Mountain highway minor-radius horizontal curve vehicle meeting prompting method and device

Abstract

The invention relates to a mountain road minor radius horizontal curve vehicle meeting prompting method and device. The method comprises the steps that the real-time vehicle speed of a target vehicle and the distance between the target vehicle and target ultrasonic speed and distance measuring equipment are calculated; adding the distance between the target vehicle and the target ultrasonic speed and distance measuring equipment to the distance between the target ultrasonic speed and distance measuring equipment and the zero point of the small-radius horizontal curve to obtain the residual actual distance of the target vehicle entering the small-radius horizontal curve road section; determining a vehicle meeting warning type according to the real-time vehicle speed and the remaining actual distance of the target vehicle; and generating warning information according to the meeting warning type, and sending the warning information to meeting early warning display equipment. According to the invention, the traffic conditions in the small-radius horizontal curve and near the small-radius horizontal curve road section can be monitored in real time, and the vehicle meeting distance prompt of the small-radius horizontal curve road section is provided for a driver, so that the traffic safety of the small-radius horizontal curve is improved, and traffic accidents are reduced.

Description

Technical Field

[0001] The present application relates to the field of road traffic safety, and in particular to a method and device for providing a warning for vehicles passing on a small-radius flat curve on a mountain highway. Background Art

[0002] In mountainous areas, rural areas, and on roads with limited design specifications, small-radius flat curves are a major factor affecting driving safety. These roads often have complex terrain, frequent small-radius flat curves, and are often accompanied by limited visibility. Driving conditions are particularly demanding on narrow mountain roads. According to surveys and studies, the accident rate on small-radius flat curves is significantly higher than that on ordinary small-radius flat curves, with more than half of these accidents occurring between vehicles. Among vehicle-to-vehicle accidents, the majority occur between vehicles traveling in opposite directions. When two vehicles are traveling toward each other on a small-radius flat curve, due to obstructed vision, drivers often find it difficult to detect the presence of the other vehicle in advance, which greatly increases the risk of collision or scratch accidents.

[0003] Existing road safety solutions have attempted to alert drivers to oncoming vehicles by installing traffic signs, warning signs, or reflectors near narrow-radius flat curves on mountain roads, but these traditional methods have been less than ideal. On the one hand, while static traffic signs and warning signs can provide some warnings, they lack real-time and targeted information, unable to dynamically adjust prompts based on actual traffic conditions, making it difficult to ensure that all drivers receive adequate warning at critical moments. On the other hand, while auxiliary devices such as reflectors can expand the driver's field of view to a certain extent, their effectiveness is greatly reduced in extreme weather conditions (such as fog and rain) or at night, and they cannot effectively ensure driving safety. Summary of the Invention

[0004] In order to overcome at least one shortcoming of the prior art, the present application provides a method and device for prompting vehicles to meet on a small-radius flat curve on a mountain highway.

[0005] In a first aspect, a method for providing a vehicle passing warning on a small-radius flat curve on a mountainous highway is provided, comprising:

[0006] Calculate the real-time speed of the target vehicle and the distance between the target vehicle and the target ultrasonic speed and distance measuring device; the target ultrasonic speed and distance measuring device is the ultrasonic speed and distance measuring device that detects the target vehicle and is closest to the target vehicle;

[0007] The distance between the target vehicle and the target ultrasonic speed and distance measuring device plus the distance between the target ultrasonic speed and distance measuring device and the zero point of the small radius flat curve is used to obtain the remaining actual distance for the target vehicle to enter the small radius flat curve section;

[0008] Determine the oncoming vehicle warning type based on the target vehicle's real-time speed and remaining actual distance;

[0009] Generate warning information according to the oncoming vehicle warning type and send the warning information to the oncoming vehicle warning display device.

[0010] In one embodiment, the real-time speed of the target vehicle and the distance between the target vehicle and the target ultrasonic speed and distance measuring device are calculated using the following formula:

[0011] (v0+v i )*T i / 7.2=X i

[0012] (v0+v i+1 )*T i+1 / 7.2=X i +D i,i+1

[0013] Among them, v0 is the real-time speed of the target vehicle, v i is the speed of the ultrasonic wave emitted by the i-th ultrasonic speed and ranging device, that is, the speed of the ultrasonic wave emitted by the target ultrasonic speed and ranging device, T i is the time interval from the ith ultrasonic speed and distance measuring device sending out ultrasonic waves to receiving echo signals, X i is the distance between the target vehicle and the target ultrasonic speed and distance measuring device, v i+1 is the speed of the ultrasonic wave emitted by the i+1th ultrasonic speed and distance measuring device, T i+1 D is the time interval from the emission of ultrasonic wave to the reception of echo signal by the i+1th ultrasonic speed and distance measuring device. i,i+1 is the distance between the i-th ultrasonic speed and distance measuring device and the i+1-th ultrasonic speed and distance measuring device.

[0014] In one embodiment, the type of oncoming vehicle warning is determined based on the real-time speed and the remaining actual distance of the target vehicle, including:

[0015] Calculate the 3s travel time based on the target vehicle's real-time speed;

[0016] When a vehicle is detected turning on a small-radius flat curve, the oncoming vehicle warning type is determined to be "turning";

[0017] When the distance between the target vehicle and the zero point of the small-radius flat curve is less than 3 seconds, and there is no vehicle turning on the small-radius flat curve, the oncoming vehicle warning type is determined to be "about to turn";

[0018] When the distance between the target vehicle and the zero point of the small-radius flat curve is greater than the 3-second travel time and less than the passing warning distance of the small-radius flat curve section, and there is no vehicle turning on the small-radius flat curve section, the passing warning type is determined to be "preparing to turn";

[0019] When the distance between the target vehicle and the zero point of the small-radius flat curve is greater than the small-radius flat curve section passing warning distance, and there is no vehicle turning on the small-radius flat curve section, the passing warning type is determined to be "pre-curve warning";

[0020] When there is no vehicle within the monitoring range, the oncoming warning type is determined to be "no vehicle turning".

[0021] In one embodiment, the 3-second travel time is calculated based on the real-time speed of the target vehicle using the following formula:

[0022] L=Max(L0,L t )

[0023]

[0024] Among them, L is the 3s travel, L0 is the 3s travel calculated based on the speed limit at the small radius flat curve section, V0 is the speed limit at the small radius flat curve section, t is the travel time, which is 3s, L t is the 3-s travel time calculated based on the real-time vehicle speed, and v0 is the real-time speed of the target vehicle.

[0025] In one embodiment, the warning distance for passing vehicles on a small-radius flat curve section is calculated using the following formula:

[0026] S=S1+S2

[0027]

[0028] V1=m*V

[0029]

[0030] Among them, S is the warning distance for meeting other vehicles on a small-radius flat curve section, S1 is the reaction distance after the driver sees the warning message, and S2 is the distance at which the driver decelerates to the speed limit on the small-radius flat curve after seeing the warning message; v0 is the real-time speed of the target vehicle, t1 is the reaction time after the driver sees the warning message, V1 is the speed calculated by adding the speeding coefficient m to the speed limit of the highway before the small-radius flat curve section, V is the speed limit of the highway before the small-radius flat curve section, V0 is the speed limit on the small-radius flat curve section, and a is the acceleration when the car decelerates to avoid passengers feeling uncomfortable.

[0031] In a second aspect, a device for reminding vehicles to meet on a small-radius flat curve on a mountain road is provided, comprising:

[0032] The first calculation module is used to calculate the real-time speed of the target vehicle and the distance between the target vehicle and the target ultrasonic speed and distance measuring device; the target ultrasonic speed and distance measuring device is the ultrasonic speed and distance measuring device that monitors the target vehicle and is closest to the target vehicle;

[0033] The second calculation module is used to add the distance between the target vehicle and the target ultrasonic speed and distance measuring device and the distance between the target ultrasonic speed and distance measuring device and the zero point of the small-radius flat curve to obtain the remaining actual distance for the target vehicle to enter the small-radius flat curve section;

[0034] A module for determining the type of oncoming vehicle warning, used to determine the type of oncoming vehicle warning based on the target vehicle's real-time speed and remaining actual distance;

[0035] The warning signal generation module is used to generate warning information according to the oncoming warning type and send the warning information to the oncoming warning display device.

[0036] In a third aspect, a system for warning vehicles to meet on a small-radius flat curve on a mountain highway is provided, comprising: a first monitoring device, a second monitoring device, a data processing device, and a vehicle meeting warning display device;

[0037] The first monitoring device is a video monitoring device, which is set in the small radius flat curve section and is used to obtain vehicle information in the small radius flat curve section and send it to the data processing device;

[0038] The second monitoring device includes at least two ultrasonic speed and distance measuring devices arranged in each driving direction, which are used to obtain target vehicle information and send it to the data processing device;

[0039] The data processing device is used to implement the above-mentioned method for prompting vehicles to meet on a small-radius flat curve on a mountainous highway;

[0040] The oncoming vehicle warning display device is used to display warning information.

[0041] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the method for prompting vehicles to meet on a small-radius flat curve on a mountain road is implemented.

[0042] In a fifth aspect, a computer program product is provided, comprising a computer program / instruction, which, when executed by a processor, implements the above-mentioned method for prompting vehicles to meet on a small-radius flat curve on a mountain highway.

[0043] Compared with the existing technology, the present application has the following beneficial effects: the method and device for reminding vehicles to meet on a small-radius flat curve on a mountain highway of the present application can monitor the traffic conditions in and near the small-radius flat curve section in real time, and provide the driver with a reminder of the meeting distance on the small-radius flat curve section, thereby improving the safety of passing on the small-radius flat curve and reducing the occurrence of traffic accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The present application may be better understood by referring to the following description in conjunction with the accompanying drawings, which together with the following detailed description are incorporated into and form a part of this specification. In the drawings:

[0045] Figure 1 A flowchart of a method for providing a passing prompt on a small-radius flat curve on a mountainous highway is shown;

[0046] Figure 2 A flowchart of determining the type of oncoming vehicle warning is shown;

[0047] Figure 3 A schematic diagram showing generation of warning information according to oncoming vehicle warning type is shown;

[0048] Figure 4 A schematic diagram of a vehicle-on-vehicle warning display device is shown;

[0049] Figure 5 A schematic diagram of a small-radius flat curve meeting warning system on mountain roads is shown.

[0050] Reference numerals:

[0051] 1—first monitoring device, 2—second monitoring device, 3—data processing device, 4—oncoming vehicle warning display device. DETAILED DESCRIPTION

[0052] Exemplary embodiments of the present application are described below with reference to the accompanying drawings. For the sake of clarity and conciseness, not all features of actual embodiments are described in this specification. However, it should be understood that in the process of developing any such actual embodiment, many implementation-specific decisions may be made to achieve the developer's specific goals, and these decisions may vary from one implementation to another.

[0053] It is also necessary to explain here that, in order to avoid obscuring the present application due to unnecessary details, the accompanying drawings only show the device structure closely related to the solution according to the present application, while other details that are not closely related to the present application are omitted.

[0054] It should be understood that the present application is not limited to the described embodiments due to the following description with reference to the accompanying drawings. In this document, where feasible, the embodiments may be combined with each other, features between different embodiments may be replaced or borrowed, and one or more features may be omitted in one embodiment.

[0055] The present invention provides a method for reminding vehicles to meet on a small-radius flat curve on a mountain road. Figure 1 A flowchart of a method for prompting vehicles to meet on a small-radius flat curve on a mountain road is shown. Figure 1 , methods include:

[0056] Step S1, calculating the real-time speed of the target vehicle and the distance between the target vehicle and the target ultrasonic speed and distance measuring device; the target ultrasonic speed and distance measuring device is the ultrasonic speed and distance measuring device that monitors the target vehicle and is closest to the target vehicle.

[0057] Step S2, the distance between the target vehicle and the target ultrasonic speed and distance measuring device is added to the distance between the target ultrasonic speed and distance measuring device and the zero point of the small-radius flat curve to obtain the remaining actual distance for the target vehicle to enter the small-radius flat curve section;

[0058] Step S3, determining the oncoming vehicle warning type based on the real-time speed and remaining actual distance of the target vehicle;

[0059] Step S4: generating warning information according to the oncoming vehicle warning type, and sending the warning information to the oncoming vehicle warning display device.

[0060] This embodiment can monitor the traffic conditions in and near small-radius flat curves in real time, and provide drivers with passing distance reminders on small-radius flat curves, thereby improving the safety of passing small-radius flat curves and reducing the occurrence of traffic accidents.

[0061] In one embodiment, step S1 calculates the real-time speed of the target vehicle and the distance between the target vehicle and the target ultrasonic speed and distance measuring device using the following formula:

[0062] (v0+v i )*T i / 7.2=X i

[0063] (v0+v i+1 )*T i+1 / 7.2=X i +D i,i+1

[0064] Among them, v0 is the real-time speed of the target vehicle (km / h), v iis the speed of the ultrasonic wave emitted by the i-th ultrasonic speed and ranging device (m / s), that is, the speed of the ultrasonic wave emitted by the target ultrasonic speed and ranging device, T i is the time interval (s) from the ith ultrasonic speed and distance measuring device sending out ultrasonic waves to receiving echo signals, X i is the distance between the target vehicle and the target ultrasonic speed and distance measuring equipment (m), v i+1 is the speed of the ultrasonic wave emitted by the i+1th ultrasonic speed and distance measuring device (m / s), T i+1 is the time interval (s) from the emission of ultrasonic wave to the reception of echo signal by the i+1th ultrasonic speed and distance measuring device, D i,i+1 is the distance (m) between the i-th ultrasonic speed and distance measuring device and the i+1-th ultrasonic speed and distance measuring device.

[0065] Specifically, in step S2, the remaining actual distance X of the target vehicle entering the small-radius flat curve section is:

[0066] X=X i +L i

[0067] Among them, X i is the distance between the target vehicle and the target ultrasonic speed and distance measuring equipment (m), L i The distance between the target ultrasonic speed and distance measuring device and the zero point of the small radius flat curve. The zero point position of the small radius flat curve in a certain direction is the position where the direction enters the small radius flat curve.

[0068] In one embodiment, Figure 2 A flowchart of determining the type of oncoming vehicle warning is shown. Figure 2 In step S3, the type of oncoming vehicle warning is determined based on the real-time speed and the remaining actual distance of the target vehicle, including:

[0069] First, calculate the 3-second travel time based on the vehicle's real-time speed. Use the following formula:

[0070] L=Max(L0,L t )

[0071]

[0072] Where L is the 3s travel distance (m), L0 is the 3s travel distance (m) calculated based on the speed limit at the small radius flat curve section, V0 is the speed limit at the small radius flat curve section (km / h), t is the travel time, which is 3s, L t is the 3-s distance traveled (m) calculated based on the real-time vehicle speed, and v0 is the real-time speed of the target vehicle (km / h).

[0073] Then, when a vehicle is detected turning on a small-radius flat curve section, the oncoming vehicle warning type is determined to be "turning";

[0074] When the distance between the target vehicle and the zero point of the small-radius flat curve is less than 3 seconds, and there is no vehicle turning on the small-radius flat curve, the oncoming vehicle warning type is determined to be "about to turn";

[0075] When the distance between the target vehicle and the zero point of the small-radius flat curve is greater than the 3-second travel time and less than the passing warning distance of the small-radius flat curve section, and there is no vehicle turning on the small-radius flat curve section, the passing warning type is determined to be "preparing to turn";

[0076] When the distance between the target vehicle and the zero point of the small-radius flat curve is greater than the small-radius flat curve section passing warning distance, and there is no vehicle turning on the small-radius flat curve section, the passing warning type is determined to be "pre-curve warning";

[0077] When there are no vehicles within the monitoring range, the oncoming warning type is determined to be "no vehicle turning". Specifically, the oncoming warning distance on a small-radius flat curve is calculated using the following formula:

[0078] S=S1+S2

[0079]

[0080] V1=m*V

[0081]

[0082] Among them, S is the warning distance for meeting vehicles on a small-radius flat curve section (m), S1 is the reaction distance after the driver sees the warning message (m), and S2 is the distance the driver decelerates to the speed limit on the small-radius flat curve after seeing the warning message (m); v0 is the real-time speed of the target vehicle (km / h), t1 is the reaction time of the driver after seeing the warning message, and t1 = 3s is taken. V1 is the speed calculated based on the speed limit of the highway before the small-radius flat curve section plus the speeding coefficient m (km / h), V is the speed limit of the highway before the small-radius flat curve section (km / h), V0 is the speed limit on the small-radius flat curve section (km / h), and a is the acceleration when the car decelerates to avoid passengers feeling uncomfortable, a = 1.5m / s 2 .

[0083] Here, there may be inconsistencies between the speed limit before a small-radius flat curve and the speed limit within the small-radius flat curve. Warning information is given by calculating the warning distance for passing vehicles on a small-radius flat curve, so that vehicles can meet the speed limit requirement within the small-radius flat curve before entering the small-radius flat curve.

[0084] When calculating the warning distance for passing vehicles on a small-radius flat curve, the larger of the real-time vehicle speed and the road speed limit with an added speeding factor is used for calculation to ensure that there is sufficient distance for the driver to understand the warning information and react to safely reduce the speed to the speed limit on the small-radius flat curve.

[0085] Figure 3 A schematic diagram showing the generation of warning information based on the oncoming warning type is shown. Figure 3 When the oncoming warning type is determined to be "turning", the oncoming warning display device displays the remaining distance to the curve in that direction as "000" and flashes at intervals of 0.5s; when the oncoming warning type is determined to be "about to turn", the oncoming warning display device displays the actual distance to the nearest vehicle entering the curve in that direction and flashes at intervals of 0.5s; when the oncoming warning type is determined to be "preparing to turn", the oncoming warning display device displays the actual distance to the nearest vehicle entering the curve in that direction and flashes at intervals of 1s; when the oncoming warning type is determined to be "warning before curve", the oncoming warning display device displays the actual distance to the nearest vehicle entering the curve in that direction; when the oncoming warning type is determined to be "no vehicle turning", the oncoming warning display device displays "---" in that direction. Figure 4 A schematic diagram of a vehicle-crossing warning display device is shown.

[0086] After the target vehicles pass through a small-radius flat curve section, the oncoming vehicle warning display device will display the information of the next target vehicle in real time.

[0087] Based on the same inventive concept as the method for reminding vehicles on a small-radius flat curve meeting on a mountainous highway, this embodiment also provides a corresponding device for reminding vehicles on a small-radius flat curve meeting on a mountainous highway, comprising:

[0088] The first calculation module is used to calculate the real-time speed of the target vehicle and the distance between the target vehicle and the target ultrasonic speed and distance measuring device; the target ultrasonic speed and distance measuring device is the ultrasonic speed and distance measuring device that monitors the target vehicle and is closest to the target vehicle;

[0089] The second calculation module is used to add the distance between the target vehicle and the target ultrasonic speed and distance measuring device and the distance between the target ultrasonic speed and distance measuring device and the zero point of the small-radius flat curve to obtain the remaining actual distance for the target vehicle to enter the small-radius flat curve section;

[0090] A module for determining the type of oncoming vehicle warning, used to determine the type of oncoming vehicle warning based on the target vehicle's real-time speed and remaining actual distance;

[0091] The warning signal generation module is used to generate warning information according to the oncoming warning type and send the warning information to the oncoming warning display device.

[0092] The device for reminding vehicles on a small-radius flat curve meeting on a mountainous highway of this embodiment has the same inventive concept as the method for reminding vehicles on a small-radius flat curve meeting on a mountainous highway described above. Therefore, the specific implementation method of the device can be found in the embodiment section of the method for reminding vehicles on a small-radius flat curve meeting on a mountainous highway described above, and its technical effects correspond to those of the above-mentioned method, which will not be repeated here.

[0093] The embodiment of the present application also provides a small radius flat curve meeting warning system for mountain roads. Figure 5 A schematic diagram of a system for warning vehicles passing on small-radius flat curves on mountain roads shows the system. The system includes a first monitoring device 1, a second monitoring device 2, a data processing device 3, and a passing warning display device 4. Each of these devices is equipped with wireless communication equipment for real-time information transmission. The small-radius flat curve passing warning displays are located at the entrances of the small-radius flat curve on both sides of the curve. They display warning information not only in the direction of oncoming vehicles but also in the direction of travel.

[0094] The first monitoring device 1 is a video monitoring device, which is set in a small radius flat curve section and is used to obtain vehicle information in the small radius flat curve section and send it to the data processing device;

[0095] The second monitoring device 2 includes at least two ultrasonic speed and distance measuring devices arranged in each driving direction, which are used to obtain target vehicle information and send it to the data processing device;

[0096] The data processing device 3 is used to implement the method for prompting vehicles to meet on a small-radius flat curve on a mountainous highway in the above embodiment;

[0097] The oncoming vehicle warning display device 4 is used to display warning information.

[0098] An embodiment of the present application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the method for prompting vehicles to meet on a small-radius flat curve on a mountain road is implemented.

[0099] An embodiment of the present application provides a computer program product, including a computer program / instruction. When the computer program / instruction is executed by a processor, the computer program / instruction is used to implement the above-mentioned method for prompting vehicles to meet on a small-radius flat curve on a mountain road.

[0100] In summary, this application has the following technical effects:

[0101] 1. It can remind vehicles to reduce their speed to the speed limit of the small-radius flat curve before entering it, reducing the risk of rollover or running off the road due to speeding.

[0102] 2. By displaying the remaining distance for vehicles in the oncoming lane outside the visual range to enter a small-radius flat curve, the driver can predict the possibility of oncoming vehicles in advance, focus driving attention, and perform preventive driving, thereby reducing the possibility of scratches or collisions with oncoming vehicles.

[0103] 3. The remaining distance before entering a small-radius flat curve in the forward direction can be used to predict the distance between the vehicle and the small-radius flat curve or whether there are any vehicles turning within the small-radius flat curve in the driving direction, thereby reducing rear-end collisions and scratches between vehicles going in the same direction.

[0104] The above descriptions are merely examples of various embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any modifications or substitutions that can be readily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included within the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for reminding vehicles to meet on a small-radius flat curve on a mountain road, characterized in that: include: Calculating the real-time speed of the target vehicle and the distance between the target vehicle and a target ultrasonic speed and distance measuring device; the target ultrasonic speed and distance measuring device is the ultrasonic speed and distance measuring device that monitors the target vehicle and is closest to the target vehicle; The distance between the target vehicle and the target ultrasonic speed and distance measuring device is added to the distance between the target ultrasonic speed and distance measuring device and the zero point of the small-radius flat curve to obtain the remaining actual distance for the target vehicle to enter the small-radius flat curve section; Determining a vehicle-on-vehicle warning type based on the real-time speed of the target vehicle and the remaining actual distance; Generate warning information according to the oncoming vehicle warning type, and send the warning information to an oncoming vehicle warning display device.

2. The method according to claim 1, wherein in, The real-time speed of the target vehicle and the distance between the target vehicle and the target ultrasonic speed and distance measuring device are calculated using the following formula: (v0+v i )*T i / 7.2=X i (v0+v i+1 )*T i+1 / 7.2=X i +D i,i+1 Among them, v0 is the real-time speed of the target vehicle, v i is the speed of the ultrasonic wave emitted by the i-th ultrasonic speed and ranging device, that is, the speed of the ultrasonic wave emitted by the target ultrasonic speed and ranging device, T i is the time interval from the ith ultrasonic speed and distance measuring device sending out ultrasonic waves to receiving echo signals, X i is the distance between the target vehicle and the target ultrasonic speed and distance measuring device, v i+1 is the speed of the ultrasonic wave emitted by the i+1th ultrasonic speed and distance measuring device, T i+1 D is the time interval from the emission of ultrasonic wave to the reception of echo signal by the i+1th ultrasonic speed and distance measuring device. i,i+1 is the distance between the i-th ultrasonic speed and distance measuring device and the i+1-th ultrasonic speed and distance measuring device.

3. The method according to claim 1, wherein in, Determine the type of oncoming vehicle warning based on the real-time speed of the target vehicle and the remaining actual distance, including: Calculate the 3s travel time based on the real-time speed of the target vehicle; When a vehicle is detected turning on a small-radius flat curve, the oncoming vehicle warning type is set to "turning"; When the distance between the target vehicle and the zero point of the small-radius flat curve is less than 3 seconds, and there is no vehicle turning on the small-radius flat curve, the oncoming vehicle warning type is determined to be "about to turn"; When the distance between the target vehicle and the zero point of the small-radius flat curve is greater than the 3-second travel time and less than the passing warning distance for the small-radius flat curve section, and no vehicle is turning on the small-radius flat curve section, the passing warning type is determined to be "preparing to turn"; When the distance between the target vehicle and the zero point of the small-radius flat curve is greater than the small-radius flat curve section's passing warning distance, and no vehicle is turning on the small-radius flat curve section, the passing warning type is determined to be "pre-curve warning"; When there is no vehicle within the monitoring range, the oncoming vehicle warning type is determined to be "no vehicle turning".

4. The method according to claim 3, wherein in, The 3-second travel time is calculated based on the real-time speed of the target vehicle using the following formula: L=Max(L0,L t ) Among them, L is the 3s travel, L0 is the 3s travel calculated based on the speed limit at the small radius flat curve section, V0 is the speed limit at the small radius flat curve section, t is the travel time, which is 3s, L t is the 3-s travel time calculated based on the real-time vehicle speed, and v0 is the real-time speed of the target vehicle.

5. The method according to claim 3, wherein The warning distance for crossing vehicles on a small-radius flat curve section is calculated using the following formula: S=S1+S2 V1=m*V Among them, S is the warning distance for meeting other vehicles on a small-radius flat curve section, S1 is the reaction distance after the driver sees the warning message, and S2 is the distance at which the driver decelerates to the speed limit on the small-radius flat curve after seeing the warning message; v0 is the real-time speed of the target vehicle, t1 is the reaction time after the driver sees the warning message, V1 is the speed calculated by adding the speeding coefficient m to the speed limit of the highway before the small-radius flat curve section, V is the speed limit of the highway before the small-radius flat curve section, V0 is the speed limit on the small-radius flat curve section, and a is the acceleration when the car decelerates to avoid passengers feeling uncomfortable.

6. A small radius flat curve meeting warning device on mountain roads, characterized in that: include: A first calculation module is used to calculate the real-time speed of the target vehicle and the distance between the target vehicle and the target ultrasonic speed and distance measuring device; The target ultrasonic speed and distance measuring device is an ultrasonic speed and distance measuring device that monitors the target vehicle and is closest to the target vehicle; A second calculation module is configured to add the distance between the target vehicle and the target ultrasonic speed and distance measuring device and the distance between the target ultrasonic speed and distance measuring device and the zero point of the small-radius flat curve to obtain the remaining actual distance for the target vehicle to enter the small-radius flat curve section; a module for determining a vehicle-on-vehicle warning type, configured to determine a vehicle-on-vehicle warning type based on the real-time speed of the target vehicle and the remaining actual distance; The warning signal generating module is used to generate warning information according to the oncoming vehicle warning type and send the warning information to the oncoming vehicle warning display device.

7. A small radius flat curve meeting warning system on mountain roads, characterized by: include: First monitoring equipment, second monitoring equipment, data processing equipment and oncoming vehicle warning display equipment; The first monitoring device is a video monitoring device, which is set in the small radius flat curve section, and is used to obtain vehicle information in the small radius flat curve section and send it to the data processing device; The second monitoring device includes at least two ultrasonic speed and distance measuring devices arranged in each driving direction, for acquiring target vehicle information and sending it to the data processing device; The data processing device is used to implement the method for prompting vehicles to meet on a small-radius flat curve on a mountain road according to any one of claims 1 to 5; The oncoming vehicle warning display device is used to display warning information.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for prompting vehicles to meet on a small-radius flat curve on a mountain highway according to any one of claims 1 to 5 is implemented.

9. A computer program product, characterized in that The method comprises a computer program / instruction, which, when executed by a processor, implements the method for prompting vehicles to meet on a small-radius flat curve on a mountainous highway as described in any one of claims 1 to 5.

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