Vehicle early warning method, device and equipment and storage medium

Abstract

The invention provides a vehicle early warning method, device and equipment and a storage medium, and the method comprises the steps: a first vehicle broadcasts early warning information in a vehicle local area network composed of the first vehicle and a second vehicle under the condition of triggering an emergency call eCall; the early warning information is used for representing that the first vehicle triggers the eCall. Therefore, the second vehicle can receive the early warning information and perform accident early warning processing according to the early warning information, so that under the condition that an external risk abnormal event occurs, the vehicle can identify the risk in time, the collision risk is avoided, and the driving safety is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of wireless communication technology, and in particular to a vehicle early warning method, device, equipment and storage medium. Background Art

[0002] Currently, when an abnormal situation occurs, the vehicle will broadcast a Basic Safety Message (BSM) abnormal event. Through the interaction of the vehicle-to-vehicle (V2V), the rear vehicle can receive the message "the vehicle in front has an abnormality" and be reminded to pay attention to the abnormal situation of the vehicle in front.

[0003] However, the existing solution is to define "vehicle abnormality" from the perspective of the vehicle by detecting the status of vehicle components, and to provide BSM event messages, without considering external risks. The impact of such abnormal events on surrounding vehicles cannot be predicted, the vehicle cannot give appropriate reminders and suggestions, and the urgency of the risk cannot be determined. The system can only identify the occurrence of abnormalities, but it is difficult to accurately determine the specific nature of abnormal behavior and the potential degree of danger. Summary of the invention

[0004] The present invention provides a vehicle early warning method, device, equipment and storage medium, which are used to solve the defects in the prior art that the impact of abnormal events such as external risks on surrounding vehicles cannot be predicted, the vehicle cannot give appropriate reminder suggestions, and the urgency of the risk cannot be judged, so as to enable the vehicle to identify external risks in a timely manner.

[0005] The present invention provides a vehicle early warning method, which is applied to a first vehicle and comprises the following steps: In the case where an emergency call eCall is triggered, a warning message is broadcast in a vehicle local area network formed by the first vehicle and the second vehicle; the warning message is used to indicate that the first vehicle has triggered an eCall.

[0006] According to a vehicle warning method provided by the present invention, when an emergency call eCall is triggered, warning information is broadcast in a vehicle local area network composed of the first vehicle and the second vehicle, including: In the case of triggering an eCall, indicating to the on-board unit OBU system that the first vehicle has triggered an eCall through the on-board domain control system; The early warning information is broadcasted in the vehicle local area network composed of the first vehicle and the second vehicle through the OBU system.

[0007] According to a vehicle early warning method provided by the present invention, early warning information is broadcast in a vehicle local area network composed of the first vehicle and the second vehicle, comprising: The warning information is carried by a basic safety message BSM and broadcast within the vehicle local area network composed of the first vehicle and the second vehicle.

[0008] According to a vehicle early warning method provided by the present invention, early warning information is carried by a basic safety message BSM and broadcasted in a vehicle local area network composed of the first vehicle and the second vehicle, including: Indicating the warning information through the reserved event field in the vehicle abnormal event of the BSM, broadcasting it in the vehicle local area network composed of the first vehicle and the second vehicle; and / or, The warning information is indicated by the extended bit of the BSM in the vehicle abnormal event field and broadcast in the vehicle local area network composed of the first vehicle and the second vehicle.

[0009] The present invention also provides a vehicle early warning method, which is applied to a second vehicle and comprises the following steps: Receiving a warning message broadcasted by a first vehicle in a vehicle local area network formed by the first vehicle and a second vehicle; the warning message is used to indicate that the first vehicle has triggered an emergency call eCall; Based on the warning information, accident warning processing is performed.

[0010] According to a vehicle early warning method provided by the present invention, based on the early warning information, an accident early warning process is performed, comprising: Calculating the triggering time of the accident warning message based on the warning information through the on-board unit OBU system; Based on the triggering timing of the accident warning message, the accident warning message is sent to the driver.

[0011] According to a vehicle early warning method provided by the present invention, based on the early warning information, an accident early warning process is performed, comprising: The location information of the first vehicle, the posture information of the first vehicle and the warning information are sent to the vehicle domain control system through the vehicle-mounted unit OBU system; Through the vehicle-mounted domain control system, a vehicle control signal is output based on the position information of the first vehicle, the posture information of the first vehicle, the warning information and the perception information of the second vehicle.

[0012] The present invention also provides a vehicle early warning device, applied to a first vehicle, comprising the following modules: The broadcast module is used to broadcast warning information in a vehicle local area network composed of the first vehicle and the second vehicle when an emergency call eCall is triggered; the warning information is used to indicate that the first vehicle has triggered the eCall.

[0013] The present invention also provides a vehicle warning device, which is applied to a second vehicle and includes the following modules: A receiving module, configured to receive a warning message broadcasted by a first vehicle in a vehicle local area network formed by the first vehicle and the second vehicle; the warning message is used to indicate that the first vehicle has triggered an emergency call eCall; A processing module is used to perform accident warning processing based on the warning information.

[0014] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any of the vehicle warning methods described above is implemented.

[0015] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the vehicle warning method as described above is implemented.

[0016] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the vehicle warning method described above is implemented.

[0017] The vehicle warning method, device, equipment and storage medium provided by the present invention broadcast warning information in a vehicle local area network composed of the first vehicle and the second vehicle when the first vehicle triggers an emergency call eCall. The warning information is used to indicate that the first vehicle has triggered the eCall, so that the second vehicle can receive the warning information and perform accident warning processing according to the warning information. In this way, when an abnormal external risk event occurs, the vehicle can identify the risk in time, thereby avoiding the risk of collision and ensuring driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic diagram of the related technology for realizing abnormal vehicle reminder ahead through BSM abnormal events.

[0020] Figure 2 This is one of the flow charts of the vehicle early warning method provided by the present invention.

[0021] Figure 3 This is a second flow chart of the vehicle early warning method provided by the present invention.

[0022] Figure 4 A schematic diagram of the architecture of the beyond-line-of-sight digital triangle sign based on eCall provided by the present invention.

[0023] Figure 5 This is a schematic diagram of Example 1 provided by the present invention.

[0024] Figure 6 This is a schematic diagram of Example 2 provided by the present invention.

[0025] Figure 7 This is a schematic diagram of Example 3 provided by the present invention.

[0026] Figure 8 This is one of the structural schematic diagrams of the vehicle early warning device provided by the present invention.

[0027] Fig. 9 This is the second structural schematic diagram of the vehicle early warning device provided by the present invention.

[0028] Fig.10 This is a schematic structural diagram of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, 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.

[0030] In order to better understand the solution provided by the present invention, a brief introduction to the related technologies of the present invention is first given.

[0031] Currently, when an abnormal situation occurs, the vehicle will broadcast a BSM abnormal event, carrying the vehicle abnormal state VehicleEventFlags, which defines a series of special states of the vehicle. If a bit of the data is set to 1, it means that the vehicle is in the state corresponding to the bit. When at least one corresponding state is activated or restored from the activated state, the flag value should be set and interacted.

[0032] Through the interaction of Vehicle to Vehicle (V2V), the vehicle behind can receive the message "abnormality occurred in the vehicle in front" and be reminded to pay attention to the abnormality of the vehicle in front. Figure 1 A schematic diagram of realizing abnormal vehicle reminder ahead through BSM abnormal events provided for related technologies, such as Figure 1 As shown, the process includes the following steps: 1. The remote vehicle (R) obtains the abnormal status information of the self-vehicle through the chassis / body system of the self-vehicle; 2. The remote vehicle (R) broadcasts the BSM event message to the outside through the PC5 port; 3. The vehicle (H) receives the BSM message and determines the relative position relationship between vehicles. If the distant vehicle (R) appears in the future direction of travel and there is a risk of collision with the vehicle, it will remind the "abnormal vehicle ahead".

[0033] In the existing solution, the BSM event message provides "vehicle abnormal conditions", which are defined from the perspective of the vehicle by detecting the status of vehicle components. It does not take into account external risks and the impact of this abnormality on surrounding vehicles. After receiving this message, the vehicle (R) is unable to give appropriate reminders and suggestions, nor can it provide suggestions on the urgency of the risk.

[0034] Therefore, the system urgently needs to be able to accurately assess the risk so as to promptly and effectively notify the vehicle ahead, ensuring that all drivers can quickly know and take necessary safety measures to jointly maintain road safety. To this end, the present invention provides a vehicle early warning method, device, equipment and storage medium to solve the above problems.

[0035] Figure 2 It is one of the flow charts of the vehicle early warning method provided by the present invention, such as Figure 2 As shown, the method is applied to a first vehicle and comprises the following steps: Step 200: When an emergency call eCall is triggered, a warning message is broadcast in a vehicle local area network composed of a first vehicle and a second vehicle; the warning message is used to indicate that the first vehicle has triggered an eCall.

[0036] Specifically, it should be noted that the terms "first", "second", etc. in the embodiments of the present invention are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable under appropriate circumstances, so that the embodiments of the present invention can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more.

[0037] In the embodiment of the present invention, a plurality of vehicles constitute a vehicle area network, the first vehicle may be any vehicle in the vehicle area network, and the second vehicle may be any vehicle among the plurality of vehicles constituting the vehicle area network except the first vehicle.

[0038] The vehicle's emergency call (eCall) can be triggered when the vehicle is involved in an accident such as a collision or manually by the user. After the eCall is triggered, the vehicle system provides data to the emergency service center through the cellular network. After receiving the data, the emergency service center can quickly confirm the location of the accident and take appropriate response measures, such as dispatching rescue personnel.

[0039] In the embodiment of the present invention, when an accident occurs to the first vehicle, an eCall is triggered. When the first vehicle triggers the eCall, the first vehicle may broadcast warning information in the vehicle local area network, and the warning information is used to indicate that the first vehicle has triggered the eCall.

[0040] After the second vehicle receives the warning information broadcast by the first vehicle, it can determine that the first vehicle has triggered the eCall and learn that an accident has occurred with the first vehicle. It can then perform corresponding accident warning processing based on the warning information, such as sending an accident warning message to the driver, or controlling the vehicle through the on-board domain control system.

[0041] It should be noted that the embodiment of the present invention does not limit the type of message containing the warning information. For example, the warning information can be sent through an existing message, or a new message can be defined to send the warning information. The content of the warning information in the embodiment of the present invention is also not limited. For example, the warning information can include one or more of the bits used to indicate that the first vehicle triggers an eCall, the positioning coordinates of the first vehicle, the type of accident that occurred, the time when the accident occurred, etc.

[0042] The vehicle warning method provided by the present invention broadcasts warning information in a vehicle local area network composed of the first vehicle and the second vehicle when the first vehicle triggers an emergency call eCall. The warning information is used to indicate that the first vehicle has triggered the eCall, so that the second vehicle can receive the warning information and perform accident warning processing according to the warning information. In this way, when an abnormal external risk event occurs, the vehicle can identify the risk in time, thereby avoiding the risk of collision and ensuring driving safety.

[0043] According to a vehicle warning method provided by the present invention, when an emergency call eCall is triggered, warning information is broadcast in a vehicle local area network composed of a first vehicle and a second vehicle, including: In the case of triggering an eCall, the on-board domain control system indicates to the on-board unit OBU system that the first vehicle has triggered an eCall; The early warning information is broadcasted in the vehicle local area network composed of the first vehicle and the second vehicle through the OBU system.

[0044] Specifically, when eCall is triggered, the first vehicle can use the on-board domain control system to cooperate with the on-board unit (OBU) system to enable the first vehicle to broadcast warning information to the second vehicle, thereby improving the response efficiency and safety after the accident.

[0045] When the first vehicle triggers an eCall, the vehicle-mounted domain control system of the first vehicle can issue an indication to the OBU system, indicating that the first vehicle has triggered an eCall. The OBU system can determine the need to broadcast information with surrounding vehicles through the vehicle local area network based on the indication of the vehicle-mounted domain control system, and broadcast warning information to the second vehicle in the vehicle local area network through the vehicle-mounted wireless communication module, such as Dedicated Short-Range Communication (DSRC) or Cellular Vehicle to Everything (C-V2X).

[0046] According to a vehicle early warning method provided by the present invention, early warning information is broadcast in a vehicle local area network composed of a first vehicle and a second vehicle, comprising: The warning information is carried by the basic safety message BSM and broadcast in the vehicle local area network composed of the first vehicle and the second vehicle.

[0047] Specifically, BSM is a message specifically used to transmit critical safety information of the vehicle. BSM usually contains information such as the vehicle's position, speed, direction, acceleration, etc.

[0048] In the embodiment of the present invention, when the first vehicle triggers an eCall, the first vehicle may broadcast a BSM in the vehicle local area network, and the BSM carries warning information.

[0049] After the second vehicle receives the BSM broadcast by the first vehicle carrying the warning information, it can determine that the first vehicle has triggered the eCall and learn that an accident has occurred with the first vehicle. It can then perform corresponding accident warning processing based on the warning information and other information contained in the BSM (such as the vehicle's location, speed, direction, acceleration, etc.).

[0050] According to a vehicle early warning method provided by the present invention, early warning information is carried by a basic safety message BSM and broadcasted in a vehicle local area network composed of a first vehicle and a second vehicle, including: Indicating the warning information through the reserved event field in the vehicle abnormal event of the BSM, broadcasting it in the vehicle local area network composed of the first vehicle and the second vehicle; and / or, The warning information is indicated by the extended bit of the BSM in the vehicle abnormal event field and broadcasted in the vehicle local area network composed of the first vehicle and the second vehicle.

[0051] Specifically, when the first vehicle carries the warning information through the BSM, the first vehicle may indicate the warning information through the reserved event field (eventReserved) in the vehicle abnormal event (VehicleEventFlags) of the BSM; or, indicate the warning information through the extended bit in the vehicle abnormal event (VehicleEventFlags) field of the BSM; or, indicate the warning information through the reserved event field and extended bit in the vehicle abnormal event of the BSM.

[0052] For example, the first vehicle may set VehicleEventFlags.eventReserved==1 in the BSM to indicate that the first vehicle has triggered an eCall. The VehicleEventFlags field in the VehicleSafetyExtensions in the BSM message is extended by adding 1 bit, and when the bit is equal to 1, it indicates that the first vehicle has triggered an eCall.

[0053] Figure 3 FIG. 2 is a flow chart of the vehicle early warning method provided by the present invention. Figure 3 As shown, the method is applied to the second vehicle and comprises the following steps: Step 300: receiving warning information broadcast by the first vehicle in a vehicle local area network composed of the first vehicle and the second vehicle; the warning information is used to indicate that the first vehicle has triggered an emergency call eCall; Step 301: Perform accident warning processing based on the warning information.

[0054] Specifically, it should be noted that the terms "first", "second", etc. in the embodiments of the present invention are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable under appropriate circumstances, so that the embodiments of the present invention can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more.

[0055] In the embodiment of the present invention, a plurality of vehicles constitute a vehicle area network, the first vehicle may be any vehicle in the vehicle area network, and the second vehicle may be any vehicle among the plurality of vehicles constituting the vehicle area network except the first vehicle.

[0056] The vehicle's eCall can be triggered when the vehicle is involved in an accident such as a collision or manually by the user. After the eCall is triggered, the vehicle system provides data to the emergency service center through the cellular network. After receiving the data, the emergency service center can quickly confirm the location of the accident and take appropriate response measures, such as dispatching rescue personnel.

[0057] In the embodiment of the present invention, when an accident occurs to the first vehicle, an eCall is triggered. When the first vehicle triggers the eCall, the first vehicle may broadcast warning information in the vehicle local area network, and the warning information is used to indicate that the first vehicle has triggered the eCall.

[0058] After the second vehicle receives the warning information broadcast by the first vehicle, it can determine that the first vehicle has triggered the eCall and learn that an accident has occurred with the first vehicle. It can then perform corresponding accident warning processing based on the warning information, such as sending an accident warning message to the driver, or controlling the vehicle through the on-board domain control system.

[0059] It should be noted that the embodiment of the present invention does not limit the type of message containing the warning information. For example, the warning information can be sent through an existing message, or a new message can be defined to send the warning information. The content of the warning information in the embodiment of the present invention is also not limited. For example, the warning information can include one or more of the bits used to indicate that the first vehicle triggers an eCall, the positioning coordinates of the first vehicle, the type of accident that occurred, the time when the accident occurred, etc.

[0060] The vehicle warning method provided by the present invention broadcasts warning information in a vehicle local area network composed of the first vehicle and the second vehicle when the first vehicle triggers an emergency call eCall. The warning information is used to indicate that the first vehicle has triggered the eCall, so that the second vehicle can receive the warning information and perform accident warning processing according to the warning information. In this way, when an abnormal external risk event occurs, the vehicle can identify the risk in time, thereby avoiding the risk of collision and ensuring driving safety.

[0061] According to a vehicle early warning method provided by the present invention, accident early warning processing is performed based on early warning information, including: The OBU system calculates the triggering timing of the accident warning message based on the warning information; Based on the triggering timing of the accident warning message, an accident warning message is sent to the driver.

[0062] Specifically, as described above, the warning information may include one or more of the bits indicating that the first vehicle triggers the eCall, the location coordinates of the first vehicle, the type of accident that occurred, the time when the accident occurred, etc. Alternatively, the second vehicle may obtain one or more of the location coordinates of the first vehicle, the type of accident that occurred, the time when the accident occurred, etc. through other means.

[0063] For example, BSM is a message specifically used to transmit critical safety information of a vehicle. BSM usually contains information such as the vehicle's location, speed, direction, acceleration, etc. The second vehicle can obtain one or more of the first vehicle's location coordinates, the type of accident that occurred, the time when the accident occurred, etc. through the information contained in the BSM.

[0064] In an embodiment of the present invention, after receiving the warning information from the first vehicle, the second vehicle can calculate the time or distance required for the second vehicle to reach the position of the first vehicle through the OBU system based on the positioning coordinates of the first vehicle, the time of the accident, the speed of the vehicle, and other information, and then determine the triggering timing of the accident warning message, and send the accident warning message to the driver based on the triggering timing.

[0065] For example, when the distance between the second vehicle and the first vehicle is less than a preset threshold, or when the time required for the second vehicle to reach the first vehicle is less than a preset threshold, the OBU system sends an accident warning message of "sudden emergency of the preceding vehicle" to the human-machine interface (HMI), thereby alerting the driver to pay attention and take manual measures.

[0066] According to a vehicle early warning method provided by the present invention, accident early warning processing is performed based on early warning information, including: Sending the position information of the first vehicle, the posture information of the first vehicle and the warning information to the vehicle domain control system through the vehicle-mounted unit OBU system; Through the vehicle-mounted domain control system, a vehicle control signal is output based on the position information of the first vehicle, the posture information of the first vehicle, the warning information and the perception information of the second vehicle.

[0067] Specifically, the second vehicle may obtain the position information of the first vehicle and the posture information of the first vehicle through the BSM sent by the first vehicle. Alternatively, the second vehicle may obtain the position information of the first vehicle and the posture information of the first vehicle through other messages sent by the first vehicle. The present invention does not limit the manner in which the second vehicle obtains the position information of the first vehicle and the posture information of the first vehicle.

[0068] Position information may include information such as positioning coordinates; attitude information may include information such as the vehicle's pitch angle, yaw angle, and roll angle, which are used to describe the vehicle's spatial position and orientation.

[0069] The perception information of the second vehicle may include positioning coordinate information, speed information, acceleration information, posture information, etc. of the second vehicle.

[0070] In an embodiment of the present invention, after receiving the warning information of the first vehicle, the second vehicle can send the position information of the first vehicle, the posture information of the first vehicle and the warning information to the on-board domain control system through the OBU system.

[0071] After the on-board domain control system obtains the position information, posture information and warning information of the first vehicle, the on-board domain control system can combine the perception information of the second vehicle, fuse multi-source information, determine the relative motion state of the first vehicle and the second vehicle, and then calculate in real time whether it is necessary to adjust the motion behavior of the second vehicle through vehicle control signals.

[0072] For example, the vehicle-mounted domain control system can assess whether there is a risk of collision between the two vehicles based on the relative position, speed and path prediction of the two vehicles, and determine the time window and distance of the collision. If the vehicle-mounted domain control system assesses that there is a risk of collision between the second vehicle and the first vehicle, and the time window is very short, the vehicle-mounted domain control system can send an emergency braking control signal to the second vehicle; if the vehicle-mounted domain control system assesses that there is a risk of collision between the second vehicle and the first vehicle, and the time window is long, the vehicle-mounted domain control system can send a braking control signal to the second vehicle.

[0073] The vehicle warning method provided by the present invention is further explained below through embodiments in specific application scenarios.

[0074] This embodiment provides a method and system for implementing a "beyond visual range digital triangle sign" based on eCall, and its basic principles are as follows: When a moving vehicle suddenly loses control, collides, falls, or encounters other abnormal conditions due to the vehicle itself, it will automatically make an eCall and broadcast a BSM abnormal event - vehicle emergency. In this case, after the rear vehicle receives the abnormal event of the front vehicle, it will alert the human driver or pass it to the autonomous driving system, so as to predict in advance to slow down, change lanes or stop, avoid collision risks, and ensure driving safety. The above function is called "digital triangle". After the first vehicle is abnormal, it is equivalent to immediately placing a virtual digital triangle within a certain range. Vehicles equipped with C-V2X functions within this range can "see" the digital triangle, so as to take measures early to avoid accidents and save lives.

[0075] In order to clearly indicate the "sudden emergency" of the vehicle ahead, a special message can be used to carry this information, or an existing or extended field in an existing message can be used to carry this information. For example, the VehicleEventFlags field in the VehicleSafetyExtensions in the BSM message is extended by 1 bit to indicate the above information; the BSM event message broadcasting process can also be continued, but the current reserved field eventReserved in VehicleEventFlags is used. When the following vehicle receives this clear field information, it can stop taking lane change or parking measures.

[0076] Taking the current eventReserved as an example, Figure 4 The schematic diagram of the architecture of the beyond-line-of-sight digital triangle sign based on eCall provided by the present invention is as follows: Figure 4 As shown, the tasks of each module are as follows: For the front vehicle (R): Vehicle domain control system: According to the eCall triggering principles of relevant standards, when a vehicle encounters a serious accident such as a head-on collision, side collision, rear collision or rollover, an eCall call will be automatically triggered to initiate rescue: In this case, it indicates that a serious accident has occurred in the vehicle, which will bring safety hazards to subsequent vehicle driving and needs to be informed of surrounding vehicles. Therefore, the vehicle domain control system simultaneously notifies the C-V2X OBU system of the vehicle that "the vehicle triggers eCall"; C-V2X OBU system: When receiving the "vehicle triggered eCall" sent by the vehicle domain control system, the BSM event message is assembled and sent, the VehicleEventFlags.eventReserved==1 in the message is set, and the message is broadcasted through the direct communication of PC5 port.

[0077] For this vehicle (H): C-V2X OBU system: Analyze the received remote vehicle BSM event message; If the abnormal vehicle is judged to be on the road ahead (same or opposite) of the driving road, the collision time (TTC) or distance CAR of the vehicle to the abnormal vehicle is calculated, and the timing of triggering the warning is calculated; Send information such as "the location, posture information and emergency status of the abnormal vehicle ahead" to the vehicle-mounted domain control system; output "sudden emergency status of the vehicle ahead" warning message to the HMI interface according to the distance to the danger location or arrival time point to remind the driver to pay attention; Vehicle domain control system: Analyze the information sent by the C-V2X OBU system, such as the location, posture information and emergency status of abnormal vehicles ahead; By integrating other sensory information of the vehicle, the system outputs vehicle control signals to brake or perform emergency braking according to the distance to the dangerous location or the arrival time, thereby avoiding danger.

[0078] The following are examples of different scenarios: Embodiment 1: Figure 5 The schematic diagram of Example 1 provided by the present invention is as follows Figure 5 As shown, the front car suddenly overturned due to road collapse. The rear car received a reminder and the driver slowed down to avoid it.

[0079] Suppose a vehicle (HV) is driving along a lane and suddenly receives a BSM event message from the vehicle in front (RV) - a sudden vehicle emergency. The vehicle-side HMI interface displays a reminder message "The vehicle in front suddenly encounters an emergency." After receiving the reminder, the human driver slows down or brakes in time to avoid the risk of collision.

[0080] Embodiment 2: Figure 6 The schematic diagram of Example 2 provided by the present invention is as follows Figure 6 As shown, due to the collapse of the road, the front vehicle suddenly overturned and the autonomous driving vehicle behind stopped automatically.

[0081] Assume that an autonomous vehicle (HV2) is driving along a lane and suddenly receives a BSM event message from the vehicle in front (RV) - the vehicle has an emergency situation. The autonomous vehicle automatically slows down or brakes to avoid the risk of collision.

[0082] Embodiment 3: Figure 7 The schematic diagram of Example 3 provided by the present invention is as follows Figure 7 As shown in the figure, due to road collapse, the front vehicle suddenly overturned, and the Collision Avoidance Emergency Braking (CAEB) system of the rear vehicle received a reminder, and the vehicle slowed down and stopped.

[0083] Assume that a vehicle (HV3, with CAEB function) is driving along a lane and suddenly receives a BSM event message from the vehicle in front (RV) - vehicle emergency. The vehicle-side HMI interface displays a reminder message "vehicle in front has an emergency". After receiving the reminder, the human driver gradually slows down and reaches the edge of the accident. The Autonomous Emergency Braking (AEB) system automatically brakes to the stop.

[0084] The vehicle warning device provided by the present invention is described below. The vehicle warning device described below and the vehicle warning method described above can be referenced to each other.

[0085] Figure 8 One of the structural schematic diagrams of the vehicle warning device provided by the present invention is as follows Figure 8 As shown, the device is applied to a first vehicle and includes the following modules: The broadcast module 800 is used to broadcast warning information in the vehicle local area network composed of the first vehicle and the second vehicle when the emergency call eCall is triggered; the warning information is used to indicate that the first vehicle has triggered the eCall.

[0086] According to a vehicle warning device provided by the present invention, when an emergency call eCall is triggered, a warning message is broadcast in a vehicle local area network composed of a first vehicle and a second vehicle, including: In the case of triggering an eCall, the on-board domain control system indicates to the on-board unit OBU system that the first vehicle has triggered an eCall; The early warning information is broadcasted in the vehicle local area network composed of the first vehicle and the second vehicle through the OBU system.

[0087] According to a vehicle early warning device provided by the present invention, early warning information is broadcast in a vehicle local area network composed of a first vehicle and a second vehicle, comprising: The warning information is carried by the basic safety message BSM and broadcast in the vehicle local area network composed of the first vehicle and the second vehicle.

[0088] According to a vehicle warning device provided by the present invention, warning information is carried by a basic safety message BSM and broadcasted in a vehicle local area network composed of a first vehicle and a second vehicle, including: Indicating the warning information through the reserved event field in the vehicle abnormal event of the BSM, broadcasting it in the vehicle local area network composed of the first vehicle and the second vehicle; and / or, The warning information is indicated by the extended bit of the BSM in the vehicle abnormal event field and broadcasted in the vehicle local area network composed of the first vehicle and the second vehicle.

[0089] Fig. 9 The second structural diagram of the vehicle warning device provided by the present invention is as follows: Fig. 9 As shown, the device is applied to a second vehicle and includes the following modules: The receiving module 900 is used to receive the warning information broadcast by the first vehicle in the vehicle local area network composed of the first vehicle and the second vehicle; the warning information is used to indicate that the first vehicle triggers the emergency call eCall; The processing module 910 is used to perform accident warning processing based on the warning information.

[0090] According to a vehicle warning device provided by the present invention, accident warning processing is performed based on warning information, including: The OBU system calculates the triggering timing of the accident warning message based on the warning information; Based on the triggering timing of the accident warning message, an accident warning message is sent to the driver.

[0091] According to a vehicle warning device provided by the present invention, accident warning processing is performed based on warning information, including: Sending the position information of the first vehicle, the posture information of the first vehicle and the warning information to the vehicle domain control system through the vehicle-mounted unit OBU system; Through the vehicle-mounted domain control system, a vehicle control signal is output based on the position information of the first vehicle, the posture information of the first vehicle, the warning information and the perception information of the second vehicle.

[0092] Fig.10 A schematic diagram of the structure of an electronic device provided by the present invention, such as Fig.10 As shown, the electronic device may include: a processor 1010, a communication interface 1020, a memory 1030 and a communication bus 1040, wherein the processor 1010, the communication interface 1020 and the memory 1030 communicate with each other through the communication bus 1040. The processor 1010 may call the logic instructions in the memory 1030 to execute the vehicle early warning method, which is applied to the first vehicle and includes: When an emergency call eCall is triggered, a warning message is broadcast in a vehicle local area network composed of the first vehicle and the second vehicle; the warning message is used to indicate that the first vehicle has triggered the eCall.

[0093] Alternatively, the processor 1010 may call the logic instructions in the memory 1030 to execute the vehicle early warning method, which is applied to the second vehicle and includes: Receiving a warning message broadcasted by the first vehicle in a vehicle local area network formed by the first vehicle and the second vehicle; the warning message is used to indicate that the first vehicle has triggered an emergency call eCall; Based on the warning information, accident warning processing is carried out.

[0094] In addition, the logic instructions in the above-mentioned memory 1030 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0095] On the other hand, the present invention further provides a computer program product, the computer program product includes a computer program, the computer program can be stored in a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the vehicle warning method provided by the above methods, the method is applied to a first vehicle, including: When an emergency call eCall is triggered, a warning message is broadcast in a vehicle local area network composed of the first vehicle and the second vehicle; the warning message is used to indicate that the first vehicle has triggered the eCall.

[0096] Alternatively, when the computer program is executed by a processor, the computer can execute the vehicle warning method provided by the above methods, which is applied to the second vehicle and includes: Receiving a warning message broadcasted by the first vehicle in a vehicle local area network formed by the first vehicle and the second vehicle; the warning message is used to indicate that the first vehicle has triggered an emergency call eCall; Based on the warning information, accident warning processing is carried out.

[0097] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the vehicle warning method provided by the above methods is implemented, and the method is applied to a first vehicle, comprising: When an emergency call eCall is triggered, a warning message is broadcast in a vehicle local area network composed of the first vehicle and the second vehicle; the warning message is used to indicate that the first vehicle has triggered the eCall.

[0098] Alternatively, when the computer program is executed by a processor, the vehicle warning method provided by the above methods is implemented, and the method is applied to a second vehicle, comprising: Receiving a warning message broadcasted by the first vehicle in a vehicle local area network formed by the first vehicle and the second vehicle; the warning message is used to indicate that the first vehicle has triggered an emergency call eCall; Based on the warning information, accident warning processing is carried out.

[0099] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0100] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle early warning method, characterized in that: Applied to a first vehicle, comprising: In the case where an emergency call eCall is triggered, a warning message is broadcast in a vehicle local area network formed by the first vehicle and the second vehicle; the warning message is used to indicate that the first vehicle has triggered an eCall.

2. The vehicle early warning method according to claim 1, characterized in that: When an emergency call eCall is triggered, a warning message is broadcast in a vehicle local area network formed by the first vehicle and the second vehicle, including: In the case of triggering an eCall, indicating to the on-board unit OBU system that the first vehicle has triggered an eCall through the on-board domain control system; The early warning information is broadcasted in the vehicle local area network composed of the first vehicle and the second vehicle through the OBU system.

3. The vehicle early warning method according to claim 1 or 2, characterized in that: Broadcasting warning information in a vehicle local area network formed by the first vehicle and the second vehicle includes: The warning information is carried by a basic safety message BSM and broadcast within the vehicle local area network composed of the first vehicle and the second vehicle.

4. The vehicle warning method according to claim 3, characterized in that: The warning information is carried by a basic safety message BSM and broadcasted in the vehicle local area network composed of the first vehicle and the second vehicle, including: Indicating the warning information through the reserved event field in the vehicle abnormal event of the BSM, broadcasting it in the vehicle local area network composed of the first vehicle and the second vehicle; and / or, The warning information is indicated by the extended bit of the BSM in the vehicle abnormal event field and broadcast in the vehicle local area network composed of the first vehicle and the second vehicle.

5. A vehicle early warning method, characterized in that: Applied to the second vehicle, comprising: Receiving a warning message broadcasted by a first vehicle in a vehicle local area network formed by the first vehicle and a second vehicle; the warning message is used to indicate that the first vehicle has triggered an emergency call eCall; Based on the warning information, accident warning processing is performed.

6. The vehicle warning method according to claim 5, characterized in that: Based on the warning information, accident warning processing is performed, including: Calculating the triggering time of the accident warning message based on the warning information through the on-board unit OBU system; Based on the triggering timing of the accident warning message, the accident warning message is sent to the driver.

7. The vehicle warning method according to claim 5, characterized in that: Based on the warning information, accident warning processing is performed, including: Sending the location information of the first vehicle, the posture information of the first vehicle and the warning information to the vehicle domain control system through the vehicle-mounted unit OBU system; Through the vehicle-mounted domain control system, a vehicle control signal is output based on the position information of the first vehicle, the posture information of the first vehicle, the warning information and the perception information of the second vehicle.

8. A vehicle warning device, characterized in that: Applied to a first vehicle, comprising: The broadcast module is used to broadcast warning information in a vehicle local area network composed of the first vehicle and the second vehicle when an emergency call eCall is triggered; the warning information is used to indicate that the first vehicle has triggered the eCall.

9. A vehicle warning device, characterized in that: Applied to the second vehicle, comprising: A receiving module, configured to receive a warning message broadcasted by a first vehicle in a vehicle local area network formed by the first vehicle and the second vehicle; the warning message is used to indicate that the first vehicle has triggered an emergency call eCall; A processing module is used to perform accident warning processing based on the warning information.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the vehicle early warning method according to any one of claims 1 to 4 is implemented, or the vehicle early warning method according to any one of claims 5 to 7 is implemented.

11. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, it implements the vehicle warning method as described in any one of claims 1 to 4, or implements the vehicle warning method as described in any one of claims 5 to 7.

12. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, it implements the vehicle warning method as described in any one of claims 1 to 4, or implements the vehicle warning method as described in any one of claims 5 to 7.

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