Collision early warning method and device for terminal equipment

Abstract

The invention discloses a collision early warning method and device for terminal equipment, and relates to the technical field of terminals. In the method, a control device of the terminal equipment determines that the terminal equipment is in a first working condition, and the first working condition comprises a working condition in which the probability of collision of the terminal equipment is greater than or equal to a set threshold value; under the first working condition, determining a collision level to which the terminal equipment belongs according to at least one kind of first sensing data acquired by the terminal equipment; determining early warning information according to an early warning measure associated with the collision level; and outputting the early warning information. The method can be used for recognizing the working condition of the terminal equipment earlier so as to carry out early warning on potential collision risks, and the movement safety of the terminal equipment is improved.

Description

Technical Field

[0001] The present application relates to the field of terminal technology, and in particular to a collision warning method and device for terminal equipment. Background Art

[0002] With the development of science and technology, people gradually use some terminal devices with autonomous mobility to improve the convenience of life or work. For example, driving based on the intelligent driving function of the vehicle can reduce the pressure on the driver as much as possible. Or for example, aerial photography, transportation, monitoring and tracking based on drones can greatly improve efficiency. Or for example, robots can achieve convenience in different fields such as smart home, education, medical care, entertainment and services. If there are obstacles in the path of these terminal devices, it will affect the function of the terminal devices, thereby causing inconvenience to users.

[0003] To address this problem, the industry has also designed collision warning technology for terminal devices. Taking a vehicle as an example, when the vehicle is at a medium or low speed (for example, the speed is less than 40KM / h), the radar is used to judge the distance between the vehicle and the vehicle in front, as well as the speed of the vehicle relative to the vehicle in front, to make a collision warning judgment, so as to achieve the purpose of collision warning.

[0004] However, the actual use environment of terminal equipment is complex and changeable. In some special situations, in order to achieve the purpose of collision warning, collision warning needs to be performed earlier. For example, when the vehicle is driving at night, the light is weak, the driver is not paying attention, etc., which will greatly increase the risk of collision. At this time, in order to achieve the purpose of collision warning, collision warning needs to be performed earlier.

[0005] Therefore, how to provide early collision warning to terminal devices remains an important issue that needs to be solved urgently. Summary of the invention

[0006] The embodiments of the present application provide a collision warning method and device for a terminal device, which are used to identify the working condition of the terminal device earlier, so as to warn of potential collision risks and improve the mobile safety of the terminal device.

[0007] In the first aspect, an embodiment of the present application provides a collision warning method for a terminal device, which can be implemented by a vehicle control device, and the control device can be deployed on the vehicle side. For example, it can be a vehicle control unit (VCU) or a vehicle domain control unit (VDC) for implementing vehicle control, or it can be an intelligent driving domain control unit or a mobile data center (MDC) for implementing intelligent driving or assisted driving functions. The embodiment of the present application does not limit the product form of the vehicle control device.

[0008] In specific implementation, the method may include: determining that the terminal device is in a first operating condition, wherein the first operating condition includes a condition in which the probability of a collision occurring in the terminal device is greater than or equal to a set threshold; under the first operating condition, determining a collision level to which the terminal device belongs based on at least one first perception data acquired by the terminal device; determining warning information based on warning measures associated with the collision level; and outputting the warning information.

[0009] Through the above method, the vehicle's control device can more fully collect the perception data of the vehicle's environment, and combined with its own driving parameters, identify the working conditions of the terminal equipment earlier, so as to warn of potential collision risks and improve the mobile safety of the terminal equipment.

[0010] In combination with the first aspect, in a possible implementation manner, the terminal device includes a vehicle.

[0011] In combination with the first aspect, in a possible implementation method, when the terminal device is a vehicle, determining that the terminal device is in the first operating condition specifically includes: determining that the vehicle is in the first operating condition based on at least one second perception data acquired by the vehicle, wherein the at least one second perception data includes at least one of the following: the light intensity in the environment where the vehicle is located, the traffic volume in the environment where the vehicle is located, the gear position of the vehicle, the driving intention of the vehicle, the speed of the vehicle, the weather in the environment where the vehicle is located, and the peak traffic period in the environment where the vehicle is located.

[0012] In combination with the first aspect, in a possible implementation, the risk identification priority of the light intensity in the vehicle's environment, the traffic volume in the vehicle's environment, the gear position of the vehicle, the driving intention of the vehicle, and the speed of the vehicle is higher than the risk identification priority of the weather in the vehicle's environment and the peak traffic period in the vehicle's environment.

[0013] In combination with the first aspect, in a possible implementation method, the method also includes: determining the risk level of the vehicle under a first operating condition based on at least one second perception data acquired by the vehicle; determining the collision level of the terminal device under the first operating condition based on at least one first perception data acquired by the terminal device, including: determining the collision level of the vehicle based on the risk level of the vehicle under the first operating condition and at least one first perception data acquired by the vehicle.

[0014] In combination with the first aspect, in a possible implementation manner, the at least one first perception data includes distance information between the vehicle and at least one obstacle, and the at least one obstacle includes another vehicle.

[0015] In combination with the first aspect, in a possible implementation, the terminal device has at least one of the following warning devices: an ambient light, a buzzer, a speaker, an instrument panel, and a steering motor; and outputting the warning information includes: sending an instruction to the at least one warning device to instruct the at least one warning device to output the warning information.

[0016] In the second aspect, an embodiment of the present application provides a collision warning device for a terminal device, comprising: a determination unit, used to determine that the terminal device is in a first operating condition, wherein the first operating condition includes a condition in which the probability of a collision occurring in the terminal device is greater than or equal to a set threshold; under the first operating condition, determining a collision level to which the terminal device belongs based on at least one first perception data acquired by the terminal device; determining warning information based on warning measures associated with the collision level; and an output unit, used to output the warning information.

[0017] In combination with the second aspect, in a possible implementation manner, the terminal device includes a vehicle.

[0018] In combination with the second aspect, in a possible implementation method, when the terminal device is a vehicle, the determination unit is specifically used to: determine that the vehicle is in a first operating condition based on at least one second perception data acquired by the vehicle, wherein the at least one second perception data includes at least one of the following: the light intensity in the environment where the vehicle is located, the traffic volume in the environment where the vehicle is located, the gear position of the vehicle, the driving intention of the vehicle, the speed of the vehicle, the weather in the environment where the vehicle is located, and the peak traffic period in the environment where the vehicle is located.

[0019] In combination with the second aspect, in a possible implementation, the risk identification priority of the light intensity in the vehicle's environment, the traffic volume in the vehicle's environment, the gear position of the vehicle, the vehicle's driving intention, and the vehicle's speed is higher than the risk identification priority of the weather in the vehicle's environment and the peak traffic period in the vehicle's environment.

[0020] In combination with the second aspect, in a possible implementation method, the determination unit is also used to: determine the risk level of the vehicle in the first operating condition based on at least one second perception data acquired by the vehicle; the determination unit is specifically used to: determine the collision level of the vehicle based on the risk level of the vehicle in the first operating condition and at least one first perception data acquired by the vehicle.

[0021] In combination with the second aspect, in a possible implementation manner, the at least one first perception data includes distance information between the vehicle and at least one obstacle, and the at least one obstacle includes another vehicle.

[0022] In combination with the second aspect, in a possible implementation, the terminal device has at least one of the following warning devices: an ambient light, a buzzer, a speaker, an instrument panel, and a steering motor; the outputting of the warning information includes: sending an instruction to the at least one warning device to instruct the at least one warning device to output the warning information.

[0023] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor, which is coupled to a memory: the processor is used to execute a computer program or instruction stored in the memory, so that the electronic device executes the method described in the first aspect and any possible implementation method of the first aspect.

[0024] In a fourth aspect, an embodiment of the present application provides a vehicle, comprising a unit for implementing the method described in the first aspect and any possible implementation of any one of the first aspect.

[0025] In a fifth aspect, an embodiment of the present application provides a communication device, comprising at least one processor and an interface circuit, wherein the interface circuit is used to provide data or code instructions to the at least one processor, and the at least one processor is used to implement the method described in the first aspect and any possible implementation method of the first aspect through a logic circuit or by executing code instructions.

[0026] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable medium stores a program code. When the program code runs on a computer, the computer executes the method described in the first aspect and any possible implementation of the first aspect.

[0027] In a seventh aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on a computer, the computer executes the method described in the first aspect and any possible implementation of the first aspect.

[0028] In an eighth aspect, an embodiment of the present application provides a terminal device, including a unit for implementing the method described in the first aspect and any possible design of the first aspect, or a unit for implementing the method described in the second aspect and any possible design of the second aspect. By way of example, the terminal device includes, but is not limited to: intelligent transportation equipment (such as cars, ships, drones, trains, trucks, etc.), intelligent manufacturing equipment (such as robots, industrial equipment, intelligent logistics, intelligent factories, etc.), and intelligent terminals (mobile phones, computers, tablet computers, PDAs, desktops, headphones, speakers, wearable devices, vehicle-mounted devices, etc.).

[0029] Based on the implementations provided in the above aspects, the embodiments of the present application can be further combined to provide more implementations.

[0030] The technical effects that can be achieved by any possible implementation method in any of the second to tenth aspects mentioned above can be referred to the description of the technical effects that can be achieved by any possible implementation method in any of the first aspect mentioned above, and the repetitions will not be discussed here. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram showing an application scenario to which the embodiments of the present application are applicable;

[0032] Figure 2 A schematic diagram of a scenario applied to the vehicle field is shown;

[0033] Figure 3 A schematic diagram showing the principle of a collision warning method according to an embodiment of the present application is shown;

[0034] Figure 4 A schematic diagram showing a flow chart of a collision warning method according to an embodiment of the present application is shown;

[0035] Figure 5 A schematic diagram showing the structure of a communication device according to an embodiment of the present application is shown;

[0036] Figure 6 A schematic diagram of the structure of a communication device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0037] The embodiments of the present application provide a collision warning method and device for a terminal device, which are used to identify the working conditions of the terminal device earlier, so as to warn of potential collision risks and improve the mobile safety of the terminal device. Among them, the method and the device are based on the same technical concept. Since the principles of solving problems by the method and the device are similar, the implementation of the device and the method can refer to each other, and the repeated parts will not be repeated. Moreover, in each embodiment of the present application, if there is no special explanation and logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form a new embodiment according to their internal logical relationship.

[0038] The collision warning scheme in the embodiment of the present application can be applied to the Internet of Vehicles, such as vehicle to everything (V2X), long-term evolution-vehicle (LTE-V), vehicle to vehicle (V2V), etc. For example, it can be applied to a vehicle with a driving mobile function, or other devices in a vehicle with a driving mobile function. The other devices include but are not limited to: other sensors such as a vehicle-mounted terminal, a vehicle-mounted control unit, a vehicle-mounted module, a vehicle-mounted module, a vehicle-mounted component, a vehicle-mounted chip, a vehicle-mounted unit, a vehicle-mounted radar or a vehicle-mounted camera. The vehicle can implement the collision warning method provided in the embodiment of the present application through the vehicle-mounted terminal, the vehicle-mounted control unit, the vehicle-mounted module, the vehicle-mounted module, the vehicle-mounted component, the vehicle-mounted chip, the vehicle-mounted unit, the vehicle-mounted radar or the vehicle-mounted camera. Of course, the collision warning scheme in the embodiment of the present application can also be used for other intelligent terminals with mobile control functions other than the vehicle, or be set in other intelligent terminals with mobile control functions other than the vehicle, or be set in a component of the intelligent terminal. The intelligent terminal can be an intelligent transportation device, a smart home device, a robot, a drone, etc. For example, it includes but is not limited to a smart terminal or a control unit in a smart terminal, a chip, other sensors such as a radar or a camera, and other components.

[0039] It should be noted that in the embodiments of the present application, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, c can be single or multiple.

[0040] Furthermore, unless otherwise specified, the ordinal numbers such as "first" and "second" mentioned in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the priority or importance of multiple objects. For example, the first perception data and the second perception data are only used to distinguish different perception data, rather than indicating the difference in priority or importance of the two perception data.

[0041] Figure 1 A schematic diagram showing an application scenario to which the embodiments of the present application are applicable.

[0042] As shown in the figure, the application scenario may include a terminal device 10, at least one sensor 20 arranged on the terminal device (for example, represented as sensor 20_1, sensor 20_2, sensor 20_3, etc.), and at least one alarm component 30 (for example, represented as alarm component 30_1, alarm component 30_4, alarm component 30_3, etc.). Figure 1 The structure shown is only an example and does not limit the relationship between the terminal device 10 and at least one sensor 20 or at least one alarm device 30. In some embodiments, the sensor 20 or the alarm device 30 may also be deployed independently of the terminal device 10, and the embodiment of the present application does not limit the connection relationship between the three.

[0043] The at least one sensor can be used to obtain the perception data of the environment where the terminal device 10 is located, and always maintain the detection and data collection of the environment around the terminal device 10. The at least one sensor can also be used to obtain the movement parameters of the terminal device 10 itself to identify the movement state of the terminal device 10. According to the actual application scenario or business requirements of the terminal device 10, in some embodiments, one of the at least one sensor may not be the smallest detection device, but a combination of several sensors. The embodiment of the present application does not limit the type or function of the at least one sensor.

[0044] The control device of the terminal device 10 can collect the perception data from at least one sensor 20, and integrate the collected perception data to directly or indirectly identify the working condition of the terminal device 10. The control device of the terminal device 10 can determine the collision level of the terminal device based on at least one first perception data obtained by itself. The control device of the terminal device 10 can make a collision warning decision based on the warning measures associated with the collision level of the terminal device 10 and determine the warning information.

[0045] The control device of the terminal device can send instructions to at least one alarm component 30 to output warning information through at least one alarm device 30 to provide a collision warning to the user of the terminal device 10, so that the user can respond in time according to the collision warning to reduce the occurrence of collision events and ensure the mobile safety of the terminal device 10.

[0046] In a specific implementation, the terminal device 10 can be implemented as follows Figure 2 The vehicle 100 shown. In a possible implementation, the application scenario may also include a cloud server 200, and the vehicle 100 and the cloud server 200 may communicate via a network. In one embodiment, the cloud server 200 may also be implemented by a virtual machine.

[0047] Some or all functions of the vehicle 100 are controlled by a computing platform 150 (or a computer system, which may be Figure 1 The computing platform 150 may include at least one processor 151, which may execute instructions 153 stored in a non-transitory computer-readable medium such as a memory 152. In some embodiments, the computing platform 150 may also be a plurality of computing devices that control individual components or subsystems of the vehicle 100 in a distributed manner. The processor 151 may be any conventional processor, such as a central processing unit (CPU). Alternatively, the processor 151 may also include a graphics processing unit (GPU), a field programmable gate array (FPGA), a system on chip (SoC), an application specific integrated circuit (ASIC), or a combination thereof.

[0048] Optionally, the vehicle 100 may be a car, a truck, a motorcycle, a bus, a ship, an airplane, a helicopter, a lawn mower, an amusement vehicle, an amusement park vehicle, construction equipment, a tram, a golf cart, a train, etc., which is not particularly limited in the embodiments of the present application. In a possible implementation, the vehicle 100 may be an electric vehicle (EV), such as a two-wheel drive electric vehicle or a four-wheel drive electric vehicle, which is not limited in the embodiments of the present application.

[0049] Figure 2 The structure of the vehicle should not be understood as a limitation to the embodiments of the present application.

[0050] For ease of understanding, the following Figure 2 Taking the vehicle shown as an example, the principle of the collision warning solution of the embodiment of the present application is introduced.

[0051] like Figure 3 As shown, if the terminal device 10 is implemented as a vehicle 100, the control device of the terminal device 10 can be an independent device, a chip or component in the vehicle 100, or a software module, which can be deployed on the relevant on-board equipment of the vehicle 100. The embodiment of the present application does not limit the product form and deployment method of the control device. In the following, for the convenience of understanding and description, the vehicle control scheme of the embodiment of the present application will be introduced by taking the control device as an intelligent driving domain control unit (such as a mobile data center (mobiledata center, MDC)) of a computing platform 150 integrated in the vehicle 100, or a vehicle control unit (vehicle control unit, VCU), or a vehicle domain control unit (vehicle domain controller, VDC) as an example.

[0052] For example, the at least one sensor provided on the vehicle 100 may include, but is not limited to: a light sensor, a vehicle control sensor, a map sensor, a body control sensor, and a reversing radar.

[0053] The light sensor can be used to collect light intensity information to identify the lighting conditions in the environment where the terminal device 10 is currently located. The light can refer to natural light (such as sunlight) or light intensity, which is not limited in this embodiment of the present application.

[0054] The vehicle control sensor may include but is not limited to: speed sensor, acceleration sensor, angular velocity sensor, roll angle sensor, steering wheel sensor and other sensors. The perception data obtained by the vehicle control sensor may include vehicle driving parameters, such as driving speed, wheel speed, longitudinal (lateral) acceleration, yaw angular velocity, roll angle, steering wheel angle, heading angle, accelerator pedal opening information, brake pedal opening information, gear position, driving mode, road mode, battery state of charge (SOC), etc. The control device 10 can also determine the vehicle's driving intention information by combining the various driving parameters obtained, and the driving intention information can be used to assist in determining the vehicle's warning information.

[0055] Map sensors may include, but are not limited to, Global Navigation Satellite System (GNSS), Inertial Measurement Unit (IMU), Light Detection and Ranging (LIDAR), cameras, radars, etc., for collecting geospatial information, and the control device may obtain high-precision map information associated with the location of the vehicle based on the collected geospatial information. In some embodiments, the map sensor may also obtain high-definition map information collected by commercial high-definition map providers using crowdsourcing technology from a cloud server through a network. In other embodiments, the high-precision map information may also include traffic flow information around the location of the vehicle. The embodiments of the present application do not limit the specific method for obtaining the high-precision map information and the specific content of the high-precision map.

[0056] The vehicle body control sensor may include, for example, a time sensor or a weather sensor, etc. The time sensor may be used to obtain time information, and the weather sensor may be used to obtain weather information, and the time information and weather information may be used to assist in determining the warning information of the vehicle.

[0057] The reversing radar may include but is not limited to a laser radar, a millimeter-wave radar (RADAR) or other types of radar, which can be used to sense the distance between the vehicle and surrounding obstacles when the vehicle is in a reverse gear. The control device can combine the sensing data obtained by the camera and the reversing radar to determine whether the current working condition of the vehicle is prone to collision, so as to assist in determining the collision level of the vehicle and early warning information.

[0058] It should be understood that Figure 3This is only an example of sensors in vehicle scenarios and not a limitation. In some embodiments, the required sensor devices may be replaced or supplemented according to the application scenarios or business requirements of the vehicle, etc., which will not be elaborated here.

[0059] The vehicle control device can implement a collision warning method based on the at least one sensed data obtained, such as Figure 4 As shown, the method may include the following steps:

[0060] S410: The control device of the vehicle determines that the vehicle is in a first operating condition.

[0061] In an embodiment of the present application, the control device of the vehicle can specifically identify the working condition based on at least one second sensing data obtained to determine whether the working condition of the terminal device is currently the set first working condition. Among them, the working condition of the vehicle can be described by the probability of a collision with the vehicle. If the probability of a collision with the vehicle is greater than or equal to a set threshold, it is considered that the vehicle is currently in the first working condition, that is, a collision-prone working condition. On the contrary, if the probability of a collision with the vehicle is less than the set threshold, it is considered that the current collision risk of the vehicle is low, and collision warning can be ignored.

[0062] It should be understood that the description of the collision risk here using the probability of a collision is only an example and not a limitation. The set threshold value can be an empirical value set by the manufacturer or a threshold value provided by the vehicle user. The embodiments of the present application do not specifically limit this. In other embodiments, the collision probability can be replaced by other information describing the collision risk, which will not be repeated here. In some embodiments, the collision probability can be determined based on certain perception data, or it can be calculated based on a comprehensive analysis of the at least one second perception data. The embodiments of the present application do not limit this determination method.

[0063] Taking light intensity as an example, lux can be used to measure light intensity to identify whether the vehicle is currently in a collision-prone working condition such as the transition between light and dark in the evening or when street lights are insufficient at night. For example, the following four light levels can be divided based on light intensity:

[0064] 1) Light intensity > 100 lux, good lighting, no collision risk, no need to activate the collision warning function;

[0065] 2) The light intensity is between 50lux and 100lux. Weaker light is better. The higher the light level, the lower the collision risk.

[0066] 3) The light intensity is between 20lux and 50lux. The light becomes weaker and the light level is medium, so the collision risk is medium.

[0067] 4) Light intensity is less than 20lux, the light is the weakest, the light level is low, and the collision risk is high.

[0068] The control device can match the light intensity value obtained by the light sensor with the intensity range corresponding to the above four light levels, and determine whether the vehicle is in the first working condition prone to collision according to the matching result. For example, if the light intensity is greater than 100 lux, it is not the first working condition. If the light intensity is less than or equal to 100 lux, it is in the first working condition prone to collision.

[0069] It should be understood that the range of light intensity values ​​shown here for dividing light levels is a reference value rather than a limitation. In actual applications, this parameter value can also be adjusted according to the actual conditions of different regions, which will not be repeated here. At the same time, the light intensity factor can also be associated with the sunset time. When it is close to the sunset time, the risk of collision is higher in the stage of light and dark changes. Therefore, the light level can also be divided in combination with the light intensity at sunset time, which will not be repeated here.

[0070] Taking the vehicle control sensor and reversing radar as an example, the following three risk levels can be divided based on the identified vehicle speed, gear position and driving intention information:

[0071] 1) When the vehicle is in reverse gear, the risk level is high; when the vehicle turns at a low speed (for example, the speed is less than 20 km / h), or when the vehicle makes a U-turn at a low speed, the risk level is high;

[0072] 2) When the vehicle speed is between 20-40 km / h, the risk level is medium;

[0073] 3) When the vehicle speed is less than 20KM / h, the risk level is low.

[0074] The control device can match the perception data collected by the vehicle control sensor with the content corresponding to the above risk level, and determine whether the vehicle is in the first working condition prone to collision based on the matching result. For example, if the vehicle is in reverse gear, turning or turning at low speed, it is in the first working condition prone to collision. If the vehicle speed is less than 40KM / h, there is a risk of collision, but it needs to be further analyzed in combination with other perception data.

[0075] Taking the map sensor as an example, the control device can determine the traffic flow information of the vehicle's current location based on the high-precision map information obtained through the map sensor to identify road congestion.

[0076] For example, the road congestion situation is divided into three levels: high, medium and low. When the road congestion level is high, it corresponds to the red warning situation, indicating that the traffic volume around the current location of the vehicle is greater than or equal to the first threshold, the vehicle moves slowly, and the risk of collision with surrounding obstacles (including other vehicles) is high. When the road congestion level is medium, it corresponds to the yellow reminder situation, indicating that the traffic volume around the current location of the vehicle is less than the first threshold and greater than or equal to the second threshold, the movement of the vehicle is obstructed, and the risk of collision with surrounding obstacles (including other vehicles) is high. When the road congestion level is low, it corresponds to the green situation, indicating that the traffic volume around the current location of the vehicle is less than the second threshold, the vehicle moves smoothly, and the risk of collision with surrounding obstacles (including other vehicles) is low.

[0077] The control device can identify the current road congestion level based on the traffic flow information obtained by the map sensor to determine whether it is in the first working condition where collision is likely to occur. For example, if the identified road congestion level is medium or high, it is considered to be in the first working condition where collision is likely to occur. If the identified road congestion level is low, it is considered not to be in the first working condition.

[0078] Taking the body control sensor as an example, the risk level can be divided into two levels according to the interference of weather factors on vehicle movement: the risk level is low when the weather is good, and the risk level is high when it is windy, cloudy, rainy or snowy. The risk level can also be divided into two levels according to the interference of time factors on vehicle movement: the risk level is high during peak hours, and the risk level is low during non-peak hours. The peak hours can be the morning and evening peak hours on weekdays in the area where the vehicle is located, or the road congestion time period on the daily travel route provided by the vehicle user.

[0079] It should be understood that the above is merely an example of identifying the operating condition of a vehicle in combination with certain perception data and is not a limitation. In some embodiments, the vehicle control device may perform a comprehensive analysis based on several types of perception data to identify whether the vehicle is in the first operating condition.

[0080] In order to achieve accurate analysis of different situations, in an embodiment of the present application, different perception data can also be prioritized so that the control device can identify the specific level of the vehicle in the first operating condition according to the importance of different perception data.

[0081] For example, with light intensity, vehicle speed, gear position, driving intention information, and traffic volume as the main identification factors, and weather and time as the auxiliary identification factors, the risk identification priority of the main identification factors is higher than the risk identification priority of the auxiliary identification factors. The level division under the first working condition can be shown in the following Table 1:

[0082] Table 1

[0083]

[0084] Among them, based on the introduction of different perception data recognition working conditions in the previous article, when the first working condition is at a high level, early warning measures need to be taken, especially to remind the driver to pay attention to potential collision risks, including but not limited to the following situations:

[0085] 1) The light intensity in the direction of the vehicle's movement is very weak (for example, less than 20 lux) or it is in the evening when light and dark alternate, and the vehicle intends to reverse, turn, or make a U-turn.

[0086] 2) The light intensity in the direction of vehicle movement is weak (for example, between 20-50 lux), and the vehicle intends to reverse, turn or make a U-turn.

[0087] The medium level under the first condition corresponds to but is not limited to the following situations:

[0088] 1) The light intensity in the direction of vehicle movement is weak (for example, between 20-50 lux), the vehicle speed is high (>20KM / h), and the traffic volume is large.

[0089] 2) The light intensity in the direction of vehicle movement is weak (for example, between 20-50 lux). Although the vehicle speed is not high (<20 km / h), the pedestrian density is high or it is at peak hours in the morning and evening.

[0090] 3) The light intensity in the direction of vehicle movement is weak (for example, between 20-50 lux), and the vehicle speed is high, and at the same time, it meets any one of the following conditions: rush hour in the morning or evening, heavy traffic volume, or high pedestrian density.

[0091] 4) The light intensity in the direction of vehicle movement is weak and the vehicle speed is low, but it is during rush hour in the morning and evening or there is heavy traffic or high density of people.

[0092] The low level under the first condition corresponds to but is not limited to the following situations:

[0093] 1) The light intensity in the direction of vehicle movement is weak, but it is not during rush hour in the morning or evening, and the pedestrian density and vehicle volume are low.

[0094] 2) The light intensity in the direction of the vehicle's movement is good, and there is no intention to reverse, turn or U-turn.

[0095] When implementing S410, the vehicle control device can comprehensively analyze the collected at least one second perception data in combination with the above Table 1 to determine the specific level of the vehicle in the first operating condition, so as to determine how to perform a collision warning according to the specific level.

[0096] It should be understood that the above is only an explanation of the level under the first working condition and is not a limitation. In some embodiments, even if the vehicle is not in the first working condition, it does not exclude the risk of collision of the vehicle. For example, in good weather and during non-peak hours, if the distance between the vehicle and other vehicles is very close, there is still a risk of collision, which cannot be ignored. See the introduction in conjunction with Table 2 below for details.

[0097] For example, S420: the control device of the vehicle may determine the collision level of the vehicle according to at least one first perception data obtained under the first operating condition.

[0098] In the embodiment of the present application, the control device of the vehicle can determine the collision level of the vehicle based on the distance between the vehicle and the obstacle at the specific level of the first working condition, as shown in Table 2 below:

[0099] Table 2

[0100]

[0101]

[0102] S430: The vehicle control device determines warning information according to the warning measures associated with the collision level.

[0103] In an embodiment of the present application, warning measures associated with different collision levels can be pre-stored on a storage medium accessible to a control device of the vehicle. The control device can determine warning information in combination with the warning measures associated with the collision level determined in S420, including but not limited to at least one of the following: changes in the flashing frequency of the ambient light, changes in the color of the ambient light, text prompts on the instrument, changes in the volume of the audio, buzzer prompts, or steering wheel vibration prompts.

[0104] For example, the relationship between the early warning measure and the early warning information may be shown in Table 3 below:

[0105] Table 3

[0106]

[0107]

[0108] S440: The vehicle control device outputs the warning information.

[0109] like Figure 3As shown, the warning device of the vehicle may include but is not limited to an ambient light, a buzzer, an audio system, a dashboard or a steering wheel. When S440 is implemented, the control device of the vehicle may send a command to the corresponding warning device through an in-vehicle communication network (such as a vehicle bus or a gateway), so that the corresponding warning device outputs warning information to warn the user of the vehicle of a collision, so that the user can respond as soon as possible to reduce the occurrence of a collision.

[0110] In some possible implementations, the vehicle may also be associated with a peripheral device, such as a smartphone of a vehicle user, and the vehicle user may include but is not limited to a driver, a passenger, an owner of the vehicle, etc. The vehicle control device may also send a reminder message to the smartphone of the vehicle user to provide a collision warning reminder to relevant personnel.

[0111] Therefore, through the above method, the vehicle's control device can more fully collect the perception data of the vehicle's environment, and combine its own driving parameters to identify the working conditions of the terminal equipment earlier, so as to warn of potential collision risks and improve the mobile safety of the terminal equipment.

[0112] It can be understood that the above only uses a vehicle as an example of a terminal device to introduce the collision warning method of an embodiment of the present application. In actual applications, the vehicle can also be replaced by other terminal devices with autonomous movement capabilities, such as drones, robots, etc. The embodiment of the present application does not limit this.

[0113] The embodiment of the present application also provides a communication device for executing the method executed by the control device of the vehicle in the above method embodiment. The relevant features can be found in the above method embodiment and will not be repeated here.

[0114] like Figure 5 As shown, the communication device 500 may include: a determination unit 501, used to determine that the terminal device is in a first working condition, wherein the first working condition includes a working condition in which the probability of a collision of the terminal device is greater than or equal to a set threshold; under the first working condition, determining the collision level to which the terminal device belongs according to at least one first perception data acquired by the terminal device; determining warning information according to the warning measures associated with the collision level; and an output unit 502, used to output the warning information. For specific implementation methods, please refer to the method steps implemented by the first device in the above method embodiment, which will not be repeated here.

[0115] It should be understood that the division of the units in the above device is only a division of logical functions, and in actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. In addition, the units in the device can be implemented in the form of a processor calling software; for example, the device includes a processor, the processor is connected to a memory, and instructions are stored in the memory. The processor calls the instructions stored in the memory to implement any of the above methods or realize the functions of the units of the device, wherein the processor is, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory is a memory inside the device or a memory outside the device. Alternatively, the units in the device can be implemented in the form of hardware circuits, and the functions of some or all of the units can be realized by designing the hardware circuits, and the hardware circuits can be understood as one or more processors; for example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC), and the functions of some or all of the above units are realized by designing the logical relationship of the components in the circuit; for another example, in another implementation, the hardware circuit can be realized by a programmable logic device (PLD), taking a field programmable gate array (FPGA) as an example, which can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by a configuration file, so as to realize the functions of some or all of the above units. All units of the above devices can be realized in the form of a processor calling software, or in the form of a hardware circuit, or in part by a processor calling software, and the rest by a hardware circuit.

[0116] In the embodiment of the present application, the processor is a circuit with signal processing capability. In one implementation, the processor can be a circuit with instruction reading and running capability, such as a CPU, a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP), etc.; in another implementation, the processor can realize certain functions through the logical relationship of the hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the processor loads a configuration document to implement the process of hardware circuit configuration, which can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (Neural Network Processing Unit, NPU) tensor processing unit (Tensor Processing Unit, TPU), deep learning processing unit (Deep learning Processing Unit, DPU), etc.

[0117] It can be seen that each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0118] In addition, all or part of the units in the above device can be integrated together, or can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or implementing the functions of each unit of the device. The type of the at least one processor may be different, for example, including a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0119] In a simple embodiment, those skilled in the art can imagine that the communication devices in the above embodiments can all be used Figure 6 The form shown.

[0120] like Figure 6 The device 600 shown includes at least one processor 610 and a communication interface 630. In an optional design, a memory 620 may also be included.

[0121] The specific connection medium between the processor 610 and the memory 620 is not limited in the embodiment of the present application.

[0122] In such Figure 6 In the device, the processor 610 can transmit data through the communication interface 630 when communicating with other devices.

[0123] When the communication device uses Figure 6 When the form shown is Figure 6 The processor 610 in the apparatus 600 can call the computer-executable instructions stored in the memory 620 so that the apparatus 600 can execute any of the above method embodiments.

[0124] An embodiment of the present application also relates to a chip system, which includes a processor for calling a computer program or computer instructions stored in a memory so that the processor executes the method of any of the above embodiments.

[0125] In a possible implementation manner, the processor may be coupled to the memory through an interface.

[0126] In a possible implementation, the chip system may also directly include a memory, in which a computer program or computer instructions are stored.

[0127] For example, the memory may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus RAM (DRRAM).

[0128] An embodiment of the present application also relates to a processor, which is used to call a computer program or computer instruction stored in a memory so that the processor executes the method described in any of the above embodiments.

[0129] For example, in the embodiment of the present application, the processor is an integrated circuit chip with signal processing capabilities. For example, the processor can be an FPGA, a general-purpose processor, a DSP, an ASIC or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, a system chip (system on chip, SoC), a CPU, a network processor (network processor, NP), a microcontroller (microcontroller unit, MCU), a PLD or other integrated chip, and can implement or execute the methods, steps and logic block diagrams disclosed in the embodiment of the present application. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present application can be directly embodied as a hardware decoding processor to perform, or the hardware and software modules in the decoding processor are combined and performed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0130] It should be understood that the embodiments of the present application may be provided as methods, systems, or computer program products.

[0131] In a possible implementation, an embodiment of the present application provides a computer-readable storage medium, which stores a program code. When the program code runs on the computer, the computer executes the above method embodiment.

[0132] In a possible implementation, an embodiment of the present application provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above method embodiment.

[0133] Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0134] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0135] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0136] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present application without departing from the scope of the embodiments of the present application. Thus, if these modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these changes and variations. In the various embodiments of the present application, if there is no special explanation and logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

Claims

1. A collision warning method for a terminal device, characterized in that: include: Determining that the terminal device is in a first operating condition, wherein the first operating condition includes an operating condition in which a probability of a collision of the terminal device is greater than or equal to a set threshold; Under the first working condition, determining a collision level to which the terminal device belongs according to at least one first perception data acquired by the terminal device; Determining warning information according to the warning measures associated with the collision level; Output the warning information.

2. The method according to claim 1, characterized in that The terminal device includes a vehicle.

3. The method according to claim 2, characterized in that When the terminal device is a vehicle, determining that the terminal device is in the first operating condition specifically includes: Determining that the vehicle is in the first operating condition according to at least one second perception data acquired by the vehicle, wherein the at least one second perception data includes at least one of the following: The light intensity in the environment where the vehicle is located, the traffic volume in the environment where the vehicle is located, the gear position of the vehicle, the driving intention of the vehicle, the speed of the vehicle, the weather in the environment where the vehicle is located, and the peak traffic period in the environment where the vehicle is located.

4. The method according to claim 3, characterized in that The risk identification priority of the light intensity in the vehicle's environment, the traffic volume in the vehicle's environment, the gear position of the vehicle, the vehicle's driving intention, and the vehicle's speed is higher than the risk identification priority of the weather in the vehicle's environment and the peak traffic period in the vehicle's environment.

5. The method according to any one of claims 2 to 4, characterized in that: The method further comprises: Determining a risk level of the vehicle in a first operating condition according to at least one second perception data acquired by the vehicle; The step of determining, under the first working condition, the collision level to which the terminal device belongs according to at least one first perception data acquired by the terminal device includes: A collision level of the vehicle is determined according to a risk level of the vehicle in a first operating condition and at least one first perception data acquired by the vehicle.

6. The method according to claim 5, characterized in that The at least one first perception data includes distance information between the vehicle and at least one obstacle, and the at least one obstacle includes another vehicle.

7. The method according to any one of claims 1 to 6, characterized in that The terminal device has at least one of the following warning devices: atmosphere light, buzzer, sound, instrument panel, steering motor; The outputting of the warning information comprises: An instruction is sent to the at least one early warning device to instruct the at least one early warning device to output the early warning information.

8. A collision warning device for a terminal device, characterized in that: include: a determination unit, configured to determine that the terminal device is in a first operating condition, wherein the first operating condition includes an operating condition in which a probability of a collision of the terminal device is greater than or equal to a set threshold; in the first operating condition, determining a collision level to which the terminal device belongs according to at least one first sensing data acquired by the terminal device; and determining warning information according to a warning measure associated with the collision level; An output unit is used to output the warning information.

9. An electronic device, characterized in that: comprising a processor coupled to a memory: The processor is configured to execute a computer program or instruction stored in the memory, so that the electronic device executes the method as claimed in any one of claims 1 to 7.

10. A vehicle, characterized in that: The method comprises means for implementing the method as claimed in any one of claims 1 to 7.

11. A readable storage medium, characterized in that: The method comprises a program or an instruction. When the program or the instruction is executed, the method according to any one of claims 1 to 7 is executed.

12. A computer program product, characterized in that When the computer program product is run on a computer, the computer is caused to execute the method according to any one of claims 1 to 7.

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