Vehicle early warning method, device, equipment, medium and program product

Abstract

The invention relates to a vehicle early warning method and device, equipment, a storage medium and a program product. The vehicle early warning method comprises the following steps: acquiring vehicle driving data of a current vehicle; determining a driving buffer area of the current vehicle according to the vehicle driving data; acquiring target motion data of a target object on a road on which the current vehicle runs; based on the vehicle driving data and the target motion data, predicting whether the target object is located in a driving buffer area of the current vehicle within a set time period; and when it is predicted that the target object is located in the driving buffer area of the current vehicle, first vehicle early warning information is generated. Through the steps, effective and reliable early warning information is provided for a driver, and the driving safety is improved.

Description

Technical Field

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

[0002] With the development of economy and technology, the number of vehicles on the road is increasing day by day. However, due to the inherent characteristics of vehicle design and the limitation of driver's vision range, the problem of vehicle blind spots has gradually become prominent, bringing certain challenges to road safety.

[0003] In traditional technology, the relative distance between adjacent vehicles is usually collected through radar sensors or roadside equipment. When the relative distance is lower than the distance threshold, an early warning is issued to the driver. However, in this way, if the threshold is set too small, it is difficult for the driver to respond even if the system issues an early warning. If the threshold is set too large, unnecessary early warnings often occur, affecting normal driving. Therefore, a vehicle early warning method that can improve driving safety is urgently needed. Summary of the invention

[0004] Based on this, it is necessary to provide a vehicle warning method, device, equipment, medium and program product that can improve driving safety in response to the above technical problems.

[0005] In a first aspect, the present application provides a vehicle early warning method, comprising:

[0006] Get the vehicle driving data of the current vehicle;

[0007] Determine the driving buffer area of ​​the current vehicle according to the vehicle driving data;

[0008] Obtain target motion data of a target object on the road on which the vehicle is currently traveling;

[0009] Based on the vehicle driving data and the target motion data, predict whether the target object is located within the driving buffer area of ​​the current vehicle within a set time period;

[0010] When it is predicted that the target object is located within the driving buffer area of ​​the current vehicle, first vehicle warning information is generated.

[0011] In one of the embodiments, based on the vehicle driving data and the target motion data, predicting whether the target object is located within the driving buffer area of ​​the current vehicle within a set time period includes: based on the vehicle driving data and the target motion data, predicting the distance change trajectory of the target object relative to the current vehicle within the set time period; and determining whether the target object is located within the driving buffer area of ​​the current vehicle within the set time period according to the distance change trajectory.

[0012] In one of the embodiments, determining whether the target object is located within the driving buffer area of ​​the current vehicle within a set time period based on the distance change trajectory includes: determining whether there is a trajectory point in the distance change trajectory that is not greater than a preset value; if so, determining that the target object is located within the driving buffer area of ​​the current vehicle within the set time period; otherwise, determining that the target object is located outside the driving buffer area of ​​the current vehicle within the set time period.

[0013] In one embodiment, the vehicle driving data includes the vehicle driving speed of the current vehicle; the target motion data includes the relative distance between the target object and the current vehicle, and the target motion speed of the target object; based on the vehicle driving data and the target motion data, predicting whether the target object is located in the driving buffer area of ​​the current vehicle within a set time period, including: determining the expected collision time between the target object and the current vehicle based on the relative distance, the vehicle driving speed and the target motion speed; if the expected collision time is less than the time length of the set time period, predicting that the target object is located in the driving buffer area of ​​the current vehicle; if the expected collision time is not less than the time length of the set time period, predicting that the target object is located outside the driving buffer area of ​​the current vehicle.

[0014] In one of the embodiments, a driving buffer area of ​​the current vehicle is determined according to vehicle driving data, including: based on a grid map of the current vehicle, determining the driving buffer area of ​​the current vehicle according to the vehicle driving data; wherein the grid map is determined in the following manner: obtaining current environmental data around the current vehicle; based on the current environmental data, generating a full-view image of the road surface where the current vehicle is located; and gridding the full-view image to obtain a grid map.

[0015] In one of the embodiments, the vehicle warning method also includes: generating a second vehicle warning message when the target object is located within a driving buffer area of ​​the current vehicle; and / or determining a blind spot area of ​​the current vehicle from a grid map; generating a third vehicle warning message when the target object is located within a blind spot area of ​​the current vehicle.

[0016] In a second aspect, the present application also provides a vehicle warning device, comprising:

[0017] A first acquisition module, used to acquire vehicle driving data of the current vehicle;

[0018] A determination module, used to determine a driving buffer area of ​​the current vehicle according to the vehicle driving data;

[0019] The second acquisition module is used to acquire target motion data of a target object on the road on which the vehicle is currently traveling;

[0020] A prediction module, used to predict whether the target object is located within the driving buffer area of ​​the current vehicle within a set time period based on the vehicle driving data and the target motion data;

[0021] The generation module is used to generate the first vehicle warning information when it is predicted that the target object is located in the driving buffer area of ​​the current vehicle.

[0022] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0023] Get the vehicle driving data of the current vehicle;

[0024] Determine the driving buffer area of ​​the current vehicle according to the vehicle driving data;

[0025] Obtain target motion data of a target object on the road on which the vehicle is currently traveling;

[0026] Based on the vehicle driving data and the target motion data, predict whether the target object is located within the driving buffer area of ​​the current vehicle within a set time period;

[0027] When it is predicted that the target object is located within the driving buffer area of ​​the current vehicle, first vehicle warning information is generated.

[0028] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0029] Get the vehicle driving data of the current vehicle;

[0030] Determine the driving buffer area of ​​the current vehicle according to the vehicle driving data;

[0031] Obtain target motion data of a target object on the road on which the vehicle is currently traveling;

[0032] Based on the vehicle driving data and the target motion data, predict whether the target object is located within the driving buffer area of ​​the current vehicle within a set time period;

[0033] When it is predicted that the target object is located within the driving buffer area of ​​the current vehicle, first vehicle warning information is generated.

[0034] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0035] Get the vehicle driving data of the current vehicle;

[0036] Determine the driving buffer area of ​​the current vehicle according to the vehicle driving data;

[0037] Obtain target motion data of a target object on the road on which the vehicle is currently traveling;

[0038] Based on the vehicle driving data and the target motion data, predict whether the target object is located within the driving buffer area of ​​the current vehicle within a set time period;

[0039] When it is predicted that the target object is located within the driving buffer area of ​​the current vehicle, first vehicle warning information is generated.

[0040] The above-mentioned vehicle warning method, device, equipment, medium and program product, by introducing a driving buffer area, facilitates the early prediction of potential dangerous situations, thereby enhancing driving safety. Based on the vehicle driving data of the current vehicle and the target object target motion data, it is predicted whether the target object is located in the driving buffer area of ​​the current vehicle within a set time period, so that the dynamic changes of the current vehicle and the surrounding target objects can be tracked, and the relative position relationship between the current vehicle and the surrounding target objects can be predicted. In the case where it is predicted that the target object is located in the driving buffer area of ​​the current vehicle, the first vehicle warning information is generated, thereby providing the driver with effective and reliable warning information, thereby improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1A A schematic diagram of a process flow of a vehicle early warning method in one embodiment;

[0043] Figure 1B is a schematic diagram of a grid map in one embodiment;

[0044] Figure 2 A schematic diagram of a process flow of a target object prediction step in one embodiment;

[0045] Figure 3 A schematic diagram of a process flow of a vehicle early warning method in another embodiment;

[0046] Figure 4 A structural block diagram of a vehicle early warning device in one embodiment;

[0047] Figure 5 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0049] In one embodiment, Figure 1A As shown, a vehicle warning method is provided. This embodiment takes the method applied to a terminal as an example. It can be understood that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0050] S110: Acquire vehicle driving data of the current vehicle.

[0051] Among them, the vehicle driving data can be understood as data related to the vehicle state generated when the current vehicle is in driving or stationary state. Exemplarily, the vehicle driving data may include the vehicle driving speed of the current vehicle. Of course, the vehicle driving data may also include at least one of driving acceleration, current position, mass of the current vehicle, driving slope, road adhesion coefficient, road terrain information and current environmental data around the current vehicle. The technicians can obtain the corresponding vehicle driving data according to actual needs. This application does not impose any restrictions on the type of vehicle driving data.

[0052] In an optional embodiment, the vehicle driving data may be obtained through the vehicle bus of the current vehicle, or may be obtained based on traffic monitoring equipment, a navigation system, a vehicle networking system, etc. The present application does not impose any limitation on the method of obtaining the vehicle driving data.

[0053] S120: Determine a driving buffer area of ​​the current vehicle according to the vehicle driving data.

[0054] The driving buffer area can be understood as a virtual space surrounding the current vehicle and taking into account its movement trend.

[0055] In an optional embodiment, the driving buffer area of ​​the current vehicle can be determined based on the grid map of the current vehicle and the vehicle driving data; the grid map is determined in the following manner: obtaining the current environmental data around the current vehicle; generating a full-view image of the road surface where the current vehicle is located based on the current environmental data; and gridding the full-view image to obtain a grid map. By introducing the grid map, it is easy to determine the driving buffer area, and the difficulty of calculating the driving buffer area is reduced.

[0056] Optionally, an area within a preset range around the current vehicle corresponding to the grid map may be used as a driving buffer area.

[0057] Optionally, multiple sensors may be installed on the current vehicle, and the current environment data around the current vehicle may be obtained through the sensors. For example, an intelligent wide-angle camera may be installed at the center of the front of the current vehicle and above the left and right doors of the cab to obtain the current environment data around the current vehicle.

[0058] Optionally, a full-view image of the road surface where the vehicle is currently located can be generated based on the current environmental data using a multi-sensor perception fusion method. The side length of the grid in the grid map can be set to 0.75m-1m, and the grid map can also be displayed on the vehicle display interface.

[0059] In an optional embodiment, the vehicle driving data includes the road adhesion coefficient and driving slope of the current vehicle. Determining the driving buffer area of ​​the current vehicle may include the following steps: determining the maximum braking deceleration of the current vehicle according to the road adhesion coefficient and the driving slope; determining the braking distance corresponding to the current vehicle according to the maximum braking deceleration; and determining the driving buffer area of ​​the current vehicle according to the braking distance.

[0060] The road adhesion coefficient can be understood as the adhesion capacity of the tire of the current vehicle when it contacts the road surface. The value of the road adhesion coefficient can be determined based on the road surface material and tire material, etc. The driving slope can be collected by the slope measurement device on the current vehicle, or by the roadside equipment.

[0061] In an optional embodiment, the vehicle driving data includes the vehicle speed of the current vehicle. Accordingly, the braking distance corresponding to the current vehicle can be determined by the vehicle speed of the current vehicle and the maximum braking deceleration. The braking distance thus obtained provides a reference basis for the step of determining the driving buffer area. The longer the braking distance, the longer the distance required for the driver to completely stop the vehicle after discovering an emergency. Therefore, the longer the braking distance, the larger the range of the driving buffer area can be correspondingly expanded to ensure that the driver has enough time and space to react and avoid safety accidents. In other optional embodiments, road surface terrain data can be obtained, and the driving buffer area can be corrected based on the road surface terrain data. The road surface terrain data can include at least one of tunnels, curves, uphill and downhill slopes, etc.

[0062] In an optional embodiment, the maximum braking deceleration a max The following constraints are met:

[0063] a max =ugcosθ-gsinθ;

[0064] a≤ug;

[0065] Among them, amax represents the maximum braking deceleration; u represents the road adhesion coefficient; g represents the acceleration of gravity; θ represents the driving slope; a represents the braking deceleration.

[0066] S130: Acquire target motion data of a target object on the road on which the vehicle is currently traveling.

[0067] The target object can be understood as an entity or obstacle that is on the road on which the current vehicle is traveling and that may hinder the normal driving of the current vehicle. The target object can be at least one of a target vehicle, a target pedestrian, and a target obstacle.

[0068] The target motion data may be understood as relevant data generated when the target object is in motion or stationary state. The target motion data may include at least one of the target motion speed, target position, and relative distance from the current vehicle of the target object. The technician may obtain the corresponding target motion data according to actual needs, and this application does not impose any restrictions on the type of target motion data.

[0069] Optionally, the target motion data of the target object may be collected by a collection device on the current vehicle. The collection device may include at least one of a camera and a motion sensor. Optionally, the collection direction of the collection device may be at least one of the front, rear, and side of the current vehicle.

[0070] S140: Based on the vehicle driving data and the target motion data, predict whether the target object is located in the driving buffer area of ​​the current vehicle within a set time period.

[0071] The length of the set time period can be set by technicians according to needs or experience, or determined through a large number of experiments, and this application does not impose any limitation on this.

[0072] The vehicle driving data reflects the driving state of the current vehicle, and the target motion data reflects the motion state of the target object. Based on the vehicle driving data and the target motion data, the relative position relationship between the target object and the current vehicle within a set time period can be predicted, thereby predicting whether the target object is located within the driving buffer area of ​​the current vehicle within the set time period.

[0073] S150: When it is predicted that the target object is located within the driving buffer area of ​​the current vehicle, generate first vehicle warning information.

[0074] In an optional embodiment, when the target object is located within the driving buffer area of ​​the current vehicle, second vehicle warning information is generated.

[0075] In an optional embodiment, the blind spot area of ​​the current vehicle is determined from the grid map; when the target object is located in the blind spot area of ​​the current vehicle, a third vehicle warning information is generated. The vehicle information of the current vehicle can be obtained, and the blind spot area of ​​the current vehicle can be determined based on the vehicle information. The vehicle information can include the size data and model data of the current vehicle, and the size data can include the length, width and height of the current vehicle.

[0076] For example, Figure 1B A schematic diagram of a grid map in one embodiment. Figure 1B , a grid map 100, a current vehicle 101 located in the grid map 100, and a driving buffer area 102 and a blind spot area 103 corresponding to the current vehicle are shown.

[0077] In an optional embodiment, the warning levels of the first vehicle warning information, the second vehicle warning information, and the third vehicle warning information increase in sequence to characterize the corresponding degree of urgency. Exemplarily, the first vehicle warning information includes a green box marked on the vehicle display interface, and the marked content may be a target object predicted to be located within the driving buffer area. Exemplarily, the second vehicle warning information includes a yellow marked box displayed on the vehicle display interface and / or a voice alarm of the first frequency. Among them, the marked content of the yellow marked box may be a target object actually located within the driving buffer area, and the voice alarm may be played through the speaker of the current vehicle, etc. Exemplarily, the third vehicle warning information includes a red marked box displayed on the vehicle display interface and / or a voice alarm of the second frequency. The marked content of the red marked box may be a target object actually located within the blind spot area, and the second frequency is greater than the first frequency.

[0078] In the embodiment of the present application, a driving buffer area is introduced to facilitate early prediction of potential dangerous situations, thereby enhancing driving safety. Based on the vehicle driving data of the current vehicle and the target object target motion data, it is predicted whether the target object is located within the driving buffer area of ​​the current vehicle within a set time period, so that the dynamic changes of the current vehicle and the surrounding target objects can be tracked, and the relative position relationship between the current vehicle and the surrounding target objects can be predicted. When it is predicted that the target object is located within the driving buffer area of ​​the current vehicle, the first vehicle warning information is generated, thereby providing the driver with effective and reliable warning information and improving driving safety.

[0079] Based on the technical solutions of the above embodiments, the present application also provides an optional embodiment, in which the prediction steps of the target object are refined.

[0080] See also Figure 2 The prediction steps for the target object shown include:

[0081] S210: Based on the vehicle driving data and the target motion data, predict a distance change trajectory of the target object relative to the current vehicle within a set time period.

[0082] In an optional embodiment, the vehicle driving data includes the vehicle driving speed of the current vehicle, and the target motion data includes the target motion speed of the target object and the relative distance between the target object and the current vehicle. The relative distance change between the target object and the current vehicle in a set time period is calculated by the vehicle driving speed and the target motion speed, thereby obtaining a distance change trajectory of the target object relative to the current vehicle. Among them, the trajectory point in the distance change trajectory represents the predicted distance between the target object and the current vehicle corresponding to the predicted time point in the set time period.

[0083] Optionally, the vehicle driving data also includes the driving position of the current vehicle, and the target motion data also includes the target position of the target object, and the relative distance between the target object and the current vehicle is determined by the driving position and the target position.

[0084] Optionally, the relative position relationship between the target object and the current vehicle within a set time period can be determined through the distance change trajectory, and the relative position relationship between the target object, the current vehicle and the driving buffer area of ​​the current vehicle within the set time period can be displayed in a visual manner on the on-board display interface, so that the driver can more intuitively predict potential dangers.

[0085] Optionally, the distance change trajectory can also be presented in the form of coordinates, for example, using each predicted time point as the horizontal coordinate and the corresponding predicted distance as the vertical coordinate, so as to construct the distance change trajectory. The distance change trajectory can more conveniently reflect the change trend of the predicted distance.

[0086] S220: Determine whether the target object is located within the driving buffer area of ​​the current vehicle within a set time period according to the distance change trajectory.

[0087] In an optional embodiment, it can be determined whether there is a trajectory point in the distance change trajectory that is not greater than a preset value; if so, it is determined that the target object is located within the driving buffer area of ​​the current vehicle within the set time period; otherwise, it is determined that the target object is located outside the driving buffer area of ​​the current vehicle within the set time period.

[0088] The preset value may be set by a technician according to needs or experience, or determined through a large number of experiments, and this application does not impose any limitation on this. In particular, the preset value may be the length of the driving buffer area that the target object and the current vehicle need to pass through in the connection line.

[0089] In the embodiment of the present application, by introducing the distance change trajectory, it is convenient to intuitively determine whether the target object is located within the driving buffer area of ​​the current vehicle within the set time period, so as to more intuitively predict potential dangers. At the same time, it also provides another technical means for predicting the target object, enriching the diversity of technology.

[0090] On the basis of the technical solutions of the above-mentioned embodiments, the present application also provides another implementation method of the prediction step of the target object. Among them, the vehicle driving data includes the vehicle driving speed of the current vehicle; the target motion data includes the relative distance between the target object and the current vehicle, and the target motion speed of the target object. Based on the vehicle driving data and the target motion data, it is predicted whether the target object is located in the driving buffer area of ​​the current vehicle within the set time period, including: determining the expected collision time between the target object and the current vehicle according to the relative distance, the vehicle driving speed and the target motion speed; if the expected collision time is less than the time length of the set time period, it is predicted that the target object is located in the driving buffer area of ​​the current vehicle; if the expected collision time is not less than the time length of the set time period, it is predicted that the target object is located outside the driving buffer area of ​​the current vehicle. Among them, the expected collision time refers to: when the target object moves at the target motion speed and the current vehicle travels at the vehicle driving speed, the expected time length required for the two to collide. It can be understood that the value of the expected collision time is greater than 0.

[0091] For example, taking the case where the current vehicle's travel direction is the same as the target object's travel direction, the estimated collision time T can be calculated using the following formula:

[0092]

[0093] Where T is the expected collision time; x c (t) represents the relative distance between the target object and the current vehicle at the current time t; V s (t) represents the target motion speed of the target object corresponding to the current time t; V p (t) represents the vehicle speed of the current vehicle corresponding to the current time t.

[0094] Based on the technical solutions of the above embodiments, the present application also provides an optional embodiment, in which another specific implementation method of the vehicle early warning method is provided.

[0095] See also Figure 3 Another vehicle warning method shown includes:

[0096] S301, obtaining current environment data around the current vehicle.

[0097] S302: Generate a full-view image of the road where the vehicle is currently located based on current environmental data.

[0098] S303 , gridding the full-view image to obtain a grid map.

[0099] S304, obtaining vehicle driving data of the current vehicle; the vehicle driving data includes the vehicle driving speed of the current vehicle.

[0100] S305 . Determine a driving buffer area of ​​the current vehicle based on the grid map of the current vehicle and according to the vehicle driving data.

[0101] S306: Determine the blind spot area of ​​the current vehicle based on the grid map of the current vehicle.

[0102] S307, obtaining target motion data of a target object on the road on which the current vehicle is traveling; the target motion data includes a relative distance between the target object and the current vehicle, and a target motion speed of the target object.

[0103] S308. Determine the estimated collision time between the target object and the current vehicle based on the relative distance, the vehicle travel speed and the target movement speed; if the estimated collision time is less than the length of the set time period, it is predicted that the target object is located within the travel buffer area of ​​the current vehicle.

[0104] S309: When it is predicted that the target object is located within the driving buffer area of ​​the current vehicle, generate first vehicle warning information.

[0105] S310: When the target object is located within the driving buffer area of ​​the current vehicle, generate second vehicle warning information.

[0106] S311. When the target object is located in a blind spot area of ​​the current vehicle, generate third vehicle warning information.

[0107] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0108] Based on the same inventive concept, the embodiment of the present application also provides a vehicle warning device for implementing the vehicle warning method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more vehicle warning device embodiments provided below can refer to the limitations on the vehicle warning method above, and will not be repeated here.

[0109] In an exemplary embodiment, Figure 4 As shown, a vehicle warning device is provided, including: a first acquisition module 410, a determination module 420, a second acquisition module 430, a prediction module 440 and a generation module 450, wherein:

[0110] The first acquisition module 410 is used to acquire vehicle driving data of the current vehicle.

[0111] The determination module 420 is used to determine the driving buffer area of ​​the current vehicle according to the vehicle driving data.

[0112] The second acquisition module 430 is used to acquire target motion data of a target object on the road on which the vehicle is currently traveling.

[0113] The prediction module 440 is used to predict whether the target object is located in the driving buffer area of ​​the current vehicle within a set time period based on the vehicle driving data and the target motion data.

[0114] The generating module 450 is used to generate the first vehicle warning information when it is predicted that the target object is located in the driving buffer area of ​​the current vehicle.

[0115] In one embodiment, the prediction module 440 includes: a first prediction unit, configured to predict a distance change trajectory of a target object relative to a current vehicle within a set time period based on vehicle driving data and target motion data; and a first determination unit, configured to determine whether the target object is located within a driving buffer area of ​​the current vehicle within a set time period according to the distance change trajectory.

[0116] In one embodiment, the first determination unit includes: a first determination subunit, used to determine whether there is a trajectory point in the distance change trajectory that is not greater than a preset value; if so, determining that the target object is located within the driving buffer area of ​​the current vehicle within a set time period; otherwise, determining that the target object is located outside the driving buffer area of ​​the current vehicle within the set time period.

[0117] In one embodiment, the vehicle driving data includes the vehicle driving speed of the current vehicle; the target motion data includes the relative distance between the target object and the current vehicle, and the target motion speed of the target object; the prediction module 440 includes: a second determination unit, which is used to determine the expected collision time between the target object and the current vehicle based on the relative distance, the vehicle driving speed and the target motion speed. The second prediction unit is used to predict that the target object is located within the driving buffer area of ​​the current vehicle if the expected collision time is less than the time length of the set time period. The third prediction unit is used to predict that the target object is located outside the driving buffer area of ​​the current vehicle if the expected collision time is not less than the time length of the set time period.

[0118] In one embodiment, the determination module 420 includes: a third determination unit, which is used to determine the driving buffer area of ​​the current vehicle based on the grid map of the current vehicle and the vehicle driving data. The grid map is determined in the following manner: obtaining the current environmental data around the current vehicle; generating a full-view image of the road where the current vehicle is located based on the current environmental data; and gridding the full-view image to obtain a grid map.

[0119] In one embodiment, the vehicle warning device also includes: a first generation module and / or a second generation module; the first generation module is used to generate second vehicle warning information when the target object is located within the driving buffer area of ​​the current vehicle; the second generation module is used to determine the blind spot area of ​​the current vehicle from the grid map; and generate third vehicle warning information when the target object is located within the blind spot area of ​​the current vehicle.

[0120] Each module in the above-mentioned vehicle warning device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module above.

[0121] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 5As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a vehicle warning method is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0122] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0123] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0124] Get the vehicle driving data of the current vehicle;

[0125] Determine the driving buffer area of ​​the current vehicle according to the vehicle driving data;

[0126] Obtain target motion data of a target object on the road on which the vehicle is currently traveling;

[0127] Based on the vehicle driving data and the target motion data, predict whether the target object is located within the driving buffer area of ​​the current vehicle within a set time period;

[0128] When it is predicted that the target object is located within the driving buffer area of ​​the current vehicle, first vehicle warning information is generated.

[0129] In one embodiment, when the processor executes the computer program, the following steps are also implemented: based on the vehicle driving data and the target motion data, predicting the distance change trajectory of the target object relative to the current vehicle within a set time period; and determining whether the target object is located within the driving buffer area of ​​the current vehicle within the set time period according to the distance change trajectory.

[0130] In one embodiment, when the processor executes the computer program, the following steps are also implemented: determining whether there is a trajectory point in the distance change trajectory that is not greater than a preset value; if so, determining that the target object is within the driving buffer area of ​​the current vehicle within a set time period; otherwise, determining that the target object is outside the driving buffer area of ​​the current vehicle within the set time period.

[0131] In one embodiment, the vehicle driving data includes the vehicle driving speed of the current vehicle; the target motion data includes the relative distance between the target object and the current vehicle, and the target motion speed of the target object; when the processor executes the computer program, the following steps are also implemented: based on the relative distance, the vehicle driving speed and the target motion speed, the expected collision time between the target object and the current vehicle is determined; if the expected collision time is less than the length of a set time period, it is predicted that the target object is located within the driving buffer area of ​​the current vehicle; if the expected collision time is not less than the length of the set time period, it is predicted that the target object is located outside the driving buffer area of ​​the current vehicle.

[0132] In one embodiment, based on a grid map of the current vehicle and according to vehicle driving data, a driving buffer area of ​​the current vehicle is determined; wherein the grid map is determined in the following manner: obtaining current environmental data around the current vehicle; based on the current environmental data, generating a full-view image of the road surface where the current vehicle is located; and gridding the full-view image to obtain a grid map.

[0133] In one embodiment, when the target object is located within the driving buffer area of ​​the current vehicle, a second vehicle warning information is generated; and / or, the blind spot area of ​​the current vehicle is determined from the grid map; when the target object is located within the blind spot area of ​​the current vehicle, a third vehicle warning information is generated.

[0134] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0135] Get the vehicle driving data of the current vehicle;

[0136] Determine the driving buffer area of ​​the current vehicle according to the vehicle driving data;

[0137] Obtain target motion data of a target object on the road on which the vehicle is currently traveling;

[0138] Based on the vehicle driving data and the target motion data, predict whether the target object is located within the driving buffer area of ​​the current vehicle within a set time period;

[0139] When it is predicted that the target object is located within the driving buffer area of ​​the current vehicle, first vehicle warning information is generated.

[0140] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: based on the vehicle driving data and the target motion data, predicting the distance change trajectory of the target object relative to the current vehicle within a set time period; and determining whether the target object is located within the driving buffer area of ​​the current vehicle within the set time period according to the distance change trajectory.

[0141] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: determining whether there is a trajectory point in the distance change trajectory that is not greater than a preset value; if so, determining that the target object is within the driving buffer area of ​​the current vehicle within a set time period; otherwise, determining that the target object is outside the driving buffer area of ​​the current vehicle within the set time period.

[0142] In one embodiment, the vehicle driving data includes the vehicle driving speed of the current vehicle; the target motion data includes the relative distance between the target object and the current vehicle, and the target motion speed of the target object; when the computer program is executed by the processor, the following steps are also implemented: based on the relative distance, the vehicle driving speed and the target motion speed, the expected collision time between the target object and the current vehicle is determined; if the expected collision time is less than the length of a set time period, it is predicted that the target object is located within the driving buffer area of ​​the current vehicle; if the expected collision time is not less than the length of the set time period, it is predicted that the target object is located outside the driving buffer area of ​​the current vehicle.

[0143] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: based on the grid map of the current vehicle and according to the vehicle driving data, a driving buffer area of ​​the current vehicle is determined; wherein the grid map is determined in the following manner: obtaining current environmental data around the current vehicle; based on the current environmental data, generating a full-view image of the road surface where the current vehicle is located; and gridding the full-view image to obtain a grid map.

[0144] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0145] Get the vehicle driving data of the current vehicle;

[0146] Determine the driving buffer area of ​​the current vehicle according to the vehicle driving data;

[0147] Obtain target motion data of a target object on the road on which the vehicle is currently traveling;

[0148] Based on the vehicle driving data and the target motion data, predict whether the target object is located within the driving buffer area of ​​the current vehicle within a set time period;

[0149] When it is predicted that the target object is located within the driving buffer area of ​​the current vehicle, first vehicle warning information is generated.

[0150] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: based on the vehicle driving data and the target motion data, predicting the distance change trajectory of the target object relative to the current vehicle within a set time period; and determining whether the target object is located within the driving buffer area of ​​the current vehicle within the set time period according to the distance change trajectory.

[0151] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: determining whether there is a trajectory point in the distance change trajectory that is not greater than a preset value; if so, determining that the target object is within the driving buffer area of ​​the current vehicle within a set time period; otherwise, determining that the target object is outside the driving buffer area of ​​the current vehicle within the set time period.

[0152] In one embodiment, the vehicle driving data includes the vehicle driving speed of the current vehicle; the target motion data includes the relative distance between the target object and the current vehicle, and the target motion speed of the target object; when the computer program is executed by the processor, the following steps are also implemented: based on the relative distance, the vehicle driving speed and the target motion speed, the expected collision time between the target object and the current vehicle is determined; if the expected collision time is less than the length of a set time period, it is predicted that the target object is located within the driving buffer area of ​​the current vehicle; if the expected collision time is not less than the length of the set time period, it is predicted that the target object is located outside the driving buffer area of ​​the current vehicle.

[0153] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: based on the grid map of the current vehicle and according to the vehicle driving data, a driving buffer area of ​​the current vehicle is determined; wherein the grid map is determined in the following manner: obtaining current environmental data around the current vehicle; based on the current environmental data, generating a full-view image of the road surface where the current vehicle is located; and gridding the full-view image to obtain a grid map.

[0154] In one embodiment, when the target object is located within the driving buffer area of ​​the current vehicle, a second vehicle warning information is generated; and / or, the blind spot area of ​​the current vehicle is determined from the grid map; when the target object is located within the blind spot area of ​​the current vehicle, a third vehicle warning information is generated.

[0155] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0156] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0157] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A vehicle early warning method, characterized in that: The method comprises: Get the vehicle driving data of the current vehicle; Determining a driving buffer area of ​​the current vehicle according to the vehicle driving data; Acquire target motion data of a target object on the road on which the current vehicle is traveling; Based on the vehicle driving data and the target motion data, predict whether the target object is located within the driving buffer area of ​​the current vehicle within a set time period; When it is predicted that the target object is located within the driving buffer area of ​​the current vehicle, first vehicle warning information is generated.

2. The method according to claim 1, characterized in that: The predicting, based on the vehicle driving data and the target motion data, whether the target object is located within the driving buffer area of ​​the current vehicle within a set time period comprises: Based on the vehicle driving data and the target motion data, predicting a distance change trajectory of the target object relative to the current vehicle within a set time period; According to the distance change trajectory, it is determined whether the target object is located within the driving buffer area of ​​the current vehicle within the set time period.

3. The method according to claim 2, characterized in that The determining, according to the distance change trajectory, whether the target object is located within the driving buffer area of ​​the current vehicle within the set time period includes: Determine whether there is a trajectory point in the distance change trajectory that is not greater than a preset value; If so, determining that the target object is located within the driving buffer area of ​​the current vehicle within the set time period; Otherwise, it is determined that the target object is located outside the driving buffer area of ​​the current vehicle within the set time period.

4. The method according to claim 1, characterized in that: The vehicle driving data includes the vehicle driving speed of the current vehicle; the target motion data includes the relative distance between the target object and the current vehicle, and the target motion speed of the target object; The predicting, based on the vehicle driving data and the target motion data, whether the target object is located within the driving buffer area of ​​the current vehicle within a set time period includes: Determining an estimated collision time between the target object and the current vehicle according to the relative distance, the vehicle travel speed and the target movement speed; If the estimated collision time is less than the length of the set time period, predicting that the target object is located within the driving buffer area of ​​the current vehicle; If the estimated collision time is not less than the length of the set time period, it is predicted that the target object is located outside the driving buffer area of ​​the current vehicle.

5. The method according to any one of claims 1 to 4, characterized in that: The step of determining the driving buffer area of ​​the current vehicle according to the vehicle driving data includes: Based on the grid map of the current vehicle and according to the vehicle driving data, determining a driving buffer area of ​​the current vehicle; The grid map is determined in the following manner: Acquiring current environment data around the current vehicle; Based on the current environment data, generating a full-view image of the road surface where the current vehicle is located; The full-view image is grid-divided to obtain the grid map.

6. The method according to claim 5, characterized in that Also includes: When the target object is located within the driving buffer area of ​​the current vehicle, generating second vehicle warning information; and / or, Determining a blind spot area of ​​the current vehicle from the grid map; When the target object is located in the blind spot area of ​​the current vehicle, third vehicle warning information is generated.

7. A vehicle warning device, characterized in that: The device comprises: A first acquisition module, used to acquire vehicle driving data of the current vehicle; A determination module, used to determine a driving buffer area of ​​the current vehicle according to the vehicle driving data; A second acquisition module is used to acquire target motion data of a target object on the road on which the current vehicle is traveling; A prediction module, configured to predict whether the target object is located within a driving buffer area of ​​the current vehicle within a set time period based on the vehicle driving data and the target motion data; A generation module is used to generate first vehicle warning information when it is predicted that the target object is located within the driving buffer area of ​​the current vehicle.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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