Vehicle driving panoramic collision early warning method and system

Abstract

The invention relates to the technical field of vehicle early warning, and particularly discloses a vehicle driving panoramic collision early warning method and system, and the method comprises the steps: obtaining vehicle data at regular time, and determining a vehicle risk value according to the vehicle data; determining a position acquisition frequency according to the vehicle risk value, acquiring a position containing a time label based on the position acquisition frequency, and determining a speed variation containing a probability according to the position containing the time label; for any vehicle, receiving an early warning request sent by the vehicle, obtaining the position of the vehicle, and obtaining probability-containing speed variation of other vehicles in a preset space range in real time based on the position of the vehicle; determining monitoring parameters of the vehicle-mounted radar based on the speed variation with the probability; according to the invention, safety analysis is carried out on surrounding vehicles, so that the monitoring frequency of some normal vehicles is reduced, resources are saved, and relatively high-quality early warning service can be provided under the condition that the resources are limited.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle early warning technology, and in particular to a vehicle driving panoramic collision early warning method and system. BACKGROUND

[0002] Safety has always been the focus of automobile development. If the driver can be reminded 1 second before the danger occurs, many collision accidents can be avoided. Driving risk warning can avoid collision accidents by detecting the surrounding environment, which is an important link to ensure safe driving of vehicles. The key challenge of driving risk warning is to identify potential dangerous situations in real time and accurately quantify the future risk to improve the accuracy and real-time performance of risk warning. In the prior art, the early warning device and the built-in early warning algorithm are perfect enough to play a good warning role, and are still developing. However, there is a problem that the energy of the vehicle itself is limited. If the early warning process is too accurate, it also requires high resources. If the resources are insufficient, the early warning process is almost closed, which actually also brings a certain risk. Therefore, how to provide a collision early warning scheme under low resource conditions to provide certain collision early warning services under insufficient resources is a technical problem to be solved by the technical scheme of the present application. SUMMARY

[0003] The purpose of the present application is to provide a vehicle driving panoramic collision early warning method and system to solve the problems raised in the background art.

[0004] To achieve the above purpose, the present application provides the following technical scheme: A vehicle driving panoramic collision early warning method, the method comprising: acquiring vehicle data based on a preset permission time limit, determining a vehicle risk value according to the vehicle data; wherein the vehicle risk value is used to represent the stability of the vehicle operating state; determining a position acquisition frequency according to the vehicle risk value, acquiring a position containing a time label based on the position acquisition frequency, and determining a speed change amount containing a probability according to the position containing the time label; For any vehicle, receiving a warning request sent by the vehicle, sending an information sharing permission acquisition request to the vehicle, acquiring the vehicle position based on the acquired sharing permission, and acquiring the speed change amount containing the probability of other vehicles in a preset space range in real time based on the vehicle position; determining the monitoring parameters of the vehicle-mounted radar based on the speed change amount containing the probability.

[0005] Further, the step of acquiring vehicle data based on a preset permission time limit and determining a vehicle risk value according to the vehicle data comprises: The vehicle data acquisition request is broadcast to the vehicle based on Bluetooth, and a data stream containing a vehicle label, a type label and a time label is received from the vehicle; The data stream is normalized based on the type label and the time label to obtain a data matrix containing a time range; The data fluctuation degree of any type of data in the data matrix is calculated, the data fluctuation degree of each type is counted, and the vehicle risk value is determined; The data acquisition ratio of each type label is determined according to the data fluctuation degree of each type and the empty data amount, and the vehicle data acquisition request is inserted; In the initial vehicle data acquisition request, the data acquisition ratio of each type label is the same, and the data acquisition ratio is used to represent the proportion of the data acquisition of a certain type label in the unit time acquisition amount.

[0006] Further, the step of calculating the data fluctuation degree of any type of data in the data matrix, counting the data fluctuation degree of each type, and determining the vehicle risk value comprises: The data in the data matrix corresponding to any type is normalized to obtain a normalized value; Taking the time label as the horizontal coordinate and the normalized value as the vertical coordinate, a coordinate point is constructed, and a data curve and a data function are fitted synchronously; The data function is periodically identified and peak value is identified, and the data fluctuation degree is determined according to the periodic identification result and the peak value identification result; The data fluctuation degree of each type is accumulated based on an exponential function to obtain the vehicle risk value; The step of determining the data acquisition ratio of each type label according to the data fluctuation degree of each type and the empty data amount comprises: The data acquisition score is determined according to the direct proportion of the data fluctuation degree and the direct proportion of the empty data amount, and the data acquisition score of all types is normalized to determine the data acquisition ratio.

[0007] Further, the step of determining the position acquisition frequency according to the vehicle risk value, obtaining the position containing the time label based on the position acquisition frequency, and determining the speed change amount containing the probability according to the position containing the time label comprises: The generation time of the vehicle risk value is obtained, and the position acquisition frequency is determined according to the vehicle risk value as the position acquisition frequency after the generation time; The position containing the time label is obtained based on the position acquisition frequency; The motion speed is determined according to the position containing the time label, and the change amount of the motion speed within a preset time span is determined synchronously; The change amount is graded based on a preset change amount gradient, the frequency of each level of change amount within a preset time period is determined, and the probability of each level of change amount is determined according to the frequency. Statistics of the change amount at each level and its probability, as the speed change amount containing probability.

[0008] Further, the step of receiving the early warning request sent by any vehicle, sending the information sharing permission acquisition request to the vehicle, acquiring the position of the vehicle based on the acquired sharing permission, and acquiring the speed change amount containing probability of other vehicles within a preset spatial range based on the position of the vehicle includes: For any vehicle, receiving the early warning request sent by the vehicle, sending the information sharing permission acquisition request to the vehicle; Receiving the information sharing permission granted by the vehicle, and constructing a permission library; Based on the acquired sharing permission, the positions of the vehicles in the permission library are acquired; When the distance between any two vehicles is less than a preset distance threshold, the positions and speed change amounts containing probability of both parties are shared.

[0009] Further, the step of determining the monitoring parameters of the vehicle-mounted radar based on the speed change amount containing probability includes: For any vehicle, querying the positions of other vehicles received by the vehicle and the speed change amounts containing probability thereof; Determining the vehicle smoothness according to the speed change amount containing probability; Determining the monitoring frequency of the vehicle-mounted radar pointing to the position of the vehicle according to the inverse of the vehicle smoothness; Wherein, for vehicles within a preset spatial range that have not acquired the speed change amount containing probability, the vehicle smoothness thereof is set to a default minimum value.

[0010] The technical scheme of the present application also provides a vehicle driving panoramic collision warning system, the system comprising: A risk value determination module for acquiring vehicle data based on a preset permission, and determining a vehicle risk value based on the vehicle data; wherein the vehicle risk value is used to represent the stability of the vehicle operating state; A speed analysis module for determining a position acquisition frequency based on the vehicle risk value, acquiring a position containing a time label based on the position acquisition frequency, and determining a speed change amount containing probability based on the position containing a time label; An information sharing module for receiving an early warning request sent by any vehicle, sending an information sharing permission acquisition request to the vehicle, acquiring the position of the vehicle based on the acquired sharing permission, and acquiring the speed change amount containing probability of other vehicles within a preset spatial range based on the position of the vehicle; A monitoring parameter adjustment module for determining the monitoring parameters of the vehicle-mounted radar based on the speed change amount containing probability.

[0011] Further, the risk value determination module includes: A data stream acquisition unit is configured to broadcast a vehicle data acquisition request to the vehicle based on the Bluetooth terminal, and receive a data stream fed back by the vehicle, the data stream containing a vehicle label, a type label and a time label; A data normalization unit is configured to normalize the data stream based on the type label and the time label, and obtain a data matrix containing a time range; A data fluctuation analysis unit is configured to calculate the data fluctuation degree of any type corresponding data in the data matrix, and determine the vehicle risk value by counting the data fluctuation degree of each type. A proportion determination and application unit is configured to determine the data acquisition proportion of each type label according to the data fluctuation degree of each type and the empty data amount, and insert the data acquisition proportion into the vehicle data acquisition request. In the initial vehicle data acquisition request, the data acquisition proportion of each type label is the same, and the data acquisition proportion is used to represent the proportion of the data acquisition of a certain type label in the unit time acquisition amount.

[0012] Further, the speed analysis module comprises: A frequency determination unit is configured to obtain the generation time of the vehicle risk value, and determine the position acquisition frequency according to the vehicle risk value, as the position acquisition frequency after the generation time. A position acquisition unit is configured to acquire a position containing a time label based on the position acquisition frequency. A change amount determination unit is configured to determine the motion speed according to the position containing the time label, and synchronously determine the change amount of the motion speed within a preset time span. A hierarchical evaluation unit is configured to grade the change amount based on a preset change amount gradient, determine the frequency of each level change amount within a preset time period, and determine the probability of each level change amount according to the frequency. A change amount statistical unit is configured to count each level change amount and its probability as the speed change amount containing the probability.

[0013] Further, the information sharing module comprises: A permission acquisition unit is configured to receive a warning request sent by any vehicle, and send an information sharing permission acquisition request to the vehicle. A permission library construction unit is configured to receive the information sharing permission granted by the vehicle, and construct a permission library. A permission library application unit is configured to acquire the positions of each vehicle in the permission library based on the acquired sharing permission. A sharing execution unit is configured to share the positions and the speed change amount containing the probability of both parties when the distance between any two vehicles is less than a preset distance threshold.

[0014] Compared with the prior art, the present application has the following advantages: The application provides a relatively optimal simplified scheme under the premise of insufficient resources, analyzes the safety of surrounding vehicles, and further reduces the monitoring frequency of some normal vehicles, so as to save resources, so that relatively more attention is paid to abnormal vehicles in the case of limited resources, and relatively high-quality early warning services can be provided in the case of limited resources. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the application.

[0016] Figure 1 A total flow chart of a vehicle driving panoramic collision warning method is shown.

[0017] Figure 2 A first sub-flow chart of a vehicle driving panoramic collision warning method is shown.

[0018] Figure 3 A second sub-flow chart of a vehicle driving panoramic collision warning method is shown.

[0019] Figure 4 A third sub-flow chart of a vehicle driving panoramic collision warning method is shown.

[0020] Figure 5 A fourth sub-flow chart of a vehicle driving panoramic collision warning method is shown.

[0021] Figure 6 A structure diagram of a vehicle driving panoramic collision warning system is shown. DETAILED DESCRIPTION

[0022] In order to make the technical problems to be solved by the application, the technical solutions and beneficial effects more clearly understood, the following will further describe the application in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the application, and are not used to limit the application.

[0023] Figure 1 A total flow chart of a vehicle driving panoramic collision warning method is shown. In the embodiments of the application, a vehicle driving panoramic collision warning method comprises: Step S100: acquiring vehicle data based on a preset permission time limit, and determining a vehicle risk value according to the vehicle data; wherein the vehicle risk value is used to represent the stability of the vehicle running state; The vehicle data is data generated in the running process of the vehicle itself, which is the detection data of the vehicle system itself, including signals measured by various sensors and running signals of various modules. The vehicle data can be obtained only by having the permission in advance. The stability of the vehicle can be determined by analyzing the obtained vehicle data, and the stability of the vehicle is represented by the vehicle risk value.

[0024] Step S200: determining the position acquisition frequency according to the vehicle risk value, acquiring the position with time label based on the position acquisition frequency, and determining the speed change amount with probability according to the position with time label; The vehicle risk value represents the running state of the vehicle itself. The position acquisition frequency is determined according to the vehicle risk value. The greater the vehicle risk value, the lower the stability of the vehicle, and the higher the position acquisition frequency. The position with time label is acquired based on the position acquisition frequency. This process involves the positioning process. On the basis of having the permission in advance, the position with time label can be acquired through the positioning device. In the prior art, the navigation service is very common, and the position acquisition process is not difficult. The speed at different times (or time periods) can be determined by analyzing the acquired position with time label. The speed change is calculated, and the speed change amount distribution in a longer time range is determined. The distribution is represented by probability, and the speed change amount with probability is obtained. In order to simplify the processing process, the absolute value of the speed change amount can be taken. At this time, the speed change or decrease is reflected in the numerical value.

[0025] Step S300: for any vehicle, receiving the early warning request sent by the vehicle, sending the information sharing permission acquisition request to the vehicle, acquiring the position of the vehicle based on the acquired sharing permission, and acquiring the speed change amount with probability of other vehicles in a preset space range in real time based on the position of the vehicle; In the actual application stage, for any vehicle, the early warning request sent by the vehicle is received, and the information sharing permission acquisition request is sent to the vehicle. The meaning of this process is that when a vehicle wants to use the early warning service provided by the method, the information sharing permission needs to be granted. At this time, the information of the vehicle, including the position of the vehicle and the speed change amount with probability, can be acquired by other vehicles, so as to assist other vehicles to complete the early warning process. Of course, for the current vehicle, it can also acquire the information of other vehicles (authorized vehicles), and then use the early warning service.

[0026] Step S400: determining the monitoring parameter of the vehicle-mounted radar based on the speed change amount with probability; Assuming that the vehicles around a vehicle are authorized vehicles, for a certain vehicle, it can obtain the speed change amount of the surrounding vehicles containing probability, and the monitoring parameters of the vehicle-mounted radar can be determined according to the speed change amount containing probability, and the core of this process is to reduce the application frequency of the vehicle-mounted radar, thereby slowing down the resource consumption of the vehicle itself. Specifically, for the vehicle with a high probability of low speed change amount, the frequency of applying the vehicle-mounted radar to monitor it can be slightly lower. Of course, this is not a completely conflicting scheme with the existing early warning technology. It can be combined with the existing visual early warning. It actually only provides a better early warning scheme in the case of insufficient resources.

[0027] Figure 2 A first sub-flow block diagram of a vehicle driving panoramic collision warning method is shown, and the step of acquiring vehicle data based on a preset permission includes: Step S101: Based on the Bluetooth end, broadcast the vehicle data acquisition request to the vehicle, and receive the data stream containing the vehicle label, type label and time label fed back by the vehicle; Step S102: Based on the type label and the time label, the data stream is regularized to obtain a data matrix containing a time range; Step S103: Calculate the data fluctuation degree of any type corresponding data in the data matrix, and determine the vehicle risk value by counting the data fluctuation degree of each type; Step S104: Determine the data acquisition proportion of each type label according to the data fluctuation degree of each type and the empty data amount, and insert the vehicle data acquisition request; Among them, in the initial vehicle data acquisition request, the data acquisition proportion corresponding to each type label is the same, and the data acquisition proportion is used to represent the data acquisition proportion of a certain type label in the unit time acquisition amount.

[0028] The above content describes the evaluation process of the vehicle risk situation. It is actually a process for processing vehicle data, which includes a vehicle data acquisition process and a vehicle data recognition process. As for the vehicle data acquisition process, the present application adopts an intermittent acquisition process, which is acquired through the Bluetooth end. The Bluetooth end is set on the road section. When the vehicle reaches the vicinity of the Bluetooth end, it is paired with the Bluetooth end, data interaction is performed, and vehicle data is uploaded. This process does not require the vehicle end to upload vehicle data in real time, and the transmission pressure is very small. The disadvantage is that the uploading process itself is intermittent. When the vehicle speed is fast or the fluctuation is strong, the uploading period may only be a few seconds, and the uploaded data is extremely limited. Therefore, the uploading process of the vehicle data itself also has a selection process.

[0029] The vehicle data acquisition request is broadcast to the vehicle based on Bluetooth, a data stream containing a vehicle label, a type label and a time label is received from the vehicle, the data stream is regularized based on the type label and the time label, a data matrix containing a time range is obtained, the vehicle label is used as an index of the data matrix to indicate which vehicle the data corresponds to, the row and the column of the data matrix correspond to the type and the time respectively, the data corresponding to any type (a row or a column) in the data matrix is calculated to obtain the data fluctuation, the data fluctuation degree is reflected, after the data fluctuation degree of each type is calculated, the data fluctuation degree of each type is counted to determine the vehicle risk value reflecting the overall situation of the vehicle.

[0030] On the basis of the above, the data acquisition proportion of each type label is determined according to the data fluctuation degree of each type and the empty data amount, and the vehicle data acquisition request is inserted, the situation is that the data amount corresponding to different type labels in a period of time may be different due to a period of uploading of only ten seconds, which also makes the data amount of each type in the data matrix different, in the subsequent process, the data acquisition proportion is introduced to represent the data acquisition proportion of a type label in the unit time, the more the empty data amount, the greater the data fluctuation degree, the more the data to be acquired, and the greater the data acquisition proportion, in the initial vehicle data acquisition request, the data acquisition proportions of different type labels are the same.

[0031] As a preferred embodiment of the technical scheme of the application, the step of calculating the data fluctuation degree of the data corresponding to any type in the data matrix, counting the data fluctuation degree of each type and determining the vehicle risk value comprises: normalizing the data corresponding to any type in the data matrix to obtain normalized values; taking the time label as the horizontal coordinate and the normalized value as the vertical coordinate to construct coordinate points and simultaneously fit the data curve and the data function thereof; performing periodic identification and peak value identification on the data function, and determining the data fluctuation degree according to the periodic identification result and the peak value identification result; accumulating the data fluctuation degree of each type based on an exponential function to obtain the vehicle risk value.

[0032] The above content defines the determination process of the vehicle risk value, which is actually the application process of obtaining the data fluctuation degree. The data corresponding to any type in the data matrix is normalized to obtain a normalized value. The normalization process is the process of positive transformation of the index. The simplest one is to calculate the ratio of the maximum value as the normalized value. Only a certain range and dimensionless value can be used as a normalized value. The time label is used as the horizontal coordinate, and the normalized value is used as the vertical coordinate to construct the coordinate point. The data curve and its data function are fitted synchronously. The periodicity and peak value of the data function are identified. The data fluctuation degree is determined according to the periodicity and peak value identification results. The periodicity identification is used to determine whether there is a significant period. The peak value identification is used to determine whether the peak value is dangerous. The data fluctuation degree of each type is obtained based on the exponential function. The vehicle risk value is obtained. The meaning of this process is that the greater the data fluctuation degree of a type, the greater its influence on the vehicle risk value (the derivative of the exponential function is also an increasing function).

[0033] Among them, regarding the periodicity identification process, a feasible way is to perform Fourier transform on the data function to obtain the frequency domain amplitude spectrum; judge whether there is a main frequency peak value greater than the preset threshold value in the amplitude spectrum, if there is a main frequency peak value, obtain the amplitude ratio of the main frequency peak value, and take the amplitude ratio as the periodicity identification result; regarding the peak value identification process, a feasible way is to mark the peak value (the peak value of the data function, not the peak value in the frequency spectrum) reaching the preset value, mark the corresponding data segment, and take the length of the marked data segment as the peak value identification result; finally, the determined data fluctuation degree is inversely proportional to the amplitude ratio, indicating that the greater the amplitude ratio, the more obvious the periodicity, and the smaller the data fluctuation degree; the determined data fluctuation degree is proportional to the data segment length, indicating that the greater the data segment length, the more data exceeds the limit, and the greater the data fluctuation degree.

[0034] The step of determining the data acquisition ratio of each type label according to the data fluctuation degree of each type and the empty data amount of each type includes: Determine the data acquisition score according to the proportion of the data fluctuation degree and the proportion of the empty data amount, normalize all types of data acquisition scores, and determine the data acquisition ratio.

[0035] In an example of the technical scheme of the present application, a recursive adjustment scheme of the data acquisition process is introduced. The data acquisition score is determined according to the proportion of the data fluctuation degree and the proportion of the empty data amount. The sum of all data acquisition scores is calculated, and the ratio of each data acquisition score to the sum is calculated to obtain the data acquisition ratio.

[0036] Figure 3A second sub-flow block diagram of the vehicle driving panoramic collision warning method is shown, and the step of determining the position acquisition frequency according to the vehicle risk value, acquiring the position containing a time label based on the position acquisition frequency, and determining the speed change amount containing the probability according to the position containing the time label comprises: Step S201: acquiring the generation time of the vehicle risk value, determining the position acquisition frequency according to the vehicle risk value, and taking the position acquisition frequency after the generation time as the position acquisition frequency; Step S202: acquiring the position containing a time label based on the position acquisition frequency; Step S203: determining the motion speed according to the position containing the time label, and synchronously determining the change amount of the motion speed within a preset time span; Step S204: classifying the change amount based on a preset change amount gradient, determining the frequency of each level of change amount within a preset time period, and determining the probability of each level of change amount according to the frequency; Step S205: counting each level of change amount and its probability as the speed change amount containing the probability.

[0037] In one example of the technical scheme of the present application, the position analysis process is described. First, the position acquisition process is different from the vehicle data acquisition process. The data amount of the vehicle data itself is large, and the resource demand amount for real-time transmission is large. However, the position is different. The real-time acquisition technology of the position is very mature and can be acquired in real time. However, in the technical scheme of the present application, the position acquisition process is still selectively reduced in frequency. Each time a vehicle risk value is obtained, the generation time thereof is acquired, the position acquisition frequency is determined according to the vehicle risk value, and the position acquisition frequency after the generation time is taken as the position acquisition frequency. The position acquisition frequency is proportional to the vehicle risk value. The position containing a time label is acquired based on the position acquisition frequency. The motion speed is determined according to the position containing the time label. The change amount of the motion speed within a preset time span is synchronously determined. The time span is generally several seconds. The change amount is classified based on a preset change amount gradient (for example, the speed change amount of 0-20 is classified into 5 levels or 10 levels). The frequency of each level of change amount within a preset time period is determined. The probability of each level of change amount is determined according to the frequency. This process is simply the frequency divided by the sum of the frequencies.

[0038] It should be noted that the change amount of the motion speed is signed, which is troublesome in processing. Therefore, in step S203, the absolute value of the change amount of the motion speed can be obtained, and then the subsequent processing process is performed. At this time, the classification process only needs to set some non-negative threshold values.

[0039] Figure 4A third sub-flow block diagram of the vehicle driving panoramic collision warning method is shown, which comprises the following steps: Step S301: for any vehicle, receiving a warning request sent by the vehicle, sending an information sharing permission acquisition request to the vehicle; Step S302: receiving the information sharing permission granted by the vehicle, and constructing a permission library; Step S303: based on the obtained sharing permission, obtaining the positions of each vehicle in the permission library; Step S304: when the distance between any two vehicles is less than a preset distance threshold, the positions and the speed change amount with probability of the two vehicles are shared.

[0040] In the actual application stage, the data sharing process is described, and the core of this process is the permission problem. For any vehicle, receiving a warning request sent by the vehicle, indicating that the vehicle needs the service provided by the method execution party, at this time, an information sharing permission acquisition request is sent to the vehicle, the information sharing permission granted by the vehicle is received, and a permission library is constructed. The permission library contains all vehicles that have granted permission, wherein the permission can be revoked, which is completely determined by the user, and will not be described here.

[0041] For each vehicle in the permission library, based on the obtained sharing permission, the position of each vehicle is obtained, and when the distance between any two vehicles is less than a preset distance threshold, it means that they are close enough. At this time, the positions and the speed change amount with probability of the two vehicles are shared. In fact, for the position, if the positions of the two parties are close enough, the vehicle-mounted detection device can actually obtain a more accurate position. The role of sharing the position is that it can provide a rough range for the vehicle-mounted detection device. Whether it is used as a preprocessing stage of the vehicle-mounted detection device or a subsequent result verification stage, it can assist the work of the vehicle-mounted detection device.

[0042] Figure 5 A fourth sub-flow block diagram of the vehicle driving panoramic collision warning method is shown, which comprises the following steps of determining the monitoring parameters of the vehicle-mounted radar based on the speed change amount with probability: Step S401: for any vehicle, querying the positions of other vehicles and the speed change amount with probability received by the vehicle; Step S402: determining the vehicle stability according to the speed change amount with probability; Step S403: determining the monitoring frequency of the vehicle-mounted radar pointing to the vehicle position according to the inverse of the vehicle stability; The vehicle smoothness of a vehicle not obtaining the speed change amount with probability in a preset space range is set as a default minimum value.

[0043] For any vehicle, the position of other vehicles and the speed change amount with probability received by the vehicle are inquired, the vehicle smoothness is determined according to the speed change amount with probability, the determination manner can be that the product of the probability and the speed change amount is calculated, summation is performed, and the vehicle smoothness is determined according to the inverse ratio of the summation result, wherein the meaning of the sum actually represents the vehicle speed change and the possibility, the higher the probability of the speed change amount (absolute value) is, the more unstable the vehicle is, and the lower the vehicle smoothness is, the monitoring frequency of the vehicle radar pointing to the position of the vehicle is determined according to the inverse ratio of the vehicle smoothness, and the lower the vehicle smoothness is, the higher the monitoring frequency is.

[0044] It is worth mentioning that the above sharing process only occurs between the vehicles in the permission library, and in actual scenarios, there are many vehicles that are not in the permission library, at this time, the original vehicle detection equipment and its working process of the vehicle are applied, that is, the vehicle smoothness of a vehicle not obtaining the speed change amount with probability in a preset space range is set as a default minimum value, and the monitoring frequency of the corresponding vehicle detection equipment is a maximum value.

[0045] It should be noted that the above scheme actually provides a relatively optimal simplified scheme under the premise of insufficient resources, and the maximum monitoring frequency is actually a normal frequency, but if the resources are insufficient, the method architecture can reduce the monitoring frequency of some normal vehicles to save resources, and if the resource amount is sufficient, the maximum monitoring frequency (or a larger monitoring frequency of a conventional value) can be applied for monitoring.

[0046] Figure 6 A structure diagram of a vehicle driving panoramic collision warning system is shown, and in an preferred embodiment of the technical scheme of the present application, a vehicle driving panoramic collision warning system is also provided, the system 10 comprises: A risk value determination module 11 is configured to obtain vehicle data based on a preset permission timing, and determine a vehicle risk value according to the vehicle data, wherein the vehicle risk value is used to represent the stability degree of the vehicle running state; A speed analysis module 12 is configured to determine a position acquisition frequency according to the vehicle risk value, obtain a position with a time tag based on the position acquisition frequency, and determine a speed change amount with probability according to the position with a time tag; An information sharing module 13 is configured to, for any vehicle, receive a warning request sent by the vehicle, send an information sharing permission acquisition request to the vehicle, acquire the positions of other vehicles in a preset space range based on the acquired sharing permission, and acquire the speed change amount with probability of the other vehicles in the preset space range based on the vehicle positions in real time; The monitoring parameter adjustment module 14 is configured to determine the monitoring parameter of the vehicle-mounted radar based on the speed change amount with probability.

[0047] Further, the risk value determination module 11 comprises: The data stream acquisition unit is configured to acquire the data stream with the vehicle label, the type label and the time label from the vehicle based on the vehicle data acquisition request broadcasted by the Bluetooth terminal. The data stream regularizing unit is configured to regularize the data stream based on the type label and the time label to obtain a data matrix with a time range. The data fluctuation analysis unit is configured to calculate the data fluctuation degree of the data corresponding to any type in the data matrix, and determine the vehicle risk value by counting the data fluctuation degree of each type. The proportion determination and application unit is configured to determine the data acquisition proportion of each type label according to the data fluctuation degree of each type and the empty data amount of each type, and insert the data acquisition proportion into the vehicle data acquisition request. In the initial vehicle data acquisition request, the data acquisition proportion of each type label is the same, and the data acquisition proportion is used to represent the proportion of the data acquisition of a type label in the unit time acquisition amount.

[0048] Specifically, the speed analysis module 12 comprises: The frequency determination unit is configured to determine the position acquisition frequency after the generation time of the vehicle risk value based on the vehicle risk value. The position acquisition unit is configured to acquire the position with the time label based on the position acquisition frequency. The change amount determination unit is configured to determine the motion speed based on the position with the time label, and synchronously determine the change amount of the motion speed within a preset time span. The hierarchical evaluation unit is configured to grade the change amount based on a preset change amount gradient, determine the frequency of each level of change amount within a preset time period, and determine the probability of each level of change amount based on the frequency. The change amount statistics unit is configured to count each level of change amount and its probability as the speed change amount with probability.

[0049] Further, the information sharing module 13 comprises: The permission acquisition unit is configured to receive the early warning request sent by the vehicle for any vehicle, and send the information sharing permission acquisition request to the vehicle. The permission library construction unit is configured to receive the information sharing permission granted by the vehicle, and construct the permission library. The permission library application unit is configured to acquire the positions of the vehicles in the permission library based on the acquired sharing permission. The shared execution unit is used to share the position and the speed change amount containing the probability of the two vehicles when the distance between the two vehicles is less than a preset distance threshold.

[0050] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the present application specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A vehicle running panoramic collision warning method characterized by, The method comprises: acquiring vehicle data based on a preset permission timing, determining a vehicle risk value according to the vehicle data; wherein the vehicle risk value is used to represent the stability of the vehicle operating state; determining a position acquisition frequency according to the vehicle risk value, acquiring a position containing a time label based on the position acquisition frequency, and determining a speed change amount containing a probability according to the position containing the time label; for any vehicle, receiving a warning request sent by the vehicle, sending an information sharing permission acquisition request to the vehicle, acquiring the position of the vehicle based on the acquired sharing permission, and acquiring the speed change amount containing the probability of other vehicles in a preset space range based on the position of the vehicle in real time; determining the monitoring parameters of the vehicle-mounted radar based on the speed change amount containing the probability.

2. The vehicle travel panoramic collision warning method according to claim 1, characterized by, The step of acquiring vehicle data based on a preset permission timing and determining a vehicle risk value according to the vehicle data comprises: broadcasting a vehicle data acquisition request to the vehicle based on a Bluetooth terminal, and receiving a data stream containing a vehicle label, a type label and a time label fed back by the vehicle; regularizing the data stream based on the type label and the time label to obtain a data matrix containing a time range; calculating the data fluctuation degree of any type corresponding data in the data matrix, counting the data fluctuation degree of each type, and determining the vehicle risk value; determining the data acquisition proportion of each type label according to the data fluctuation degree of each type and the empty data amount, and inserting the vehicle data acquisition request; wherein the data acquisition proportion of each type label in the initial vehicle data acquisition request is the same, and the data acquisition proportion is used to represent the data acquisition proportion of a certain type label in the unit time acquisition amount.

3. The vehicle travel panoramic collision warning method according to claim 2, characterized by, The step of calculating the data fluctuation degree of any type corresponding data in the data matrix, counting the data fluctuation degree of each type, and determining the vehicle risk value comprises: normalizing any type corresponding data in the data matrix to obtain normalized values; taking the time label as the horizontal coordinate and the normalized value as the vertical coordinate to construct coordinate points, and synchronously fitting the data curve and its data function; periodically identifying and peak identifying the data function, and determining the data fluctuation degree according to the periodic identification result and the peak identification result; accumulating the data fluctuation degree of each type based on the exponential function to obtain the vehicle risk value; The step of determining the data acquisition proportion of each type label according to the data fluctuation degree of each type and the empty data amount comprises: determining the data acquisition score according to the direct proportion of the data fluctuation degree and the direct proportion of the empty data amount, normalizing the data acquisition score of all types, and determining the data acquisition proportion.

4. The vehicle travel panoramic collision warning method according to claim 1, characterized by, The step of determining a position acquisition frequency according to the vehicle risk value, acquiring a position containing a time label based on the position acquisition frequency, and determining a speed change amount containing a probability according to the position containing the time label comprises: acquiring the generation time of the vehicle risk value, determining the position acquisition frequency according to the vehicle risk value as the position acquisition frequency after the generation time; acquiring the position containing the time label based on the position acquisition frequency; determining the motion speed according to the position containing the time label, and synchronously determining the change amount of the motion speed within a preset time span; The change amount is graded based on a preset change amount gradient, the frequency of each level of change amount in a preset time period is determined, and the probability of each level of change amount is determined based on the frequency; The change amount and its probability are counted as the speed change amount containing probability.

5. The vehicle travel panoramic collision warning method according to claim 1, characterized by, The steps of receiving a warning request sent by a vehicle, sending a request for information sharing permission to the vehicle, obtaining the position of the vehicle based on the obtained sharing permission, and obtaining the speed change amount containing probability of other vehicles in a preset spatial range based on the position of the vehicle for any vehicle include: Receiving a warning request sent by a vehicle, sending a request for information sharing permission to the vehicle; Receiving the information sharing permission granted by the vehicle, and constructing a permission library; Obtaining the positions of vehicles in the permission library based on the obtained sharing permission; When the distance between any two vehicles is less than a preset distance threshold, the positions and speed change amounts containing probability of both parties are shared.

6. The vehicle travel panoramic collision warning method according to claim 4, characterized by, The steps of determining the monitoring parameters of the vehicle-mounted radar based on the speed change amount containing probability include: For any vehicle, querying the positions of other vehicles and their speed change amounts containing probability received by the vehicle; Determining the vehicle smoothness based on the speed change amount containing probability; Determining the monitoring frequency of the vehicle-mounted radar pointing to the position of the vehicle based on the inverse of the vehicle smoothness; Wherein, for a vehicle in a preset spatial range for which the speed change amount containing probability has not been obtained, the vehicle smoothness of the vehicle is set to a default minimum value.

7. A vehicle travel panoramic collision warning system characterized by comprising: The system includes: A risk value determination module for obtaining vehicle data based on a preset permission timing, and determining a vehicle risk value based on the vehicle data; wherein the vehicle risk value is used to represent the stability of the vehicle operating state; A speed analysis module for determining a position acquisition frequency based on the vehicle risk value, obtaining a position containing a time tag based on the position acquisition frequency, and determining a speed change amount containing probability based on the position containing a time tag; An information sharing module for receiving a warning request sent by a vehicle, sending a request for information sharing permission to the vehicle, obtaining the position of the vehicle based on the obtained sharing permission, and obtaining the speed change amount containing probability of other vehicles in a preset spatial range based on the position of the vehicle for any vehicle; A monitoring parameter adjustment module for determining the monitoring parameters of the vehicle-mounted radar based on the speed change amount containing probability.

8. The vehicle travel panoramic collision warning system according to claim 7, characterized by, The risk value determination module includes: A data stream acquisition unit for broadcasting a vehicle data acquisition request to vehicles based on a Bluetooth terminal, and receiving a data stream containing a vehicle tag, a type tag, and a time tag fed back by the vehicle; A data regularization unit for regularizing the data stream based on the type tag and the time tag to obtain a data matrix containing a time range; A data fluctuation analysis unit for calculating the data fluctuation degree of any type of data in the data matrix, counting the data fluctuation degree of each type, and determining the vehicle risk value; A proportion determination and application unit for determining the data acquisition proportion of each type of tag based on the data fluctuation degree of each type and the empty data amount, and inserting the vehicle data acquisition request; In the initial vehicle data acquisition request, the data acquisition proportion of each type of label is the same, and the data acquisition proportion is used to represent the proportion of data acquisition of a type of label in the unit time acquisition amount.

9. The vehicle travel panoramic collision warning system according to claim 7, characterized by, The speed analysis module comprises: A frequency determination unit is configured to acquire a generation time of a vehicle risk value, determine a position acquisition frequency according to the vehicle risk value, and determine the position acquisition frequency after the generation time. A position acquisition unit is configured to acquire a position containing a time label based on the position acquisition frequency. A change amount determination unit is configured to determine a motion speed according to the position containing the time label, and synchronously determine a change amount of the motion speed within a preset time span. A hierarchical evaluation unit is configured to grade the change amount based on a preset change amount gradient, determine a frequency of each level of change amount within a preset time period, and determine a probability of each level of change amount according to the frequency. A change amount statistical unit is configured to statistically count each level of change amount and the probability thereof as a speed change amount containing the probability.

10. The vehicle travel panoramic collision warning system according to claim 7, characterized by, The information sharing module comprises: An authority acquisition unit is configured to receive a warning request sent by a vehicle for any vehicle, and send an information sharing authority acquisition request to the vehicle. An authority library construction unit is configured to receive information sharing authority granted by the vehicle, and construct an authority library. An authority library application unit is configured to acquire the positions of each vehicle in the authority library based on the acquired sharing authority. A sharing execution unit is configured to share the positions and the speed change amount containing the probability of both parties when the distance between any two vehicles is less than a preset distance threshold.

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