Driving early warning method, storage medium and electronic device

Abstract

The embodiment of the invention provides a driving early warning method, a storage medium and an electronic device. The method comprises the following steps: receiving position information of a target vehicle reported by first roadside equipment; the position information of the target vehicle is compared with the fence range of the target geo-fence to judge whether the target vehicle enters the fence range of the target geo-fence, and the fence range of the target geo-fence comprises the range of event monitoring of the target early warning event; and under the condition of determining that the target vehicle enters the fence range of the target geo-fence, controlling a second roadside device associated with the target geo-fence to send a target early warning message to the target vehicle so as to carry out early warning on the target early warning event. The problem that the traffic safety risk is increased due to the fact that the intelligent degree is low in a driving early warning method in the related technology is solved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of traffic control, and more specifically, to a driving warning method, a storage medium, and an electronic device. Background Art

[0002] Traditional traffic systems have little perception content, low intelligence, and weak information exchange and sharing capabilities. They are unable to provide early warning of accidents ahead, abnormal road conditions, and the impact of weather during driving, and are unable to provide drivers with early warnings and make judgments, so traffic accidents often occur.

[0003] It can be seen that the driving warning method in the relevant technology has the problem of increased traffic safety risks due to its low level of intelligence. Summary of the invention

[0004] The embodiments of the present application provide a driving warning method, a storage medium, and an electronic device to at least solve the problem that the driving warning method in the related art has an increased traffic safety risk due to its low level of intelligence.

[0005] According to one embodiment of the present application, a driving warning method is provided, including: receiving location information of a target vehicle reported by a first roadside device; comparing the location information of the target vehicle with the fence range of a target geo-fence to determine whether the target vehicle enters the fence range of the target geo-fence, wherein the fence range of the target geo-fence includes a range for event monitoring of target warning events; when it is determined that the target vehicle enters the fence range of the target geo-fence, controlling a second roadside device associated with the target geo-fence to send a target warning message to the target vehicle to warn of the target warning event.

[0006] According to another embodiment of the present application, a driving warning device is provided, including: a first receiving unit, used to receive the location information of a target vehicle reported by a first roadside device; a judgment unit, used to compare the location information of the target vehicle with the fence range of a target geo-fence to determine whether the target vehicle enters the fence range of the target geo-fence, wherein the fence range of the target geo-fence includes a range for event monitoring of target warning events; a control unit, used to control a second roadside device associated with the target geo-fence to send a target warning message to the target vehicle to warn of the target warning event when it is determined that the target vehicle enters the fence range of the target geo-fence.

[0007] According to another embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when run.

[0008] According to another embodiment of the present application, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0009] According to another embodiment of the present application, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.

[0010] Through the present application, when a vehicle enters the fence range of a preset geographic fence corresponding to the monitoring range of an event that requires an early warning, an early warning message corresponding to the geographic fence is sent to the vehicle. Based on the real-time position of the target vehicle, it can be determined whether it is necessary to trigger the issuance of the early warning message, thereby achieving real-time retrieval and matching of vehicles within the range affected by early warning events such as roads, weather, and accidents. Therefore, the problem of increased traffic safety risks due to the low degree of intelligence in driving warning methods in related technologies can be solved, thereby achieving the effect of reducing traffic safety risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a schematic diagram of an application scenario of a driving warning method according to an embodiment of the present application;

[0012] Figure 2 is a flow chart of a driving warning method according to an embodiment of the present application;

[0013] Figure 3 is a flow chart of another driving warning method according to an embodiment of the present application;

[0014] Figure 4 is a schematic diagram of a relationship between a circular geo-fence and a vehicle position according to an embodiment of the present application;

[0015] Figure 5 is a flow chart of another driving warning method according to an embodiment of the present application;

[0016] Figure 6 is a schematic diagram of a relationship between a polygonal geographic fence and a vehicle position according to an embodiment of the present application;

[0017] Figure 7 is a structural schematic diagram of a driving warning system according to an embodiment of the present application;

[0018] Figure 8 is a flow chart of another driving warning method according to an embodiment of the present application;

[0019] Fig. 9 It is a structural block diagram of a driving warning device according to an embodiment of the present application. DETAILED DESCRIPTION

[0020] The embodiments of the present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0021] 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.

[0022] According to one aspect of an embodiment of the present application, a driving warning method is provided. Optionally, in this embodiment, the driving warning method can be applied to Figure 1 In the hardware environment including the Internet of Vehicles device 102 and the server 104 shown in FIG. Figure 1 As shown, the server 104 is connected to the Internet of Vehicles device 102 through a network, and a database can be set on the server or independently of the server to provide data storage services for the server 104. Here, the Internet of Vehicles device 102 may include an on-board unit and a roadside device. The Internet of Vehicles device 102 is used to achieve vehicle-road collaboration, and the server 104, as the core device of the cloud system, is responsible for processing various computing tasks.

[0023] The above network may include but is not limited to at least one of the following: wired network, wireless network. The above wired network may include but is not limited to at least one of the following: wide area network, metropolitan area network, local area network, and the above wireless network may include but is not limited to at least one of the following: WIFI (Wireless Fidelity), Bluetooth.

[0024] The driving warning method of the embodiment of the present application can be executed by the server 104, or by the Internet of Vehicles device 102, or by both the server 104 and the Internet of Vehicles device 102. Take the example of the driving warning method of the embodiment being executed by the server 104. Figure 2 is a flow chart of a driving warning method according to an embodiment of the present application, such as Figure 2 As shown, the process includes the following steps:

[0025] Step S202: receiving the location information of the target vehicle reported by the first roadside device.

[0026] A driving warning method in an embodiment of the present application can be applied to a scenario in which a warning reminder is provided to a vehicle. At least some embodiments of the present application are described by taking the warning reminder to a vehicle traveling on a highway as an example.

[0027] Traditional highways have little perception content, low intelligence, weak information exchange and sharing capabilities, and no overall information management system to process and analyze data, so highway traffic accidents often occur.

[0028] Furthermore, because traditional highways do not have an overall information management system to process and analyze data, they are unable to provide early warning of the impact of accidents ahead, abnormal road conditions and weather during driving, and are unable to enable drivers to make judgments and issue early warnings.

[0029] Although the management center based on vehicle-road collaboration has relatively complete functions, its functions are also cumbersome and fixed. The relevant operation and maintenance operators need certain professional qualities and regular training. For newly emerging functions and scenarios, they cannot achieve what they see is what they get.

[0030] In order to at least partially solve the above technical problems, in this embodiment, an early warning method combined with geographic fence technology is provided. The geographic fence can be one or more continuous or discontinuous geographic ranges pre-set by the user according to application needs, can be a predefined virtual geographic range of a natural geographic area or a point of interest (POI), or a virtual geographic range selected by the user on an electronic map, with its boundaries and ranges marked by longitude and latitude coordinates, or based on virtual reality technology, the scene and the surrounding environment are collected and mapped, and the user intuitively operates the relevant functions through corresponding voice or action to divide the virtual geographic boundaries.

[0031] RSU (Road Side Unit) is a commonly used device in intelligent transportation systems, mainly used for vehicle-to-everything (V2X) communication, including vehicle-to-vehicle (V2V), vehicle-to-road (V2R), vehicle-to-infrastructure (V2I) and other communication modes. Optionally, the target vehicle to be reminded in this embodiment may be in a scene where a roadside device is deployed, for example, a highway (RSU is deployed at key locations on the highway, such as entrances, exits, service areas, tunnels and bridges, etc., to provide real-time traffic information and support vehicles for intelligent navigation), urban traffic intersections (RSU is installed at intersections and roundabouts with busy urban traffic, which can be used to collect traffic flow data, manage traffic lights, and improve traffic efficiency), public transportation systems (such as bus stations, subway stations, etc., RSU can be used to provide real-time location information of buses or subways and optimize public transportation services), parking lots (RSU is deployed in large parking lots to help vehicles quickly find parking spaces and realize intelligent parking management), and school parking lots (RSU is deployed in large parking lots to help vehicles quickly find parking spaces and realize intelligent parking management). Campuses and industrial parks (on roads within some large campuses or industrial parks, RSU can be used for internal traffic management and dispatch), ports and logistics centers (RSU can be used to improve logistics efficiency, vehicle dispatch and cargo management), emergency service areas (such as near hospitals and fire stations, RSU can be used for vehicle priority and dispatch in emergency situations), accident-prone areas (deployment of RSU in accident-prone areas can be used to warn and reduce the occurrence of traffic accidents), construction areas (in road construction areas, RSU can be used to notify passing vehicles of construction information and guide vehicles to pass safely), special weather monitoring areas (in areas prone to special weather conditions (such as fog, rain, and snow), RSU can be used to transmit weather and road condition information in real time).

[0032] RSU can collect various information of nearby vehicles, such as location, speed, driving status, etc., and after preliminary processing of the data by the built-in processing unit, it is packaged and sent in a specified format. Optionally, the roadside equipment can be equipped with sensors such as radar, laser radar (LiDAR), and cameras to detect and track the location information of the vehicle; or, the OBU (On-Board Unit) can communicate with the roadside equipment, and this communication can be based on DSRC (Dedicated Short Range Communication) or C-V2X (Cellular Vehicle-to-Everything); when a vehicle passes, the OBU can send a message containing location information to the RSU.

[0033] For example, in this embodiment, the roadside equipment can use DSRC technology to communicate with the OBU. The design of the roadside equipment complies with the national standard GB20851, and the communication frequency is 5.8GHz. It is responsible for sending / receiving, modulation / demodulation, encoding / decoding, encryption / decryption of information and data. Optionally, the roadside equipment can be installed on the fence and gantry on the side of the highway to communicate with the vehicle-mounted OBU in real time.

[0034] In order to enable the roadside equipment to accurately report the required data to the cloud system, the roadside equipment can obtain the location information of the reminded vehicle (target vehicle) in real time. The location information of the target vehicle includes but is not limited to at least one of the following: the vehicle's coordinates, the vehicle's speed, the vehicle's lane information and the vehicle type.

[0035] The cloud system can receive the location information of the target vehicle reported by the first roadside device. Here, the target vehicle is within the communication range of the first roadside device.

[0036] Optionally, the alerted vehicle (target vehicle) may be equipped with an OBU for microwave communication with the roadside equipment.

[0037] Step S204, comparing the location information of the target vehicle with the fence range of the target geo-fence to determine whether the target vehicle enters the fence range of the target geo-fence, wherein the fence range of the target geo-fence includes a range for event monitoring of target warning events.

[0038] The fence range of the target geo-fence may include a range for event monitoring of target warning events. Optionally, the fence range of the target geo-fence may be pre-delineated.

[0039] Target warning events may include but are not limited to at least one of the following: traffic accidents, severe weather (such as heavy rain, hail, heavy snow, dense fog, etc.), temperature changes (such as extremely high or low temperatures, and road icing warnings, etc.), traffic conditions (such as traffic congestion, road construction, etc.), dangerous sections of road (such as sharp turns, steep slopes, etc.), and environmental events (such as landslides, mud and rock flow, etc.).

[0040] The cloud system can compare the location information of the target vehicle with the fence range of the target geofence to determine whether the target vehicle enters the fence range of the target geofence.

[0041] For example, in this embodiment, the cloud can calculate in real time the distance between the alerted vehicle and the center point of the geo-fence or the boundary of the geo-fence range to determine whether the target vehicle enters the fence range of the target geo-fence.

[0042] Step S206, when it is determined that the target vehicle enters the fence range of the target geo-fence, control the second roadside device associated with the target geo-fence to send a target warning message to the target vehicle to warn of the target warning event.

[0043] Similar to the aforementioned embodiment, one or more geographic fences may be set according to actual conditions. Multiple geographic fences may be continuous or discontinuous, which is not limited in this embodiment.

[0044] The geo-fence may be associated with a roadside device, and the fence range of the geo-fence is within the communication coverage of the roadside device with which it is associated, so that the associated roadside device sends a warning message to vehicles entering the fence range of the geo-fence.

[0045] Optionally, different geofences can be used to monitor different warning events. When the cloud system determines that the target vehicle enters the fence range of the target geofence, it can control the second roadside device associated with the target geofence to send a target warning message to the target vehicle to warn of the target warning event.

[0046] Optionally, controlling the second roadside device associated with the target geo-fence to send a target warning message to the target vehicle may be implemented based on a roadside device access module.

[0047] Roadside equipment access module: includes the management of all roadside equipment in the vehicle-road cooperative system. The roadside equipment access module serves as the data transfer hub between the roadside equipment and cloud services in the entire early warning system. It includes the functions of roadside equipment access, reporting of roadside equipment data to cloud services, and sending of cloud service events to roadside equipment.

[0048] When it is determined that the target vehicle has entered the fence range of the target geo-fence, the cloud system can obtain the event content (for example, event type, etc.) associated with the geo-fence based on the target geo-fence where the current vehicle is located, and obtain the roadside equipment information within the geo-fence. The cloud system can assemble the event content and roadside equipment information into a warning event, push it to the roadside equipment access module, and notify the vehicle-road-cloud system (vehicle side-roadside-cloud) through the roadside equipment access module to access the corresponding roadside equipment (for example, the second roadside equipment) to send the target warning message to the on-board OBU device of the target vehicle.

[0049] Here, the second roadside device may be the same as or different from the first roadside device.

[0050] Through the above steps, the location information of the target vehicle reported by the first roadside device is received; the location information of the target vehicle is compared with the fence range of the target geographic fence to determine whether the target vehicle enters the fence range of the target geographic fence, wherein the fence range of the target geographic fence includes the range for event monitoring of target warning events; when it is determined that the target vehicle enters the fence range of the target geographic fence, the second roadside device associated with the target geographic fence is controlled to send a target warning message to the target vehicle to warn of the target warning event, thereby solving the problem of increased traffic safety risks due to the low degree of intelligence in the driving warning method in the related technology.

[0051] In an exemplary embodiment, before comparing the location information of the target vehicle with the fence range of the target geo-fence, the method further includes:

[0052] S11, acquiring real-time vehicle-road data, and mapping the acquired real-time vehicle-road data into a virtual reality environment;

[0053] S12, in response to the interaction information of the target object obtained through the interaction device, dividing a target geographic fence in the virtual reality environment.

[0054] Optionally, the real-time vehicle-road data may include but is not limited to the following types of information:

[0055] Vehicle information: vehicle speed, location, direction of travel, model and other data.

[0056] Traffic flow information: traffic volume, congestion, average speed, etc. on each road section.

[0057] Road conditions: including road width, number of lanes, road surface conditions (such as whether there is water accumulation, ice, potholes, etc.), construction information, traffic accident conditions, etc.

[0058] Traffic control information: such as the status of traffic lights, temporary traffic control measures, road closure information, etc.

[0059] Environmental information: including weather conditions (such as rain, snow, fog, etc.), temperature, visibility, etc.

[0060] Event information: emergencies such as traffic accidents, road construction, traffic control caused by large-scale events, etc.

[0061] Infrastructure information: For example, the status of infrastructure such as roadside sensors, cameras, traffic signs, and lights.

[0062] Real-time vehicle-road data can be collected through various methods such as on-board sensors, roadside sensors, cameras, GPS positioning, etc., and processed and analyzed through cloud systems to provide real-time and accurate traffic information mapped into a virtual reality environment.

[0063] The control center built with virtual reality technology can obtain data from various sensors, monitoring equipment, etc. in real time, and map it to the virtual reality environment for display and analysis. Using virtual reality technology, monitored videos, images and other information can be mapped to the virtual reality environment for display, and the monitoring area (i.e., the fence range of the geographic fence) can be controlled through interactive devices such as handles. Users can quickly locate the monitoring area through interactive operations in the virtual reality environment to achieve more efficient monitoring. The control center built with virtual reality technology can achieve more intuitive and efficient control and monitoring. The control center can interact with the virtual reality environment through interactive devices such as virtual reality head-mounted displays and handles.

[0064] Optionally, staff can quickly obtain key data and analysis results through interactive operations in the virtual reality environment, making decisions and responses more efficient. Through virtual reality technology, training and simulation of various scenarios can be carried out in the virtual reality environment to improve the skills and response capabilities of staff. At the same time, various dangerous situations can be simulated in the virtual reality environment, and precise simulation and demonstration can be carried out through geo-fencing technology to help staff improve their safety awareness and ability to respond to dangerous situations, reducing the risk of accidents.

[0065] For example, in this embodiment, a geographic fence can be set on an integrated map service visualization application system. The length of the geographic fence needs to ensure that when a vehicle passes through the fence, at least one coordinate point falls within the fence range. The length of the fence can be calculated by measuring based on a GIS drawing tool. The drawn geographic fence coordinate information is stored in a relational database for the data information processing module to obtain the drawn geographic fence information. The data information processing module may contain an application for a geographic fence algorithm, which can read and parse the geographic fence coordinate information from the relational database to determine the relationship between the coordinate range of the geographic fence drawn by the geographic fence module and the vehicle coordinate position uploaded by the roadside.

[0066] For example, in this embodiment, the scenes and surrounding environment of the expressway are collected and mapped back to the expressway management center through virtual reality technology. Operation and maintenance personnel with relevant permissions can directly operate relevant management functions, divide geographic fences, filter messages and send them to designated locations through corresponding voice or actions in front of all staff members of the management center.

[0067] In an exemplary embodiment, in response to the interaction information of the target object obtained by the interaction device, a target geographic fence is divided in the virtual reality environment, including:

[0068] S21, in the case of a geo-fence to be divided, collecting hand posture information and hand movement information of the target object through a hand tracking device, wherein the interaction device includes the hand tracking device, and the interaction information includes the hand posture information and the hand movement information;

[0069] S22, tracking a moving trajectory of the target object's hand in the virtual reality environment based on the hand posture information and the hand movement information, so as to identify a fence range set by the target object;

[0070] S23, when the designated end action is collected by the hand tracking device, a target geo-fence is added in the virtual reality environment, wherein the fence range of the target geo-fence is the identified fence range.

[0071] For example, in this embodiment, the cave system is used to visually display the relevant data of the control center. The high-definition camera accurately captures the user's actions. Wearing related equipment, such as virtual reality gloves, enhances the accuracy of operation and improves touch and feedback.

[0072] The principles of virtual reality gesture interaction can be divided into the following steps:

[0073] Gesture collection: Collect user hand posture information and hand movement information, such as the degree of finger bending, hand position, speed and acceleration, through hand tracking devices (such as gloves, handles, cameras, etc.).

[0074] Gesture recognition: Match and analyze the collected hand posture information and hand movement information with the pre-trained gesture recognition model to identify the user's gesture type and intention.

[0075] Interactive feedback: Based on the gesture recognition results, the virtual reality system will give corresponding feedback, such as changing the position, size, shape, etc. of objects in the scene, or triggering corresponding interactive events, such as selection, movement, rotation, scaling, etc.

[0076] Based on the hand posture information and hand movement information, the movement trajectory of the target object's hand in the virtual reality environment is tracked to identify the fence range set for the target object; when the specified end action is collected by the hand tracking device, a target geographic fence is added in the virtual reality environment, wherein the fence range of the target geographic fence is the identified fence range.

[0077] The designated end action may be a pre-configured end action, including but not limited to touching an end button, standing still for a designated period of time, etc., which is not limited in this embodiment.

[0078] In the process of gesture interaction, a large amount of data needs to be collected, processed and recognized, and the real-time feedback of user gestures needs to be combined with the dynamic changes in the virtual environment to achieve a good user experience and interactive effect. For different gesture interaction application scenarios, different gesture collection devices, gesture recognition algorithms and interactive feedback methods can be selected to meet user needs and expectations.

[0079] The gesture recognition algorithm uses the CNN (Convolutional Neural Network) deep learning model, which can directly extract features and classify patterns from the original gesture data, avoiding the tedious and time-consuming manual feature extraction.

[0080] Through this embodiment, virtual reality technology can be used to achieve more intuitive and efficient control and monitoring, improve decision-making efficiency and response capabilities, and reduce the risk of accidents.

[0081] In an exemplary embodiment, comparing the location information of the target vehicle with the fence range of the target geo-fence to determine whether the target vehicle enters the fence range of the target geo-fence includes:

[0082] S31, compare the latitude and longitude coordinates of the target vehicle with the fence range of the target geo-fence to determine whether the target vehicle enters the fence range of the target geo-fence, wherein the location information of the target vehicle includes the latitude and longitude coordinates of the target vehicle, and the target geo-fence is the geo-fence closest to the target vehicle in the forward route of the target vehicle.

[0083] The latitude and longitude coordinates of a vehicle are a method of expressing the vehicle's position on the earth's surface. They are usually described using two values: longitude and latitude. Longitude represents the position in the east-west direction, and latitude represents the position in the north-south direction.

[0084] Longitude (Ion): Usually expressed as 0° to 180° east longitude (E) or 0° to 180° west longitude (W). The prime meridian (the meridian passing through the Greenwich Observatory) is defined as 0° longitude.

[0085] Latitude (lat): Usually expressed as 0° to 90° North (N) or 0° to 90° South (S). The equator is defined as 0° latitude.

[0086] Correspondingly, the fence range of the geo-fence can also be represented by longitude and latitude coordinates, for example, the endpoint coordinates of a polygonal geo-fence, the fence center point coordinates of a circular geo-fence, and so on.

[0087] In order to improve the timeliness of driving warning, the geo-fence closest to the target vehicle in the forward route of the target vehicle can be determined as the target geo-fence.

[0088] The distance between two points based on two longitude and latitude coordinates is usually calculated using one of the following methods: spherical trigonometry (Haversine formula); Vincenty formula, which takes into account the ellipsoid shape of the earth.

[0089] In an exemplary embodiment, comparing the latitude and longitude coordinates of the target vehicle with the fence range of the target geo-fence to determine whether the target vehicle enters the fence range of the target geo-fence includes:

[0090] S41, when the target geo-fence is a circular geo-fence, determining a spherical distance between the target vehicle and the center point of the target geo-fence based on the latitude and longitude coordinates of the target vehicle and the latitude and longitude coordinates of the center point of the target geo-fence to obtain a target spherical distance;

[0091] S42, when the difference between the target spherical distance and the fence radius of the target geo-fence is less than or equal to a specified value, determining that the target vehicle enters into the fence range of the target geo-fence;

[0092] S43, when the difference between the target spherical distance and the fence radius of the target geo-fence is greater than a specified value, determining that the target vehicle has not entered into the fence range of the target geo-fence.

[0093] To determine whether a point is within the range of a circle, we can use the coordinates of the center of the circle and the radius, as well as the coordinates of the point, by calculating the distance from the point to the center of the circle and comparing the distance and the radius. If the distance from the point to the center of the circle is less than or equal to the radius, the point is inside the circle; if the distance from the point to the center of the circle is greater than the radius, the point is outside the circle.

[0094] Combination Figure 3 , the determination of the relationship between the circular geo-fence and the vehicle position may include the following steps:

[0095] S301, the roadside equipment uploads the vehicle coordinate position;

[0096] S302, calculating the distance between the current vehicle coordinate position and the center point of the circular geo-fence closest to the current vehicle forward direction;

[0097] S303, comparing the vehicle distance (i.e., the target spherical distance d) and the radius r of the circular geo-fence, and determining the positional relationship between the vehicle and the geo-fence according to the sizes;

[0098] S304, if dr≤0, trigger the warning event to be issued; dr>0, return to step S301.

[0099] Optionally, in this embodiment, the circular geo-fence calculation method may include the following steps:

[0100] Step 1, obtain the location coordinates of the vehicle and obtain the nearest geographic fence in the forward route of the current vehicle location;

[0101] Step 2, calculating the spherical distance between the vehicle location and the pre-set center point of the geo-fence;

[0102] Step 3, compare the target spherical distance with the radius of the geo-fence, and determine the positional relationship between the vehicle and the geo-fence based on the radius.

[0103] For example, in this embodiment, the relationship between the circular geo-fence and the vehicle position is as follows: Figure 4 As shown, the distance d between the center point of the fence, that is, the center of the circle (lon1, lat1) and the latitude and longitude coordinates (lon2, lat2) of the target vehicle can be calculated using the spherical trigonometry formula shown in formula (1).

[0104] d=R×cos -1 (sinlat1×sinlat2+coslat2×coslat1×cos(lon2-lon1)) (1)

[0105] Where: d is the distance between two points, R is the radius of the earth, and the average value can be 6371km.

[0106] The program algorithm calculates the distance d between the vehicle and the center point of the geofence through the vehicle position coordinates (lon2, lat2) uploaded by the roadside equipment and the pre-defined circular geofence center longitude and latitude coordinates (lon1, lat1). The algorithm for the vehicle position entering the circular geofence is: when d-fence radius r≤0, the target warning event corresponding to the geofence is triggered. Here, the specified value can be 0.

[0107] In an exemplary embodiment, comparing the latitude and longitude coordinates of the target vehicle with the fence range of the target geo-fence to determine whether the target vehicle enters the fence range of the target geo-fence includes:

[0108] S51, when the target geo-fence is a polygonal geo-fence, determining an intersection point between a target ray and a fence edge of the target geo-fence based on the latitude and longitude coordinates of the target vehicle and the latitude and longitude coordinates of two end points of each fence edge of the target geo-fence, wherein the target ray is a ray along the target direction with the latitude and longitude coordinates of the target vehicle as end points, and the target ray intersects with at least one fence edge of the target geo-fence;

[0109] S52, when the number of intersections between the target ray and the fence edge of the target geo-fence is an odd number, determining that the target vehicle enters the fence range of the target geo-fence;

[0110] S53: When the number of intersections between the target ray and the fence edge of the target geo-fence is an even number, determine that the target vehicle has not entered the fence range of the target geo-fence.

[0111] To determine whether a point is inside a polygon, you can use the ray method: shoot a ray from the point in any direction; count the number of intersections between the ray and each edge of the polygon; if the number of intersections is an odd number, the point is inside the polygon; if it is an even number, the point is outside the polygon. You can also use the winding number algorithm: The winding number algorithm is based on the concept of drawing a horizontal ray through a point and counting the intersections of the ray with the edges of the polygon. Each time an intersection occurs, depending on the direction of the edge, it can be determined whether the polygon is rotated "up" or "down" around the point. By calculating the sum of these rotations (the winding number), you can determine whether the point is inside the polygon.

[0112] Combination Figure 5 , the determination of the relationship between the polygonal geographic fence and the vehicle position may include the following steps:

[0113] S501, the roadside equipment uploads the vehicle coordinate position;

[0114] S502, calculating the current vehicle coordinate position;

[0115] S503, determining the position relationship between the vehicle and the polygonal geographic fence;

[0116] S504, when it is determined that the target vehicle enters the fence range of the target geographic fence, triggering a warning event; when it is determined that the target vehicle is outside the fence range of the target geographic fence, returning to step S501.

[0117] For example, in this embodiment, the polygonal geo-fence calculation method may include the following steps:

[0118] The relationship between the polygonal geo-fence and the vehicle location can be as follows Figure 6As shown, the intersection of point (lon, lat) and each fence edge of the target geofence is calculated. For a fence edge, let its two endpoints be (lon3, lat3) and (lon4, lat4), then the equation of the edge can be shown as formula (2):

[0119] (lon4-1on3)×(1at-lat3)-(1at4-1at3)×(1on-lon3)=0(2)

[0120] Substitute the ray equation of the target ray into formula (2), solve lon and lat, and obtain the intersection point (lon{inter}, lat{inter}).

[0121] It should be noted that if the edge coincides with or is parallel to the meridian (ie, lon=const), the edge has no intersection.

[0122] Count the number of intersection points. For each intersection point (lon{inter}, lat{inter}), if it satisfies one of the following conditions, the point is considered to be inside the polygon:

[0123] 1on{inter}=1on and 1at{inter}=1at, that is, the point coincides with the current vertex.

[0124] lon{inter} is between the longitude values ​​of the two endpoints of the current edge, and lat{inter} is greater than or equal to 1at. This means that if a horizontal line is drawn from the current point to the right and the number of intersections with the polygon is an odd number, then the point is inside the polygon.

[0125] Count the number of intersection points. If the number of intersection points is odd, the point is inside the polygon, otherwise the point is outside the polygon.

[0126] In an exemplary embodiment, when it is determined that the target vehicle enters the fence range of the target geo-fence, controlling the second roadside device associated with the target geo-fence to send a target warning message to the target vehicle includes:

[0127] S61, when it is determined that the target vehicle enters the fence range of the target geo-fence, based on the roadside equipment information associated with the target geo-fence, a notification message corresponding to the target warning event is sent to the second roadside equipment, so that the second roadside equipment broadcasts the target warning message to the target vehicle, wherein the roadside equipment indicated by the roadside equipment information associated with the target geo-fence is the second roadside equipment.

[0128] Roadside devices can broadcast messages via wireless signals. Optionally, using DSRC or C-V2X technology, roadside devices can broadcast messages on a dedicated frequency band. In a limited area, such as a city center or a parking lot, roadside devices can broadcast messages via Wi-Fi hotspots. Broadcasting within a certain range can also be achieved through an antenna array, which is not limited in this embodiment.

[0129] The vehicle's onboard unit or intelligent vehicle system continuously monitors the broadcast frequency band; when a broadcast message is received, the OBU unpacks and verifies the message; the verified message is processed by the onboard system, which may include displaying warnings, adjusting the vehicle's driving strategy, etc.

[0130] Through this embodiment, real-time transmission of messages can be achieved through broadcasting, thereby improving the response efficiency of the reminded vehicle to the warning message.

[0131] In an exemplary embodiment, after controlling the second roadside device associated with the target geo-fence to send a target warning message to the target vehicle, the method further includes:

[0132] S71, receiving a target warning message sent by a second roadside device through an onboard device of a target vehicle;

[0133] S72, in response to the received target warning message, display target warning information through a display device associated with the vehicle-mounted device, wherein the target warning information is used to describe the target warning event and the positional relationship between the target vehicle and the fence range of the target geographic fence.

[0134] In order to provide more intuitive driving warnings, the target vehicle can be equipped with a display terminal, which receives the target warning message sent by the second roadside device through the on-board equipment of the target vehicle, and connects the OBU device with the display terminal (such as the large central control screen of the car) as the carrier to display the target warning message.

[0135] Optionally, when the roadside device broadcasts the target warning message, only vehicles that have the ability to interact with the roadside device can receive it.

[0136] The target warning information may be used to describe a target warning event and a positional relationship between a target vehicle and a fence range of a target geo-fence.

[0137] The driver can adaptively adjust the vehicle's route or speed based on the displayed target warning event and the positional relationship between the target vehicle and the fence range of the target geo-fence, thereby reducing traffic safety risks.

[0138] As an optional exemplary embodiment, the driving warning method of the present application is explained by taking a driving warning system that cooperates with a vehicle-road collaborative cloud service as an example.

[0139] Optionally, the physical structure diagram of the overall driving warning system can be as follows Figure 7 As shown, the driving warning system includes: virtual reality module, geo-fence module, data information processing module, roadside equipment access module, roadside RSU, and vehicle-mounted OBU.

[0140] Among them, combined Figure 8 , geo-fences can be drawn based on the virtual reality module, and the geo-fence module can map geo-fences and store geo-fence data. Specifically, the integrated support map service visualization application system can set geo-fences on it. The length of the geo-fence must ensure that when a vehicle passes through the fence, at least one coordinate point falls within the fence range. The length of the fence is calculated based on the measurement of the gis drawing tool. The drawn geo-fence coordinate information is stored in a relational database for the data information processing module to obtain the drawn geo-fence information.

[0141] Data information processing module: An application containing a geo-fence algorithm that can read and parse geo-fence coordinate information from a relational database to determine the relationship between the geo-fence coordinate range drawn by the geo-fence module and the vehicle coordinate position uploaded by the roadside end; an application that includes the mapping relationship between warning events and geo-fences; an association between roadside equipment and geo-fences, which records the roadside equipment included in each geo-fence and the geographic location coordinates of each device; when the vehicle position enters the reminder range set by the geo-fence, it will trigger the acquisition of the warning event type corresponding to the geo-fence, and push the warning event corresponding to the geo-fence and the associated roadside equipment information to the roadside equipment access module to send a message; it includes a processing program for roadside equipment message reporting data, and the reporting message includes the vehicle's coordinates, vehicle speed, lane information and vehicle type.

[0142] Roadside equipment access module: includes the management of all roadside equipment in the vehicle-road cooperative system. This module serves as the data transfer hub between roadside equipment and cloud services in the entire early warning system. It includes the functions of roadside equipment access, reporting roadside equipment data to cloud services, and sending cloud service events to roadside equipment.

[0143] Roadside equipment module: This module uses DSRC technology to communicate with the on-board unit. The design of this module complies with the national standard GB20851. The communication frequency is 5.8GHz. It is responsible for sending / receiving, modulation / demodulation, encoding / decoding, encryption / decryption of information and data. This device is installed on the fence and gantry on the side of the highway to communicate with the on-board OBU in real time.

[0144] After the above algorithm processing, the vehicle-road-cloud system (i.e., the driving warning system) can accurately determine the position relationship between the vehicle and the geographic fence, and apply the determined position relationship to the issuance of warning events. The following processing is also required:

[0145] A geo-fence with early warning reminders is pre-set. When it is determined that the reminded vehicle has entered the set geo-fence, the cloud system will obtain the event type associated with the geo-fence and the roadside equipment information within the geo-fence based on the current vehicle geo-fence. The cloud system assembles the event type and roadside equipment information into a warning event and pushes it to the roadside equipment access module. Through this module, the vehicle-road-cloud system is notified to access the corresponding roadside equipment to broadcast the message to the on-board OBU device.

[0146] In this embodiment, (1) an integrated vehicle-road-cloud-edge device architecture is adopted to process the driving status of highway vehicles and high-incident reminders on the road in real time on the cloud. (2) This embodiment is based on geo-fence technology, and reports vehicle information to the vehicle-road cloud service end through roadside equipment, calculates the vehicle's location in real time, and determines whether to trigger the issuance of an early warning event, which is the technical key point of this application. (3) The current system can realize real-time retrieval and matching of vehicles within the range affected by roads, weather, and accidents. (4) Virtual reality technology displays vehicle-road conditions, operations, and draws geo-fences.

[0147] Through this embodiment, the intelligence level of highways is improved, and vehicles and highways can be closely linked together. The vehicle-road cloud system platform can enable drivers to understand the road conditions of the current driving section and the road ahead in advance, so as to make reasonable judgments in time to ensure driving safety. The early warning reminder system can effectively reduce the probability of traffic accidents and ensure smooth traffic on highways. The cloud stores structured vehicle data, which is helpful for the analysis and statistics of high-incidence highway incidents in the later stage. Virtual reality technology makes the drawing and operation of geographic fences more intuitive and convenient, and you can get started with a simple demonstration.

[0148] 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 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, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of each embodiment of the present application.

[0149] In this embodiment, a driving warning device is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and the descriptions that have been made will not be repeated. 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.

[0150] Fig. 9 is a structural block diagram of a driving warning device provided in an embodiment of the present application, such as Fig. 9 As shown, the device comprises:

[0151] The first receiving unit 902 is used to receive the location information of the target vehicle reported by the first roadside device;

[0152] A determination unit 904 is used to compare the location information of the target vehicle with the fence range of the target geo-fence to determine whether the target vehicle enters the fence range of the target geo-fence, wherein the fence range of the target geo-fence includes a range for event monitoring of the target warning event;

[0153] The control unit 906 is used to control the second roadside device associated with the target geo-fence to send a target warning message to the target vehicle to warn of the target warning event when it is determined that the target vehicle enters the fence range of the target geo-fence.

[0154] It should be noted that the first receiving unit 902 in this embodiment can be used to execute the above step S202, the judging unit 904 in this embodiment can be used to execute the above step S204, and the control unit 906 in this embodiment can be used to execute the above step S206.

[0155] Through the embodiments of the present application, the location information of the target vehicle reported by the first roadside device is received; the location information of the target vehicle is compared with the fence range of the target geographic fence to determine whether the target vehicle enters the fence range of the target geographic fence, wherein the fence range of the target geographic fence includes the range for event monitoring of target warning events; when it is determined that the target vehicle enters the fence range of the target geographic fence, the second roadside device associated with the target geographic fence is controlled to send a target warning message to the target vehicle to warn of the target warning event, thereby solving the problem of increased traffic safety risks due to the low degree of intelligence in the driving warning method in the related art.

[0156] In an exemplary embodiment, the above device further comprises:

[0157] an execution unit, configured to obtain real-time vehicle-road data before comparing the location information of the target vehicle with the fence range of the target geo-fence, and map the obtained real-time vehicle-road data into the virtual reality environment;

[0158] The dividing unit is used to divide a target geographic fence in the virtual reality environment in response to the interaction information of the target object obtained through the interaction device.

[0159] In an exemplary embodiment, the dividing unit includes:

[0160] A collection module, used for collecting hand posture information and hand movement information of a target object through a hand tracking device when a geo-fence is to be divided, wherein the interaction device includes a hand tracking device, and the interaction information includes hand posture information and hand movement information;

[0161] A tracking module, used to track the movement trajectory of the target object's hand in the virtual reality environment based on the hand posture information and the hand movement information, so as to identify the fence range set by the target object;

[0162] An adding module is used to add a target geo-fence in a virtual reality environment when a specified end action is captured by a hand tracking device, wherein the fence range of the target geo-fence is the identified fence range.

[0163] In an exemplary embodiment, the determining unit includes:

[0164] A judgment module is used to compare the latitude and longitude coordinates of the target vehicle with the fence range of the target geo-fence to determine whether the target vehicle enters the fence range of the target geo-fence, wherein the location information of the target vehicle includes the latitude and longitude coordinates of the target vehicle, and the target geo-fence is the geo-fence closest to the target vehicle in the target vehicle's forward route.

[0165] In an exemplary embodiment, the determination module includes:

[0166] A first determination submodule is used to determine the spherical distance between the target vehicle and the center point of the target geofence based on the latitude and longitude coordinates of the target vehicle and the latitude and longitude coordinates of the center point of the target geofence to obtain the target spherical distance when the target geofence is a circular geofence;

[0167] A second determination submodule is used to determine that the target vehicle enters the fence range of the target geo-fence when the difference between the target spherical distance and the fence radius of the target geo-fence is less than or equal to a specified value;

[0168] The third determination submodule is used to determine that the target vehicle has not entered the fence range of the target geo-fence when the difference between the target spherical distance and the fence radius of the target geo-fence is greater than a specified value.

[0169] In an exemplary embodiment, the determination module includes:

[0170] a fourth determination submodule, configured to determine, when the target geo-fence is a polygonal geo-fence, an intersection point between a target ray and a fence edge of the target geo-fence based on the latitude and longitude coordinates of the target vehicle and the latitude and longitude coordinates of two end points of each fence edge of the target geo-fence, wherein the target ray is a ray along a target direction with the latitude and longitude coordinates of the target vehicle as end points, and the target ray intersects with at least one fence edge of the target geo-fence;

[0171] a fifth determination submodule, configured to determine that the target vehicle enters the fence range of the target geo-fence when the number of intersection points between the target ray and the fence edge of the target geo-fence is an odd number;

[0172] The sixth determination submodule is used to determine that the target vehicle has not entered the fence range of the target geo-fence when the number of intersection points between the target ray and the fence edge of the target geo-fence is an even number.

[0173] In an exemplary embodiment, the control unit comprises:

[0174] A sending module is used to send a notification message corresponding to a target warning event to a second roadside device based on the roadside device information associated with the target geofence when it is determined that the target vehicle has entered the fence range of the target geofence, so that the second roadside device broadcasts the target warning message to the target vehicle, wherein the roadside device indicated by the roadside device information associated with the target geofence is the second roadside device.

[0175] In an exemplary embodiment, the above device further comprises:

[0176] A second receiving unit is used to receive the target warning message sent by the second roadside device through the on-board device of the target vehicle after controlling the second roadside device associated with the target geo-fence to send the target warning message to the target vehicle;

[0177] A display unit is used to display target warning information in response to a received target warning message through a display device associated with the vehicle-mounted device, wherein the target warning information is used to describe the target warning event and the positional relationship between the target vehicle and the fence range of the target geographic fence.

[0178] 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.

[0179] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when running.

[0180] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0181] An embodiment of the present application further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0182] In an exemplary embodiment, the electronic device may further include 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.

[0183] 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.

[0184] An embodiment of the present application further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.

[0185] An embodiment of the present application further provides another computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.

[0186] An embodiment of the present application also provides a computer program, which includes computer instructions 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 one of the above method embodiments.

[0187] 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.

[0188] 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 driving warning method, characterized in that: include: Receiving location information of a target vehicle reported by a first roadside device; Comparing the location information of the target vehicle with the fence range of the target geo-fence to determine whether the target vehicle enters the fence range of the target geo-fence, wherein the fence range of the target geo-fence includes a range for event monitoring of target warning events; When it is determined that the target vehicle enters the fence range of the target geo-fence, the second roadside device associated with the target geo-fence is controlled to send a target warning message to the target vehicle to warn of the target warning event.

2. The method according to claim 1, characterized in that Before comparing the location information of the target vehicle with the fence range of the target geo-fence, the method further includes: Acquire real-time vehicle-road data, and map the acquired real-time vehicle-road data into a virtual reality environment; In response to the interaction information of the target object obtained through the interaction device, the target geographic fence is divided in the virtual reality environment.

3. The method according to claim 2, characterized in that In response to the interaction information of the target object obtained through the interaction device, dividing the target geographic fence in the virtual reality environment includes: In the case of a geo-fence to be divided, collecting hand posture information and hand motion information of the target object through a hand tracking device, wherein the interaction device includes the hand tracking device, and the interaction information includes the hand posture information and the hand motion information; Tracking a movement trajectory of the target object's hand in the virtual reality environment based on the hand posture information and the hand motion information to identify a fence range set for the target object; When the designated end action is captured by the hand tracking device, the target geo-fence is added to the virtual reality environment, wherein the fence range of the target geo-fence is the identified fence range.

4. The method according to claim 1, characterized in that: The comparing the location information of the target vehicle with the fence range of the target geo-fence to determine whether the target vehicle enters the fence range of the target geo-fence includes: The latitude and longitude coordinates of the target vehicle are compared with the fence range of the target geofence to determine whether the target vehicle enters the fence range of the target geofence, wherein the location information of the target vehicle includes the latitude and longitude coordinates of the target vehicle, and the target geofence is the geofence closest to the target vehicle in the forward route of the target vehicle.

5. The method according to claim 4, characterized in that The comparing the latitude and longitude coordinates of the target vehicle with the fence range of the target geo-fence to determine whether the target vehicle enters the fence range of the target geo-fence includes: In the case where the target geo-fence is a circular geo-fence, based on the latitude and longitude coordinates of the target vehicle and the latitude and longitude coordinates of the fence center point of the target geo-fence, a spherical distance between the target vehicle and the fence center point of the target geo-fence is determined to obtain a target spherical distance; When the difference between the target spherical distance and the fence radius of the target geo-fence is less than or equal to a specified value, determining that the target vehicle enters the fence range of the target geo-fence; When the difference between the target spherical distance and the fence radius of the target geo-fence is greater than the specified value, it is determined that the target vehicle has not entered into the fence range of the target geo-fence.

6. The method according to claim 4, characterized in that The comparing the latitude and longitude coordinates of the target vehicle with the fence range of the target geo-fence to determine whether the target vehicle enters the fence range of the target geo-fence includes: In the case where the target geo-fence is a polygonal geo-fence, determining the intersection of a target ray and a fence edge of the target geo-fence based on the latitude and longitude coordinates of the target vehicle and the latitude and longitude coordinates of two end points of each fence edge of the target geo-fence, wherein the target ray is a ray along a target direction with the latitude and longitude coordinates of the target vehicle as end points, and the target ray intersects with at least one fence edge of the target geo-fence; When the number of intersections between the target ray and the fence edge of the target geo-fence is an odd number, determining that the target vehicle enters the fence range of the target geo-fence; When the number of intersection points between the target ray and the fence edge of the target geo-fence is an even number, it is determined that the target vehicle has not entered the fence range of the target geo-fence.

7. The method according to claim 1, characterized in that When it is determined that the target vehicle enters the fence range of the target geo-fence, controlling the second roadside equipment associated with the target geo-fence to send a target warning message to the target vehicle includes: When it is determined that the target vehicle enters the fence range of the target geofence, based on the roadside equipment information associated with the target geofence, a notification message corresponding to the target warning event is sent to the second roadside equipment, so that the second roadside equipment broadcasts the target warning message to the target vehicle, wherein the roadside equipment indicated by the roadside equipment information associated with the target geofence is the second roadside equipment.

8. The method according to any one of claims 1 to 7, characterized in that After controlling the second roadside device associated with the target geo-fence to send a target warning message to the target vehicle, the method further includes: Receiving the target warning message sent by the second roadside equipment through the on-board equipment of the target vehicle; In response to the received target warning message, target warning information is displayed through a display device associated with the vehicle-mounted device, wherein the target warning information is used to describe the target warning event and the positional relationship between the target vehicle and the fence range of the target geographic fence.

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 the method described in any one of claims 1 to 8 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 described in any one of claims 1 to 8 are implemented.

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