Self-adaptive early warning method and device, electronic equipment, storage medium and program product

Abstract

The invention discloses a self-adaptive early warning method and device, electronic equipment, a storage medium and a program product. According to the specific scheme, the method comprises the steps that under the condition that an early warning system indicates a to-be-early-warned vehicle to enter an activated state, a collision target between the to-be-early-warned vehicle and an early warning area is monitored; obtaining target information, and road information and environment information of a road on which the vehicle to be pre-warned travels; determining a congestion factor and an environment factor according to the target information, the road information and the environment information; determining an early warning judgment condition according to the target information, the congestion factor and the environment factor; and performing early warning on the vehicle to be subjected to early warning according to the early warning judgment condition. The vehicle to be pre-warned and the collision target are monitored in real time through the pre-warning system, the road information and the environment information are obtained, and the pre-warning judgment conditions are determined, so that the vehicle to be pre-warned is pre-warned, the pre-warning accuracy is improved, judgment factors of the road information and the environment information are introduced, the pre-warning judgment conditions are more perfect, and the user experience is improved.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to an adaptive early warning method, device, electronic equipment, storage medium and program product. Background Art

[0002] With the development of technology, more and more electric two-wheelers and motorcycles are equipped with millimeter-wave radars for early warning. Although millimeter-wave radars can achieve satisfactory early warning effects under some road conditions through application layer software strategies, they are prone to false alarms under some common road and traffic conditions.

[0003] Warning signals issued by false alarms will lead to a poor driving experience for users, so a simple millimeter-wave radar warning system is not well compatible with the warning function. Summary of the invention

[0004] The present invention provides an adaptive warning method, device, electronic device, storage medium and program product to solve the problem of issuing warnings to vehicles to be warned according to a warning system and improve user experience.

[0005] According to one aspect of the present invention, an adaptive early warning method is provided, which is applied to an early warning system, wherein the early warning system is mounted on a vehicle to be warned, and the adaptive early warning method comprises:

[0006] When the warning system indicates that the vehicle to be warned enters an activated state, monitoring the collision target between the vehicle to be warned and the warning area, wherein the activated state is related to the speed of the vehicle to be warned;

[0007] Acquire target information, as well as road information and environmental information of the road on which the vehicle to be warned is traveling, wherein the target information includes information of the vehicle to be warned and the collision target;

[0008] Determining a congestion factor and an environmental factor according to the target information, the road information and the environmental information;

[0009] Determining a warning determination condition according to the target information, the congestion factor and the environmental factor;

[0010] According to the warning determination condition, a warning is issued to the vehicle to be warned.

[0011] According to another aspect of the present invention, there is provided an adaptive early warning device, comprising:

[0012] A monitoring module, configured to monitor a collision target between the vehicle to be warned and a warning area when the warning system indicates that the vehicle to be warned has entered an activated state, wherein the activated state is related to a speed of the vehicle to be warned;

[0013] An acquisition module, used to acquire target information, and road information and environmental information of the road on which the vehicle to be warned is traveling, wherein the target information includes information of the vehicle to be warned and the collision target;

[0014] A first determination module, configured to determine a congestion factor and an environmental factor according to the target information, the road information and the environmental information;

[0015] A second determination module is used to determine a warning determination condition according to the target information, the congestion factor and the environmental factor;

[0016] The warning module is used to issue a warning to the vehicle to be warned according to the warning judgment condition.

[0017] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0018] at least one processor; and

[0019] a memory communicatively connected to the at least one processor; wherein,

[0020] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the adaptive early warning method described in any embodiment of the present invention.

[0021] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the adaptive early warning method described in any embodiment of the present invention when executed.

[0022] According to another aspect of the present invention, a computer program product is provided. The computer program product includes a computer program. When the computer program is executed by a processor, the adaptive early warning method described in any embodiment of the present invention is implemented.

[0023] The technical solution of the embodiment of the present invention is to monitor the collision target of the vehicle to be warned and the warning area when the warning system indicates that the vehicle to be warned has entered an activated state, wherein the activated state is related to the speed of the vehicle to be warned; obtain target information, as well as road information and environmental information of the road on which the vehicle to be warned is traveling, wherein the target information includes information of the vehicle to be warned and the collision target; determine congestion factors and environmental factors according to the target information, the road information and the environmental information; determine warning judgment conditions according to the target information, the congestion factors and the environmental factors; and warn the vehicle to be warned according to the warning judgment conditions. The warning system monitors the vehicle to be warned and the collision target in real time, obtains road information and environmental information, and determines warning judgment conditions, thereby realizing warning of the vehicle to be warned, improving the accuracy of the warning, introducing judgment factors of road information and environmental information, making the warning judgment conditions more perfect, and improving the user experience.

[0024] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 is a flow chart of an adaptive early warning method provided according to Embodiment 1 of the present invention;

[0027] Figure 2 is a framework diagram of a vehicle system to be warned provided according to Embodiment 1 of the present invention;

[0028] Figure 3 is a schematic diagram of early warning area division provided according to the first embodiment of the present invention;

[0029] Figure 4 is a flow chart of a method for determining early warning judgment conditions provided in accordance with Embodiment 2 of the present invention;

[0030] Figure 5 is a schematic diagram of a system state migration of a vehicle to be warned provided according to Embodiment 2 of the present invention;

[0031] Figure 6is a schematic diagram of the structure of an adaptive early warning device provided according to Embodiment 3 of the present invention;

[0032] Figure 7 It is a block diagram of an electronic device provided according to a fourth embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only 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 should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0035] Embodiment 1

[0036] Figure 1 A flowchart of an adaptive warning method is provided for the first embodiment of the present invention. This embodiment can be applied to the case where a warning system is used to warn a vehicle to be warned. The method is applied to the warning system, which is mounted on the vehicle to be warned. The method can be executed by an adaptive warning device, which can be implemented in the form of hardware and / or software. The adaptive warning device can be configured in an electronic device, which can be a mobile terminal, a PC or a server, etc. Figure 1 As shown, the method includes:

[0037] S110. When the warning system instructs the vehicle to be warned to enter an activated state, monitor the collision target between the vehicle to be warned and a warning area, wherein the activated state is related to the speed of the vehicle to be warned.

[0038] In this embodiment, the early warning system can be understood as a system that is mounted on the vehicle to be warned and implemented as a warning system for the vehicle to be warned. The early warning system can warn the vehicle to be warned by collecting information such as the environment, road conditions and vehicle conditions. The vehicle to be warned can be understood as a vehicle that needs to be warned. The vehicle to be warned can be an electric two-wheeled vehicle or a motorcycle and other vehicles equipped with an early warning system. The activation state can be understood as the state of the vehicle to be warned when the early warning system starts monitoring the vehicle to be warned. The early warning area can be understood as an area divided by the early warning system. The early warning system can monitor the situation of the target in the early warning area and warn the vehicle to be warned accordingly. The collision target can be understood as a target that has a collision risk with the vehicle to be warned. The collision target can be other traffic participants in the same scene as the vehicle to be warned, such as a moving vehicle or an obstacle.

[0039] Specifically, the warning system is installed on the vehicle to be warned. When the speed of the vehicle to be warned on the road reaches the set speed, the vehicle to be warned enters the activation state. At this time, the warning system starts to work and collects various indicators of the driving process of the vehicle to be warned and the collision target, so as to monitor various data of the vehicle to be warned and various data of the collision target that has a collision risk with the vehicle to be warned in the warning area.

[0040] Exemplarily, for the determination of the activation state of the vehicle to be warned, the set speed can be set to 15km / h to ensure that the warning system does not work when the vehicle to be warned is traveling at a low speed or in a situation where the traffic is very congested. When the driving speed of the vehicle to be warned is greater than 15km / h, the vehicle to be warned enters the activation state. The warning system first defaults to the fixed warning mode, and selects one of the earlier warning, normal warning, and delayed warning to warn the vehicle to be warned according to the user's settings. When the user sets the vehicle-mounted case of the vehicle to be warned to the adaptive mode, the warning system begins to monitor the collision target between the vehicle to be warned and the warning area, and obtains various data.

[0041] S120, acquiring target information, and road information and environmental information of the road on which the vehicle to be warned is traveling, wherein the target information includes information of the vehicle to be warned and the collision target.

[0042] In this embodiment, the target information can be understood as the information of the vehicle to be warned and the collision target collected by the warning system, which can include the driving information of the vehicle to be warned and the target vehicle, as well as the distance information between the two. The road information can be understood as the information related to the road on which the vehicle to be warned is traveling, which can include the road condition information and / or congestion condition of the road. The environmental information can be understood as the information related to the driving environment of the vehicle to be warned, which can include the rainfall, snowfall, visibility and / or wind speed information.

[0043] Specifically, the information related to the vehicle to be warned and the collision target monitored by the early warning system is used as target information. The target information may include the driving speed of the vehicle to be warned, the driving speed of the collision target, and the distance between the vehicle to be warned and the collision target. The information related to the road on which the vehicle to be warned is driven monitored by the early warning system is used as road information. Similarly, the information related to the driving environment of the vehicle to be warned monitored by the early warning system is used as environmental information.

[0044] For example, the original information obtained by the early warning system can be subjected to sensor fusion, and the fusion method can be decision-level fusion, which needs to be determined according to the architecture of the vehicle to be warned and the warning requirements. After fusion, more accurate target information, road information and environmental information can be obtained.

[0045] S130: Determine a congestion factor and an environmental factor according to the target information, the road information and the environmental information.

[0046] In this embodiment, the congestion factor can be understood as an indicator for evaluating the traffic congestion on the road where the vehicle to be warned is traveling. The environmental factor can be understood as a measure of the degree of influence of environmental factors on the driving process of the vehicle to be warned during driving.

[0047] Specifically, the congestion factor can be determined first based on the road information, then evaluated by setting a function based on the target information, and finally determined by the confidence coefficient of each subsystem in the early warning system. The environmental factor needs to be determined based on the parameters corresponding to the environmental information and target information, as well as the weights of each parameter.

[0048] Optionally, the early warning system includes a radar subsystem, an image subsystem, and a cloud subsystem, and the determining of the congestion factor and the environmental factor according to the target information, the road information, and the environmental information includes:

[0049] determining an online congestion coefficient corresponding to the road information acquired by the image subsystem;

[0050] Determine an estimated congestion coefficient based on the target information obtained by the radar subsystem;

[0051] determining the congestion factor according to the relationship between the online congestion coefficient and the evaluated congestion coefficient;

[0052] The environmental factors are determined based on the target information obtained by the radar subsystem and the environmental information obtained by the cloud subsystem.

[0053] In this embodiment, the online congestion coefficient can be understood as an indicator indicating the congestion condition of the road on which the vehicle to be warned is currently traveling. The evaluation congestion coefficient can be understood as an indicator determined by comprehensive calculation of the driving conditions of the vehicle to be warned and the collision target.

[0054] Specifically, the warning system of the vehicle to be warned may include a radar subsystem, an image subsystem and a cloud subsystem. The radar subsystem can be used for target detection to obtain target information of the vehicle to be warned and the collision target; the image subsystem can be used to obtain road information of the road on which the vehicle to be warned is traveling; and the cloud subsystem can be used to obtain environmental information of the driving environment of the vehicle to be warned. The congestion factor can be composed of two parts, namely, an online congestion coefficient and an evaluation congestion coefficient, wherein the online congestion coefficient can be determined according to the corresponding relationship between the traffic index of the current road indicated in the road information and the online congestion coefficient. The evaluation congestion coefficient can be obtained by comprehensive calculation based on the driving speed of the vehicle to be warned indicated by the target information, the distance between the vehicle to be warned and the collision target, and the road speed limit indicated by the road information. Finally, the congestion factor is obtained according to the confidence coefficient of the radar subsystem, the image subsystem and the warning system. The environmental factor can be determined by the rainfall, snowfall, visibility and wind speed indicated by the environmental information, and the light intensity in the direction of travel of the vehicle to be warned indicated by the target information.

[0055] For example, Table 1 shows the corresponding relationship between the traffic index and the online congestion coefficient, based on which the online congestion coefficient K can be obtained according to the road information. TIo The congestion coefficient can be calculated by comprehensively calculating the speed of the vehicle to be warned, the number of targets in front and behind the adjacent lanes, the road speed limit, and the distance between the vehicle to be warned and the collision target. The calculation formula can be the Tanh function, as follows:

[0056]

[0057] in,

[0058]

[0059] Where V lim is the road speed limit, V own is the speed of the vehicle to be warned, V at is the average speed of the collision target, n1 is the number of targets in the front lane and adjacent lanes, n2 is the number of targets in the rear lane and adjacent lanes, S i is the average distance of the target ahead, L j is the average distance of the target behind, S D1 , S D2 is the safety factor. Therefore, the congestion factor is expressed as K TI =e TI *KTIe +(1-e TI )*K TIo , where e TI is the sensor confidence coefficient. When the radar subsystem and the image subsystem fail, e TI Set to 0, when the vehicle to be warned has a communication failure TI Set it to 1, and in other cases, you can set it according to the actual calibration results.

[0060] Table 1 Traffic index and online congestion coefficient

[0061]

[0062] For example, the environmental factor k e It can be calculated based on rainfall, snowfall, visibility, wind speed, and light intensity in the direction of vehicle travel. It should be noted that it is not limited to these five environmental parameters. The environmental factor calculation formula is as follows:

[0063]

[0064] In the formula, e1, e2, e3, e4, and e5 are weight coefficients, which can be calibrated according to actual conditions. f , S n 、V s , W v , L i They are respectively the rainfall, snowfall, visibility, wind speed, and light intensity in the direction of vehicle travel at the corresponding moment. R0, S0, V0, W0, and L0 are the reference values ​​of rainfall, snowfall, visibility, wind speed, and light intensity, respectively. For the selection of reference values, values ​​that have no obvious effect on the vehicles to be warned and most drivers can be selected. For example, the reference value of light intensity can be set to 1000-1500lx, and the human eye and camera can work efficiently for a long time under this light intensity. Due to the characteristics of the Tanh function, the congestion factor ranges from 0 to 1, while the environmental factor is limited to 0.81 to 2.26. This range can be related to the vehicles to be warned and related perception components, and can also be related to the warning judgment strategy, which can be set according to actual conditions.

[0065] S140: Determine a warning determination condition according to the target information, the congestion factor and the environmental factor.

[0066] In this embodiment, the warning determination condition can be understood as the condition for determining whether to issue a warning to the vehicle to be warned. The warning determination condition can be determined based on the size of the warning area, the speed of the vehicle to be warned and the collision target, and the positions of the two.

[0067] Specifically, for a warning area of ​​a vehicle to be warned, the warning area is divided into multiple areas indicating different warnings according to the driving characteristics of the vehicle to be warned. When determining the warning judgment conditions, different warning areas will correspond to different warning judgment conditions. First, the estimated collision time between the vehicle to be warned and the collision target can be determined based on the driving speed of the vehicle to be warned and the collision target indicated by the target information, as well as the distance between the vehicle to be warned and the collision target. Then, the threshold is determined based on the congestion factor and the environmental factor, and the warning judgment condition is determined in combination with the warning area where the collision target is located.

[0068] S150: issuing a warning to the vehicle to be warned according to the warning determination condition.

[0069] Specifically, different warning areas of the vehicle to be warned correspond to different warning judgment conditions. When a collision target appears in a warning area, it is determined whether the collision target meets the warning judgment condition corresponding to the warning area. If it does, it is determined that the vehicle to be warned triggers a warning, and accordingly, the vehicle to be warned sends a corresponding warning signal, completing the operation of warning the vehicle to be warned.

[0070] For example, the warning signal of the vehicle to be warned can be divided into different levels. According to the different warning types triggered by the vehicle to be warned, the corresponding warning signal is also different. The warning signal can be issued by the left and right side mirrors of the vehicle to be warned, as well as the speaker and instrument of the vehicle to be warned. In addition, if the vehicle to be warned is connected to a Bluetooth helmet, the warning signal can also be issued by the Bluetooth helmet. Figure 2 1 is a framework diagram of a vehicle system to be warned according to the first embodiment of the present invention. Figure 2 As shown in the figure, the front radar module and the rear radar module are equipped with radar subsystems, the image module is equipped with an image subsystem, and the vehicle controller is equipped with a cloud subsystem. The instrument and speaker modules, lighting modules, and Bluetooth helmets can all be used to issue warning signals. The power module and kinetic energy recovery module are used to limit the speed of the warning vehicle as needed in harsh environments. Before the speed limit, the driver will be notified through voice and instrument messages.

[0071] The technical solution of the embodiment of the present invention is to monitor the collision target of the vehicle to be warned and the warning area when the warning system indicates that the vehicle to be warned has entered an activated state, wherein the activated state is related to the speed of the vehicle to be warned; obtain target information, as well as road information and environmental information of the road on which the vehicle to be warned is traveling, wherein the target information includes information of the vehicle to be warned and the collision target; determine congestion factors and environmental factors according to the target information, the road information and the environmental information; determine warning judgment conditions according to the target information, the congestion factors and the environmental factors; and warn the vehicle to be warned according to the warning judgment conditions. The warning system monitors the vehicle to be warned and the collision target in real time, obtains road information and environmental information, and determines warning judgment conditions, thereby realizing warning of the vehicle to be warned, improving the accuracy of the warning, introducing judgment factors of road information and environmental information, making the warning judgment conditions more perfect, and improving the user experience.

[0072] Based on the above embodiment, a variant embodiment of the above embodiment is proposed. It should be noted that in order to make the description concise, only the differences from the above embodiment are described in the variant embodiment.

[0073] In one embodiment, before monitoring the collision between the vehicle to be warned and the target in the warning area, the method further includes:

[0074] The warning area is divided into a front warning area, a rear warning area, a lane change assistance area, and a blind spot warning area. Accordingly, there are warning determination conditions corresponding to the warning areas, including:

[0075] a forward warning determination condition corresponding to the forward warning area;

[0076] a rear warning determination condition corresponding to the rear warning area;

[0077] A lane change assist determination condition corresponding to the lane change assist area.

[0078] Specifically, before the warning system monitors the collision target in the warning area, the warning area of ​​the vehicle to be warned needs to be divided. According to the position of the vehicle to be warned, the warning area can be divided into the front warning area, the rear warning area, the lane change auxiliary area and the blind spot warning area. For the blind spot warning area, as long as a collision target appears in the area, the vehicle to be warned will send out a warning signal without the intervention of the warning judgment conditions. For the front warning area, the rear warning area and the lane change auxiliary area, the corresponding warning judgment conditions need to be determined based on the target information, congestion factors and environmental factors to determine whether the warning of the vehicle to be warned is triggered.

[0079] For example, Figure 3 FIG. 1 is a schematic diagram of a warning area division according to Embodiment 1 of the present invention. Figure 3 As shown in the figure, the warning area is divided into six parts, including: the front warning area, namely the FCW area, the left transition area and the right transition area; the rear warning area, namely the RCW area; the blind spot warning area, namely the rear left and right blind spots and the left and right transition areas; the lane change assistance area, namely the left and right LCW areas and the left and right transition areas. The transition area is added to ensure the driving safety of the vehicle to be warned.

[0080] In one embodiment, the step of issuing a warning to the vehicle to be warned according to the warning determination condition includes:

[0081] When there is a target object in the collision target that meets the forward warning judgment condition, the vehicle to be warned triggers a first warning state;

[0082] When there is a target object in the collision target that meets the rear warning judgment condition, the vehicle to be warned triggers a first warning state;

[0083] When there is a target object in the collision target that meets the lane change auxiliary determination condition, the vehicle to be warned triggers a second warning state;

[0084] When the collision target exists in the blind spot warning area, the vehicle to be warned triggers a third warning state, and the priority of the third warning state is higher than that of the second warning state.

[0085] In this embodiment, the first warning state can be understood as a warning signal set by the warning system for the vehicle to be warned. When the front warning judgment condition or the rear warning judgment is met, the vehicle to be warned triggers the first warning state and sends a corresponding warning signal. Similarly, the second warning state can be understood as another warning signal set by the warning system for the vehicle to be warned. When the lane change auxiliary judgment condition is met, the vehicle to be warned triggers the second warning state and sends a corresponding warning signal. Similarly, the third warning state can be understood as another warning signal set by the warning system for the vehicle to be warned. When a collision target appears in the blind spot warning area, the vehicle to be warned triggers the third warning state. The warning signals corresponding to the first warning state, the second warning state and the third warning state are all different warning signals, wherein the priority of the warning signal corresponding to the third warning state is greater than the signal corresponding to the second warning state, and the warning signal corresponding to the first warning state can exist simultaneously with the warning signals corresponding to the second warning state and the third warning state.

[0086] Exemplarily, the first warning state can be set as the instrument partition of the vehicle to be warned respectively displays the front and rear collision prompts, and the speaker emits a beeping sound. The second warning state can be set as the warning lights on the corresponding rearview mirrors on the left and right sides of the vehicle to be warned are always on. The third warning state can be set as the warning lights on the corresponding rearview mirrors on the left and right sides of the vehicle to be warned flash at a frequency of 3Hz. During the driving process of the vehicle to be warned, the warning system monitors the collision targets in the warning area. When there is a target object in the collision target that meets the front warning judgment condition, the vehicle to be warned triggers the first warning state, the instrument partition displays the front collision prompt, and the speaker emits a beeping sound; when there is a target object in the collision target that meets the rear warning judgment condition, the vehicle to be warned triggers the first warning state, the instrument partition displays the rear collision prompt, and the speaker emits a beeping sound. At this time, if there is a target object in the collision target that meets the lane change assistance judgment conditions, the vehicle to be warned will trigger the second warning state while triggering the first warning state, which is manifested by the warning lights on the left and right sides of the corresponding rearview mirrors of the vehicle to be warned being always on; at this time, when there is a collision target in the blind spot warning area, the vehicle to be warned will trigger the third warning state while triggering the first warning state, which is manifested by the warning lights on the left and right sides of the corresponding rearview mirrors of the vehicle to be warned being changed from a always on state to a state flashing at a frequency of 3Hz.

[0087] In one embodiment, after determining the early warning determination condition according to the target information, the congestion factor and the environmental factor, the method further includes:

[0088] The warning area is updated according to the environmental factors.

[0089] For example, Figure 3 As shown in the figure, the initial division of the warning area is divided according to the set ideal state. During the actual driving process of the vehicle to be warned, the impact of environmental information on the warning needs to be considered, so the initial division of the warning area can be updated according to environmental factors. For the front warning area and the rear warning area, the width of the warning area can effectively control the size of the warning area, and the update of the front warning area and the rear warning area can be completed by updating its width. For the blind spot warning area, its length has a greater impact on the safety of the vehicle to be warned during driving, and its length can be updated to complete the update of the blind spot warning area.

[0090] Optionally, updating the warning area according to the environmental factor includes:

[0091] The product of the width of the front warning area and the environmental factor is used as the width of the updated front warning area;

[0092] The product of the width of the rear warning area and the environmental factor is used as the width of the rear warning area after updating;

[0093] The product of the length of the blind spot warning area and the environmental factor is used as the length of the updated blind spot warning area.

[0094] For example, the width of the initial forward warning area is H, and H can be combined with the environmental factor k e The product of is taken as the width of the updated front warning area h = H*k e Similarly, the width of the rear warning area initially divided is L, which can be combined with the environmental factor k e The product of is used as the width of the updated front warning area l = L*k e The length of the initial blind spot warning area is S, which can be combined with the environmental factor k e The product of is taken as the length of the updated blind spot warning area s = S*k e .

[0095] Embodiment 2

[0096] Figure 4 1 is a flow chart of a method for determining a warning determination condition according to Embodiment 2 of the present invention. This embodiment is based on the method for determining a warning determination condition according to target information, congestion factors and environmental factors in the above embodiment. Figure 4 As shown, the method includes:

[0097] S210: When the warning system instructs the vehicle to be warned to enter an activated state, monitor the collision target between the vehicle to be warned and a warning area, wherein the activated state is related to the speed of the vehicle to be warned.

[0098] S220, acquiring target information, and road information and environmental information of the road on which the vehicle to be warned is traveling, wherein the target information includes information of the vehicle to be warned and the collision target.

[0099] S230: Determine a congestion factor and an environmental factor according to the target information, the road information and the environmental information.

[0100] S240: Obtain a first threshold and a second threshold.

[0101] In this embodiment, the first threshold value can be understood as a set threshold value for judging whether the collision target meets the warning judgment condition. Similarly, the second threshold value is also understood as a set threshold value for judging whether the collision target meets the warning judgment condition. Both the first threshold value and the second threshold value can be pre-set according to the driving state of the vehicle to be warned. The first threshold value can be used for a scene where the distance between the vehicle to be warned and the collision target is small but the speed difference is large, while the second threshold value can be used for a scene where the distance between the vehicle to be warned and the collision target is small and the speed difference is also small. There is no necessary connection between the two.

[0102] Specifically, the set first threshold and second threshold are obtained according to the driving state of the vehicle to be warned, wherein the first threshold is a threshold indicating the relative state between the vehicle to be warned and the collision target, and the second threshold is a threshold indicating the absolute state between the vehicle to be warned and the collision target.

[0103] S250: Determine the relative collision time and the absolute collision time between the vehicle to be warned and the collision target according to the target information, wherein the target information includes information indicating the distance and speed difference between the vehicle to be warned and the collision target.

[0104] In this embodiment, the relative time to collision (TTC) refers to the time required from the current moment to the collision between the vehicle to be warned and the collision target during their travel. The absolute time to collision (THW) refers to the time interval between the vehicle to be warned and the collision target, which is used to monitor and evaluate the safe distance between the two.

[0105] Specifically, the relative collision time TTC and the absolute collision time THW are obtained according to the distance between the vehicle to be warned and the collision target indicated by the target information and their respective driving speeds. The specific method is as follows: the relative collision time TTC can be determined according to the ratio of the distance between the vehicle to be warned and the collision target and the driving speed difference between the vehicle to be warned and the collision target. The absolute collision time THW can be determined according to the ratio of the distance between the vehicle to be warned and the collision target and the driving speed of the vehicle to be warned.

[0106] S260: Update the first threshold and the second threshold according to the congestion factor and the environmental factor.

[0107] Specifically, for the preset first threshold and second threshold, the warning system obtains the congestion factor and environmental factor in real time during the driving process of the vehicle to be warned. The first threshold and the second threshold can be adjusted according to the congestion factor and environmental factor to adapt to the real-time changing road conditions and environmental factors.

[0108] For example, for the preset first threshold T1 and second threshold T2, and the congestion factor k e and environmental factor K TI Since the congestion factor ranges from 0 to 1, and the environmental factors are limited to 0.81 to 2.26, the congestion factor k e and 1 + environmental factor K TI Therefore, the updated first threshold can be expressed as Similarly, the updated second threshold can be expressed as

[0109] S270: If there is a collision target in the forward warning area whose relative collision time is less than or equal to the first threshold, or whose absolute collision time is less than or equal to the second threshold, it is determined that the forward warning determination condition is met.

[0110] Exemplarily, if there is a collision target in the forward warning area and the relative collision time TTC ≤ the first threshold t1 is satisfied, or the absolute collision time THW ≤ the second threshold t2 is satisfied, it is determined that the collision target meets the forward warning determination condition.

[0111] S280: Determine that the presence of a collision target in the rear warning area that satisfies the relative collision time being less than or equal to the first threshold, or the presence of a collision target that satisfies the absolute collision time being less than or equal to the second threshold, as satisfying the rear warning determination condition.

[0112] Exemplarily, if there is a collision target in the rear warning area and the relative collision time TTC ≤ the first threshold t1 is satisfied, or the absolute collision time THW ≤ the second threshold t2 is satisfied, it is determined that the collision target meets the rear warning determination condition.

[0113] S290: Determine that the presence of a collision target in the lane change assistance area whose relative collision time is less than or equal to the first threshold satisfies the lane change assistance warning determination condition.

[0114] Exemplarily, if there is a collision target in the lane change assistance area and the relative collision time TTC ≤ the first threshold t1 is satisfied, it is determined that the collision target satisfies the lane change assistance determination condition.

[0115] S200: issuing a warning to the vehicle to be warned according to the warning determination condition.

[0116] For example, Figure 5 FIG. 1 is a schematic diagram of a system state migration of a vehicle to be warned according to Embodiment 2 of the present invention. Figure 5 , the vehicles to be warned include 5 states: OFF state, Ready state, FixedMode state, Adaptive state, and Dangerous state. The transition conditions and functions of each state are as follows ( Figure 5 The symbols in the figure indicate the migration direction after the corresponding condition is met; || indicates an OR relationship; & indicates an AND relationship; the condition with ~ indicates that the condition is negated, for example, ~B indicates that condition B is not met):

[0117] Condition A: The early warning system function is turned on and there are no abnormalities in the system.

[0118] Condition B: System activation conditions are met.

[0119] Condition C: The speed of the vehicle to be warned is higher than the activation speed, the vehicle to be warned enters the activation state, and the adaptive mode of the warning system is turned on (set through the vehicle-mounted button).

[0120] Condition D: Environmental factor is higher than 2.1.

[0121] Condition E: The speed of the vehicle to be warned is lower than the activation speed, and the vehicle to be warned exits the activation state.

[0122] Condition F: Only the light intensity is abnormal (the camera is abnormal, but the radar can work normally).

[0123] Condition T: In the Dangerous state, the driver confirms the switch to the Fixed Mode state by pressing a button within t seconds after hearing the prompt.

[0124] OFF state: The default state of the early warning system after power-on. It will migrate to the Ready state after condition A is met.

[0125] Ready status: The early warning system can work normally and is waiting to be activated.

[0126] FixedMode state: The early warning system enters the fixed warning mode by default, and selects one of the earlier warning, normal warning, and delayed warning according to the user settings to determine the warning. At this time, only the radar subsystem in the early warning system works to collect data; when condition C is met, it migrates to the Adaptive state; when condition B is not met, it returns to the Ready state.

[0127] Adaptive state: the warning system enters the adaptive mode; when condition D is met, it means that the current environment is no longer suitable for the vehicle to be warned, and it migrates to the Dangerous state; if condition F is met or condition C is not met, it migrates to the FixedMode state and issues a warning mode switching prompt to the driver; in order to avoid the problem that the camera cannot be turned on at night or when facing strong light, the priority of migrating from the Adaptive state to the FixedMode state is higher than that of migrating from the Adaptive state to the Dangerous state.

[0128] Dangerous state: The warning system issues a warning to the driver, reminding the driver that the current vehicle to be warned is in danger. Please confirm whether to use the fixed warning mode. When condition T is met, it will migrate to the FixedMode state; if conditions ~D, E, and ~T are met at the same time, it will migrate to the Ready state. During this process, the voice and instrument will prompt that the warning system is turned off, and the double flash behind the vehicle to be warned will be turned on to warn surrounding vehicles. If necessary, the vehicle to be warned will be limited in speed through the power module and kinetic energy recovery module.

[0129] The technical solution of the embodiment of the present invention is to obtain a first threshold and a second threshold; determine the relative collision time and the absolute collision time between the vehicle to be warned and the collision target according to the target information; update the first threshold and the second threshold according to the congestion factor and the environmental factor; determine that the collision target in the front warning area satisfies the relative collision time less than or equal to the first threshold, or the collision target in the absolute collision time less than or equal to the second threshold, as satisfying the front warning judgment condition; determine that the collision target in the rear warning area satisfies the relative collision time less than or equal to the first threshold, or the collision target in the absolute collision time less than or equal to the second threshold, as satisfying the rear warning judgment condition; determine that the collision target in the lane change auxiliary area satisfies the relative collision time less than or equal to the first threshold, as satisfying the lane change auxiliary warning judgment condition. The first threshold and the second threshold are updated by the congestion factor and the environmental factor, so as to adapt to the real-time changing road conditions and environmental factors, refine the warning judgment conditions corresponding to different warning areas, and realize the adaptive warning of the vehicle to be warned.

[0130] Embodiment 3

[0131] Figure 6 Schematic diagram of the structure of an adaptive early warning device provided according to the third embodiment of the present invention. Figure 6 As shown, the device comprises:

[0132] A monitoring module 310, configured to monitor a collision target between the vehicle to be warned and a warning area when the warning system indicates that the vehicle to be warned has entered an activated state, wherein the activated state is related to a speed of the vehicle to be warned;

[0133] An acquisition module 320 is used to acquire target information, and road information and environmental information of the road on which the vehicle to be warned is traveling, wherein the target information includes information of the vehicle to be warned and the collision target;

[0134] A first determination module 330, configured to determine a congestion factor and an environmental factor according to the target information, the road information and the environmental information;

[0135] A second determination module 340 is used to determine a warning determination condition according to the target information, the congestion factor and the environmental factor;

[0136] The warning module 350 is used to issue a warning to the vehicle to be warned according to the warning determination condition.

[0137] The adaptive warning device provided by the embodiment of the present invention monitors the collision target between the vehicle to be warned and the warning area through the detection module when the warning system indicates that the vehicle to be warned enters the activation state, and the activation state is related to the speed of the vehicle to be warned; obtains the target information, the road information and the environmental information of the road on which the vehicle to be warned travels through the acquisition module, and the target information includes the information of the vehicle to be warned and the collision target; determines the congestion factor and the environmental factor according to the target information, the road information and the environmental information through the first determination module; determines the warning judgment condition according to the target information, the congestion factor and the environmental factor through the second determination module; and warns the vehicle to be warned according to the warning judgment condition through the warning module. Through the mutual cooperation between the modules, the warning system monitors the vehicle to be warned and the collision target in real time, obtains the road information and the environmental information, and determines the warning judgment condition, so as to realize the warning of the vehicle to be warned, improve the accuracy of the warning, introduce the judgment factors of the road information and the environmental information, make the warning judgment condition more perfect, and improve the user experience.

[0138] In one embodiment, the adaptive early warning device further includes a division module, which is specifically used to:

[0139] The warning area is divided into a front warning area, a rear warning area, a lane change assistance area, and a blind spot warning area. Accordingly, there are warning determination conditions corresponding to the warning areas, including:

[0140] a forward warning determination condition corresponding to the forward warning area;

[0141] a rear warning determination condition corresponding to the rear warning area;

[0142] A lane change assist determination condition corresponding to the lane change assist area.

[0143] In one embodiment, the early warning module 350 is specifically configured to:

[0144] When there is a target object in the collision target that meets the forward warning judgment condition, the vehicle to be warned triggers a first warning state;

[0145] When there is a target object in the collision target that meets the rear warning judgment condition, the vehicle to be warned triggers a first warning state;

[0146] When there is a target object in the collision target that meets the lane change auxiliary determination condition, the vehicle to be warned triggers a second warning state;

[0147] When the collision target exists in the blind spot warning area, the vehicle to be warned triggers a third warning state, and the priority of the third warning state is higher than that of the second warning state.

[0148] In one embodiment, the second determining module 340 is specifically configured to:

[0149] Obtain a first threshold and a second threshold;

[0150] Determining a relative collision time and an absolute collision time between the vehicle to be warned and the collision target according to the target information, wherein the target information includes information indicating a distance and a speed difference between the vehicle to be warned and the collision target;

[0151] updating the first threshold and the second threshold according to the congestion factor and the environmental factor;

[0152] Determining that the forward warning determination condition is satisfied when there is a collision target in the forward warning area whose relative collision time is less than or equal to the first threshold or whose absolute collision time is less than or equal to the second threshold;

[0153] Determining that the rear warning determination condition is satisfied when there is a collision target in the rear warning area whose relative collision time is less than or equal to the first threshold or whose absolute collision time is less than or equal to the second threshold;

[0154] The presence of a collision target in the lane change assist area that satisfies the relative collision time being less than or equal to the first threshold is determined as satisfying the lane change assist warning determination condition.

[0155] In one embodiment, the adaptive early warning device further includes an update module, including:

[0156] An updating unit is used to update the warning area according to the environmental factors.

[0157] In one embodiment, the updating unit is specifically configured to:

[0158] The product of the width of the front warning area and the environmental factor is used as the width of the updated front warning area;

[0159] The product of the width of the rear warning area and the environmental factor is used as the width of the rear warning area after updating;

[0160] The product of the length of the blind spot warning area and the environmental factor is used as the length of the updated blind spot warning area.

[0161] In one embodiment, the early warning system includes a radar subsystem, an image subsystem, and a cloud subsystem, and the first determination module is specifically used to:

[0162] determining an online congestion coefficient corresponding to the road information acquired by the image subsystem;

[0163] Determine an estimated congestion coefficient based on the target information obtained by the radar subsystem;

[0164] determining the congestion factor according to the relationship between the online congestion coefficient and the evaluated congestion coefficient;

[0165] The environmental factors are determined based on the target information obtained by the radar subsystem and the environmental information obtained by the cloud subsystem.

[0166] The adaptive warning device provided in the embodiment of the present invention can execute the adaptive warning method provided in any embodiment of the present invention, completes the warning of the warning vehicle through the mutual cooperation and collaboration between the modules, and has the functional modules and beneficial effects corresponding to the execution method.

[0167] Embodiment 4

[0168] According to an embodiment of the present invention, the present invention also provides an electronic device, a computer-readable storage medium and a computer program product.

[0169] Figure 7 It is a block diagram of an electronic device provided according to Embodiment 4 of the present invention, and the electronic device can implement the adaptive early warning method described in the embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0170] like Figure 7As shown, the electronic device 410 includes at least one processor 411, and a memory connected to the at least one processor 411 in communication, such as a read-only memory (ROM) 412, a random access memory (RAM) 413, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 411 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 412 or the computer program loaded from the storage unit 418 to the random access memory (RAM) 413. In the RAM 413, various programs and data required for the operation of the electronic device 410 can also be stored. The processor 411, the ROM 412, and the RAM 413 are connected to each other via a bus 414. An input / output (I / O) interface 415 is also connected to the bus 414.

[0171] A number of components in the electronic device are connected to the I / O interface 415, including: an input unit 416, such as a keyboard, a mouse, etc.; an output unit 417, such as various types of displays, speakers, etc.; a storage unit 418, such as a disk, an optical disk, etc.; and a communication unit 419, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 419 allows the electronic device to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0172] Processor 411 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of processor 411 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. Processor 411 executes the various methods and processes described above, such as an adaptive early warning method.

[0173] In some embodiments, the adaptive early warning method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 418. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 410 via the ROM 412 and / or the communication unit 419. When the computer program is loaded into the RAM 413 and executed by the processor 411, one or more steps of the adaptive early warning method described above may be performed. Alternatively, in other embodiments, the processor 411 may be configured to perform the adaptive early warning method in any other appropriate manner (e.g., by means of firmware).

[0174] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0175] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0176] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0177] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0178] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0179] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0180] In some embodiments, the computer program product includes a computer program, and when the computer program is executed by a processor, it implements the adaptive early warning method provided by the embodiment of the present invention.

[0181] The technical solution of the embodiment of the present invention is through an adaptive early warning method, device, electronic device, storage medium and program product. When the early warning system indicates that the vehicle to be warned enters an activated state, the vehicle to be warned and the collision target in the warning area are monitored, and the activation state is related to the speed of the vehicle to be warned; the target information, as well as the road information and environmental information of the road on which the vehicle to be warned is traveling are obtained, and the target information includes the information of the vehicle to be warned and the collision target; the congestion factor and the environmental factor are determined according to the target information, the road information and the environmental information; the early warning judgment condition is determined according to the target information, the congestion factor and the environmental factor; and the vehicle to be warned is warned according to the early warning judgment condition. The early warning system monitors the vehicle to be warned and the collision target in real time, obtains the road information and the environmental information, and determines the early warning judgment condition, so as to realize the early warning of the vehicle to be warned, improve the accuracy of the early warning, introduce the judgment factors of the road information and the environmental information, make the early warning judgment condition more perfect, and improve the user experience.

[0182] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0183] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An adaptive early warning method, characterized in that: Applied to the early warning system, the early warning system is mounted on the vehicle to be warned, and includes: When the warning system indicates that the vehicle to be warned enters an activated state, monitoring the collision target between the vehicle to be warned and the warning area, wherein the activated state is related to the speed of the vehicle to be warned; Acquire target information, as well as road information and environmental information of the road on which the vehicle to be warned is traveling, wherein the target information includes information of the vehicle to be warned and the collision target; Determining a congestion factor and an environmental factor according to the target information, the road information and the environmental information; Determining a warning determination condition according to the target information, the congestion factor and the environmental factor; According to the warning determination condition, a warning is issued to the vehicle to be warned.

2. The method according to claim 1, characterized in that Before monitoring the collision between the vehicle to be warned and the target in the warning area, the method further includes: The warning area is divided into a front warning area, a rear warning area, a lane change assistance area, and a blind spot warning area. Accordingly, there are warning determination conditions corresponding to the warning areas, including: a forward warning determination condition corresponding to the forward warning area; a rear warning determination condition corresponding to the rear warning area; A lane change assist determination condition corresponding to the lane change assist area.

3. The method according to claim 2, characterized in that The step of issuing a warning to the vehicle to be warned according to the warning determination condition comprises: When there is a target object in the collision target that meets the forward warning judgment condition, the vehicle to be warned triggers a first warning state; When there is a target object in the collision target that meets the rear warning judgment condition, the vehicle to be warned triggers a first warning state; When there is a target object in the collision target that meets the lane change auxiliary determination condition, the vehicle to be warned triggers a second warning state; When the collision target exists in the blind spot warning area, the vehicle to be warned triggers a third warning state, and the priority of the third warning state is higher than that of the second warning state.

4. The method according to claim 2, characterized in that: The determining of the early warning determination condition according to the target information, the congestion factor and the environmental factor includes: Obtain a first threshold and a second threshold; Determining a relative collision time and an absolute collision time between the vehicle to be warned and the collision target according to the target information, wherein the target information includes information indicating a distance and a speed difference between the vehicle to be warned and the collision target; updating the first threshold and the second threshold according to the congestion factor and the environmental factor; Determining that the forward warning determination condition is satisfied when there is a collision target in the forward warning area whose relative collision time is less than or equal to the first threshold or whose absolute collision time is less than or equal to the second threshold; Determining that the rear warning determination condition is satisfied when there is a collision target in the rear warning area whose relative collision time is less than or equal to the first threshold or whose absolute collision time is less than or equal to the second threshold; The presence of a collision target in the lane change assist area that satisfies the relative collision time being less than or equal to the first threshold is determined as satisfying the lane change assist warning determination condition.

5. The method according to claim 1, characterized in that After determining the early warning determination condition according to the target information, the congestion factor and the environmental factor, the method further includes: The warning area is updated according to the environmental factors.

6. The method according to claim 5, characterized in that The updating of the early warning area according to the environmental factor comprises: The product of the width of the front warning area and the environmental factor is used as the width of the updated front warning area; The product of the width of the rear warning area and the environmental factor is used as the width of the rear warning area after updating; The product of the length of the blind spot warning area and the environmental factor is used as the length of the updated blind spot warning area.

7. The method according to claim 1, characterized in that The early warning system includes a radar subsystem, an image subsystem and a cloud subsystem, and the congestion factor and the environmental factor are determined according to the target information, the road information and the environmental information, including: determining an online congestion coefficient corresponding to the road information acquired by the image subsystem; Determine an estimated congestion coefficient based on the target information obtained by the radar subsystem; determining the congestion factor according to the relationship between the online congestion coefficient and the evaluated congestion coefficient; The environmental factors are determined based on the target information obtained by the radar subsystem and the environmental information obtained by the cloud subsystem.

8. An adaptive early warning device, characterized in that: include: A monitoring module, configured to monitor a collision target between the vehicle to be warned and a warning area when the warning system indicates that the vehicle to be warned has entered an activated state, wherein the activated state is related to a speed of the vehicle to be warned; An acquisition module, used to acquire target information, and road information and environmental information of the road on which the vehicle to be warned is traveling, wherein the target information includes information of the vehicle to be warned and the collision target; A first determination module, configured to determine a congestion factor and an environmental factor according to the target information, the road information and the environmental information; A second determination module is used to determine a warning determination condition according to the target information, the congestion factor and the environmental factor; The warning module is used to issue a warning to the vehicle to be warned according to the warning judgment condition.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the adaptive early warning method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the adaptive early warning method according to any one of claims 1 to 7 when executed.

11. A computer program product, characterized in that The computer program product comprises a computer program, which, when executed by a processor, implements the adaptive early warning method according to any one of claims 1 to 7.

Images