Highway rear-end collision prevention warning method and device, electronic equipment and storage medium

Abstract

The invention discloses an expressway rear-end collision prevention warning method and device, electronic equipment and a storage medium, and the method comprises the steps: releasing a warning sign corresponding to an expressway operation vehicle under the condition that the expressway operation vehicle is detected to be in an operation state; wherein the number of the warning marks is at least two; obtaining a vehicle working speed corresponding to the highway working vehicle, and collecting a road image corresponding to the warning sign; wherein the road image comprises a target following object corresponding to the warning sign, and the target following object is a highway operation vehicle or the warning sign; and controlling the warning sign to follow the target following object based on the vehicle working speed and the road image. Based on the above technical scheme, the warning sign is controlled to follow the highway operation vehicle according to the speed information and the image, automatic following warning of the warning sign is realized, and the probability of traffic accidents of the highway operation vehicle is reduced.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to a method, device, electronic equipment and storage medium for preventing rear-end collision warning on a highway. Background Art

[0002] In order to ensure the normal traffic on the highway, various high-speed operation vehicles are usually used to maintain the highway.

[0003] However, when a high-speed working vehicle stops for operation, due to the low speed of the working vehicle and the warning signs being placed too close to each other, they cannot serve as a warning and rear-end collisions are likely to occur. Summary of the invention

[0004] The present invention provides a method, device, electronic device and storage medium for preventing rear-end collision on a highway. When a highway operating vehicle is detected to be in an operating state, a warning sign is controlled to follow the highway operating vehicle according to speed information and images, thereby realizing automatic following warning of the warning sign, so as to ensure the vehicle safety of the highway operating vehicle in the operating state and reduce the probability of traffic accidents occurring to the highway operating vehicle.

[0005] According to one aspect of the present invention, a method for preventing rear-end collision warning on a highway is provided, which comprises:

[0006] When it is detected that the highway working vehicle is in working state, releasing a warning sign corresponding to the highway working vehicle; wherein the number of the warning signs is at least two;

[0007] Acquire the vehicle working speed corresponding to the highway working vehicle, and collect the road image corresponding to the warning sign; wherein the road image includes a target following object corresponding to the warning sign, and the target following object is the highway working vehicle or the warning sign;

[0008] The warning sign is controlled to follow the target following object based on the vehicle operating speed and the road image.

[0009] According to another aspect of the present invention, there is provided an anti-rear-end collision warning device for a highway, comprising:

[0010] A sign releasing module is used to release a warning sign corresponding to the highway working vehicle when it is detected that the highway working vehicle is in working state; wherein the number of the warning signs is at least two;

[0011] An information collection module is used to obtain a vehicle working speed corresponding to the highway working vehicle and to collect a road image corresponding to the warning sign; wherein the road image includes a target following object corresponding to the warning sign, and the target following object is the highway working vehicle or the warning sign;

[0012] A control module is used to control the warning sign to follow the target following object based on the vehicle working speed and the road image.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] 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 method for controlling a highway warning sign described in any embodiment of the present invention.

[0017] 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 control method of a highway warning sign according to any embodiment of the present invention when executed.

[0018] The technical solution of the embodiment of the present invention is to release a warning sign corresponding to the highway working vehicle when it is detected that the highway working vehicle is in an operating state; wherein the number of the warning signs is at least two, and the vehicle working speed corresponding to the highway working vehicle is obtained, and a road image corresponding to the warning sign is collected; wherein the road image includes a target following object corresponding to the warning sign, and the target following object is the highway working vehicle or the warning sign, and then the warning sign is controlled to follow the target following object based on the vehicle working speed and the road image. Based on the above technical solution, when it is detected that the highway working vehicle is in an operating state, the warning sign is controlled to follow the highway working vehicle according to the speed information and the image, and the automatic following warning of the warning sign is realized to ensure the vehicle safety of the highway working vehicle in the operating state and reduce the probability of traffic accidents involving highway working vehicles.

[0019] 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

[0020] 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.

[0021] Figure 1 is a flow chart of a method for preventing rear-end collision warning on a highway provided according to an embodiment of the present invention;

[0022] Figure 2 is a schematic structural diagram of a highway rear-end collision prevention warning device provided according to an embodiment of the present invention;

[0023] Figure 3 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0024] 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.

[0025] 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.

[0026] Embodiment 1

[0027] Figure 1The flowchart of a highway anti-rear-end collision warning method provided by an embodiment of the present invention is applicable to the case where a highway operating vehicle is in an operating state, and the warning sign is controlled to follow the highway operating vehicle according to the vehicle speed and the image information collected by the warning sign. The method can be executed by a highway anti-rear-end collision warning device, which can be implemented in the form of hardware and / or software, and can be configured in an electronic device. Figure 1 As shown, the method includes:

[0028] S110. When it is detected that the highway working vehicle is in working state, a warning sign corresponding to the highway working vehicle is released.

[0029] The highway operation vehicle may be a vehicle used to maintain the highway, such as a highway water sprinkler, a highway road washing vehicle, a highway snowplow, etc. The warning sign is a sign used for road warning.

[0030] Specifically, various sensors (such as GPS locators, accelerometers, gyroscopes, etc.) or external monitoring equipment (such as radars, cameras, etc.) installed on the working vehicles are used to monitor the status of highway working vehicles. For example, the vehicle speed of the current highway working vehicle can be obtained. If the current vehicle speed of the highway working vehicle matches the vehicle operating speed, it is determined that the highway working vehicle is in an operating state. For example, the working speed of a sprinkler truck is 30 to 40 km / hour, the working speed of a flushing truck is 40 km / hour, and the working speed of a snowplow is 60 to 70 km / hour. Then, when it is determined that the highway working vehicle is in an operating state, a warning sign is released from the sign storage compartment.

[0031] It should be noted that the warning sign provided by the embodiment of the present invention can be set in the sign storage compartment of the highway working vehicle, and then when the highway working vehicle is in the working state, the warning sign can be released from the sign storage compartment, and the warning sign provided by the embodiment of the present invention can be provided with an image acquisition device, a wireless communication device, a driving device and a wheel, and the warning sign can automatically follow the highway working vehicle according to the information collected. The number of warning signs is at least two.

[0032] S120: Acquire a vehicle operating speed corresponding to the highway working vehicle, and collect a road image corresponding to the warning sign.

[0033] The vehicle working speed may be the vehicle speed of the highway working vehicle during the working process. The road image may be understood as a road image corresponding to the current driving lane acquired by the image acquisition device in the warning sign. The road image includes a target following object corresponding to the warning sign, and the target following object is the highway working vehicle or the warning sign.

[0034] Specifically, the vehicle working speed of the highway working vehicle can be obtained at a preset time period, such as determining the vehicle working speed of the highway working vehicle every 5 seconds, and then the road image corresponding to the current driving lane is collected by the image acquisition device set in the warning sign. For example, a high-resolution camera or image sensor is installed in the highway warning sign or the vehicle-mounted drone to capture the road image ahead, and then the collected road image is pre-processed, which may include denoising, contrast enhancement, distortion correction, etc., and image processing algorithms such as edge detection, color segmentation, texture analysis, etc. are used to extract the features of road identification objects, and based on the extracted features, machine learning or deep learning algorithms are used to identify road objects such as highway guardrails and lane dividing lines, and then the road image corresponding to the warning sign is collected.

[0035] It should be noted that the road image corresponding to the target follow-up object can be collected by an image acquisition device arranged in the warning sign or the vehicle-mounted drone. The image acquisition device is a binocular camera, so that the collected image can contain image depth information, and then the distance information between the warning sign and the follow-up object can be determined according to the image depth information. For example, by receiving the original image data collected by the binocular camera, the binocular vision principle can be used to calculate the depth information in the image, generate a three-dimensional point cloud or depth map, and pre-process the image, such as denoising, enhancement, correction, etc., to improve the accuracy of subsequent analysis, and then determine the distance information between the warning sign and the follow-up object according to the processed depth map or point cloud information.

[0036] On the basis of the above technical solution, after collecting the road image corresponding to the warning sign, it also includes: performing image recognition on the road image to determine the identification object in the road image; when the identification object in the road image only includes highway working vehicles, determining that the target following object corresponding to the current warning sign is the highway working vehicle; when the identification object in the road image includes highway working vehicles and warning signs, determining that the target following object corresponding to the current warning sign is the warning sign.

[0037] The identification object may be an object in the road image that matches the characteristics of the preset identification object, and the preset identification object may be a high-speed operation vehicle and a warning sign.

[0038] Specifically, the collected road images are processed by image recognition, and machine learning or deep learning algorithms are used to identify and classify objects in the images, and the identified objects in the images are determined. The identified objects may include highway working vehicles, warning signs, etc. If the image recognition result only includes highway working vehicles, the target following object of the current warning sign is determined to be the highway working vehicle. If the image recognition result includes both highway working vehicles and warning signs, the target following object is determined to be other warning signs. Exemplarily, after the road images are collected, the images can be preprocessed, and edge detection algorithms (such as Canny edge detection) can be used to extract edge information in the preprocessed images, and the images can be segmented into different areas according to color information, for example, to distinguish roads from vehicles, pedestrians, etc., and then feature descriptors such as SIFT algorithms and SURF algorithms can be used to extract local features in the images, and then the extracted features can be classified in combination with convolutional neural networks (CNNs) to identify the identified objects in the road images.

[0039] It should be noted that the technical solution provided by the embodiment of the present invention can simultaneously control multiple warning signs to realize automatic following of high-speed working vehicles. At least two warning signs can be released, and the following object corresponding to the current warning sign can be determined according to the image obtained by collecting the warning signs. When the image obtained by collecting the warning signs does not contain other warning signs, the current warning sign is determined to be a warning sign that directly follows the high-speed working vehicle, and the target following object corresponding to the current warning sign is the high-speed working vehicle. When the image obtained by collecting the warning signs contains other warning signs, it means that the current warning sign is not a warning sign that directly follows the high-speed working vehicle, and the target following object corresponding to the current warning sign is determined to be other warning signs in front.

[0040] S130: Control the warning sign to follow the target following object based on the vehicle operating speed and the road image.

[0041] Specifically, after the vehicle operating speed and the road image are acquired, a control instruction corresponding to the warning sign is generated according to the vehicle operating speed and the road image, and then the warning sign is controlled to follow the target according to the control instruction.

[0042] On the basis of the above technical solution, the controlling the warning sign to follow the target following object based on the vehicle working speed and the road image includes: controlling a vehicle-mounted drone to connect with the warning sign; after detecting that the vehicle-mounted drone is connected with the warning sign, controlling the vehicle-mounted drone to follow the target following object based on the vehicle working speed and the road image.

[0043] Among them, the vehicle-mounted drone can be a drone installed on a highway patrol vehicle.

[0044] Specifically, when it is necessary to control the warning sign to follow and warn, the vehicle-mounted drone can be controlled to connect with the warning sign. After detecting that the connection is completed, the vehicle-mounted drone can send a connection completion signal. After detecting the connection completion signal, the vehicle-mounted drone can be controlled to follow the target object according to the vehicle working speed and the road image. It can be understood that in the process of moving the warning sign by the vehicle-mounted drone, the warning sign can perform a warning work, for example, the tripod is controlled to be powered on and send a sound warning message, so that road warnings can also be performed during transportation. Exemplarily, a drone can also be deployed in a highway operation vehicle. The drone can be connected to the warning sign by magnetic suction. Accordingly, a magnetic suction device, such as an electromagnetic suction cup, can be deployed at the bottom of the drone and the top of the warning sign. When the traffic situation on the highway is more complicated, the drone can be controlled by a remote control device to connect with the highway warning sign for magnetic suction, and then the drone can be controlled to move the warning sign to achieve automatic following of the target object, or the warning sign can be brought back to the highway operation vehicle by the drone.

[0045] It should be noted that the technical solution provided in the embodiment of the present invention provides two solutions for moving the warning sign to the target position. When the road conditions on the current highway section are not complicated, the warning sign can be released automatically, and the information collected by the warning sign is automatically moved to the target position; when the road conditions on the current highway section are relatively complicated, for example, there are traffic accidents, road landslides or excessive traffic, the vehicle-mounted drone is controlled to connect with the warning sign, and the vehicle-mounted drone is controlled to move the highway warning sign to follow the warning.

[0046] On the basis of the above technical solution, the controlling the warning sign to follow the target following object based on the vehicle working speed and the road image includes: processing the road image to determine the distance information between the warning sign and the target following object; and controlling the warning sign to follow the target following object based on the distance information and the vehicle working speed.

[0047] Specifically, a high-resolution camera is used to collect road images containing target objects, and pre-processing operations such as denoising and contrast enhancement are performed on the collected images. Then, a target detection algorithm (such as YOLO, SSD, etc.) is used to locate the target object in the image and obtain its position information. According to the parameters of the camera (such as focal length, viewing angle, etc.) and the size of the target object in the image, the actual distance between the warning sign and the target object is calculated, and then a control strategy for the warning sign is formulated based on the distance information and the working speed of the vehicle. For example, when a vehicle approaches a target object, the display content or position of the warning sign may need to be adjusted to ensure that other road users can clearly see the warning.

[0048] On the basis of the above technical solution, the method of controlling the warning sign to follow the target following object based on the distance information and the vehicle operating speed includes: when it is detected that the distance information is less than a minimum distance threshold, controlling the driving speed of the warning sign to be less than the vehicle operating speed so that the distance information is greater than the minimum distance threshold.

[0049] The minimum distance threshold may be a preset minimum distance value between the warning sign and the target follow-up object, for example, 50 meters.

[0050] Specifically, the distance information monitored in real time is compared with the set minimum distance threshold. If the distance is less than the minimum distance threshold, it means that the warning sign is too close to the target object to be followed. By controlling the driving speed of the warning sign to be less than the working speed of the vehicle, the warning sign is "falling behind" relative to the target object to increase the distance between the two until the distance is greater than the minimum distance threshold. It should be noted that by continuously acquiring new distance information and adjusting the driving speed of the warning sign as needed, the distance is always kept within a safe range.

[0051] On the basis of the above technical solution, the method of controlling the warning sign to follow the target following object based on the distance information and the vehicle operating speed includes: when it is detected that the distance information is greater than a maximum distance threshold, controlling the driving speed of the warning sign to be greater than the vehicle operating speed so that the distance information is less than the maximum distance threshold.

[0052] The maximum distance threshold may be a preset maximum distance value between the warning sign and the target follow-up object, for example, 200 meters.

[0053] Specifically, compare the real-time monitored distance information with the set maximum distance threshold. If the distance is greater than the maximum distance threshold, it means that the warning sign is too close to the target following object. Control the driving speed of the warning sign to be greater than the vehicle working speed, so as to increase the distance between the two until the distance is less than the maximum distance threshold.

[0054] Based on the above technical solution, controlling the warning sign to follow the target following object based on the distance information and the vehicle working speed includes: when it is detected that the distance information is greater than the minimum distance threshold and less than the maximum distance threshold, control the driving speed of the warning sign to be equal to the vehicle working speed.

[0055] Specifically, by determining two key distance thresholds: the minimum distance threshold (D_min) and the maximum distance threshold (D_max), control the ideal distance range maintained between the warning sign and the target following object through the distance thresholds. Use image processing techniques, such as object detection and tracking algorithms, to calculate and update the actual distance (D_actual) between the warning sign and the target following object in real time. When D_actual < D_min, it means that the warning sign is too close to the target, and the warning sign should be controlled to decelerate to reduce its driving speed, so as to increase the distance from the target until D_actual returns between D_min and D_max. When D_min <= D_actual <= D_max, it means that the distance between the warning sign and the target is within the ideal range. At this time, the driving speed of the warning sign should be controlled to be equal to the vehicle working speed to maintain a stable following state. When D_actual > D_max, it means that the warning sign is too far from the target, and the warning sign should be controlled to accelerate to increase its driving speed, so as to reduce the distance from the target until D_actual returns between D_min and D_max.

[0056] The technical solution of the embodiment of the present invention is to release a warning sign corresponding to the highway working vehicle when it is detected that the highway working vehicle is in an operating state; wherein the number of the warning signs is at least two, and the vehicle working speed corresponding to the highway working vehicle is obtained, and a road image corresponding to the warning sign is collected; wherein the road image includes a target following object corresponding to the warning sign, and the target following object is the highway working vehicle or the warning sign, and then the warning sign is controlled to follow the target following object based on the vehicle working speed and the road image. Based on the above technical solution, when it is detected that the highway working vehicle is in an operating state, the warning sign is controlled to follow the highway working vehicle according to the speed information and the image, and the automatic following warning of the warning sign is realized to ensure the vehicle safety of the highway working vehicle in the operating state and reduce the probability of traffic accidents involving highway working vehicles.

[0057] Embodiment 2

[0058] Figure 2 The following is a schematic diagram of the structure of a highway rear-end collision prevention warning device provided by an embodiment of the present invention. Figure 2 As shown, the module includes: a sign release module 210, an information collection module 220 and a control module 230; wherein,

[0059] The sign releasing module 210 is used to release a warning sign corresponding to the highway working vehicle when it is detected that the highway working vehicle is in working state; wherein the number of the warning signs is at least two;

[0060] The information acquisition module 220 is used to acquire the vehicle working speed corresponding to the highway working vehicle and to acquire the road image corresponding to the warning sign; wherein the road image includes a target following object corresponding to the warning sign, and the target following object is the highway working vehicle or the warning sign;

[0061] The control module 230 is used to control the warning sign to follow the target following object based on the vehicle operating speed and the road image.

[0062] On the basis of the above technical solution, the control module is used to control the vehicle-mounted drone to connect with the warning sign; after detecting that the vehicle-mounted drone is connected with the warning sign, the vehicle-mounted drone is controlled to follow the target object based on the vehicle working speed and the road image.

[0063] On the basis of the above technical solution, the information acquisition module is used to perform image recognition on the road image after the road image corresponding to the warning sign is acquired, and determine the identification object in the road image; when the identification object in the road image only includes highway working vehicles, determine that the target following object corresponding to the current warning sign is the highway working vehicle; when the identification object in the road image includes highway working vehicles and warning signs, determine that the target following object corresponding to the current warning sign is the warning sign.

[0064] Based on the above technical solution, the control module is used to process the road image to determine the distance information between the warning sign and the target following object; and control the warning sign to follow the target following object based on the distance information and the vehicle working speed.

[0065] Based on the above technical solution, the control module is used to control the driving speed of the warning sign to be lower than the vehicle working speed when it is detected that the distance information is less than the minimum distance threshold, so that the distance information is greater than the minimum distance threshold.

[0066] Based on the above technical solution, the control module is used to control the driving speed of the warning sign to be greater than the vehicle working speed when it is detected that the distance information is greater than the maximum distance threshold, so that the distance information is less than the maximum distance threshold.

[0067] Based on the above technical solution, the control module is used to control the driving speed of the warning sign to be equal to the vehicle working speed when it is detected that the distance information is greater than a minimum distance threshold and the distance information is less than a maximum distance threshold.

[0068] The technical solution of the embodiment of the present invention is to release a warning sign corresponding to the highway working vehicle when it is detected that the highway working vehicle is in an operating state; wherein the number of the warning signs is at least two, and the vehicle working speed corresponding to the highway working vehicle is obtained, and a road image corresponding to the warning sign is collected; wherein the road image includes a target following object corresponding to the warning sign, and the target following object is the highway working vehicle or the warning sign, and then the warning sign is controlled to follow the target following object based on the vehicle working speed and the road image. Based on the above technical solution, when it is detected that the highway working vehicle is in an operating state, the warning sign is controlled to follow the highway working vehicle according to the speed information and the image, and the automatic following warning of the warning sign is realized to ensure the vehicle safety of the highway working vehicle in the operating state and reduce the probability of traffic accidents involving highway working vehicles.

[0069] The highway rear-end collision prevention warning device provided by the embodiment of the present invention can execute the highway rear-end collision prevention warning method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0070] Embodiment 3

[0071] Figure 3 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, 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.

[0072] like Figure 3As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0073] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0074] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a rear-end collision warning method for a highway.

[0075] In some embodiments, the anti-rear-end collision warning method for highways can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the anti-rear-end collision warning method for highways described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the anti-rear-end collision warning method for highways in any other appropriate manner (for example, by means of firmware).

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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).

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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. A method for preventing rear-end collisions on a highway, characterized in that: include: When it is detected that the highway working vehicle is in working state, releasing a warning sign corresponding to the highway working vehicle; wherein the number of the warning signs is at least two; Acquire a vehicle operating speed corresponding to the highway working vehicle, and collect a road image corresponding to the warning sign; wherein the road image includes a target following object corresponding to the warning sign, and the target following object is the highway working vehicle or the warning sign; The warning sign is controlled to follow the target following object based on the vehicle operating speed and the road image.

2. The method according to claim 1, characterized in that After collecting the road image corresponding to the warning sign, the method further includes: performing image recognition on the road image to determine an identification object in the road image; In a case where the recognized object in the road image only includes a highway working vehicle, determining that the target following object corresponding to the current warning sign is the highway working vehicle; In a case where the recognized objects in the road image include a highway working vehicle and a warning sign, the target follow-up object corresponding to the current warning sign is determined to be the warning sign.

3. The method according to claim 1, characterized in that The step of controlling the warning sign to follow the target following object based on the vehicle operating speed and the road image includes: Processing the road image to determine distance information between the warning sign and the target following object; The warning sign is controlled to follow the target following object based on the distance information and the vehicle operating speed.

4. The method according to claim 3, characterized in that The step of controlling the warning sign to follow the target object based on the distance information and the vehicle operating speed includes: When it is detected that the distance information is less than a minimum distance threshold, the travel speed of the warning sign is controlled to be less than the vehicle working speed so that the distance information is greater than the minimum distance threshold.

5. The method according to claim 3, characterized in that: The step of controlling the warning sign to follow the target object based on the distance information and the vehicle operating speed includes: When it is detected that the distance information is greater than a maximum distance threshold, the travel speed of the warning sign is controlled to be greater than the vehicle working speed so that the distance information is less than the maximum distance threshold.

6. The method according to claim 3, characterized in that: The step of controlling the warning sign to follow the target object based on the distance information and the vehicle operating speed includes: When it is detected that the distance information is greater than a minimum distance threshold and the distance information is less than a maximum distance threshold, the driving speed of the warning sign is controlled to be equal to the vehicle working speed.

7. The method according to claim 1, characterized in that The step of controlling the warning sign to follow the target following object based on the vehicle operating speed and the road image includes: Controlling the vehicle-mounted drone to connect with the warning sign; After detecting that the vehicle-mounted drone is connected to the warning sign, the vehicle-mounted drone is controlled to follow the target following object based on the vehicle working speed and the road image.

8. A highway anti-rear-end collision warning device, characterized in that: include: A sign releasing module is used to release a warning sign corresponding to the highway working vehicle when it is detected that the highway working vehicle is in working state; wherein the number of the warning signs is at least two; An information collection module is used to obtain a vehicle working speed corresponding to the highway working vehicle and to collect a road image corresponding to the warning sign; wherein the road image includes a target following object corresponding to the warning sign, and the target following object is the highway working vehicle or the warning sign; A control module is used to control the warning sign to follow the target following object based on the vehicle working speed and the road image.

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 highway rear-end collision avoidance 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 highway rear-end collision prevention warning method according to any one of claims 1 to 7 when executed.

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