Safety early warning method, device and equipment based on Internet of Vehicles, storage medium and product

Abstract

The invention discloses a safety early warning method, device and equipment based on the Internet of Vehicles, a storage medium and a product, and the method comprises the steps: detecting obstacles around a vehicle in real time, and obtaining first detection data; determining a target vehicle according to the signal transmission duration of the vehicle and the surrounding vehicles, and receiving second detection data sent by the target vehicle; wherein the second detection data is data of real-time detection of surrounding obstacles by the target vehicle; calculating a minimum safety distance according to the first detection data and the second detection data; if the vehicle is within the minimum safe distance, an alarm signal is sent out. According to the invention, through selective networking with surrounding vehicles, the semaphore of vehicle data transmission is reduced, and real-time exchange of data among a proper number of surrounding vehicles is realized so as to obtain data beyond the visible range of the vehicle, thereby ensuring that the vehicle can carry out safety early warning in time under the conditions of poor visual field conditions and limited visual field, and improving the safety of the vehicle. And additional equipment does not need to be installed, and the cost is low.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a safety warning method, device, equipment, storage medium, and product based on the Internet of Vehicles. Background Technology

[0002] Current vehicle safety warning methods fall into two categories. One involves a single vehicle equipped with active safety features: a monocular camera and millimeter-wave radar mounted in front of the vehicle identify and assess suddenly appearing obstacles, then issue an alarm or initiate emergency braking based on the assessment results. Because it's an independent assessment by the vehicle, it can only make a judgment when an obstacle is within its detection range. The other method involves vehicle-to-infrastructure (V2I) cooperation: active safety features are mounted on the vehicle, and cameras are mounted on the roadside. The vehicle-side and roadside devices interact, collaboratively assessing potential hazards, and then an edge server makes the final decision, enabling active safety warnings and other functions.

[0003] However, independent obstacle detection by a single vehicle has limitations in its field of vision. For obstacles that suddenly appear at close range, by the time the vehicle detects them and issues a warning or brakes, it may be too late to react or the braking distance may be insufficient. Therefore, existing independent obstacle detection technology for single vehicles is only suitable for active safety protection in situations with a wide field of vision, good visibility, and low vehicle speeds. Achieving safety warnings through vehicle-to-infrastructure (V2I) cooperation requires the installation of corresponding terminals on both the vehicle side and the roadside. These terminals exchange data in real time, and the decision-making is performed by an edge cloud server. This approach places higher demands on the latency of data transmission over the public network and the installation location of the equipment, and requires a large number of devices, resulting in higher costs. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a safety warning method, device, equipment, storage medium and product based on vehicle network. By selectively exchanging data with surrounding vehicles, the amount of signal transmitted by vehicle data is reduced, and a suitable number of surrounding vehicles exchange data in real time to obtain data outside the vehicle's field of vision. This ensures that the vehicle can provide timely safety warnings even when the visibility conditions are poor or limited, and no additional equipment needs to be installed, resulting in low cost.

[0005] To achieve the above objectives, embodiments of the present invention provide a safety early warning method based on the Internet of Vehicles, including:

[0006] Real-time detection of obstacles around the vehicle and acquisition of initial detection data;

[0007] The target vehicle is determined based on the signal transmission duration between this vehicle and surrounding vehicles;

[0008] Receive second detection data sent by the target vehicle; wherein, the second detection data is the real-time detection data of the target vehicle of surrounding obstacles;

[0009] Calculate the minimum safe distance based on the first detection data and the second detection data;

[0010] If the vehicle is within the minimum safe distance, an alarm signal will be issued.

[0011] As an improvement to the above solution, determining the target vehicle based on the signal transmission duration between the vehicle and surrounding vehicles includes:

[0012] Calculate the second distance between the vehicle and surrounding vehicles based on the signal transmission duration between the vehicle and surrounding vehicles;

[0013] If the second distance is less than the preset safe distance, then the corresponding surrounding vehicles are taken as the target vehicles; wherein the preset safe distance is calculated based on the first detection data.

[0014] As an improvement to the above scheme, the formula for calculating the second distance is:

[0015] DistanceBT=(Tb-Ts)*Vn+(Va–Vb)*(Tr-Tb);

[0016] In the formula, DistanceBT represents the second distance; Ts represents the signal transmission time; Tb represents the response time; Tr represents the response signal reception time; Vn represents the signal transmission speed; Va represents the vehicle speed; and Vb represents the speed of surrounding vehicles.

[0017] As an improvement to the above solution, the step of calculating the minimum safe distance based on the first detection data and the second detection data includes:

[0018] Calculate the first safe distance based on the distance and moving speed of the obstacle in the first detection data;

[0019] Calculate the second safe distance based on the distance to the obstacle and its moving speed in the second detection data;

[0020] The smaller of the first and second safety distances is selected as the minimum safety distance.

[0021] As an improvement to the above scheme, the formulas for calculating the first safety distance and the second safety distance are as follows:

[0022] DistanceM=(Va / 3.6)*(L / Vz)+D;

[0023] In the formula, DistanceM represents the first or second safe distance; Va represents the vehicle speed; Vz represents the speed of the obstacle; L represents the distance from the obstacle to the outer edge of the vehicle on the roadside; and D represents the safe threshold between the vehicle and the obstacle.

[0024] As an improvement to the above scheme, the preset safety distance = first safety distance + error value.

[0025] This invention also provides a safety warning device based on the Internet of Vehicles, comprising:

[0026] The real-time detection module is used to detect obstacles around the vehicle in real time and acquire initial detection data.

[0027] The vehicle screening module is used to determine the target vehicle based on the signal transmission duration between the vehicle and surrounding vehicles.

[0028] The data receiving module is used to receive second detection data sent by the target vehicle; wherein, the second detection data is the real-time detection data of the target vehicle of surrounding obstacles;

[0029] The distance calculation module is used to calculate the minimum safe distance based on the first detection data and the second detection data;

[0030] The safety warning module is used to issue an alarm signal if the vehicle is within the minimum safe distance.

[0031] This invention also provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the vehicle-to-everything (V2X) based safety warning method described above.

[0032] This invention also provides a computer-readable storage medium, which includes a stored computer program, wherein the computer program, when running, controls the device where the computer-readable storage medium is located to execute any of the above-described vehicle-to-everything (V2X)-based safety warning methods.

[0033] This invention also provides a computer program product, which includes a computer program or computer instructions. When the computer program or computer instructions are executed by a processor, they implement the vehicle-to-everything (V2X) based safety warning method described above.

[0034] Compared to existing technologies, the beneficial effects of the vehicle-to-everything (V2X) safety warning method, device, equipment, storage medium, and product provided by this invention are as follows: By detecting obstacles around the vehicle in real time and acquiring first detection data; determining the target vehicle based on the signal transmission duration between the vehicle and surrounding vehicles; receiving second detection data sent by the target vehicle; wherein the second detection data is the target vehicle's real-time detection data of surrounding obstacles; calculating the minimum safe distance based on the first and second detection data; and issuing an alarm signal if the vehicle is within the minimum safe distance. This invention reduces the amount of signal transmitted by vehicles through selective data exchange with surrounding vehicles, achieving real-time data exchange between a suitable number of surrounding vehicles to obtain data outside the vehicle's visible range. This ensures timely safety warnings even in situations with poor or limited visibility, without requiring additional equipment and at a lower cost. Attached Figure Description

[0035] Figure 1 This is a flowchart illustrating a preferred embodiment of a vehicle-to-everything (V2X)-based safety early warning method provided by the present invention.

[0036] Figure 2 This is a schematic diagram of the processing flow of each module in a vehicle-to-everything (V2X)-based safety early warning method provided by the present invention.

[0037] Figure 3 This is a schematic diagram of a preferred embodiment of a vehicle-to-everything (V2X) safety warning device provided by the present invention;

[0038] Figure 4 This is a schematic diagram of a preferred embodiment of a terminal device provided by the present invention. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] Please see Figure 1 , Figure 1 This is a flowchart illustrating a preferred embodiment of a vehicle-to-everything (V2X)-based safety early warning method provided by the present invention. The V2X-based safety early warning method includes:

[0041] S1, detects obstacles around the vehicle in real time and acquires initial detection data;

[0042] S2, determine the target vehicle based on the signal transmission duration between the vehicle and surrounding vehicles;

[0043] S3, receive the second detection data sent by the target vehicle; wherein, the second detection data is the real-time detection data of the target vehicle of surrounding obstacles;

[0044] S4, Calculate the minimum safe distance based on the first detection data and the second detection data;

[0045] S5, if the vehicle is within the minimum safe distance, an alarm signal is issued.

[0046] Specifically, this invention provides a vehicle-to-everything (V2X)-based safety warning method applied to an in-vehicle terminal. This in-vehicle terminal includes five functional modules: a real-time video module, a data analysis module, an alarm and vehicle control module, a data receiving module, and a data sending module. Please refer to [link / reference]. Figure 2 , Figure 2 This is a schematic diagram of the processing flow of each module in a vehicle-to-everything (V2X) safety warning method provided by this invention. The real-time video module includes a monocular camera and millimeter-wave radar. This module is mainly used to detect the distance, size, and shape of obstacles appearing in front of the vehicle, and then transmits the scanned data to the data analysis module. The data analysis module's main function is to receive data from the real-time video module and the data receiving module, analyze and judge the data, calculate whether the vehicle is likely to collide, and the minimum safe distance for a collision. If a collision is possible, the calculation result is sent to the alarm and vehicle control module, and then the minimum safe distance and the data from the real-time video module are sent to the data sending module. The alarm and vehicle control module receives data from the data analysis module. Based on the calculation and analysis results, the alarm module issues an alarm prompt to the driver. If the driver does not react accordingly (deceleration, braking, etc.), the vehicle control module performs active safety operations such as emergency braking. The data receiving module passively establishes a local area network connection with surrounding vehicles and receives data sent by surrounding vehicles or roadside equipment, then transmits it to the data analysis module for analysis and judgment. Data transmission module: mainly responsible for actively connecting with surrounding vehicles and receiving data from the data analysis module. It connects with vehicles within the surrounding signal range, calculates the distance between itself and other vehicles based on the signal transmission time, and shares vehicle dynamic data in real time when the distance is less than the minimum safe distance.

[0047] Furthermore, in this embodiment of the invention, the real-time video module detects obstacles around the vehicle in real time using a camera and radar, and acquires first detection data. The data transmission module determines the target vehicle based on the signal transmission time between the vehicle and surrounding vehicles. The data receiving module receives second detection data sent by the target vehicle to obtain data outside the vehicle's line of sight. The second detection data is the real-time detection data of the target vehicle on surrounding obstacles. The data analysis module calculates the minimum safe distance based on the first and second detection data. If the vehicle is within the minimum safe distance, the alarm module first issues an alarm signal to alert the driver of a dangerous situation requiring deceleration or immediate braking. If the driver does not react accordingly (deceleration, braking, etc.) after the alarm signal is issued, the vehicle control module is notified to take over the vehicle. Upon receiving the data, the vehicle control module immediately performs active safety operations such as deceleration or emergency braking according to the transmitted operational requirements. Ultimately, the vehicle will perform proactive safety operations before a danger occurs, thereby achieving an active safety effect beyond visual range.

[0048] It should be noted that the embodiments of the present invention are centered on the vehicle and interconnected with vehicles within the surrounding signal range. By calculating the minimum safe distance at which danger may occur, data is exchanged with vehicles within the surrounding safe distance, and the vehicle's forward data is shared with the surrounding vehicles. This enables the vehicle to obtain potential danger information in advance when there is no visibility, thereby achieving the effect of early warning and braking.

[0049] This invention only requires the installation of a corresponding vehicle-mounted terminal on the side of the vehicle, eliminating the need for roadside equipment and remote system access. It enables data exchange between vehicles, allowing them to act as each other's networking devices and assist each other in providing hazard warnings. Applicable to various vehicles, it can share forward video information and warning calculation results with other surrounding vehicles, and receive such information from other vehicles. Upon receiving relevant data, the vehicle-mounted terminal performs secondary analysis and calculations to determine the presence of potential hazards. It then initiates active safety operations such as alarms, assisted braking, and emergency braking for the driver. This effectively prevents and resolves common traffic accidents caused by poor visibility and blind spots, such as large vehicles obstructing the driver's view, vehicles suddenly changing lanes to avoid obstacles, and "ghost pedestrians" (vehicles suddenly appearing from behind obstacles). This invention can be widely used in vehicle warning, active safety, and other related scenarios, reducing risks associated with vehicle-to-vehicle, vehicle-to-pedestrian, and traffic violations, thereby improving urban traffic safety.

[0050] In another preferred embodiment, step S2, determining the target vehicle based on the signal transmission duration between the vehicle and surrounding vehicles, includes:

[0051] S201, calculate the second distance between the vehicle and the surrounding vehicles based on the signal transmission duration between the vehicle and the surrounding vehicles;

[0052] S202, if the second distance is less than the preset safe distance, then the corresponding surrounding vehicles are taken as the target vehicles; wherein, the preset safe distance is calculated based on the first detection data.

[0053] In yet another preferred embodiment, the formula for calculating the second distance is:

[0054] DistanceBT=(Tb-Ts)*Vn+(Va–Vb)*(Tr-Tb);

[0055] In the formula, DistanceBT represents the second distance; Ts represents the signal transmission time; Tb represents the response time; Tr represents the response signal reception time; Vn represents the signal transmission speed; Va represents the vehicle speed; and Vb represents the speed of surrounding vehicles.

[0056] Specifically, in this embodiment of the invention, vehicle A will form a wireless local area network (such as VANET) centered on the vehicle. The modules used for networking in this embodiment of the invention are a data transmission module and a data reception module, and the networking process is as follows:

[0057] ① Vehicle A's data transmission module sends connection requests to vehicles within the surrounding signal coverage area;

[0058] ②After receiving the connection request, the data receiving module of vehicle B responds to the request;

[0059] ③ Once vehicle A receives the response, the self-organizing network between the two vehicles is complete;

[0060] ④ Vehicle A sends a heartbeat signal (transmission time is Ts). The connected vehicle (taking vehicle B as an example) responds immediately upon receiving the heartbeat signal (response time is Tb). The response message body transmits Tb and vehicle B's speed Vb back to vehicle A. After receiving the response signal (reception time is Tr), vehicle A calculates the distance between vehicle A and vehicle B using the recorded transmission time Ts, response time Tb, reception time Tr, vehicle A's speed Va, vehicle B's speed Vb, and signal transmission speed Vn, according to the calculation formula.

[0061] DistanceBT=(Tb-Ts)*Vn+(Va–Vb)*(Tr-Tb);

[0062] ⑤ Based on the first safe distance (DistanceM) calculated by the data analysis module according to the first detection data of the vehicle on the surrounding obstacles, when it is found that the distance of DistanceBT is less than the preset safe distance, that is, the first safe distance (DistanceM) + error value (DistanceMIS), the corresponding vehicle B is determined to be the target vehicle. At this time, vehicle A sends a real-time data transmission request to vehicle B. When vehicle B receives the request, it begins to transmit the relevant data of the real-time video module to vehicle A through the data transmission module.

[0063] This invention, in its embodiments, sets a corresponding preset safety distance threshold based on a first safety distance. Without compromising safety, it reduces the range of real-time data transmission. Devices within the signal range only perform network connections and heartbeat packet transmissions, thereby significantly reducing the amount of signal transmitted by vehicles, lowering the pressure on device data transmission, reducing the overhead of device computation and analysis, and consequently reducing the performance requirements of the devices. This ensures optimal early warning effects with minimal data transmission overhead. Furthermore, this invention only requires local connections between vehicles for data sharing, resulting in lower latency within the local area network and more timely alarms.

[0064] In yet another preferred embodiment, step S4, calculating the minimum safe distance based on the first detection data and the second detection data, includes:

[0065] S401, calculate the first safe distance based on the distance and moving speed of the obstacle in the first detection data;

[0066] S402, calculate the second safe distance based on the distance and moving speed of the obstacle in the second detection data;

[0067] S403, select the smaller of the first safety distance and the second safety distance as the minimum safety distance.

[0068] In yet another preferred embodiment, the formulas for calculating the first safety distance and the second safety distance are as follows:

[0069] DistanceM=(Va / 3.6)*(L / Vz)+D;

[0070] In the formula, DistanceM represents the first or second safe distance; Va represents the vehicle speed; Vz represents the speed of the obstacle; L represents the distance from the obstacle to the outer edge of the vehicle on the roadside; and D represents the safe threshold between the vehicle and the obstacle.

[0071] Specifically, in this embodiment of the invention, after the data analysis module receives the first detection data of the vehicle on surrounding obstacles and the second detection data from surrounding vehicles, it calculates a first safe distance based on the distance and speed of the obstacle in the first detection data; and calculates a second safe distance based on the distance and speed of the obstacle in the second detection data. Then, the smaller of the first and second safe distances is selected as the minimum safe distance. When calculating the first and second safe distances, for a moving vehicle A, assuming a driving speed of Va (km / h), an obstacle speed of Vz (m / s), a distance of L (m) from the obstacle to the outside of the roadside vehicle, and a safety threshold D (m) between the vehicle and the obstacle. It should be noted that the safety threshold D between the vehicle and the obstacle is a preset distance constant used to ensure a safe distance between the vehicle and the obstacle. For example, the time required for the obstacle to move from the roadside to the outside of the roadside vehicle is calculated as follows:

[0072] t(s) = L / Vz;

[0073] Calculate the distance traveled by vehicle A from the time the obstacle appears until it reaches the outer edge of the vehicle:

[0074] D1(m)=(Va / 3.6)*(L / Vz);

[0075] Calculate the safe distance for vehicle A:

[0076] DistanceM(m)=D1+D=(Va / 3.6)*(L / Vz)+D.

[0077] As a preferred embodiment, the preset safety distance = first safety distance + error value.

[0078] Specifically, in this embodiment of the invention, after calculating the first safe distance, the preset safe distance for filtering surrounding vehicles exchanging data with this vehicle can be determined as the first safe distance + an error value, i.e., D2max = DistanceM + DistanceMIS. When it is found that the distance DistanceBT is less than the first safe distance (DistanceM) + the error value (DistanceMIS), vehicle A sends a real-time data transmission request to vehicle B. When vehicle B receives the request, it begins to transmit relevant data from the real-time video module to vehicle A through the data transmission module. Therefore, the interconnected vehicle range of vehicle A is the range with a radius of D2max centered on A.

[0079] Once vehicle A and vehicle B begin real-time data transmission, vehicle B's data sending module transmits data from its real-time video module to vehicle A's data receiving module. Upon receiving the data, vehicle A's receiving module forwards it to its data analysis module for analysis and judgment. When the analysis determines a dangerous situation, it transmits the data to the alarm and vehicle control modules. Upon receiving the data, the alarm module first issues an alarm signal, alerting the driver to a dangerous situation requiring deceleration or immediate braking. If the driver fails to react appropriately (decelerate, brake, etc.), the vehicle control module is notified to take over the vehicle. Upon receiving the data, the vehicle control module immediately performs active safety maneuvers such as deceleration or emergency braking according to the transmitted instructions. Ultimately, the vehicle performs proactive safety maneuvers before a hazard occurs, achieving a beyond-line-of-sight active safety effect.

[0080] This invention employs a wireless local area network (WLAN) scheme where vehicles connect with devices within a certain range to acquire data beyond the vehicle's line of sight. This data is then analyzed and assessed to anticipate potential hazards, thereby assisting drivers in avoiding traffic accidents caused by limited visibility. This invention utilizes selective networking within a specific area between in-vehicle devices, eliminating the constraints of cloud services and enabling real-time data exchange between a suitable number of surrounding vehicles. By sharing data with surrounding vehicles in real time, it assesses hazards beyond the driver's line of sight, ensuring that vehicles can anticipate dangerous situations and proactively issue warnings and initiate emergency braking even in conditions of poor or limited visibility, thus achieving beyond-line-of-sight auxiliary warning functionality.

[0081] Accordingly, the present invention also provides a vehicle-to-everything (V2X)-based safety warning device, which can implement all the processes of the vehicle-to-everything (V2X)-based safety warning method in the above embodiments.

[0082] Please see Figure 3 , Figure 3 This is a schematic diagram of a preferred embodiment of a vehicle-to-everything (V2X) based safety warning device provided by the present invention. The V2X based safety warning device includes:

[0083] The real-time detection module 301 is used to detect obstacles around the vehicle in real time and acquire the first detection data;

[0084] The vehicle screening module 302 is used to determine the target vehicle based on the signal transmission duration between the vehicle and surrounding vehicles.

[0085] The data receiving module 303 is used to receive second detection data sent by the target vehicle; wherein, the second detection data is the real-time detection data of the target vehicle of surrounding obstacles;

[0086] The distance calculation module 304 is used to calculate the minimum safe distance based on the first detection data and the second detection data;

[0087] The safety warning module 305 is used to issue an alarm signal if the vehicle is within the minimum safe distance.

[0088] Preferably, the vehicle screening module 302 is specifically used for:

[0089] Calculate the second distance between the vehicle and surrounding vehicles based on the signal transmission duration between the vehicle and surrounding vehicles;

[0090] If the second distance is less than the preset safe distance, then the corresponding surrounding vehicles are taken as the target vehicles; wherein the preset safe distance is calculated based on the first detection data.

[0091] Preferably, the formula for calculating the second distance is:

[0092] DistanceBT=(Tb-Ts)*Vn+(Va–Vb)*(Tr-Tb);

[0093] In the formula, DistanceBT represents the second distance; Ts represents the signal transmission time; Tb represents the response time; Tr represents the response signal reception time; Vn represents the signal transmission speed; Va represents the vehicle speed; and Vb represents the speed of surrounding vehicles.

[0094] Preferably, the distance calculation module 304 is specifically used for:

[0095] Calculate the first safe distance based on the distance and moving speed of the obstacle in the first detection data;

[0096] Calculate the second safe distance based on the distance to the obstacle and its moving speed in the second detection data;

[0097] The smaller of the first and second safety distances is selected as the minimum safety distance.

[0098] Preferably, the formulas for calculating the first safety distance and the second safety distance are as follows:

[0099] DistanceM=(Va / 3.6)*(L / Vz)+D;

[0100] In the formula, DistanceM represents the first or second safe distance; Va represents the vehicle speed; Vz represents the speed of the obstacle; L represents the distance from the obstacle to the outer edge of the vehicle on the roadside; and D represents the safe threshold between the vehicle and the obstacle.

[0101] Preferably, the preset safety distance = first safety distance + error value.

[0102] In specific implementation, the working principle, control process and technical effects of the vehicle-to-everything (V2X)-based safety warning device provided in this embodiment of the invention are the same as those of the vehicle-to-everything (V2X)-based safety warning method in the above embodiments, and will not be repeated here.

[0103] Please see Figure 4 , Figure 4 This is a schematic diagram of a preferred embodiment of a terminal device provided by the present invention. The terminal device includes a processor 401, a memory 402, and a computer program stored in the memory 402 and configured to be executed by the processor 401. When the processor 401 executes the computer program, it implements the vehicle-to-everything (V2X) based safety warning method described in any of the above embodiments.

[0104] Preferably, the computer program can be divided into one or more modules / units (such as computer program 1, computer program 2, ...), and the one or more modules / units are stored in the memory 402 and executed by the processor 401 to complete the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program in the terminal device.

[0105] The processor 401 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or the processor 401 may be any conventional processor. The processor 401 is the control center of the terminal device, connecting various parts of the terminal device through various interfaces and lines.

[0106] The memory 402 mainly includes a program storage area and a data storage area. The program storage area can store the operating system, applications required for at least one function, etc., while the data storage area can store related data, etc. Furthermore, the memory 402 can be a high-speed random access memory, or a non-volatile memory, such as a plug-in hard disk, a smart media card (SMC), a secure digital card (SD), and a flash card, or it can be other volatile solid-state storage devices.

[0107] It should be noted that the aforementioned terminal devices may include, but are not limited to, processors and memory, as will be understood by those skilled in the art. Figure 4 The structural diagram is merely an example of the terminal device described above and does not constitute a limitation on the terminal device described above. It may include more or fewer components than shown in the diagram, or combine certain components, or use different components.

[0108] This invention also provides a computer-readable storage medium, which includes a stored computer program, wherein the computer program, when running, controls the device where the computer-readable storage medium is located to execute the vehicle-to-everything (V2X)-based safety warning method described in any of the above embodiments.

[0109] This invention also provides a computer program product, which includes a computer program or computer instructions. When the computer program or computer instructions are executed by a processor, they implement the vehicle-to-everything (V2X)-based safety warning method described in any of the above embodiments.

[0110] This invention provides a vehicle-to-everything (V2X) safety warning method, device, equipment, storage medium, and product. The method involves real-time detection of obstacles around the vehicle and acquisition of first detection data; determination of a target vehicle based on the signal transmission duration between the vehicle and surrounding vehicles; receiving second detection data from the target vehicle; wherein the second detection data is the target vehicle's real-time detection data of surrounding obstacles; calculation of a minimum safe distance based on the first and second detection data; and issuing an alarm signal if the vehicle is within the minimum safe distance. This invention reduces the amount of signal transmitted by vehicles through selective data exchange with surrounding vehicles, enabling real-time exchange of data between a suitable number of surrounding vehicles to obtain data outside the vehicle's visible range. This ensures timely safety warnings even in conditions of poor or limited visibility, without requiring additional equipment and at a low cost.

[0111] It should be noted that the system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Furthermore, in the accompanying drawings of the system embodiments provided by this invention, the connection relationships between modules indicate that they have communication connections, which can be specifically implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement this without any creative effort.

[0112] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A safety early warning method based on vehicle-to-everything (V2X) communication, characterized in that, include: Real-time detection of obstacles around the vehicle and acquisition of initial detection data; The target vehicle is determined based on the signal transmission duration between this vehicle and surrounding vehicles; Receive second detection data sent by the target vehicle; wherein, the second detection data is the real-time detection data of the target vehicle of surrounding obstacles; Calculate the minimum safe distance based on the first detection data and the second detection data; If the vehicle is within the minimum safe distance, an alarm signal will be issued.

2. The safety early warning method based on vehicle networking as described in claim 1, characterized in that, The step of determining the target vehicle based on the signal transmission duration between the vehicle and surrounding vehicles includes: Calculate the second distance between the vehicle and surrounding vehicles based on the signal transmission duration between the vehicle and surrounding vehicles; If the second distance is less than the preset safe distance, then the corresponding surrounding vehicles are taken as the target vehicles; wherein the preset safe distance is calculated based on the first detection data.

3. The safety early warning method based on the Internet of Vehicles as described in claim 2, characterized in that, The formula for calculating the second distance is: DistanceBT=(Tb-Ts)*Vn+(Va–Vb)*(Tr-Tb); In the formula, DistanceBT represents the second distance; Ts represents the signal transmission time; Tb represents the response time; Tr represents the response signal reception time; Vn represents the signal transmission speed; Va represents the vehicle speed; and Vb represents the speed of surrounding vehicles.

4. The safety early warning method based on vehicle networking as described in claim 3, characterized in that, The step of calculating the minimum safe distance based on the first detection data and the second detection data includes: Calculate the first safe distance based on the distance and moving speed of the obstacle in the first detection data; Calculate the second safe distance based on the distance to the obstacle and its moving speed in the second detection data; The smaller of the first and second safety distances is selected as the minimum safety distance.

5. The vehicle-to-everything (V2X) safety early warning method as described in claim 4, characterized in that, The formulas for calculating the first safety distance and the second safety distance are as follows: DistanceM=(Va / 3.6)*(L / Vz)+D; In the formula, DistanceM represents the first or second safe distance; Va represents the vehicle speed; Vz represents the speed of the obstacle; L represents the distance from the obstacle to the outer edge of the vehicle on the roadside; and D represents the safe threshold between the vehicle and the obstacle.

6. The safety early warning method based on the Internet of Vehicles as described in claim 5, characterized in that, The preset safety distance = first safety distance + error value.

7. A safety early warning device based on the Internet of Vehicles, characterized in that, include: The real-time detection module is used to detect obstacles around the vehicle in real time and acquire initial detection data. The vehicle screening module is used to determine the target vehicle based on the signal transmission duration between the vehicle and surrounding vehicles. The data receiving module is used to receive second detection data sent by the target vehicle; wherein, the second detection data is the real-time detection data of the target vehicle of surrounding obstacles; The distance calculation module is used to calculate the minimum safe distance based on the first detection data and the second detection data; The safety warning module is used to issue an alarm signal if the vehicle is within the minimum safe distance.

8. A terminal device, characterized in that, The device includes a processor and a memory, wherein the memory stores a computer program and the computer program is configured to be executed by the processor, wherein the processor executes the computer program to implement the vehicle-to-everything (V2X) based safety warning method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein when the device containing the computer-readable storage medium executes the computer program, it implements the vehicle-to-everything (V2X)-based safety warning method as described in any one of claims 1 to 6.

10. A computer program product, characterized in that, The computer program product includes a computer program or computer instructions, which, when executed by a processor, implement the vehicle-to-everything (V2X)-based safety warning method as described in any one of claims 1 to 6.

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