Method and system for intelligently sensing abnormal driving situation of vehicle on highway

Abstract

The invention provides a method and system for intelligently sensing the abnormal driving situation of vehicles on a highway, and the method comprises the steps: installing or placing a vehicle-mounted early warning device on each vehicle, detecting whether the vehicle is in an abnormal driving state or not, receiving the abnormal driving state information of other vehicles, and giving an early warning to a driver through voice, each abnormal driving state is defined by the two elements including the real-time speed and the driving direction of the vehicle, when the vehicle on the same highway is in the abnormal driving state, abnormal driving state information is wirelessly sent out through a radio station of the vehicle-mounted early warning device, and after the vehicle-mounted early warning device of the vehicle behind the vehicle receives the information, the vehicle-mounted early warning device sends the abnormal driving state information to the vehicle-mounted early warning device. And sending voice early warning of the abnormal driving type and the actual distance to the driver. Therefore, vehicle drivers on the expressway can foresee abnormal driving situations and emergencies of vehicles on the road ahead in advance, traffic accidents are avoided, a traffic management department is assisted in finding traffic abnormal information in time, and the management capability of the traffic management department is improved.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent transportation, and specifically relates to a method of actively sending a warning signal when a vehicle on a highway drives abnormally, so as to remind drivers of other vehicles to pay attention to road conditions and adjust the driving status of their vehicles, thereby preventing the occurrence of highway traffic accidents. Background Art

[0002] The total mileage of my country's expressways has reached more than 177,000 kilometers by the end of 2022. With the rapid development of expressways, production and transportation costs have been effectively reduced, the market has been expanded, and it has played an important role in improving corporate competitiveness, promoting national economic development and social progress. Today, the speed and convenience of expressways have also entered the lives of ordinary people, changing people's concepts of time and space and lifestyles.

[0003] Expressways have obvious advantages that ordinary roads do not have, such as high speed and large traffic capacity. More and more people will choose expressways when traveling by motor vehicle. Due to the high speed and large number of vehicles on expressways, the skills and experience of vehicle drivers are required to be high. my country's laws clearly stipulate that "drivers who drive motor vehicles on expressways during the probationary period must be accompanied by a driver who has held a corresponding or included driving license for the type of vehicle they are allowed to drive for more than three years." This also proves this point. Predicting the vehicles on the road ahead during driving is an important part of safe driving technology. Traffic accidents are often caused by the lack of prediction of the driving conditions of the vehicle ahead, or inaccurate prediction. my country has a vast territory, various terrains, and unpredictable climate changes. In many cases, it is difficult for vehicle drivers to predict in real time whether the vehicle ahead is parked, driving at a low speed, driving in the opposite direction, or in a traffic jam. In addition, with the rapid development of highway construction in my country, the increase in the difficulty of highway construction, the increase in extreme weather conditions, etc., major highway safety accidents that are difficult to predict, such as uncertain locations, uncertain times, and uncertain dangers, have occurred continuously in recent years. Therefore, how to enable each point, each time, and each vehicle driver on the highway to know the abnormal driving conditions of the vehicle ahead earlier, adjust the driving status of their own vehicle in time, and avoid the occurrence of primary or secondary traffic accidents; how to enable relevant management departments to grasp the traffic conditions of the highway in real time and deal with the traffic safety problems that occur as soon as possible, is a difficult problem that needs to be solved urgently for highway traffic safety. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the problem in the prior art that it is impossible to provide each vehicle driver with an early warning of the driving status of vehicles on the road ahead in all sections and all time domains of the expressway; at the same time, it can provide expressway traffic safety management departments, operation departments, etc. with real-time expressway traffic status big data, and through the use of big data, improve the expressway traffic safety management level and transportation efficiency, reduce expressway traffic accidents, and ensure the safety and smooth driving of vehicles on the expressway.

[0005] Each vehicle on the highway needs to be equipped with an on-board early warning device (hereinafter referred to as: early warning device). The early warning device can be permanently installed on the vehicle. It is small in size, light in weight, and low in power, and has almost no impact on the original vehicle and the driver. It can also be temporarily placed on the vehicle before the vehicle enters the highway and retracted when the vehicle leaves the highway. The early warning device does not establish any corresponding relationship with the vehicle and the driver, ensuring that the privacy of the vehicle and the driver will not be leaked.

[0006] The early warning device can not only detect abnormal driving conditions of vehicles and send early warning information to other vehicles, but also receive early warning information sent by other early warning devices. The two can work simultaneously without interfering with each other, so that the driver of every vehicle on the highway can understand the driving conditions of vehicles on the road ahead in real time.

[0007] The early warning device has the following main functions:

[0008] 1. Measure the real-time position, speed and direction of the vehicle during driving. The early warning device determines whether the vehicle is on / off the expressway through the positioning information, and determines whether the early warning device enters / exits the expressway working mode; by monitoring the driving speed, it determines whether the vehicle is in an abnormal driving state, and sends the information if there is an abnormal driving state.

[0009] 2. Upload the abnormal driving information of the vehicle on the highway to the server through the 4G / 5G network, and receive the warning instructions sent down by the server. From the moment the vehicle is judged to have an abnormal driving condition, the warning device will continuously send the information to the server at a certain time interval. If no feedback is received from the server after the specified number of times, the time interval for sending the information to the server will be increased until the abnormal driving condition returns to normal or the vehicle leaves the highway.

[0010] 3. Send warning information to the warning devices of other vehicles. If the warning device receives the warning sending time instruction from the server, it will send the warning information until the vehicle returns to normal driving or leaves the highway. The warning device uploads abnormal driving information and sends warning information through two independent channels, which do not interfere with each other. Therefore, one warning device can simultaneously upload abnormal driving information and receive warning information sent by other warning devices.

[0011] 4. Send a voice warning to the driver of the vehicle ahead of you that the vehicle ahead is in an abnormal driving state. The warning device only warns the driver of abnormal driving information sent by the warning device ahead of you on the same road (in the direction of the vehicle's driving). If the abnormal driving information received is not ahead of the warning device, the warning device will ignore the abnormal driving information and will not issue a warning.

[0012] 5. The early warning device can cyclically save the speed and position data of the vehicle in the last hour, which can be transmitted to a special device for reading via Bluetooth. The driving status of the vehicle in the last hour can be simulated using special software.

[0013] The early warning device and server of the present invention constitute an intelligent perception system for vehicle driving situation on highways. The server is the "brain" of the system, and the early warning device is the detection and execution part of the system. The system work is all completed by artificial intelligence without any human intervention.

[0014] The server mainly has the following functions:

[0015] 1. Receive and store abnormal driving information uploaded by the early warning devices of vehicles on all highways in the jurisdiction. According to the current situation of highway management in my country, each provincial management area is equipped with one (or more) management servers (hereinafter referred to as servers) to manage the driving status of vehicles on highways in the province. All abnormal driving conditions of vehicles on highways are uploaded to the server through the 4G / 5G network. As long as the abnormal driving state of the vehicle continues, the early warning device will continue to upload real-time abnormal driving information to the server.

[0016] 2. Intelligently analyze and judge each abnormal driving information to determine which abnormal driving information requires warning. The server receives a lot of abnormal driving information, but not every piece of information needs to be warned. For example, when a traffic jam occurs, dozens of cars are parked on the road. The first car in the driving direction should send a warning message, which is meaningful to the drivers of the vehicles behind it. Therefore, the server only transmits the warning sending time instruction to the warning device of the first car and warns, and the other dozens of cars will not send warning information. The server processes the received abnormal driving information according to the following process (taking one driving direction on a highway as an example):

[0017] A. The server sorts the received abnormal driving information according to the road driving direction;

[0018] B. If there is no other abnormal driving information at a certain distance behind the abnormal driving information point (forward in the road driving direction), the abnormal driving information is determined as abnormal driving information that requires warning;

[0019] C. If the distance between two abnormal driving information points is less than a certain distance and they are the same type of abnormal driving information, the abnormal driving information that is arranged first in the direction of road travel needs to be warned;

[0020] D. Prioritize the abnormal driving information that needs to be warned at a certain moment, in the order of emergency braking, reverse driving, parking, traffic jam, etc., with "emergency braking" being the highest priority;

[0021] E. Generate the warning time instruction according to the priority sorting, and transmit it to the corresponding warning device to execute the warning sending instruction;

[0022] F. Classify and store abnormal driving information that does not require early warning.

[0023] 3. According to the number, location, duration and other factors of abnormal road driving information, calculate the abnormal vehicle driving events on the road, such as traffic jams, accidents, violations, etc. according to the relevant mathematical model, and push this result to the relevant departments for reference.

[0024] In accordance with the laws and regulations on highway safety management, local geographical and climatic characteristics, and local highway traffic safety management methods, some abnormal driving criteria for vehicles on highways are pre-set in the early warning device. These criteria are determined based on the real-time speed of the vehicle, such as: a speed of zero is determined as parking, a speed less than 60 kilometers per hour is determined as low-speed driving, a vehicle speed decreasing at a rate of more than 10 kilometers per second (tentative) is determined as emergency braking, and a vehicle driving direction opposite to the direction of the highway is determined as reverse driving, etc. When the early warning device detects an abnormal driving condition of the vehicle, it uploads the abnormal driving information of the vehicle to the server, calculates the type of traffic problem that has occurred according to the mathematical model, determines which early warning devices need to send early warning information, and the server generates an instruction to send early warning information and transmits it to the corresponding early warning device for execution.

[0025] If multiple early warning devices somewhere on the highway send the same type of abnormal driving status information to the server, the server calculates an arrangement order according to the mathematical model, determines which is the early warning device arranged first according to the driving direction of the highway, and transmits the early warning information time instruction to it. Only this early warning device sends the early warning information, and the abnormal driving status information uploaded by other early warning devices is stored and pushed to the relevant departments by the server.

[0026] If there are multiple early warning devices uploading different types of abnormal driving status information on a section of highway at the same time, after calculation by the mathematical model in the server, they are all early warning information that should be sent by the early warning devices, which may cause the problem of conflict of wireless signals of the same frequency. The method to solve this problem is: in this case, the time instructions for sending early warning information transmitted by the server to each early warning device are different. Only one early warning device can send early warning information at a certain time. The early warning information is sent one by one in turn, and there will be no omissions and no conflicts. This effectively avoids the problem of conflict of wireless signals of the same frequency.

[0027] The server has established electronic fences for highway service areas, checkpoints, temporary parking spots, etc. The server only receives, stores and pushes data on abnormal driving status information sent by vehicles in these areas.

[0028] While sending warning information, the warning device also receives warning information sent by other warning devices and issues voice warnings to the vehicle driver. In other words, the warning device can send abnormal driving status information of the vehicle, and at the same time receive abnormal driving information sent by other vehicle warning devices and issue warnings.

[0029] After the warning device uploads abnormal driving information five times in succession at a certain time interval (the number can be set arbitrarily) and still cannot receive the sending time instruction transmitted from the server, the warning device will increase the upload time interval. The longer the abnormal driving information is kept, the longer the upload time interval is.

[0030] As long as the vehicle has abnormal driving status, the warning device will continuously upload abnormal driving information to the server. The time interval for uploading abnormal driving information gradually increases as the duration of the abnormal driving information increases. In the following three situations, the warning device automatically stops uploading the current abnormal driving information:

[0031] 1. The abnormal driving state returns to normal;

[0032] 2. The vehicle leaves the expressway;

[0033] 3. Abnormal driving state changes, such as: the vehicle changes from a low-speed driving state to a parking state.

[0034] Some sections of the expressway affect the transmission of the warning wireless signal sent by the warning device, shortening the transmission distance of the wireless signal. For example, in tunnels and mountainous areas, in order to ensure the normal transmission range of the warning wireless, it is necessary to establish some relay stations to relay the warning information sent by the warning device, to make up for the problem of shorter wireless signal transmission distance caused by obstruction, and to ensure that the transmission distance of the warning information signal sent by the warning device is within a reasonable range.

[0035] The elements of the warning information sent by the warning device include: location, driving direction, abnormal driving code, highway code, etc. The definitions of these elements are as follows:

[0036] Positioning: The longitude and latitude data of the early warning device measured by the positioning module in the early warning device.

[0037] Driving direction: The driving direction of the vehicle installed with the warning device on the highway, that is, the driving direction of the highway.

[0038] Abnormal driving code: Corresponding codes are specified for abnormal driving conditions such as parking, sudden braking, reverse driving, and low-speed driving on the highway. The early warning device will send the corresponding code when it detects the abnormal driving condition of the vehicle.

[0039] Highway Code: Each highway has a corresponding code for each driving direction to distinguish different highway roads.

[0040] The processing flow of the early warning device receiving the early warning information sent by other early warning devices is as follows:

[0041] 1. Based on the location and driving direction data contained in the warning information, determine whether the warning device that sends the warning information is on the same highway and in the same driving direction as the warning device itself. If yes, further processing is performed; if not, the warning information is discarded;

[0042] 2. Based on the location and driving direction data contained in the warning information, determine whether the warning device that sends the warning information is arranged in front of or behind the warning device according to the driving direction. If it is in front of the warning device, further processing is performed; if it is behind the warning device, the warning information is discarded;

[0043] 3. Calculate the distance between the two warning devices based on the positioning data contained in the warning information and the positioning data of the warning device;

[0044] 4. Generate a warning voice broadcast and light warning based on the abnormal driving information code and the distance between the two warning devices. The voice broadcast and light warning of the same warning information may be repeated up to three times (tentative).

[0045] The technical solution of the present invention has the following advantages:

[0046] 1. Without the need for a large number of supporting facilities on expressways, the abnormal driving conditions of all vehicles can be monitored in all sections, all time domains, and without blind spots. Wireless signal boosters can be installed only in tunnels, mountainous areas, and other places where wireless signal transmission is severely blocked. The signal booster can ensure the transmission distance of the warning information of abnormal driving conditions of vehicles, so that drivers of other vehicles can receive warning information within a certain distance;

[0047] 2. The driving conditions of vehicles on the highway are constantly changing. This technical solution can dynamically monitor the abnormal driving conditions of vehicles on the highway and send warnings of the changing abnormal driving conditions to other drivers within a certain range at the first time;

[0048] 3. The use of the warning device is simple and flexible. It can be permanently installed on each vehicle or temporarily placed on each vehicle. No manual operation is required during use;

[0049] 4. The warning device only monitors the abnormal driving conditions of the corresponding vehicle. The warning device has no corresponding relationship with the vehicle itself and the driver, which can ensure that the information of the vehicle and the driver is not leaked;

[0050] 5. All vehicles on the highway must upload their abnormal driving information to the server in real time, and a large database of real-time abnormal driving conditions of vehicles on the highway has been established, laying the foundation for the information management of the highway;

[0051] 6. The entire early warning process is completed intelligently without human intervention;

[0052] The vehicle-mounted warning device consists of a Beidou GPS module, a computing and control warning device (MCU module), a memory, a public wireless module (such as 4G / 5G, etc.), a local wireless module (such as LORA, etc.), a warning module and a power supply.

[0053] The Beidou GPS module completes the real-time measurement of the position, driving direction, and driving speed of the vehicle equipped with the vehicle warning device, and sends the results to the MCU module.

[0054] The MCU module completes the following functions:

[0055] 1) Analysis of GPS information to determine whether the current vehicle is driving abnormally;

[0056] 2) Communicate with the public wireless network, report fault information to the server, and receive warning instructions issued by the server;

[0057] 3) Start wireless warning according to the server's instructions;

[0058] 4) Circularly monitor the wireless channel status to determine whether there is any warning information. When a warning information is received, activate the voice and light warning.

[0059] The memory stores the location information of all highways in the country so that the MCU can match and determine which highway, location, and driving direction the vehicle is currently traveling on, so as to report relevant information when abnormal driving occurs and avoid confusion between different sections and driving directions of different highways.

[0060] The local wireless module is a multi-channel wireless transceiver module. The MCU determines different time slots and different channels to send warning channels according to the instructions sent by the server to avoid interference on the same wireless channel when sending multiple warnings when multiple abnormalities occur.

[0061] The server consists of computer server hardware and corresponding warning management software. According to the information of the warning signal sent by the vehicle-mounted warning device, the warning queue is established according to the highway number, section, and direction, and the warning command and warning time slot sent to the vehicle-mounted warning device and the wireless channel occupied by the warning are determined. DETAILED DESCRIPTION

[0062] The embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0063] Example

[0064] The present invention provides an intelligent perception method for abnormal driving situation of vehicles on a highway, which is used in an early warning device and a server of vehicles on the highway. The early warning device is both a measuring sensor and an actuator. The server organically connects the sensing and execution parts in the early warning device in series to realize the early warning of abnormal driving of vehicles on the highway. Since the driving speed of vehicles on the highway is relatively high, from the perspective of the driver, the abnormal driving conditions of other vehicles on the road that suddenly appear are most likely to cause traffic accidents, such as: emergency braking, parking, reverse driving, low-speed driving and other abnormal driving conditions, which often appear on the highway at uncertain sections, uncertain times, uncertain places and uncertain reasons, and it is difficult for drivers of normal driving vehicles to predict these abnormal driving conditions in advance, which are the inducement of traffic accidents on the highway, and are very likely to cause primary and secondary traffic accidents on the highway, affecting the traffic efficiency of the highway, and even causing huge losses of life and property. Some abnormal driving conditions on highways are warnings of emergencies, such as landslides, road breaks, flooding and other emergencies. When vehicles on site encounter these emergencies, abnormal driving conditions will inevitably occur. Such abnormal driving conditions can allow other off-site vehicle drivers to predict emergencies in advance, which can minimize the impact of these emergencies on other vehicles and save people's lives and property losses. Real-time abnormal driving conditions of highway vehicles can also provide information big data to traffic safety management departments, highway operation departments, etc., so that they can grasp the detailed traffic status of vehicles on the highways under their jurisdiction in real time and efficiently handle traffic problems on the highways. In summary, the warning of abnormal driving of vehicles on highways can effectively reduce highway traffic accidents, reduce the losses caused by emergencies to people and property, provide traffic management big data to traffic managers, and improve the traffic efficiency of highways.

[0065] The intelligent perception method of abnormal vehicle driving situation on highways includes:

[0066] Step 1: Install or place a vehicle warning device on each vehicle on the highway;

[0067] Step 2: The warning device automatically identifies that the vehicle is traveling on a road in a certain direction of travel on a certain highway and generates a corresponding road code;

[0068] Step 3: During the driving process of the vehicle, the warning device continuously detects the change of the vehicle's driving speed. When the vehicle speed change meets a certain abnormal driving state condition, a corresponding abnormal driving code is generated;

[0069] Step 4: The warning device sends the vehicle's road code, abnormal driving code, location and other information to the server through the 4G / 5G network;

[0070] Step 5: The server dynamically monitors and processes the received information. Take an abnormal driving condition as an example, assuming that the road code is G10, the abnormal driving code is S001 (parking), and the location is W01N01;

[0071] Step 6: Arrange according to the driving direction of G10, and check whether there is an S001 warning sent by the warning device in the close distance behind the W01N01 point. If yes, monitor the abnormal driving status of the line; if not, generate a sending time instruction and send it to the corresponding warning device through the 4G / 5G network;

[0072] Step 7: Repeat step 6 when the abnormal driving of the vehicle in the close distance behind the W01N01 point changes;

[0073] Step 8: When multiple pieces of information on different abnormal driving conditions are continuously received at a close distance behind the W01N01 point, multiple sending time instructions are generated in the order of priority of emergency braking, reverse driving, parking, and traffic jam, and sent to the corresponding warning device via the 4G / 5G network;

[0074] Step 9: When multiple pieces of information on the same abnormal driving condition are received continuously at a close distance behind the W01N01 point, only one sending time instruction is generated and sent to the first warning device corresponding to the driving direction through the 4G / 5G network;

[0075] Step 10: Each sending time instruction is sent three times at a certain time interval to ensure that the corresponding early warning device can accurately receive the instruction;

[0076] Step 11: The server performs real-time monitoring of the entire G10 section in full time domain and without blind spots according to the rules of "Step 6 to Step 10". All abnormal driving conditions of all vehicles on G10 are uploaded to the server, but not all abnormal driving conditions receive the sending time instruction. For example, if a traffic jam causes many vehicles to queue up and drive at a low speed or stop, or several vehicles rear-end and stop, only the first vehicle in the driving direction receives the sending time instruction, and other vehicles only upload their abnormal driving conditions to the server for storage;

[0077] Step 12: The warning device that uploads the abnormal driving information receives the sending time instruction and starts its data transmission radio to send the abnormal driving information;

[0078] Step 13: Other warning devices that receive the information sent by the warning device in step 12 determine whether the warning device is on the G10 road according to the G10 code. If not, ignore the information; if yes, perform the following steps;

[0079] Step 14: Calculate whether the W01N01 point is located in front of or behind the warning device (the direction of travel on the highway is in front). If it is located behind the warning device, ignore the information; if it is located in front of the warning device, perform the following steps;

[0080] Step 15: Calculate the real-time distance between point W01N01 and the early warning device;

[0081] Step 16: Trigger a voice warning "There is a car parked on the road ahead, about XXX meters away" based on the S001 code and the real-time distance, reminding the driver to pay attention to the road conditions ahead and adjust the vehicle driving status to avoid traffic accidents;

[0082] Step 17: When the warning device receives multiple warning messages at the same time, the warning messages are broadcasted in the order of the time they are received;

[0083] Step 18: While a vehicle's warning device sends out abnormal driving information and warnings, it can also receive warning information from other warning devices and warn the driver of the vehicle. The two channels of each warning device are independent channels, ensuring that every driver on the highway can receive abnormal driving conditions of vehicles within a certain distance ahead of him.

[0084] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] Figure 1 The present invention is a schematic diagram of the structure of the present invention. The present invention consists of two parts: a vehicle-mounted warning device and a warning server. Each vehicle is equipped with one vehicle-mounted warning device, and the warning server can be equipped with one or more according to the data of the configured vehicle-mounted warning device.

Claims

1. A method for intelligently sensing the driving situation of vehicles on a highway, wherein a vehicle-mounted warning device (hereinafter referred to as “warning device”) is installed or placed on all vehicles traveling on the highway, characterized in that: include: The warning device may be permanently installed on the vehicle as part of the vehicle; It can also be temporarily placed on the vehicle before it enters the highway, and the warning device can be removed when the vehicle leaves the highway; The warning device is permanently installed on the vehicle. It will be powered on when the vehicle engine is started and will be powered off and stop working when the engine is turned off. The early warning device, which is placed temporarily, is always powered on and does not have any manual control or operation parts. Measuring the real-time location, direction and speed of the vehicle (or provided by the vehicle's own positioning device); The warning device automatically determines whether the vehicle is driving on the expressway. The warning device will enter the warning working state only when the vehicle is driving on the expressway. The warning device will not enter the warning working state when the vehicle is driving on other roads. Generate abnormal vehicle driving information and send it to the management server via 4G / 5G network; The warning device receives the warning information command sent by the server, and sends the abnormal driving warning information of the vehicle to other warning devices through its own radio station. After receiving the warning information, other warning devices issue a voice warning to the driver; The warning device automatically stores the vehicle's driving data for half an hour in a cycle for subsequent analysis of the vehicle's driving conditions; The early warning device upgrades its software through the 4G / 5G network.

2. The early warning device according to claim 1 automatically determines whether the vehicle is traveling on a highway, and the early warning device enters the early warning working state only when the vehicle is traveling on the highway, and the early warning device cannot enter the early warning working state when the vehicle is traveling on other roads, and further comprises: The early warning device stores the geographical location information of highways across the country; A wireless signal generator is set up at the entrance and exit of each highway to trigger the early warning device to compare the vehicle location with the geographical location of the highway; Once the real-time location of the vehicle is successfully matched with the geographical location information of a certain highway, the warning device is triggered to enter the warning state working mode; If the real-time location of the vehicle fails to match the geographic location information of the highway, the warning device will be triggered to shut down the warning state working mode.

3. The warning device according to claim 1 receives the warning information instruction sent by the server, sends the abnormal driving warning information of the vehicle to other devices through its own radio station, and the other warning devices issue a voice alarm to the driver after receiving the warning information, which also includes: After the radio in the warning device of an abnormally moving vehicle on the highway sends a warning message, the warning devices of other vehicles within a 3-5 km (tentative) radius of the vehicle can receive the message; The process of processing warning information by the warning devices of other vehicles is as follows: 1) According to the highway and driving direction information in the received warning information, determine whether the vehicle sending the warning information and other vehicles are traveling on the same highway. If yes, proceed to the next step; otherwise, ignore this warning information; 2) According to the positioning information in the received warning information, determine that the vehicle sending the warning information is arranged according to the driving direction. If it is in front of other vehicles, proceed to the next step; if it is behind other vehicles, ignore this warning information; 3) Calculate the actual distance between the two vehicles based on the real-time positioning information of other vehicles and the positioning information of the vehicle sending the warning information; 4) According to the abnormal driving type in the warning information and the calculated actual distance between the two vehicles, a voice alarm is issued to remind other vehicle drivers to pay attention to the road conditions ahead and adjust the vehicle driving status.

4. A method for intelligently sensing vehicle driving status on a highway, wherein a management server (hereinafter referred to as server) is established, characterized in that: include: The server receives and processes all vehicle abnormal driving information sent by the early warning device; Filter abnormal driving information of vehicles that are effective for early warning, and generate a sending instruction to send it to the corresponding early warning device through the 4G / 5G network. The early warning device sends the early warning information to other early warning devices through its own radio station; In order to avoid conflicts when multiple early warning devices send early warning information at the same time, the server generates sending instructions at different times to the corresponding early warning devices according to the priority of the early warning information, ensuring that only one early warning device sends early warning information at the same time within a range of 3-5 kilometers (tentative), and multiple early warning devices can send early warning information in turn; Set up electronic fences at expressway service areas, checkpoints, temporary parking areas, etc., and do not process abnormal driving information of vehicles within their range; Carry out secondary development and utilization of the received abnormal vehicle driving information.

5. The early warning device according to claim 1 automatically and cyclically stores the vehicle's driving data for half an hour for subsequent analysis of the vehicle's driving conditions, and further comprises: The warning device stores the vehicle's location, driving direction and speed data for the last half hour, which can be read out through the interface on the warning device or Bluetooth communication; The last half hour of location, driving direction and speed data includes data uploaded to the service via 4G / 5G and all data not uploaded to the server.

6. According to claim 4, screening abnormal vehicle driving information that is effective for early warning, generating a sending instruction and sending it to a corresponding early warning device through a 4G / 5G network, and sending the early warning information to other early warning devices by the early warning device's own radio station also includes: The server's screening principle for received vehicle abnormal driving information is: 1) Ignore the abnormal driving information of vehicles sent by the vehicle warning device in the electronic fence; 2) If a vehicle warning device sends the same abnormal driving information within a range of 50 meters (tentative) behind the vehicle in the direction of the expressway, the abnormal driving information of this vehicle will be ignored; 3) Abnormal vehicle driving information other than the above two situations is valid information. The server generates a sending instruction and sends it to the corresponding warning device through the 4G / 5G network. The warning device's own radio station sends the warning information to other warning devices; 4) Classify and store ignored abnormal vehicle driving information.

7. The generating of abnormal vehicle driving information according to claim 1, and sending it to the management server via the 4G / 5G network further comprises: The abnormal vehicle driving information generated by the early warning device includes: the vehicle's location, speed, driving direction, abnormal driving code, highway code, etc.

8. According to claim 4, in order to avoid conflicts when multiple early warning devices send early warning information at the same time, the server generates sending instructions at different times to the corresponding early warning devices according to the priority of the early warning information, ensuring that only one early warning device sends early warning information at the same time within a range of 3-5 kilometers (tentative), and multiple early warning devices can send early warning information in turn, and further includes: Within a range of 3-5 kilometers (tentative), if the warning devices of multiple vehicles need to send warning information, the server generates the sending instructions according to the following principles: 1) The priority order of warning information (tentative) is: abnormal vehicle driving conditions such as driving against traffic, parking, emergency braking, and speed below 60 km / h; 2) The sending instruction generated by the server includes a sending time, and the sending time is from the time the early warning device receives the instruction to the time the early warning device finishes sending; 3) Within a range of 3-5 km (tentative), only one sending instruction is generated at a time; 4) Within a range of 3-5 kilometers (tentative), if there are multiple warning messages that need to be sent, the server generates sending instructions with different sending times according to the priority of the warning messages and sends them to the corresponding warning devices for execution; 5) The sending instructions generated by the server correspond one-to-one to the warning device. Even if the server receives abnormal driving information of multiple identical vehicles at the same time, it will generate multiple sending instructions with different sending times for the warning device of each vehicle to execute; 6) The sending instruction generated by the server is a dynamic process that changes according to the abnormal driving situation of vehicles on the highway, ensuring the real-time nature of the warning information.

9. A method for intelligent perception of vehicle driving status on a highway, establishing 4G / 5G network signal relay equipment in 4G / 5G network signal blind areas such as tunnels and under bridges on highways; using the multi-channel working mode of the early warning device radio in areas without 4G / 5G signals, characterized in that: include: Establish signal relay stations on highways in areas without 4G / 5G signals to expand the coverage of 4G / 5G network signals, so that the driving conditions of vehicles on the entire highway can be monitored without blind spots; Each early warning device has several communication channels. The radio station constantly detects the sending and receiving status of each channel. When it needs to send, it needs to find an "idle" channel to send. If there is no "idle" channel, it will queue up and wait for sending. Once an "idle" channel appears, it will send through this channel. The radio station of the early warning device continuously detects the abnormal driving information of vehicles received on each channel. When multiple early warning messages are received, the early warning device processes the abnormal driving information of vehicles in the order from strong to weak signals. When the warning device is in a multi-channel working mode, if the warning device of a vehicle sends abnormal vehicle driving information, the warning devices of other vehicles shall process it according to the warning information processing flow in claim 3; Within the range of the self-organizing network, the early warning device detects and queries the wireless channel in real time in a cyclic manner. If no other early warning device sends early warning information, the early warning device will send the abnormal driving information of the vehicle, send it twice in a row and then stop sending, and send it twice in a row again after a period of time (duration to be determined). The abnormal driving information of the vehicle is sent in a cycle until the abnormal driving information returns to normal.

10. A method for intelligently sensing vehicle driving status on a highway, wherein the early warning device has GPS / Beidou and inertial positioning modules, characterized in that: include: On roads with GPS / Beidou signals, the warning device on the vehicle locates the vehicle in real time and measures the vehicle's speed and direction of travel; On roads without GPS / Beidou signals, the early warning device on the vehicle uses the inertial module to locate the vehicle in real time and measure the vehicle speed and direction; The GPS / Beidou module continuously corrects the errors of the inertial module; The early warning device gives priority to the measurement information of the GPS / Beidou module.

Images