Distinguishing method for non-contact accident of vehicle, vehicle and electronic device

Abstract

The embodiment of the invention provides a vehicle non-contact accident judgment method, a vehicle and an electronic device, and the method comprises the steps: obtaining the preset driving behavior of a target vehicle and the position information of a target object, and enabling the target object to be used for representing an object having a traffic accident in a preset range of the target vehicle; determining a preset area where the target vehicle has a non-contact accident based on the preset driving behavior; performing non-contact accident judgment on the target vehicle based on the position information of the target object and a preset area to obtain a judgment result; and controlling the target vehicle to send danger early warning information based on the judgment result. According to the invention, the technical problem that the judgment accuracy of an intelligent vehicle to a non-contact accident is low in the related technology is solved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of intelligent driving, and in particular to a vehicle non-contact accident discrimination method, a vehicle and an electronic device. BACKGROUND

[0002] The rapid development of intelligent vehicle technology has made assisted driving and high-level automated driving systems increasingly mature, becoming an important part of modern transportation. However, in complex traffic environments, especially when it comes to non-contact accidents involving traffic participants, the existing technology has obvious limitations. Non-contact accidents refer to situations where both parties involved in an accident do not physically collide with each other or with pedestrians, but one party causes damage to the other due to reasons such as avoiding, violating the rules of honking, braking, parking, changing lights, etc. However, the existing intelligent vehicles may not be able to accurately discriminate non-contact accidents, resulting in the vehicle leaving the scene and causing the consequence of "hit-and-run".

[0003] There is no effective solution to the above problem. SUMMARY

[0004] Embodiments of the present application provide a vehicle non-contact accident discrimination method, a vehicle and an electronic device, aiming to improve the problem of low discrimination accuracy of intelligent vehicles for non-contact accidents in related technologies.

[0005] According to an aspect of an embodiment of the present application, a vehicle non-contact accident discrimination method is provided, comprising: obtaining a preset driving behavior of a target vehicle and position information of a target object, wherein the target object is used to represent an object involved in a traffic accident within a preset range of the target vehicle; determining a preset area where the target vehicle has a non-contact accident based on the preset driving behavior; discriminating the target vehicle for a non-contact accident based on the position information of the target object and the preset area, obtaining a discrimination result; and controlling the target vehicle to issue a danger warning information based on the discrimination result.

[0006] Through the above technical solution as a whole, first, the preset area where a non-contact accident may occur is determined according to the driving behavior of the target vehicle, then whether the target object is in the preset area is determined to judge whether the target vehicle has a non-contact accident and obtain a discrimination result, and finally the target vehicle is controlled to issue a warning based on the discrimination result to prompt the user that the vehicle has had a non-contact accident, thereby reducing the "hit-and-run" phenomenon caused by the user leaving the scene without realizing the accident.

[0007] Further, the preset area includes a first area and a second area, the first area is used to represent a preset dangerous area associated with a front of a vehicle body of the target vehicle, and the second area is used to represent a preset dangerous area associated with a rear or a side of the vehicle body of the target vehicle, and the preset area in which the target vehicle has the non-contact accident is determined based on the preset driving behavior, including: determining a first locking point and a second locking point based on the preset driving behavior, wherein the first locking point is used to define a coverage range of the first area, and the second locking point is used to define a coverage range of the second area; determining the first area based on the first locking point, a width of the target vehicle, and a standard lane width; determining the second area based on the second locking point, a length of the target vehicle, and the width of the target vehicle; and determining the preset area based on the first area and the second area.

[0008] Further, the first area is determined based on the first locking point, the width of the target vehicle, and the standard lane width, including: determining a near edge length of the first area based on the width of the target vehicle; determining a far edge length of the first area based on the standard lane width; and determining the first area based on the first locking point, the near edge length, and the far edge length.

[0009] Further, the second area is determined based on the second locking point, the length of the target vehicle, and the width of the target vehicle, including: determining a long edge length of the second area based on the length of the target vehicle; determining a wide edge length of the second area based on the width of the target vehicle; and determining the second area based on the second locking point, the long edge length, and the wide edge length.

[0010] Further, the target vehicle is determined to have the non-contact accident based on the position information of the target object and the preset area, and a determination result is obtained, including: in response to the position of the target object being in the preset area, determining that the determination result is that the target vehicle has the non-contact accident; and in response to the position of the target object not being in the preset area, determining that the determination result is that the target vehicle does not have the non-contact accident.

[0011] Further, when the target vehicle is determined to have the non-contact accident based on the position information of the target object and the preset area, the method further includes: obtaining traffic environment information around the target vehicle; and determining whether the target vehicle has a preset dangerous driving behavior based on the traffic environment information.

[0012] Further, the method further includes: for the auxiliary driving system, in response to the determination result being that the target vehicle has the non-contact accident and the target vehicle does not have the preset dangerous driving behavior, controlling the target vehicle to issue a general danger warning; and in response to the determination result being that the target vehicle has the non-contact accident and the target vehicle has the preset dangerous driving behavior, controlling the target vehicle to issue a high danger warning and turn on double flashing; for the automatic driving system, in response to the determination result being that the target vehicle has the non-contact accident and the target vehicle does not have the preset dangerous driving behavior, controlling the target vehicle to turn on double flashing and report a user; and in response to the determination result being that the target vehicle has the non-contact accident and the target vehicle has the preset dangerous driving behavior, controlling the target vehicle to turn on double flashing and pull over to handle.

[0013] According to another aspect of the embodiments of the present application, a vehicle non-contact accident determination device is also provided, which includes: an acquisition device configured to acquire preset driving behavior of a target vehicle and position information of a target object, wherein the target object is used to represent an object having a traffic accident within a preset range of the target vehicle; a determination device configured to determine a preset area in which the target vehicle has a non-contact accident based on the preset driving behavior; a determination device configured to determine a preset area in which the target vehicle has a non-contact accident based on the position information of the target object and the preset area; and a warning device configured to control the target vehicle to issue a danger warning information based on the determination result.

[0014] Further, the preset area includes a first area and a second area, the first area is used to represent a preset dangerous area associated with a front of a vehicle body of the target vehicle, and the second area is used to represent a preset dangerous area associated with a rear or a side of the vehicle body of the target vehicle, the determination device is further configured to determine a first lock point and a second lock point based on the preset driving behavior, wherein the first lock point is used to define a coverage range of the first area, and the second lock point is used to define a coverage range of the second area; the first area is determined based on the first lock point, a width of the target vehicle, and a standard lane width; the second area is determined based on the second lock point, a length of the target vehicle, and the width of the target vehicle; and the preset area is determined based on the first area and the second area.

[0015] Further, the determination device is further configured to determine a near edge length of the first area based on the width of the target vehicle; determine a far edge length of the first area based on the standard lane width; and determine the first area based on the first lock point, the near edge length, and the far edge length.

[0016] Further, the determination device is further configured to determine a long edge length of the second area based on the length of the target vehicle; determine a wide edge length of the second area based on the width of the target vehicle; and determine the second area based on the second lock point, the long edge length, and the wide edge length.

[0017] Further, the determining device is further configured to determine that the target vehicle has a non-contact accident in response to the position of the target object being in the preset area, and determine that the target vehicle does not have a non-contact accident in response to the position of the target object not being in the preset area.

[0018] Further, the determining device is further configured to acquire traffic environment information around the target vehicle, and determine whether the target vehicle has a preset dangerous driving behavior based on the traffic environment information.

[0019] Further, the warning module is further configured to, for an assisted driving system, control the target vehicle to issue a general danger warning in response to the determining result being that the target vehicle has a non-contact accident and the target vehicle does not have a preset dangerous driving behavior, and control the target vehicle to issue a high danger warning and turn on double flashing in response to the determining result being that the target vehicle has a non-contact accident and the target vehicle has a preset dangerous driving behavior; and for an automatic driving system, control the target vehicle to turn on double flashing and report a user in response to the determining result being that the target vehicle has a non-contact accident and the target vehicle does not have a preset dangerous driving behavior, and control the target vehicle to turn on double flashing and pull over for processing in response to the determining result being that the target vehicle has a non-contact accident and the target vehicle has a preset dangerous driving behavior.

[0020] According to another aspect of the embodiments of the present application, a vehicle is provided, including a memory and a processor, and the memory stores a computer program, wherein the computer program is executed by the processor to implement the vehicle non-contact accident determining method in the embodiments of the present application.

[0021] According to another aspect of the embodiments of the present application, a computer readable storage medium is provided, and the storage medium stores a computer program, wherein the computer program is configured to be executed on a computer or a processor to implement the vehicle non-contact accident determining method in the embodiments of the present application.

[0022] According to another aspect of the embodiments of the present application, an electronic device is provided, including a memory and a processor, and the memory stores a computer program, and the processor is configured to execute the computer program to implement the vehicle non-contact accident determining method in the embodiments of the present application.

[0023] The preset driving behavior of the target vehicle and position information of a target object are first acquired, wherein the target object is used to represent an object that has a traffic accident within a preset range of the target vehicle, then a preset area in which the target vehicle has a non-contact accident is determined based on the preset driving behavior, then the target vehicle is judged to have a non-contact accident based on the position information of the target object and the preset area, a judgment result is obtained, and finally the target vehicle is controlled to issue a danger warning information based on the judgment result, so that the target vehicle can accurately identify a non-contact accident in different driving states. In the technical scheme of the present application, the target vehicle judges the relationship between the position information of the target object and the preset area, and timely issues a warning information to remind the driver that a non-contact accident has occurred, so as to avoid the driver from causing adverse consequences due to "hit-and-run", thereby realizing the technical effects of accurately judging a non-contact accident and improving the user driving experience, and further solving the technical problem of low accuracy of intelligent vehicle in judging a non-contact accident in the related art. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a flowchart of a vehicle non-contact accident judgment method provided by an embodiment of the present application;

[0025] Figure 2 is a schematic diagram of a driving route modeling provided by an embodiment of the present application;

[0026] Figure 3 is a schematic diagram of a first area provided by an embodiment of the present application;

[0027] Figure 4 is a schematic diagram of a second area provided by an embodiment of the present application;

[0028] Figure 5 is a schematic diagram of a preset area of a target vehicle in a lane changing or overtaking scene provided by an embodiment of the present application;

[0029] Figure 6 is a schematic diagram of a preset area of a target vehicle when entering an intersection provided by an embodiment of the present application;

[0030] Figure 7 is a schematic diagram of a preset area of a target vehicle when straight driving at an intersection provided by an embodiment of the present application;

[0031] Figure 8 is a schematic diagram of a preset area of a target vehicle when turning or U-turning provided by an embodiment of the present application;

[0032] Figure 9 is a structural diagram of a vehicle non-contact accident judgment device provided by an embodiment of the present application;

[0033] Figure 10 is a structural diagram of an electronic device provided by an embodiment of the present application. Detailed Implementation

[0034] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0035] To enable those skilled in the art to better understand this technical solution, the following is a definition of terms related to this application:

[0036] Non-contact accidents refer to traffic accidents in which, although no physical collision occurs between two or more parties, the driving behavior of one party (such as sudden lane changes, emergency braking, illegal honking, etc.) causes injury or property damage to the other party.

[0037] Figure 1 This is a flowchart of a method for determining a vehicle non-contact accident according to an embodiment of this application, as shown below. Figure 1 As shown, the method for identifying non-contact vehicle accidents includes the following steps:

[0038] Step S10: Obtain the preset driving behavior of the target vehicle and the location information of the target object, wherein the target object is used to refer to the object that caused the traffic accident within the preset range of the target vehicle;

[0039] In this embodiment of the application, the target vehicle refers to a vehicle equipped with an intelligent driving assistance system or a fully autonomous driving system, which can collect information about the surrounding environment through onboard sensors and perception technology, and judge and execute driving behavior according to preset algorithms or strategies.

[0040] Preset driving behavior refers to a series of expected driving actions that the target vehicle may take based on the current driving scenario (such as highway, urban area, etc.) and traffic rules, such as going straight, overtaking, turning left, turning right, changing lanes, making a U-turn, etc., which are not restricted here.

[0041] For example, Figure 2 This is a schematic diagram of a driving route modeling provided in an embodiment of this application, such as... Figure 2 As shown, the target vehicle is making a right turn with a speed of v*, a travel time of t0, a wheelbase of L, and a front wheel steering angle of δ. Based on the speed v* and travel time t0, the target vehicle's displacement S = v*t0. Based on the wheelbase L and front wheel steering angle δ, the target vehicle's turning radius R = L / tan(δ).

[0042] The target object refers to an object that has a traffic accident within a preset sensing range of the target vehicle, for example, a fallen person, a two-wheeled or three-wheeled vehicle that has rolled over, a four-wheeled vehicle that has had an accident, and the like, which are not limited herein. In a relatively low frequency, the present application uses a "slow brain" system in a visual localization and mapping (VLM) architecture to complete detection of the target object, thereby reducing the burden of the intelligent driving system and improving the overall safety and intelligent response capability.

[0043] Obtaining the preset driving behavior of the target vehicle and the position information of the target object can be understood as obtaining the current driving intention of the target vehicle and the position information of the target object that has a traffic accident within a preset range, thereby providing a basis for subsequent judgment of whether the target vehicle has a non-contact accident.

[0044] In the embodiments of the present application, by obtaining the preset driving behavior of the target vehicle and the position information of the target object, the intelligent vehicle can timely identify and respond to the non-contact accident in a complex and variable traffic environment.

[0045] Step S12: determining a preset area in which the target vehicle has a non-contact accident based on the preset driving behavior;

[0046] In the embodiments of the present application, the preset area refers to an area in which the target vehicle is likely to have a non-contact accident, which is calculated by the system according to the preset driving behavior of the target vehicle and the current driving scene. Exemplarily, the preset area is used to judge whether the target vehicle is likely to have an adverse effect on the target object (such as a pedestrian, another vehicle, and the like) located in the area when performing a specific driving action, thereby causing the occurrence of a non-contact accident.

[0047] Exemplarily, the preset area includes a first area that is enlarged in proportion along the driving route in front of the target vehicle and a second area that is extended and expanded behind or on the side of the target vehicle. Figure 3 is a schematic diagram of the first area provided by an embodiment of the present application, as shown in Figure 3 , the displacement distance of the target vehicle under the preset driving behavior is S, at this time, the first area is determined based on the first area and the locking point Pf of the ego vehicle (only an example, the position of the locking point Pf is not limited), the near edge length L0 and the far edge length N0. Figure 3 Figure 4 is a schematic diagram of the second area provided by an embodiment of the present application, as shown in Figure 4 , the second area is determined based on the second area and the locking point Pr of the ego vehicle (only an example, the position of the locking point Pr is not limited), the wide edge length W0 and the long edge length H0. Figure 4

[0048] ​​The preset region in which the target vehicle is determined to have a non-contact accident based on the preset driving behavior of the target vehicle can be understood as determining a preset region in which a non-contact accident is likely to occur according to the current driving behavior of the target vehicle, thereby helping the intelligent driving system to actively identify the risk of a possible non-contact accident and improving the overall safety during driving.

[0049] In the embodiments of the present application, by determining the preset region based on the preset driving behavior of the target vehicle, the system can quickly identify the potential risk of a non-contact accident when the target object falls in the preset region, and avoid events such as "hit-and-run".

[0050] Step S14: determining a non-contact accident of the target vehicle based on the position information of the target object and the preset region, and obtaining a determination result;

[0051] In the embodiments of the present application, the determination result refers to a conclusion about whether the target vehicle is likely to cause a non-contact accident to the target object, which is obtained by the intelligent driving system after comparing and analyzing the position information of the target object and the determined preset region.

[0052] Determining a non-contact accident of the target vehicle based on the position information of the target object and the preset region, and obtaining a determination result can be understood as comparing the position information of the target object with the preset region, judging whether the target object falls in the preset region, and obtaining the determination result.

[0053] In the embodiments of the present application, by monitoring the relationship between the position of the target object and the preset region in real time, the system can make an accurate evaluation in the first time and obtain the determination result of whether the target vehicle is likely to cause a non-contact accident to the target object, thereby improving the efficiency of non-contact accident determination.

[0054] Step S16: controlling the target vehicle to issue a danger warning information based on the determination result.

[0055] In the embodiments of the present application, the danger warning information can be understood as an instant warning signal of the intelligent vehicle to the driver or the vehicle control system, indicating that there is a potential risk of a non-contact accident. The purpose of the danger warning information is to remind the driver or the automatic control system to take action as soon as possible to avoid or mitigate possible accident consequences.

[0056] Controlling the target vehicle to issue a danger warning information based on the determination result can be understood as, when the determination result is that there is a non-contact accident, the system generates corresponding danger warning information and conveys it to the driver through the human-machine interface of the vehicle (such as the instrument panel, the central control screen, the voice warning system), or directly sends it to the automatic driving system, so that the target vehicle can respond immediately.

[0057] In the embodiment of the present application, the target vehicle can timely identify and respond to potential non-contact accident risks, and send early warning information through the communication and control interface of the vehicle to prompt the driver or the automatic driving system of the vehicle to take appropriate response mode, thereby effectively improving the road safety and the alertness of the driver to avoid violating traffic rules.

[0058] The present application first acquires the preset driving behavior of the target vehicle and the position information of the target object, wherein the target object is used to represent the object that has a traffic accident within the preset range of the target vehicle, then determines the preset area of the target vehicle in which the non-contact accident occurs based on the preset driving behavior, then determines the non-contact accident of the target vehicle based on the position information of the target object and the preset area, obtains the determination result, and finally controls the target vehicle to send the danger warning information based on the determination result, so that the target vehicle can accurately identify the non-contact accident in different driving states. In the technical solution of the present application, the target vehicle judges the relationship between the position information of the target object and the preset area, and timely sends the early warning information to remind the driver that a non-contact accident has occurred, so as to avoid the driver from causing adverse consequences due to "hit-and-run", thereby realizing the technical effects of accurately determining the non-contact accident and improving the user driving experience, and further solving the technical problem of low accuracy of intelligent vehicle in determining the non-contact accident in the related art.

[0059] Further, in step S12, the preset area includes a first area and a second area, the first area is used to represent a preset dangerous area associated with the front of the vehicle body of the target vehicle, and the second area is used to represent a preset dangerous area associated with the rear or side of the vehicle body of the target vehicle. The preset area in which the target vehicle occurs a non-contact accident is determined based on the preset driving behavior, including the following execution steps:

[0060] Step S121, determining a first locking point and a second locking point based on the preset driving behavior, wherein the first locking point is used to define the coverage range of the first area, and the second locking point is used to define the coverage range of the second area;

[0061] Step S122, determining the first area based on the first locking point, the width of the target vehicle and the standard lane width;

[0062] Step S123, determining the second area based on the second locking point, the length of the target vehicle and the width of the target vehicle;

[0063] Step S124, determining the preset area based on the first area and the second area.

[0064] In the embodiments of the present application, the first region is an overlapping range determined by the first locking point, the width of the target vehicle, and the standard lane width. The first region is usually a preset dangerous region extending forward, and the shape and size of the first region change with the driving behavior of the target vehicle and the environmental conditions (such as the road width), which are not limited here.

[0065] The second region is a preset dangerous region determined based on the second locking point, the length and width of the target vehicle, and usually covers a part of the rear or side of the target vehicle. The size of the second region also adjusts according to the driving scene, which is not limited here.

[0066] The first locking point is a point preset in front of the target vehicle, which is used to define the first region in front related to the driving behavior of the target vehicle. The position of the first locking point adjusts according to the driving scene and behavior of the target vehicle, for example, when changing lanes, the first locking point Pf can be set at a point on the lane into which the target vehicle is about to enter, and during straight driving, the first locking point Pf can be a point at a certain distance in front of the target vehicle, which is not limited here.

[0067] The second locking point is a point preset on the target vehicle, which is used to define the second region behind or beside the target vehicle. The second locking point Pr also dynamically adjusts according to the driving scene and behavior to ensure that it can reasonably cover the range that the target vehicle can affect the surrounding traffic participants.

[0068] Determining the first locking point and the second locking point based on the preset driving behavior can be understood as that the system will determine the first locking point Pf and the second locking point Pr according to the driving behavior (such as straight driving, lane changing, turning, etc.) to be performed by the target vehicle, and the two points are used to define the starting points of the dangerous regions in front and behind the vehicle when performing a specific driving behavior. The position and range of the locking points dynamically adjust with the change of the driving behavior to ensure that the system can accurately track and evaluate the potential influence area of the vehicle during driving.

[0069] Determining the first region based on the first locking point, the width of the target vehicle, and the standard lane width can be understood as that the definition of the first region takes into account the width of the vehicle itself and the standard lane width, and the first region extends forward from the first locking point Pf. The size and shape of the first region are preset according to the driving behavior of the target vehicle, and are intended to capture the region in front of the vehicle that may cause a non-contact accident due to the driving behavior. For example, when changing lanes, the first region calculates a fan-shaped region covering the target lane and the adjacent lane according to the direction and speed of the lane change, to evaluate whether a traffic participant enters this region and a non-contact accident occurs.

[0070] The second region can be determined based on the second locking point, the length of the target vehicle, and the width of the target vehicle. This means that the second region is defined with the second locking point Pr as the starting point, and the length and width of the vehicle are combined to determine it. The determination of the second region takes into account the size of the target vehicle and its possible impact on rear or side traffic participants when performing driving behaviors. For example, when turning, the second region can be a rectangle covering the area to the side and rear of the target vehicle, so as to monitor whether pedestrians or other vehicles are indirectly affected by the behavior of the vehicle in the second region, thereby causing the occurrence of non-contact accidents.

[0071] The determination of the preset region based on the first region and the second region can be understood as the preset region being a complete safety evaluation region that integrates the first region and the second region, covering all key regions that may be affected by the target vehicle when performing a specific driving behavior. By comprehensively considering factors such as the size of the target vehicle, driving behavior, and road conditions, the preset region provides a comprehensive danger warning perspective, ensuring that the intelligent vehicle can respond timely and appropriately to potential non-contact accident risks.

[0072] In the embodiments of the present application, the preset region is effectively determined based on the size of the target vehicle and the road size, which can evaluate the safety impact of the vehicle under different driving behaviors in real time, thereby effectively identifying the occurrence of non-contact accidents.

[0073] Exemplarily, Figure 5 is a schematic diagram of the preset region of the target vehicle in the lane changing or overtaking scene provided by an embodiment of the present application. In the lane changing or overtaking scene of the target vehicle, the preset region is as shown in Figure 5 , Figure 5 only shows the scene of the target vehicle changing lanes or overtaking to the right. Figure 5 The first locking point Pf in the preset region in is located in front of the left side of the target vehicle, the second locking point Pr is located in front of the left side of the target vehicle, the near side length is 2*L0, the far side length is 1.2*N0, the wide side length is 2*W0, and the long side length is 4*H0.

[0074] Figure 6 is a schematic diagram of the preset region when the target vehicle enters an intersection provided by an embodiment of the present application, as shown in Figure 6 , in the scene where the target vehicle enters the intersection, the preset region is as shown in Figure 6 , Figure 6 The first locking point Pf in the preset region in is located in front of the middle of the target vehicle, the second locking point Pr is located in front of the middle of the target vehicle, the near side length is 3*L0, the far side length is 1.2*N0, the wide side length is 4*W0, and the long side length is 3*H0.

[0075] Figure 7is a preset area schematic diagram of a target vehicle when the target vehicle is straight driving at an intersection, as shown in Figure 7 As shown in the preset area in Figure 7 As shown in the preset area in Figure 7 The first locking point Pf in the preset area in is located in front of the middle of the target vehicle, and the second locking point Pr is located in front of the middle of the target vehicle, the near edge length is 3*L0, the far edge length is 1.2*N0, the wide edge length is 3*W0, and the long edge length is 3*H0.

[0076] Figure 8 is a preset area schematic diagram of a target vehicle when the target vehicle is turning or U-turning, as shown in Figure 8 As shown in the preset area in Figure 8 As shown in the preset area in Figure 8 Only the scenario of the target vehicle turning right or U-turning is shown in Figure 8 The first locking point Pf in the preset area in is located in front of the left side of the target vehicle, and the second locking point Pr is located in front of the middle of the target vehicle, the near edge length is 2*L0, the far edge length is 1.2*N0, the wide edge length is 3*W0, and the long edge length is 4*H0.

[0077] Further, in step S122, the first area is determined based on the first locking point, the width of the target vehicle, and the standard lane width, including the following execution steps:

[0078] Step S1221, determining the near edge length of the first area based on the width of the target vehicle;

[0079] Step S1222, determining the far edge length of the first area based on the standard lane width;

[0080] Step S1223, determining the first area based on the first locking point, the near edge length, and the far edge length.

[0081] In the embodiments of the present application, the near edge length can be represented as L0, and L0 can be set to x meters, which is not limited here. The far edge length can be represented as N0, and N0 can be set to 3.75 meters, which is not limited here.

[0082] Determining the near edge length of the first area based on the width of the target vehicle can be understood as determining the near edge length in the first area in front of the target vehicle according to the actual width of the target vehicle.

[0083] Determining the far edge length of the first area based on the standard lane width can be understood as determining the far edge length in the first area in front of the target vehicle according to the standard lane width.

[0084] Based on the first locking point, the near edge length, and the far edge length, determining the first region can be understood as that the final shape and position of the first region are determined by the first locking point Pf, the near edge length, and the far edge length. The first locking point serves as a reference point, which is located at a certain point in front of the target vehicle. The far edge length determines the boundary from the first locking point to the front of the target vehicle, and the near edge length extends outward to determine the maximum coverage range of the first region. Therefore, the first region is an area extending forward from the front of the target vehicle, and the shape and size of the first region depend on the driving behavior, the vehicle width, and the standard lane width. For example, in a lane changing scenario, the first region can be designed as a fan-shaped region, with the first locking point Pf as the vertex of the fan-shaped region, and the near edge length and the far edge length determining the inner and outer boundaries of the fan-shaped region, respectively, to ensure comprehensive coverage of all lane ranges that may be affected by the target vehicle, thereby effectively identifying non-contact accidents.

[0085] In the embodiments of the present application, through accurate setting and dynamic adjustment of parameters, the intelligent driving system can construct a first region that adapts to the current driving environment, and realize real-time monitoring of the traffic conditions around the target vehicle and accurate identification of non-contact accidents.

[0086] Further, in step S123, a second region is determined based on a second locking point, a length of the target vehicle, and a width of the target vehicle, including the following execution steps:

[0087] In step S1231, a long edge length of the second region is determined based on the length of the target vehicle;

[0088] In step S1232, a wide edge length of the second region is determined based on the width of the target vehicle;

[0089] In step S1233, the second region is determined based on the second locking point, the long edge length, and the wide edge length.

[0090] In the embodiments of the present application, the long edge length refers to the straight-line distance from the rear of the target vehicle to the farthest point in the second region, and the long edge length is determined based on the actual length of the target vehicle. For example, the long edge length H0 can be set to y meters. The setting of the long edge length takes into account the range that the rear or side of the target vehicle may affect the rear or side traffic participants when the target vehicle performs a certain driving behavior (such as straight driving, turning, or lane changing).

[0091] The wide edge length refers to the coverage width of the second region in the lateral range of the target vehicle, and the wide edge length depends on the width of the target vehicle. For example, the wide edge length W0 can be set to x meters. The setting of the wide edge length ensures that the system not only focuses on the traffic conditions behind the vehicle, but also monitors the influence of the side behavior (such as sudden turning) of the vehicle on other traffic participants.

[0092] Determining the long-side length of the second region based on the length of the target vehicle can be understood as determining the longitudinal boundary of the second region (usually located behind and laterally of the vehicle), i.e., the long-side length, by using the length of the target vehicle.

[0093] Determining the wide-side length of the second region based on the width of the target vehicle can be understood as determining the lateral boundary of the second region on both sides of the vehicle, i.e., the wide-side length, based on the width of the target vehicle.

[0094] Determining the second region based on the second lock point, the long-side length, and the wide-side length can be understood as that the second region is determined by taking the second lock point Pr as a reference point and combining the long-side length and the wide-side length. Based on different driving behaviors, the position of the second lock point Pr is determined, and in combination with the long-side length and the wide-side length, the system can calculate the boundary of the second region to form a region covering a specific range of the rear or side of the vehicle, so as to ensure that the influence of the preset driving behavior of the vehicle on the surrounding traffic environment can be comprehensively evaluated, thereby identifying potential non-contact accidents.

[0095] In the embodiments of the present application, the second region is determined based on different driving behaviors of the target vehicle, which provides a judgment basis for accurately identifying non-contact accidents and timely warning.

[0096] Further, in step S14, the target vehicle is subjected to non-contact accident discrimination based on the position information of the target object and the preset region, and a discrimination result is obtained, including the following execution steps:

[0097] Step S141, in response to the position of the target object being within the preset region, determining that the discrimination result is that the target vehicle has a non-contact accident;

[0098] Step S142, in response to the position of the target object not being within the preset region, determining that the discrimination result is that the target vehicle has no non-contact accident.

[0099] In the embodiments of the present application, in response to the position of the target object being within the preset region, it is determined that the discrimination result is that the target vehicle has a non-contact accident, which can be understood as that when the system detects that the position of the target object which has occurred a traffic accident falls within the preset region drawn by the system according to the current driving behavior of the target vehicle and the environmental conditions, it indicates that the preset driving behavior of the target vehicle has affected the target object and caused a non-contact accident.

[0100] In response to the position of the target object not being within the preset region, it is determined that the discrimination result is that the target vehicle has no non-contact accident, which can be understood as that if the system analyzes and finds that all monitored target objects do not appear within the preset region, it indicates that the target vehicle does not pose a risk of non-contact accident to any traffic participant when performing the preset driving behavior.

[0101] In the embodiments of the present application, through the above two response mechanisms, the intelligent driving system can determine in real time whether there is a non-contact accident around the target vehicle to ensure the driving specification of the target vehicle and avoid violating traffic rules.

[0102] Further, in the non-contact accident judgment of the target vehicle based on the position information of the target object and the preset area, the following execution steps are further included:

[0103] In step S143, traffic environment information around the target vehicle is obtained.

[0104] In step S144, it is determined whether the target vehicle has a preset dangerous driving behavior based on the traffic environment information.

[0105] In the embodiments of the present application, the traffic environment information refers to the relevant data collected by the intelligent driving system through its sensing devices about the target vehicle around. For example, the traffic environment information includes but is not limited to lane line information, traffic signals, etc., which are not limited here.

[0106] The preset dangerous driving behavior refers to non-standard or high-risk driving behavior. For example, the preset dangerous driving behavior includes but is not limited to driving on solid lines, running yellow lights, not driving according to lane direction, driving on lane lines, sudden acceleration or deceleration, improper use of lights, etc., which are not limited here.

[0107] Obtaining the traffic environment information around the target vehicle can be understood as that the intelligent driving system uses various sensing devices (such as cameras, radars, lidars, etc.) carried thereby to collect and analyze the environmental data around the target vehicle in real time, including but not limited to obtaining road conditions, traffic flow, traffic signal (such as traffic lights, traffic signs) states, etc., which are not limited here.

[0108] Based on the traffic environment information, it can be understood that after obtaining the traffic environment information around the target vehicle, the system will analyze whether the driving behavior of the target vehicle conforms to the traffic rules, so as to evaluate the safety and standardization of the current driving behavior.

[0109] In the embodiments of the present application, by judging whether the target vehicle has a dangerous driving behavior, the intelligent driving system can effectively judge the potential driving risk of the target vehicle, so as to more accurately identify the non-contact accident caused by the target vehicle.

[0110] Further, in step S16, the target vehicle is controlled to issue a danger warning information based on the judgment result, including the following execution steps:

[0111] Step S161, for the auxiliary driving system, in response to the determination result that the target vehicle has a non-contact accident and the target vehicle does not exist a preset dangerous driving behavior, controlling the target vehicle to issue a general danger warning; and in response to the determination result that the target vehicle has a non-contact accident and the target vehicle exists a preset dangerous driving behavior, controlling the target vehicle to issue a high danger warning and turn on the double flash;

[0112] Step S162, for the automatic driving system, in response to the determination result that the target vehicle has a non-contact accident and the target vehicle does not exist a preset dangerous driving behavior, controlling the target vehicle to turn on the double flash and report to the user; and in response to the determination result that the target vehicle has a non-contact accident and the target vehicle exists a preset dangerous driving behavior, controlling the target vehicle to turn on the double flash and pull over to handle.

[0113] In the embodiments of the present application, the auxiliary driving system refers to an intelligent driving technology that assists the driver in operating the vehicle to a certain extent, but cannot completely replace the driver.

[0114] The automatic driving system refers to an intelligent driving technology that can autonomously operate the vehicle without direct intervention of the driver under certain conditions.

[0115] For the auxiliary driving system, in response to the determination result that the target vehicle has a non-contact accident and the target vehicle does not exist a preset dangerous driving behavior, controlling the target vehicle to issue a general danger warning can be understood as when the auxiliary driving system determines that the driving behavior of the target vehicle has not violated the preset dangerous driving rules, but has constituted a non-contact accident, the system will issue a general danger warning to the driver through the warning system of the vehicle (such as sound warning, visual prompt, etc.), aiming to remind the driver to take further handling measures.

[0116] For the auxiliary driving system, in response to the determination result that the target vehicle has a non-contact accident and the target vehicle exists a preset dangerous driving behavior, controlling the target vehicle to issue a high danger warning and turn on the double flash can be understood as when the system not only detects the occurrence of a non-contact accident, but also finds that the driving behavior of the target vehicle indeed violates the preset dangerous driving rules, the auxiliary driving system will not only issue a high danger warning to the driver, but also automatically turn on the double flash warning light of the vehicle, in a more intuitive and eye-catching way to alert the surrounding traffic participants to the potential emergency, and prompt the driver to take immediate action, such as reducing speed, parking or adjusting the driving direction.

[0117] For the automatic driving system, in response to the determination result that the target vehicle has a non-contact accident and the target vehicle does not have a preset dangerous driving behavior, controlling the target vehicle to turn on the double flash and report to the user can be understood as, in the automatic driving mode, even if the driving behavior of the vehicle does not violate the preset dangerous driving rule, but the system determines that there is a risk of non-contact accident, the double flash will be automatically turned on to ensure the safety of surrounding traffic participants. At the same time, the system will report the relevant situation to the user or the background monitoring center through the communication module of the vehicle, so as to obtain the accident information in time and make subsequent processing or rescue arrangement.

[0118] For the automatic driving system, in response to the determination result that the target vehicle has a non-contact accident and the target vehicle has a preset dangerous driving behavior, controlling the target vehicle to turn on the double flash and pull over to stop processing can be understood as, when the automatic driving system simultaneously identifies the risk of non-contact accident and the dangerous driving behavior of the target vehicle, more urgent measures will be taken. The automatic driving system will automatically control the vehicle to slow down and safely pull over to stop at the same time of turning on the double flash, so as to prevent the accident risk from further upgrading and reduce the impact on other traffic participants as much as possible in the case of no driver intervention.

[0119] In the embodiments of the present application, the design of the above-mentioned response mechanism fully considers the safety and standardization of the intelligent driving system in dealing with non-contact accidents, and ensures that appropriate prevention and response measures can be taken in both the assisted driving mode under the monitoring of the driver and the automatic driving mode of completely autonomous operation, to protect the safety of all traffic participants.

[0120] The embodiments of the present application also provide a vehicle non-contact accident determination device 900, please refer to Figure 9 , comprising: an acquisition device 901, configured to acquire a preset driving behavior of a target vehicle and position information of a target object, wherein the target object is used to represent an object that has a traffic accident within a preset range of the target vehicle; a determination device 902, configured to determine a preset area of the target vehicle having a non-contact accident based on the preset driving behavior; a determination device 903, configured to determine the target vehicle for non-contact accident based on the position information of the target object and the preset area, to obtain a determination result; and a warning device 904, configured to control the target vehicle to send a dangerous warning information based on the determination result.

[0121] Further, the preset area includes a first area and a second area, the first area is used to represent a preset dangerous area associated with a front of a vehicle body of the target vehicle, and the second area is used to represent a preset dangerous area associated with a rear or a side of the vehicle body of the target vehicle, and the determining apparatus 902 is further configured to determine a first locking point and a second locking point based on the preset driving behavior, wherein the first locking point is used to define a coverage range of the first area, and the second locking point is used to define a coverage range of the second area; the first area is determined based on the first locking point, a width of the target vehicle, and a standard lane width; the second area is determined based on the second locking point, a length of the target vehicle, and the width of the target vehicle; and the preset area is determined based on the first area and the second area.

[0122] Further, the determining apparatus 902 is further configured to determine a near edge length of the first area based on the width of the target vehicle, determine a far edge length of the first area based on the standard lane width, and determine the first area based on the first locking point, the near edge length, and the far edge length.

[0123] Further, the determining apparatus 902 is further configured to determine a long edge length of the second area based on the length of the target vehicle, determine a wide edge length of the second area based on the width of the target vehicle, and determine the second area based on the second locking point, the long edge length, and the wide edge length.

[0124] Further, the determining apparatus 903 is further configured to determine, in response to the position of the target object being within the preset area, that the determination result is that the target vehicle has a non-contact accident; and determine, in response to the position of the target object not being within the preset area, that the determination result is that the target vehicle does not have a non-contact accident.

[0125] Further, the determining apparatus 903 is further configured to acquire traffic environment information around the target vehicle, and determine, based on the traffic environment information, whether the target vehicle has a preset dangerous driving behavior.

[0126] Further, the warning module 904 is further configured to, for an assisted driving system, in response to the determination result being that the target vehicle has a non-contact accident and the target vehicle does not have a preset dangerous driving behavior, control the target vehicle to issue a general danger warning; and in response to the determination result being that the target vehicle has a non-contact accident and the target vehicle has a preset dangerous driving behavior, control the target vehicle to issue a high danger warning and turn on double flashing; and for an automatic driving system, in response to the determination result being that the target vehicle has a non-contact accident and the target vehicle does not have a preset dangerous driving behavior, control the target vehicle to turn on double flashing and report to a user; and in response to the determination result being that the target vehicle has a non-contact accident and the target vehicle has a preset dangerous driving behavior, control the target vehicle to turn on double flashing and pull over to handle.

[0127] According to another aspect of the embodiments of the present application, a vehicle is also provided, comprising a memory and a processor, wherein the memory stores a computer program, and the computer program, when executed by the processor, implements the method for identifying a non-contact accident of the vehicle according to the embodiments of the present application.

[0128] The embodiments of the present application also provide an electronic device 100, please refer to Figure 10 , comprising a memory 101 and a processor 102, wherein the memory 101 is used to store a computer program; the processor 102 is used to execute the program stored in the memory 101, and implement the method for identifying a non-contact accident of the vehicle according to any of the embodiments of the present application.

[0129] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the method for identifying a non-contact accident of the vehicle according to any of the embodiments of the present application.

[0130] In the present application, multiple refers to two or more than two.

[0131] In the present application, unless otherwise explicitly limited, the terms "mount", "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0132] The terms "first", "second", "third", "fourth" and the like (if any) in the present application are used to distinguish similar objects, and do not necessarily describe a specific order or sequence.

[0133] In the present application, the term "and / or" is only used to describe the association relationship between the associated objects, which means that there can be three kinds of relationships, for example, A and / or B can represent the following three cases: A exists alone, A and B exist together, and B exists alone. In addition, the character " / " in the present application generally represents an "or" relationship between the front and rear associated objects.

[0134] If there is no special description, all the steps of the present application can be performed in sequence or randomly. For example, the method comprises steps A and B, which means that the method can comprise sequentially performed steps A and B, or sequentially performed steps B and A. For example, the method also comprises step C, which means that step C can be added to the method in any order, for example, the method can comprise steps A, B and C, or steps A, C and B, or steps C, A and B, etc.

[0135] The above description is only the preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method of discriminating a non-contact accident of a vehicle, characterized by, The method comprises: acquiring preset driving behavior of a target vehicle and position information of a target object, wherein the target object is used to represent an object involved in a traffic accident within a preset range of the target vehicle; determining a preset area in which the target vehicle is involved in a non-contact accident based on the preset driving behavior; performing non-contact accident discrimination on the target vehicle based on the position information of the target object and the preset area, to obtain a discrimination result; controlling the target vehicle to issue a danger warning information based on the discrimination result.

2. The method of claim 1, wherein, The preset area comprises a first area and a second area, the first area is used to represent a preset danger area associated with a front of the target vehicle, and the second area is used to represent a preset danger area associated with a rear or a side of the target vehicle. The determining of the preset area in which the target vehicle is involved in a non-contact accident based on the preset driving behavior comprises: determining a first locking point and a second locking point based on the preset driving behavior, wherein the first locking point is used to define a coverage range of the first area, and the second locking point is used to define a coverage range of the second area; determining the first area based on the first locking point, a width of the target vehicle, and a standard lane width; determining the second area based on the second locking point, a length of the target vehicle, and the width of the target vehicle; determining the preset area based on the first area and the second area.

3. The method of claim 2, wherein, The determining of the first area based on the first locking point, the width of the target vehicle, and the standard lane width comprises: determining a near edge length of the first area based on the width of the target vehicle; determining a far edge length of the first area based on the standard lane width; determining the first area based on the first locking point, the near edge length, and the far edge length.

4. The method of claim 2, wherein, The determining of the second area based on the second locking point, the length of the target vehicle, and the width of the target vehicle comprises: determining a long edge length of the second area based on the length of the target vehicle; determining a wide edge length of the second area based on the width of the target vehicle; determining the second area based on the second locking point, the long edge length, and the wide edge length.

5. The method of claim 1, wherein, The performing of the non-contact accident discrimination on the target vehicle based on the position information of the target object and the preset area to obtain a discrimination result comprises: in response to the position of the target object being within the preset area, determining that the discrimination result is that the target vehicle is involved in a non-contact accident; in response to the position of the target object not being within the preset area, determining that the discrimination result is that the target vehicle is not involved in a non-contact accident.

6. The method of claim 1, wherein, When the non-contact accident discrimination on the target vehicle is performed based on the position information of the target object and the preset area, the method further comprises: acquiring traffic environment information around the target vehicle; discriminating whether the target vehicle has a preset dangerous driving behavior based on the traffic environment information.

7. The method of claim 1, wherein, The controlling of the target vehicle to issue a danger warning information based on the discrimination result comprises: For the auxiliary driving system, in response to the determination result being that the target vehicle has a non-contact accident and the target vehicle does not have the preset dangerous driving behavior, the target vehicle is controlled to issue a general danger warning; and in response to the determination result being that the target vehicle has a non-contact accident and the target vehicle has the preset dangerous driving behavior, the target vehicle is controlled to issue a high danger warning and turn on double flashing; For the automatic driving system, in response to the determination result being that the target vehicle has a non-contact accident and the target vehicle does not have the preset dangerous driving behavior, the target vehicle is controlled to turn on double flashing and report to the user; and in response to the determination result being that the target vehicle has a non-contact accident and the target vehicle has the preset dangerous driving behavior, the target vehicle is controlled to turn on double flashing and pull over to handle.

8. A vehicle comprising a memory and a processor, characterized in that The memory stores a computer program, wherein the computer program, when executed by the processor, implements the vehicle non-contact accident determination method in any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute the vehicle non-contact accident determination method in any one of claims 1 to 7 when running on a computer or a processor. 10.An electronic device comprising a memory and a processor, the electronic device characterized by, The memory stores a computer program, and the processor is configured to run the computer program to execute the vehicle non-contact accident determination method in any one of claims 1 to 7.

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