, and a triggered safety warning scene is determined to obtain a first current determination result, where the first current determination result is used to indicate a safety warning scene triggered with the current first traffic participant within a first collision time when the current vehicle is shifted to the left by the first distance;

[0075] The positioning coordinates of the current vehicle are shifted rightward by a first distance, and a triggered safety warning scene is determined to obtain a second current determination result, where the second current determination result is used to indicate a safety warning scene triggered with the current first traffic participant within a first collision time when the current vehicle is shifted rightward by the first distance;

[0076] When the safety warning scenario indicated by the first current determination result and the second current determination result is the same safety warning scenario, the safety warning scenario indicated by the first current determination result (or the second current determination result) is determined as an active safety warning scenario to be triggered.

[0077] After traversing all first traffic participants, it can be determined whether there is an active safety warning scene to be triggered. Here, the active safety warning scene to be triggered can be an active safety warning scene that may be triggered, and other scene triggering strategies (for example, only one active safety warning scene is allowed to be triggered in the same unit time) can also be combined to determine the active safety warning scene that is actually triggered.

[0078] In particular, the active safety warning scenarios indicated by the first current judgment result and the second current judgment result may be active safety warning scenarios within the active safety warning scenario set, or may be empty, that is, there is no risk of collision between the current vehicle and the current first traffic participant within the first collision time. When the active safety warning scenarios indicated by the first current judgment result and the second current judgment result are both empty, no active safety warning scenario is determined.

[0079] Here, the first distance can be set based on experience, and its value can be related to the width of the vehicle body, for example, it can be half the width of the vehicle body, 2 / 3 the width of the vehicle body, or other values. The first collision time is a set collision time threshold, which can be set based on experience, for example, 3 seconds, 2 seconds, or other values, which are not limited in this embodiment. Traffic participants can be objects participating in traffic on the lane, for example, other vehicles other than the current vehicle, pedestrians, etc.

[0080] For example, if the OBU device detects that its own positioning accuracy is low (the horizontal positioning error is greater than 0.05 meters and less than 1.5 meters), the scene warning optimization is performed according to the following scheme: When the map does not exist, if the vehicle's half body offset to the left and half body offset to the right both trigger the same safety warning scene with a traffic participant within the active safety warning range, it is considered that the safety warning scene should be determined as an active safety warning scene to be triggered, otherwise it will not be determined.

[0081] like Figure 5 As shown in the figure, if the self-positioning received by the OBU is relatively accurate and located at H, the main vehicle's positioning shifted to the left by half a body and to the right by half a body will both cause a collision risk with vehicle B, and the collision warning to be triggered with vehicle B can be determined normally. There will be no collision risk with vehicles A and C, so it will not be triggered by mistake.

[0082] For example, Figure 6 As shown in the figure, if the self-positioning received by the OBU has a slight deviation (no more than half a car body), it is located at H3. If the positioning of the main vehicle is shifted to the left by half a car body and to the right by half a car body, there will be a risk of collision with car B. It can be determined that the collision warning with car B is to be triggered. If the positioning of the main vehicle is shifted to the left by half a car body, there will be a risk of collision with car A, but if it is shifted to the right by half a car body, there will be no risk of collision with car A, and the collision warning with car A will not be triggered by mistake.

[0083] For example, Figure 7 As shown in the figure, if the self-positioning received by the OBU has a serious deviation (half lane), at H1, the credibility of the self-positioning received by the OBU is extremely low, and the active safety warning function can be turned off. If the active safety warning function is not turned off, the positioning of the main vehicle will be offset to the right by half a vehicle body, and there will be no collision risk with vehicle A, so the collision warning of vehicle A will not be triggered, and no false triggering will occur at this time.

[0084] Through this embodiment, by limiting the conditions for triggering active safety warnings, it is possible to achieve an effect of reducing the false alarm rate in collision warning scenarios.

[0085] In an exemplary embodiment, after obtaining the positioning accuracy information of the target positioning module, the method further includes: when the candidate warning scene set includes an active safety warning scene set, when the current horizontal positioning error is greater than the second positioning error threshold and there is a designated map to be matched, matching the vehicle position information output by the target positioning module with the designated map to obtain first lane information and second lane information, wherein the first positioning error threshold is greater than the second positioning error threshold, the first lane information is used to indicate the first lane where the current vehicle is located when the current vehicle is offset to the left by the second distance, and the second lane information is used to indicate the second lane where the current vehicle is located when the current vehicle is offset to the right by the second distance; when the first lane and the second lane are the same lane, traversing a group of second traffic participants, and taking the traversed second traffic participants as the current second traffic participants to perform the following operations to obtain an active safety warning scene to be triggered, wherein a group of second traffic participants are traffic participants located within the active safety warning range of the current vehicle and whose lanes are determined: determining a third current determination result corresponding to the current second traffic participant, wherein the third current determination result is used to indicate a safety warning scene triggered by the current second traffic participant within the second collision time; and determining the safety warning scene indicated by the third current determination result as an active safety warning scene to be triggered.

[0086] If the positioning accuracy of the current vehicle is extremely low (the horizontal positioning error is greater than the first positioning error threshold), the map matching result obtained based on the located vehicle position has no reference value. At this time, the map matching function can be turned off to avoid matching the wrong position of the map. If the positioning accuracy of the current vehicle is low (less than or equal to the first positioning error threshold, and greater than the second positioning error threshold), the map matching result obtained based on the located vehicle position has a certain reference value, but the map matching function may still match the current position of the vehicle to the wrong lane of the map. If the current horizontal positioning error is less than or equal to the first positioning error threshold, and greater than the second positioning error threshold, it is possible to judge whether the current vehicle is in the same lane after a certain distance to the left and a certain distance to the right, and determine whether to output the target map matching result based on the judgment result.

[0087] In this embodiment, for a situation where there is a designated map to be matched and the candidate warning scene set includes an active safety warning scene set, if the current horizontal error is less than the first positioning error threshold and greater than the second positioning error threshold (the first positioning error threshold is greater than the second positioning error threshold), the current vehicle's own positioning accuracy is low and the positioning information has a certain error. The map matching function can be optimized to improve its matching accuracy. The above-mentioned map matching function optimization method can be:

[0088] Before performing map matching, the positioning coordinates of the current vehicle may be offset to the left by a second distance, and the lane where the current vehicle is located may be determined to obtain first lane information, where the first lane information is used to indicate that when the current vehicle is offset to the left by the second distance, the lane where the current vehicle is located is the first lane;

[0089] The positioning coordinates of the current vehicle are shifted to the right by a second distance, and the lane where the current vehicle is located is determined to obtain second lane information, where the second lane information is used to indicate that when the current vehicle is shifted to the right by the second distance, the lane where the current vehicle is located is the second lane;

[0090] In the case where the first lane and the second lane are the same lane, a target map matching result is output, and the target map matching result is used to indicate that the lane where the current vehicle is located is the first lane (that is, the second lane).

[0091] Here, the second distance can be set based on experience, and its value can be related to the width of the vehicle body, for example, it can be half the width of the vehicle body, 2 / 3 the width of the vehicle body, or other values. The second distance can be the same as or different from the first distance, which is not limited in this embodiment. In addition, if the first distance and the second distance are related to the width of the vehicle body, the width of the vehicle body can be a fixed width of the vehicle body set based on an experience value (in this case, the width of the vehicle body of different vehicles may be the same or different), or it can be a value set based on the width of the vehicle body of the current vehicle (in this case, the width of the vehicle body of different vehicles may be the same or different).

[0092] For example, if the OBU device detects that its own positioning accuracy is low (the horizontal positioning error is greater than 0.05 meters and less than 1.5 meters), the scene warning optimization is performed according to the following scheme: when the map exists, if the vehicle's left offset half body and right offset half body are matched in the same lane, the map matching result is output, otherwise there is no map match.

[0093] For example, Figure 8 As shown, if the self-positioning received by the OBU is at H4, the positioning of the main vehicle is shifted to the left by half a body and to the right by half a body, both of which are located in the middle lane. At this time, the map matching result is that the main vehicle is located in the middle lane, and the matching result is output; if the self-positioning received by the OBU is at H5, the positioning of the main vehicle is shifted to the left by half a body and located in the left lane, and the positioning of the main vehicle is shifted to the right by half a body and located in the middle lane. The positions after the two shifts are not in the same lane, and no map matching result is output at this time.

[0094] After determining the lane in which the current vehicle is located, the active safety warning scenario to be triggered can be determined based on the lane information. The above active safety warning method can be:

[0095] Traverse all second traffic participants within the active safety warning range of the current vehicle and whose lanes are determined, and use the traversed second traffic participants as the current second traffic participants to perform the following operations:

[0096] Determine a safety warning scenario triggered by the current vehicle and the current second traffic participant within the second collision time, and obtain a third current determination result, where the third current determination result is used to indicate the safety warning scenario triggered by the current second traffic participant within the second collision time;

[0097] The safety warning scenario indicated by the third current determination result is determined as an active safety warning scenario to be triggered.

[0098] After all second traffic participants have been traversed, it can be determined whether there is an active safety warning scenario to be triggered. Here, the active safety warning scenario to be triggered can be an active safety warning scenario that may be triggered, and the active safety warning scenario actually triggered can also be determined in combination with other scenario triggering strategies (for example, only one active safety warning scenario is allowed to be triggered within the same unit time).

[0099] In particular, the active safety warning scenario indicated by the above-mentioned third current judgment result can be an active safety warning scenario within the active safety warning scenario set, or it can be empty, that is, there is no collision risk between the current vehicle and the current second traffic participant within the second collision time. When the active safety warning scenarios indicated by the third current judgment result are all empty, no active safety warning scenario is determined.

[0100] Here, the second collision time is a set collision time threshold, which can be set based on experience, for example, 3 seconds, 2 seconds or other values; the second collision time can be the same as or different from the first collision time, which is not limited in this embodiment.

[0101] Through this embodiment, by limiting the current lane judgment conditions and performing active safety warning after determining the lane in which the current vehicle is located, it is possible to provide reliable lane information of the current vehicle for map matching under low positioning accuracy, and improve the accuracy of the active safety warning system.

[0102] In an exemplary embodiment, the active safety warning scenario set includes a first warning scenario set whose scenario type is collision risk, a second warning scenario set whose scenario type is potential risk, and a third warning scenario set whose scenario type is prompt information. The scenario priority of the active safety warning scenarios in the first warning scenario set is higher than the scenario priority of the active safety warning scenarios in the second warning scenario set, and the scenario priority of the active safety warning scenarios in the second warning scenario set is higher than the scenario priority of the active safety warning scenarios in the third warning scenario set.

[0103] In this embodiment, the scenario type corresponding to the first warning scenario set is collision risk, and the active safety warning scenarios corresponding to collision risk are all scenarios for warning of possible collision risks; the scenario type corresponding to the second warning scenario set is potential risk, and the active safety warning scenarios corresponding to potential risks are all scenarios for warning of existing potential risks; the scenario type corresponding to the third warning scenario set is prompt information, and the active safety warning scenarios corresponding to the prompt information are all scenarios for prompting the driver.

[0104] In order to distinguish the degree of danger or importance of each warning scenario, a scene priority can be set for each warning scenario, wherein, according to the corresponding scene type, the scene priority of the active safety warning scenario in the first warning scenario set is higher than the scene priority of the active safety warning scenario in the second warning scenario set, and the scene priority of the active safety warning scenario in the second warning scenario set is higher than the scene priority of the active safety warning scenario in the third warning scenario set. The scene priority of the active safety warning scenarios in the first warning scenario set can be set to high, the scene priority of the active safety warning scenarios in the second warning scenario set can be set to medium, and the scene priority of the active safety warning scenarios in the third warning scenario set can be set to low.

[0105] Here, the scene priorities of different warning scenes can be set according to the danger level of the warning scene, or can be set according to experience. In addition to the three scene priorities of low, medium, and high mentioned above, other scene priorities can be set as needed, such as low, medium, and high, which are not limited in this embodiment.

[0106] Correspondingly, based on the candidate warning scene set, an active safety warning scene is selected from the active safety warning scenes acquired by the current vehicle for warning, including: when the candidate warning scene set includes the active safety warning scene set, based on the candidate warning scene set, each unit time is used as the current unit time to perform the following warning operations, wherein the active safety warning scene acquired by the current vehicle in the current unit time is a group of current active safety warning scenes: when the current unit time exists in the previous unit time, determine whether there is a specified active safety warning scene in a group of current active safety warning scenes, wherein the specified active safety warning scene is the active safety warning scene with the highest scene priority and the shortest collision time among the active safety warning scenes acquired by the current vehicle in the previous unit time; when the specified active safety warning scene exists in a group of current active safety warning scenes, use the specified active safety warning scene as the selected active safety warning scene for warning.

[0107] During vehicle driving, the amount of information that the driver needs to process should not be too much, especially at intersections or areas with a large number of traffic participants. Frequent switching of active safety warnings will cause the driver to feel anxious and irritable, thereby reducing the driver's trust in the warning results and losing the effectiveness of active safety warnings. In this embodiment, in order to prevent the above problems from occurring, the warning information generated at a certain moment can be filtered at the algorithm level, and only the most important information is displayed to the driver. The above method for filtering the warning information can be:

[0108] For each unit time, the active safety warning scene with the highest scene priority and the smallest TTC can be selected from all active safety warning scenes generated in the unit time, and the active safety warning scene is set as the designated active safety warning scene; after the above designated active safety warning scene is selected, in the next unit time, if the same active safety warning scene as the above designated active safety warning scene is still generated (it is the same active safety warning scene triggered by the same traffic participant, which may not be the active safety warning scene with the highest scene priority and the smallest TTC in the next unit time), then the designated active safety warning scene is warned, and if the designated active safety warning scene is not generated in the next unit time, then the designated active safety warning scene is not warned. In the next unit time, the designated active safety warning scene can be selected in the same way, and whether to warn the designated active safety warning scene is determined based on whether the selected designated active safety warning scene is generated in the next unit time.

[0109] Here, a unit time may be 300 milliseconds. A statistical period of 300 milliseconds can basically ensure that all V2X messages of traffic participants in the air interface can be included in the statistics, while not causing the statistical delay to be too long to affect the timeliness of the trigger. The unit time may also be set to other values ​​based on experience, which is not limited in this embodiment.

[0110] For example, the OBU device counts all active safety warning information within a unit time (300 milliseconds) and selects the scene with the highest priority and the smallest TTC. If the warning is still generated in the next unit time, the warning information will be displayed to the driver, and the scene with the highest priority and the smallest TTC will be re-selected in the next unit time.

[0111] For example, Fig. 9As shown, the x-axis is the time axis, and there are four unit times on the x-axis, namely, unit time 1, unit time 2, unit time 3, and unit time 4. In unit time 1, two active safety warning scenarios, active safety warning scenario 1 and active safety warning scenario 2, are generated. The scenario priority of active safety warning scenario 2 is the highest and the TTC is the smallest. Then active safety warning scenario 2 is the designated active safety warning scenario of unit time 1; in unit time 2, the designated active safety warning scenario of unit time 1, that is, active safety warning scenario 2, is generated. Then, an alert can be issued for active safety warning scenario 2 (it can be issued immediately after active safety warning scenario 2 is generated within unit time 2, or it can be issued after unit time 2 ends). Similarly, it can be determined that the designated active safety warning scenario of unit time 2 is active safety warning scenario 3; in unit time 3, the designated active safety warning scenario of unit time 2, that is, active safety warning scenario 3, is generated. Then, an alert can be issued for active safety warning scenario 3. For unit time 3, the designated active safety warning scenario is active safety warning scenario 3; in unit time 4, the designated active safety warning scenario of unit time 3, that is, active safety warning scenario 3, is not generated, and no warning is issued for active safety warning scenario 3.

[0112] Through this embodiment, by selecting an active safety warning scenario with the highest scene priority, the smallest TTC and continuous occurrence within a unit time, and issuing a warning only when the active safety warning scenario also occurs within the next unit time, the warning information can be screened and filtered, and only the most important information can be displayed to the driver, thereby improving the driver's driving experience and vehicle driving safety.

[0113] In an exemplary embodiment, the first warning scenario set includes at least one of the following active safety warning scenarios: forward collision warning scenario, intersection collision warning scenario, vulnerable traffic participant collision warning scenario, left turn auxiliary warning scenario, and reverse overtaking warning scenario; the second warning scenario set includes at least one of the following active safety warning scenarios: lane change auxiliary warning scenario, close following warning scenario, and emergency braking warning scenario; the third warning scenario set includes at least one of the following active safety warning scenarios: blind spot warning scenario, abnormal vehicle warning scenario, out-of-control vehicle warning scenario, and emergency vehicle warning scenario.

[0114] In this embodiment, an example of active safety warning scenarios included in an optional set of warning scenarios is given, wherein the first warning scenario set can be a collision risk scenario type, which can include: forward collision warning scenario, intersection collision warning scenario, vulnerable traffic participant collision warning scenario, left turn auxiliary warning scenario, and reverse overtaking warning scenario; the second warning scenario set can be a potential risk scenario type, which can include: lane change auxiliary warning scenario, close following warning scenario, and emergency braking warning scenario; the third warning scenario set can be a prompt information scenario type, which can include: blind spot warning scenario, abnormal vehicle warning scenario, out-of-control vehicle warning scenario, and emergency vehicle warning scenario.

[0115] For example, the classification of warning scenarios is shown in Table 1:

[0116] Table 1

[0117]

[0118] Table 1 (continued)

[0119]

[0120] Here, the above-mentioned warning scene set and active safety warning scene can be set according to experience. For example, the road information scene type can be set, which can include: road construction warning scene, road congestion scene, and other warning scene sets and active safety warning scenes can also be set. This is not limited in this embodiment.

[0121] Optionally, the degree of danger of the active safety warning scenario can be comprehensively judged based on the scenario priority and TTC. The higher the scenario priority, the higher the degree of danger of the active safety warning scenario. Conversely, the lower the scenario priority, the lower the degree of danger of the active safety warning scenario. The smaller the TTC, the higher the degree of danger of the active safety warning scenario. Conversely, the larger the TTC, the lower the degree of danger of the active safety warning scenario.

[0122] Through this embodiment, various active safety warning scenarios that may occur during vehicle driving are divided according to priority, and a suitable warning scenario set can be selected for warning according to the current vehicle positioning accuracy, thereby achieving the effect of reducing the false alarm rate.

[0123] The vehicle early warning control method in the embodiment of the present application is explained below in conjunction with an optional example. The vehicle early warning control method in this optional example is performed by an OBU device, wherein the positioning accuracy of the current vehicle is represented by a horizontal positioning error, the first positioning error threshold is 1.5 meters, the second positioning error threshold is 0.05 meters, and the first distance and the second distance are both half a vehicle body distance.

[0124] The positioning accuracy of the vehicle is a key factor affecting the accuracy and effectiveness of the active safety warning of the vehicle terminal. Lower positioning accuracy will lead to a significant increase in the false alarm rate of active safety warnings. A large number of false alarms will make the driver nervous and anxious, and then distrust the warning results, and may even ignore the real dangerous conditions and cause traffic accidents. Therefore, in order to ensure that the active safety collision warning can both assist the driver in driving safely and not affect the driver's driving experience, this optional example provides a method to reduce active safety false alarms. The active safety warning scheme can be adjusted based on the positioning accuracy of the vehicle to reduce the false triggering rate of active safety scenarios.

[0125] Fig.10 is a flow chart of another optional vehicle early warning control method according to an embodiment of the present application, such as Fig.10 As shown, the process of the method includes steps S1002 to S1018.

[0126] Step S1002: The OBU device obtains the current vehicle's own positioning and current horizontal positioning error output by the positioning module.

[0127] Step S1004, determine whether the current horizontal positioning error is greater than 1.5 meters, if so, execute step S1006, otherwise execute step S1010.

[0128] Step S1006: If the current horizontal positioning error is greater than 1.5 meters, turn off the map matching function.

[0129] Step S1008, turn off the active safety warning function and only keep the event reminder scene.

[0130] In order for the OBU device to correctly trigger the active safety warning scenario, its own positioning error should not be greater than half a lane (about 1.5 meters), otherwise the warning result will be unreliable. Therefore, if its own positioning error is greater than half a lane, the active safety warning function will be turned off, and only event reminder scenarios will be retained, and the map matching function will be turned off.

[0131] Step S1010, if the current horizontal positioning error is less than or equal to 1.5 meters, determine whether the current horizontal positioning error is less than or equal to 0.05 meters. If so, execute step S1012, otherwise execute step S1014.

[0132] Step S1012: If the current horizontal positioning error is less than or equal to 0.05 meters, it means that the positioning accuracy is extremely high, and the active safety warning function is normally turned on.

[0133] Step S1014, if the current horizontal positioning error is greater than 0.05 meters, determine whether there is a map to be matched, if so, execute step S1018, otherwise execute step S1016.

[0134] Step S1016: If there is no map to be matched, the current vehicle is shifted to the left and right by half a vehicle body respectively. If there is a risk of collision with the same traffic participant, the collision warning is triggered, otherwise the collision warning is not triggered.

[0135] Step S1018: If there is a map to be matched, the current vehicle is shifted to the left or right by half a vehicle body respectively. If they are in the same lane, the map matching result is output and the collision risk is determined based on the map matching result. Otherwise, there is no map matching.

[0136] Through this optional example, different warning schemes are selected according to different positioning accuracies. This can reduce the false triggering rate of active safety scenarios under low OBU positioning accuracy, enhance the driver's trust in the warning results, and thus improve the safety of vehicle driving.

[0137] 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 a necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application can be essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a terminal device to execute the method described in each embodiment of the present application, and the above storage medium can be ROM (Read-Only Memory, read-only memory) / RAM (Random Access Memory, random access memory), a disk or an optical disk, etc., and the above terminal device can be a mobile phone, a computer, a server or a network device, etc.

[0138] According to another aspect of the embodiments of the present application, a vehicle early warning control device is also provided, which is used to implement the target perception method of the vehicle provided in the above-mentioned embodiments, and will not be repeated hereafter. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0139] Fig.11 is a structural block diagram of an optional vehicle warning control device according to an embodiment of the present application, such as Fig.11 As shown in , the device includes: an acquisition unit 1102, a determination unit 1104 and a selection unit 1106.

[0140] The acquisition unit 1102 is used to acquire the positioning accuracy information of the target positioning module, wherein the target positioning module is a positioning module used to position the current vehicle, and the positioning accuracy information is used to describe the current positioning accuracy of the target positioning module. The acquisition unit 1102 can be used to execute step S202.

[0141] The determination unit 1104 is used to determine a candidate warning scene set corresponding to the current positioning accuracy from among the multiple warning scene sets, wherein the positioning accuracy corresponding to the active safety warning scene set from among the multiple warning scene sets is higher than the positioning accuracy corresponding to the event reminder scene set. The determination unit 1104 can be used to execute step S204.

[0142] The selection unit 1106 is used to select a warning scene from the warning scenes obtained by the current vehicle for warning based on the candidate warning scene set, wherein the selected warning scene belongs to the candidate warning scene set. The selection unit 1106 can be used to execute step S206.

[0143] Through the embodiments provided by the present application, the positioning accuracy information output by the target positioning module is obtained, wherein the target positioning module is the positioning module used to locate the current vehicle, and the positioning accuracy information is used to describe the current positioning accuracy of the target positioning module; a candidate warning scene set corresponding to the current positioning accuracy in a plurality of warning scene sets is determined, wherein the positioning accuracy corresponding to the active safety warning scene set in the plurality of warning scene sets is higher than the positioning accuracy corresponding to the event reminder scene set; based on the candidate warning scene set, a warning scene is selected from the warning scenes obtained by the current vehicle for warning, wherein the selected warning scene belongs to the candidate warning scene set. The technical problem of a high false alarm rate of safety warnings caused by the positioning accuracy of the vehicle in the vehicle warning control method in the related art can be solved, and the technical effect of reducing the false alarm rate can be achieved.

[0144] In an exemplary embodiment, the positioning accuracy of the target positioning module is characterized by the horizontal positioning error of the target positioning module, the positioning accuracy of the target positioning module is negatively correlated with the horizontal positioning error of the target positioning module, and the current positioning accuracy is the current horizontal positioning error; the determination unit includes: a first determination module, which is used to determine a first group of warning scene sets in multiple warning scene sets as a candidate warning scene set when the current horizontal positioning error is less than or equal to a first positioning error threshold, wherein the first group of warning scene sets includes an active safety warning scene set and an event reminder scene set; a second determination module, which is used to determine a second group of warning scene sets in multiple warning scene sets as a candidate warning scene set when the current horizontal positioning error is greater than the first positioning error threshold, wherein the second group of warning scene sets includes an event reminder scene set, but does not include an active safety warning scene set.

[0145] In an exemplary embodiment, the above-mentioned device also includes: a shut-down unit, which is used to shut down the map matching function of the current vehicle after obtaining the positioning accuracy information of the target positioning module and when the current horizontal positioning error is greater than the first positioning error threshold, wherein the map matching function is a function of matching the vehicle position information output by the target positioning module with the map.

[0146] In an exemplary embodiment, the above-mentioned device also includes: a first execution unit, which is used to, after obtaining the positioning accuracy information of the target positioning module, when the candidate warning scene set includes an active safety warning scene set, when the current horizontal positioning error is greater than the second positioning error threshold and there is no map to be matched, traverse a group of first traffic participants, and use the traversed first traffic participants as the current first traffic participants to perform the following operations to obtain the active safety warning scene to be triggered, wherein the first positioning error threshold is greater than the second positioning error threshold, and a group of first traffic participants are traffic participants located within the active safety warning range of the current vehicle: determine the first current corresponding to the current first traffic participant Determination result, wherein the first current determination result is used to indicate the safety warning scenario triggered by the current first traffic participant within the first collision time when the current vehicle deviates to the left by the first distance; determine the second current determination result corresponding to the current first traffic participant, wherein the second current determination result is used to indicate the safety warning scenario triggered by the current first traffic participant within the first collision time when the current vehicle deviates to the right by the first distance; when the safety warning scenario indicated by the first current determination result and the safety warning scenario indicated by the second current determination result are the same safety warning scenario, determine the safety warning scenario indicated by the first current determination result as an active safety warning scenario to be triggered.

[0147] In an exemplary embodiment, the above-mentioned device also includes: a matching unit, which is used to, after obtaining the positioning accuracy information of the target positioning module, when the candidate warning scene set includes the active safety warning scene set, when the current horizontal positioning error is greater than the second positioning error threshold and there is a designated map to be matched, match the vehicle position information output by the target positioning module with the designated map to obtain the first lane information and the second lane information, wherein the first positioning error threshold is greater than the second positioning error threshold, the first lane information is used to indicate the first lane where the current vehicle is located when the current vehicle is offset to the left by the second distance, and the second lane information is used to indicate the first lane where the current vehicle is located when the current vehicle is offset to the right by the second distance. The second lane; a second execution unit, used to traverse a group of second traffic participants when the first lane and the second lane are the same lane, and use the traversed second traffic participants as the current second traffic participants to perform the following operations to obtain an active safety warning scenario to be triggered, wherein a group of second traffic participants are traffic participants located within the active safety warning range of the current vehicle and whose lanes are determined: determine a third current judgment result corresponding to the current second traffic participant, wherein the third current judgment result is used to indicate a safety warning scenario triggered by the current second traffic participant within the second collision time; determine the safety warning scenario indicated by the third current judgment result as an active safety warning scenario to be triggered.

[0148] In an exemplary embodiment, the active safety warning scene set includes a first warning scene set with a scene type of collision risk, a second warning scene set with a scene type of potential risk, and a third warning scene set with a scene type of prompt information, the scene priority of the active safety warning scene in the first warning scene set is higher than the scene priority of the active safety warning scene in the second warning scene set, and the scene priority of the active safety warning scene in the second warning scene set is higher than the scene priority of the active safety warning scene in the third warning scene set; the selection unit includes: an execution module for selecting each single warning scene set based on the candidate warning scene set when the candidate warning scene set includes the active safety warning scene set The following warning operations are performed using the current unit time as the current unit time, wherein the active safety warning scenarios acquired by the current vehicle in the current unit time are a group of current active safety warning scenarios: when the current unit time exists in the previous unit time, determine whether there is a specified active safety warning scenario in a group of current active safety warning scenarios, wherein the specified active safety warning scenario is the active safety warning scenario with the highest scene priority and the smallest collision time among the active safety warning scenarios acquired by the current vehicle in the previous unit time; when the specified active safety warning scenario exists in a group of current active safety warning scenarios, the specified active safety warning scenario is used as the selected active safety warning scenario for warning.

[0149] In an exemplary embodiment, the first warning scenario set includes at least one of the following active safety warning scenarios: forward collision warning scenario, intersection collision warning scenario, vulnerable traffic participant collision warning scenario, left turn auxiliary warning scenario, and reverse overtaking warning scenario; the second warning scenario set includes at least one of the following active safety warning scenarios: lane change auxiliary warning scenario, close following warning scenario, and emergency braking warning scenario; the third warning scenario set includes at least one of the following active safety warning scenarios: blind spot warning scenario, abnormal vehicle warning scenario, out-of-control vehicle warning scenario, and emergency vehicle warning scenario.

[0150] It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0151] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein the program executes the steps of any of the above method embodiments when it is run.

[0152] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, a ROM, a RAM, a mobile hard disk, a magnetic disk, or an optical disk.

[0153] According to another aspect of the embodiments of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to execute the steps in any of the above method embodiments through the computer program. In an exemplary embodiment, the electronic device may further comprise a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0154] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0155] According to another aspect of the embodiment of the present application, a computer program product is also provided, which includes a computer program / instruction, and the computer program / instruction contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1209, and / or installed from the removable medium 1211. When the computer program is executed by the central processing unit 1201, various functions provided by the embodiment of the present application are executed. The above-mentioned serial numbers of the embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments.

[0156] Fig.12 The computer system structure block diagram of the electronic device used to implement the embodiment of the present application is schematically shown. Fig.12 As shown, the computer system 1200 includes a CPU (Central Processing Unit) 1201, which can perform various appropriate actions and processes according to the program stored in the ROM 1202 or the program loaded from the storage part 1208 to the RAM 1203. Various programs and data required for system operation are also stored in the random access memory 1203. The central processing unit 1201, the read-only memory 1202 and the random access memory 1203 are connected to each other through a bus 1204. An I / O (Input / Output) interface 1205 is also connected to the bus 1204.

[0157] The following components are connected to the I / O interface 1205: an input section 1206 including a keyboard, a mouse, etc.; an output section 1207 including a CRT (Cathode Ray Tube), an LCD (Liquid Crystal Display), etc., and a speaker, etc.; a storage section 1208 including a hard disk, etc.; and a communication section 1209 including a network interface card such as a LAN card, a modem, etc. The communication section 1209 performs communication processing via a network such as the Internet. A drive 1210 is also connected to the input / output interface 1205 as needed. A removable medium 1211, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1210 as needed so that a computer program read therefrom is installed into the storage section 1208 as needed.

[0158] In particular, according to an embodiment of the present application, the process described in each method flow chart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer readable medium, and the computer program contains a program code for executing the method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1209, and / or installed from the removable medium 1211. When the computer program is executed by the central processor 1201, various functions defined in the system of the present application are executed.

[0159] It should be noted that Fig.12 The computer system 1200 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0160] Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that herein, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0161] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle early warning control method, characterized in that: include: Acquire positioning accuracy information of a target positioning module, wherein the target positioning module is a positioning module used to position the current vehicle, and the positioning accuracy information is used to describe the current positioning accuracy of the target positioning module; Determine a candidate warning scene set corresponding to the current positioning accuracy from among multiple warning scene sets, wherein, among the multiple warning scene sets, the positioning accuracy corresponding to the active safety warning scene set is higher than the positioning accuracy corresponding to the event reminder scene set; Based on the candidate warning scene set, a warning scene is selected from the warning scenes acquired by the current vehicle for warning, wherein the selected warning scene belongs to the candidate warning scene set.

2. The method according to claim 1, characterized in that The positioning accuracy of the target positioning module is characterized by the horizontal positioning error of the target positioning module. The positioning accuracy of the target positioning module is negatively correlated with the horizontal positioning error of the target positioning module. The current positioning accuracy is the current horizontal positioning error. The determining a candidate warning scene set corresponding to the current positioning accuracy from among the plurality of warning scene sets includes: When the current horizontal positioning error is less than or equal to the first positioning error threshold, determining a first group of warning scene sets in the multiple warning scene sets as the candidate warning scene set, wherein the first group of warning scene sets includes the active safety warning scene set and the event reminder scene set; When the current horizontal positioning error is greater than the first positioning error threshold, a second group of warning scene sets among the multiple warning scene sets is determined as the candidate warning scene set, wherein the second group of warning scene sets includes the event reminder scene set but does not include the active safety warning scene set.

3. The method according to claim 2, characterized in that After obtaining the positioning accuracy information output by the target positioning module, the method further includes: When the current horizontal positioning error is greater than the first positioning error threshold, the map matching function of the current vehicle is turned off, wherein the map matching function is a function of matching the vehicle position information output by the target positioning module with a map.

4. The method according to claim 2, characterized in that: After obtaining the positioning accuracy information output by the target positioning module, the method further includes: In the case where the candidate warning scene set includes an active safety warning scene set, when the current horizontal positioning error is greater than the second positioning error threshold and there is no map to be matched, a group of first traffic participants is traversed, and the traversed first traffic participants are used as current first traffic participants to perform the following operations to obtain an active safety warning scene to be triggered, wherein the first positioning error threshold is greater than the second positioning error threshold, and the group of first traffic participants are traffic participants located within the active safety warning range of the current vehicle: Determine a first current determination result corresponding to the current first traffic participant, wherein the first current determination result is used to indicate a safety warning scenario triggered by the current first traffic participant within a first collision time when the current vehicle deviates to the left by a first distance; Determine a second current determination result corresponding to the current first traffic participant, wherein the second current determination result is used to indicate a safety warning scenario triggered by the current first traffic participant within the first collision time when the current vehicle deviates right by the first distance; In a case where the safety warning scenario indicated by the first current determination result and the safety warning scenario indicated by the second current determination result are the same safety warning scenario, the safety warning scenario indicated by the first current determination result is determined as an active safety warning scenario to be triggered.

5. The method according to claim 2, characterized in that: After obtaining the positioning accuracy information output by the target positioning module, the method further includes: In a case where the candidate warning scene set includes an active safety warning scene set, when the current horizontal positioning error is greater than a second positioning error threshold and there is a designated map to be matched, the vehicle position information output by the target positioning module is matched with the designated map to obtain first lane information and second lane information, wherein the first positioning error threshold is greater than the second positioning error threshold, the first lane information is used to indicate the first lane where the current vehicle is located when the current vehicle is offset to the left by the second distance, and the second lane information is used to indicate the second lane where the current vehicle is located when the current vehicle is offset to the right by the second distance; In the case where the first lane and the second lane are the same lane, a group of second traffic participants are traversed, and the traversed second traffic participants are used as current second traffic participants to perform the following operations to obtain an active safety warning scenario to be triggered, wherein the group of second traffic participants are traffic participants that are located within the active safety warning range of the current vehicle and whose lanes are determined: Determining a third current determination result corresponding to the current second traffic participant, wherein the third current determination result is used to indicate a safety warning scenario triggered by the current second traffic participant within a second collision time; The safety warning scenario indicated by the third current determination result is determined as an active safety warning scenario to be triggered.

6. The method according to any one of claims 1 to 5, characterized in that The active safety warning scenario set includes a first warning scenario set whose scenario type is collision risk, a second warning scenario set whose scenario type is potential risk, and a third warning scenario set whose scenario type is prompt information, the scenario priority of the active safety warning scenario in the first warning scenario set is higher than the scenario priority of the active safety warning scenario in the second warning scenario set, and the scenario priority of the active safety warning scenario in the second warning scenario set is higher than the scenario priority of the active safety warning scenario in the third warning scenario set; The step of selecting a warning scene from the warning scenes acquired by the current vehicle for warning based on the candidate warning scene set includes: In the case where the candidate warning scene set includes an active safety warning scene set, based on the candidate warning scene set, each unit time is taken as the current unit time to perform the following warning operation, wherein the active safety warning scene acquired by the current vehicle within the current unit time is a set of current active safety warning scenes: In the case that the current unit time has a previous unit time, determining whether there is a designated active safety warning scene in the set of current active safety warning scenes, wherein the designated active safety warning scene is an active safety warning scene with the highest scene priority and the shortest collision time among the active safety warning scenes acquired by the current vehicle in the previous unit time; In a case where the specified active safety warning scenario exists in the group of current active safety warning scenarios, the specified active safety warning scenario is used as a selected active safety warning scenario for warning.

7. The method according to claim 6, characterized in that The first warning scenario set includes at least one of the following active safety warning scenarios: forward collision warning scenario, intersection collision warning scenario, vulnerable traffic participant collision warning scenario, left turn auxiliary warning scenario, and reverse overtaking warning scenario; The second warning scenario set includes at least one of the following active safety warning scenarios: a lane change assistance warning scenario, a close following vehicle warning scenario, and an emergency brake warning scenario; The third warning scenario set includes at least one of the following active safety warning scenarios: a blind spot warning scenario, an abnormal vehicle warning scenario, an out-of-control vehicle warning scenario, and an emergency vehicle warning scenario.

8. A vehicle early warning control device, characterized in that: include: An acquisition unit, used for acquiring positioning accuracy information of a target positioning module, wherein the target positioning module is a positioning module used for positioning the current vehicle, and the positioning accuracy information is used for describing the current positioning accuracy of the target positioning module; A determination unit, configured to determine a candidate warning scene set corresponding to the current positioning accuracy from among a plurality of warning scene sets, wherein, among the plurality of warning scene sets, the positioning accuracy corresponding to the active safety warning scene set is higher than the positioning accuracy corresponding to the event reminder scene set; A selection unit is used to select a warning scene from the warning scenes acquired by the current vehicle for warning based on the candidate warning scene set, wherein the selected warning scene belongs to the candidate warning scene set.

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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