Collision early warning method, system and equipment for road intersection and medium

Abstract

The invention relates to the technical field of road safety management, in particular to a road intersection collision early warning method, system and device and a medium, and the method comprises the steps: collecting the motion information of all traffic participants around a road intersection in real time through a millimeter wave radar disposed at the road intersection; based on the motion information, calculating the time for each traffic participant to enter the boundary of the road intersection and the time for each traffic participant to leave the boundary of the road intersection, and obtaining a predicted passing time interval for the traffic participant to pass through the road intersection; judging whether the predicted passing time intervals of the traffic participants from the intersection direction passing through the road intersection are overlapped or not, and if yes, judging that the collision risk exists between the corresponding traffic participants; collision early warning information is generated according to the situation that the collision risk exists, and the collision early warning information is displayed through a visual display device arranged on the road side of the road intersection. According to the invention, comprehensive and accurate early warning of the collision risk of the road intersection can be realized.

Description

Technical Field

[0001] This application relates to the field of road safety management technology, specifically to a collision warning method, system, device, and medium for road intersections. Background Technology

[0002] Road intersections, as crucial nodes in transportation networks, directly impact overall traffic efficiency and public safety. Intersections without traffic lights, lacking coordinated control, are high-risk areas for traffic accidents, particularly in urban alleyways and sections of national and provincial highways traversing towns. Obstacles such as roadside buildings and green belts can create blind spots, making it difficult for drivers and onboard sensors of intelligent vehicles to fully perceive surrounding traffic conditions, thus increasing the risk of collisions. With the development of intelligent transportation systems, improving the safety of road intersections, especially those without traffic lights, without affecting road traffic efficiency has become a key focus of the industry.

[0003] In existing technologies, some solutions improve safety by using collision warnings at road intersections. For example, roadside detection equipment (such as cameras or radar) is used to collect vehicle motion information, and dynamic speed guidance information is provided by calculating the distance and speed between the vehicle and the intersection to help drivers adjust their speed to avoid collisions; collision warnings are also implemented based on vehicle trajectory data collected by on-board sensors by judging the time overlap of vehicles in the conflict area, thereby improving the accuracy of the warnings.

[0004] However, existing methods for collision warning at road intersections still have certain shortcomings: when using speed-guided warning methods, the warning effect is limited because vehicle speed changes dynamically and drivers cannot follow the guidance in real time; when relying on vehicle-side sensors for data collection, the method cannot effectively obtain the movement information of obscured traffic participants when there are obstacles blocking the intersection, resulting in limited coverage of the warning system and easy to produce missed reports. Summary of the Invention

[0005] To address the technical problems of existing methods for collision warning at road intersections, such as blind spots and missed detections due to vehicle-side perception, and poor warning effects of roadside sensor-based guidance methods, this application provides a collision warning method, system, device, and medium for road intersections. By collecting real-time motion information of all traffic participants around the road intersection and calculating their complete passage time intervals, and further judging and warning of collision risks based on whether there is overlap, a more comprehensive and accurate warning of intersection collision risks is achieved.

[0006] In a first aspect, this application provides a collision warning method for road intersections, comprising the following steps: S1. Real-time collection of movement information of all traffic participants around the road intersection; S2. Based on motion information, calculate the estimated time for each traffic participant to enter the road intersection boundary and the estimated time for leaving the road intersection boundary, and obtain the estimated time interval for that traffic participant to pass through the road intersection; S3. Determine whether there is an overlap in the expected passage time intervals of traffic participants from intersecting directions through the road intersection. If there is, determine that there is a collision risk between the corresponding traffic participants. S4. Generate collision warning information for situations where there is a risk of collision, and display the collision warning information through visual display devices set up on the side of the road at road intersections.

[0007] It should be further explained that in step S1, the movement information of all traffic participants around the road intersection is collected in real time by a millimeter-wave radar set up at the road intersection.

[0008] It should be further noted that in step S1, the motion information of traffic participants includes projected length, position, direction of travel, instantaneous speed, and distance from the road intersection.

[0009] It should be further noted that in step S2, the estimated time for the k-th traffic participant to enter the road intersection boundary at time i is expressed as:

[0010] in, The estimated time for the kth traffic participant to enter the road intersection boundary at time i; Let be the acceleration of the k-th traffic participant at time i; Let be the instantaneous velocity of the k-th traffic participant at time i; Let be the distance between the k-th traffic participant at time i and the boundary of the road intersection they are expected to enter; The estimated time for the k-th traffic participant to leave the road intersection boundary at time i is expressed as:

[0011] in, For the kth traffic participant, estimate the time at which they will leave the road intersection boundary at time i. Let be the distance between the k-th traffic participant at time i and the boundary of the road intersection from which they are expected to leave; Let be the projected length of the kth traffic participant.

[0012] It should be further noted that the formula for calculating the acceleration of the k-th traffic participant at time i is:

[0013] in, Let be the acceleration of the k-th traffic participant at time i; Let be the instantaneous velocity of the k-th traffic participant at time i; Let be the instantaneous velocity of the k-th traffic participant at time (i-1); Specifies the duration of the time window.

[0014] It should be further noted that in step S4, the visual display device is an intelligent traffic sign that can display collision warning information.

[0015] It should be further noted that in step S4, the visual display device displays collision warning information during the time period when the expected passage time intervals of traffic participants from the intersecting directions overlap, and stops displaying collision warning information after the time period when the expected passage time intervals overlap.

[0016] It should be further noted that step S4 also includes: when the traffic participant with a collision risk is an intelligent connected vehicle, sending the collision warning information to that intelligent connected vehicle.

[0017] It should be further explained that sending collision warning information to intelligent connected vehicles specifically involves: By using roadside units (RSUs) installed on the side of the road at road intersections, collision warning information is continuously broadcast outward using V2I communication technology; The on-board unit (OBU) of intelligent connected vehicles receives broadcast collision warning information.

[0018] It should be further noted that the above-mentioned collision warning method is applicable to road intersections without traffic lights.

[0019] Secondly, this application provides a collision warning system for road intersections, used to implement the above-mentioned collision warning method, including: The information collection module is used to collect real-time movement information of all traffic participants around the road intersection; The estimated time interval calculation module is used to calculate the estimated time for each traffic participant to enter the road intersection boundary and the estimated time for leaving the road intersection boundary based on motion information, so as to obtain the estimated time interval for the traffic participant to pass through the road intersection. The collision risk assessment module is used to determine whether there is an overlap in the expected passage time intervals of traffic participants from intersecting directions through the road intersection. If there is, it is determined that there is a collision risk between the corresponding traffic participants. The collision warning information generation and display module is used to generate collision warning information for situations where there is a risk of collision, and to display the collision warning information through a visual display device set on the side of the road at the intersection.

[0020] Thirdly, this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described collision warning method.

[0021] Fourthly, this application provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described collision warning method.

[0022] As can be seen from the above technical solutions, this application has the following advantages: 1. This application can comprehensively cover traffic conditions in all directions by collecting the motion information of all traffic participants around the road intersection in real time, overcoming the limitation of the limited detection range of vehicle-mounted sensors under the obstruction of obstacles, and ensuring the integrity and reliability of the collection of motion information of traffic participants.

[0023] 2. This application calculates the time intervals at which each traffic participant is expected to enter and leave the road intersection boundary, and determines whether the time intervals of traffic participants from the intersecting directions overlap, thereby accurately identifying potential collision risks and improving the accuracy and timeliness of early warnings.

[0024] 3. This application generates collision warning information for situations where there is a risk of collision and displays it using visual display devices installed on the side of the road at road intersections. This can effectively remind all traffic participants, enhance the safety of traffic at intersections, and reduce the incidence of traffic accidents. Attached Figure Description

[0025] To more clearly illustrate the technical solution of this application, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a flowchart of a collision warning method for road intersections in one embodiment of this application.

[0027] Figure 2This is a schematic block diagram of a collision warning system at a road intersection in one embodiment of this application.

[0028] Figure 3 This is a schematic diagram of the hardware structure of an electronic device in one embodiment of this application. Detailed Implementation

[0029] To make the purpose, features, and advantages of this application more apparent and understandable, specific embodiments and accompanying drawings will be used to clearly and completely describe the technical solution protected by this application. Obviously, the embodiments described below are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0030] The collision warning method of this application will be described in detail below. Specific details such as particular system structures and technologies are presented for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application can also be implemented in other embodiments without these specific details.

[0031] In the collision warning method disclosed in this application, the term "comprising" indicates the presence of the described feature, integral, step, operation, element, and / or component, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or collections thereof. The terms "comprising," "including," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0032] To facilitate a clear description of the technical solutions of this application, the terms "first" and "second" are used to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that the terms "first" and "second" do not necessarily imply that they are different.

[0033] The terms "one embodiment" or "some embodiments" used in this application mean that one or more embodiments of this application include the specific features, structures, or characteristics described in that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this application do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized.

[0034] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0035] The collision warning method provided in this application embodiment is executed by a computer device, and correspondingly, the collision warning system at the road intersection runs in the computer device.

[0036] Figure 1 This is a flowchart of a collision warning method for a road intersection according to an embodiment of this application. Figure 1 The implementing entity can be a collision warning system. Depending on different requirements, the order of the steps in this flowchart can be changed, and some steps can be omitted.

[0037] like Figure 1 As shown, the collision warning method for this road intersection includes: Step S1: Collect real-time movement information of all traffic participants around the road intersection.

[0038] By collecting real-time movement information of all traffic participants around road intersections, the system can comprehensively acquire dynamic data of all vehicles and other traffic participants within the intersection area. This provides continuously updated input for subsequent calculations and risk assessments, ensuring that the system does not miss potential hazards due to missing information. This improves the completeness and timeliness of intersection monitoring, lays a reliable data foundation for collision warnings, and effectively enhances the coverage and response capabilities of road safety management.

[0039] In some specific embodiments, millimeter-wave radars installed at road intersections are used to collect real-time motion information of all traffic participants around the road intersection.

[0040] By using millimeter-wave radar installed at road intersections to collect real-time motion information of all traffic participants around the intersections, the stable detection and high-precision ranging and speed measurement characteristics of millimeter-wave radar under adverse weather conditions can be utilized to ensure that data collection is not affected by environmental factors, providing continuous and reliable input for collision warning and enhancing the applicability and robustness of the system in complex scenarios.

[0041] In some specific embodiments, the motion information of traffic participants includes projected length, position, direction of travel, instantaneous speed, and distance from road intersections.

[0042] By collecting motion information including projection length, position, direction of travel, instantaneous speed, and distance to road intersections, multi-dimensional parameters can be provided for calculating the expected passage time interval, comprehensively reflecting the dynamic characteristics and spatial relationships of traffic participants, avoiding prediction bias caused by insufficient data, and improving the comprehensiveness and accuracy of collision risk assessment.

[0043] Step S2: Based on motion information, calculate the estimated time for each traffic participant to enter the road intersection boundary and the estimated time for leaving the road intersection boundary, thus obtaining the estimated time interval for that traffic participant to pass through the road intersection.

[0044] By calculating the estimated entry and exit times of each traffic participant at the road intersection boundary based on motion information and obtaining the estimated passage time interval, the passage time window of each object within the intersection can be quantified. This provides an accurate time reference for conflict analysis between traffic flows in different directions, avoids errors caused by subjective estimation, makes collision risk assessment more scientific and objective, and improves the accuracy and reliability of the early warning system.

[0045] In some specific embodiments, the estimated time for the k-th traffic participant to enter the road intersection boundary at time i is expressed as:

[0046] in, The estimated time for the kth traffic participant to enter the road intersection boundary at time i; Let be the acceleration of the k-th traffic participant at time i; Let be the instantaneous velocity of the k-th traffic participant at time i; Let be the distance between the k-th traffic participant at time i and the boundary of the road intersection they are expected to enter; The estimated time for the k-th traffic participant to leave the road intersection boundary at time i is expressed as:

[0047] in, For the kth traffic participant, estimate the time at which they will leave the road intersection boundary at time i. Let be the distance between the k-th traffic participant at time i and the boundary of the road intersection from which they are expected to leave; Let be the projected length of the kth traffic participant.

[0048] By using kinematic formulas to calculate the predicted entry and exit times, we can comprehensively consider factors such as speed, acceleration, and distance to accurately deduce the time interval for traffic participants to pass through intersections. This ensures that the time predictions closely match the actual motion state, providing reliable data support for collision risk assessment and improving the timeliness and accuracy of early warnings.

[0049] In some specific embodiments, the acceleration of the k-th traffic participant at time i is calculated using the following formula:

[0050] in, Let be the acceleration of the k-th traffic participant at time i; Let be the instantaneous velocity of the k-th traffic participant at time i; Let be the instantaneous velocity of the k-th traffic participant at time (i-1); Specifies the duration of the time window.

[0051] By using specific acceleration calculation formulas to calculate acceleration based on instantaneous velocity changes, it is possible to dynamically capture the motion change trends of traffic participants, accurately quantify their acceleration or deceleration behavior, provide key dynamic parameters for the calculation of the expected passage time interval, ensure that the time prediction is based on a real physical model, and improve the scientificity and reliability of collision warning.

[0052] Step S3: Determine whether there is an overlap in the expected passage time intervals of traffic participants from the intersecting directions through the road intersection. If there is, it is determined that there is a collision risk between the corresponding traffic participants.

[0053] By determining whether there is an overlap in the expected passage time intervals of traffic participants from intersecting directions, collision risk can be assessed. This system can identify time-related conflict points, accurately locate possible collision combinations, avoid false alarms for risk-free situations, optimize the allocation of early warning resources, improve the efficiency and targeting of intersection safety management, and reduce unnecessary traffic disruptions.

[0054] Step S4: Generate collision warning information for situations where there is a risk of collision, and display the collision warning information through a visual display device set on the side of the road at the intersection.

[0055] By generating collision warning information for situations with collision risks and displaying it through visual display devices installed on the roadside at road intersections, timely and intuitive risk alerts can be provided to traffic participants, enhancing their situational awareness and guiding them to take safe behaviors such as slowing down or avoiding collisions. This effectively reduces the accident rate and improves the safety and smoothness of traffic at intersections.

[0056] In some specific embodiments, the visual display device is an intelligent traffic sign that can display collision warning information.

[0057] By using intelligent traffic signs as visual display devices to display collision warning information, their high visibility and dynamic display capabilities can quickly attract the attention of traffic participants and provide clear and easy-to-understand warning content, ensuring that the warning information is perceived and understood in a timely manner, thereby effectively guiding safe behavior and enhancing the immediacy and accessibility of the warning effect.

[0058] In some specific embodiments, the visual display device displays collision warning information during the period when the expected passage time intervals of traffic participants from intersecting directions overlap, and stops displaying collision warning information after the period when the expected passage time intervals overlap.

[0059] By displaying collision warning information only during the overlapping time periods of the expected passage and stopping the display after they end, it is possible to ensure that the warning output accurately matches the risk period, avoid unnecessary continuous interference, improve the targeting and energy efficiency of the warning, reduce information fatigue for traffic participants, and optimize the system's responsiveness and user experience.

[0060] In some specific embodiments, step S4 further includes: when the traffic participant at risk of collision is an intelligent connected vehicle, sending collision warning information to that intelligent connected vehicle.

[0061] By sending collision warning information directly to intelligent connected vehicles when there is a risk of collision, the vehicle communication system can be used to achieve rapid and targeted risk notification, enabling intelligent connected vehicles to receive the information in a timely manner and potentially trigger automatic avoidance measures. This improves the efficiency and effectiveness of warnings in intelligent transportation environments and enhances the initiative and interactivity of the overall system.

[0062] In some specific embodiments, sending collision warning information to the intelligent connected vehicle specifically involves: By using roadside units (RSUs) installed on the side of the road at road intersections, collision warning information is continuously broadcast outward using V2I communication technology; The on-board unit (OBU) of intelligent connected vehicles receives broadcast collision warning information.

[0063] By using Roadside Units (RSUs) and V2I communication technology to continuously broadcast collision warning information and receive it from Onboard Units (OBUs), a low-latency and highly reliable vehicle-to-infrastructure (V2I) communication link can be established. This ensures that warning information is transmitted to intelligent connected vehicles in real time, providing key input for vehicle decision-making, improving the coverage and real-time performance of the warning system, and supporting autonomous driving or assisted driving applications.

[0064] In some specific embodiments, the collision warning method is applied to road intersections without traffic lights.

[0065] By applying collision warning methods to intersections without traffic lights, the gap in safety management caused by the lack of traditional signal control can be filled. Through proactive warning mechanisms, conflicts caused by unclear rules or obstructed vision can be reduced, thereby improving the traffic efficiency and safety of such intersections. This approach is particularly suitable for rural or low-traffic areas, promoting the popularization and optimization of traffic safety.

[0066] In one specific embodiment, a collision warning method for road intersections is used to provide collision warnings for a five-signal-light road intersection. The steps include: Step S1: The movement information of all traffic participants around the road intersection is collected in real time by a millimeter-wave radar set up at the road intersection, including projection length, position, direction of travel, instantaneous speed, and distance from the road intersection.

[0067] Step S2: Based on motion information, calculate the estimated time for each traffic participant to enter the road intersection boundary and the estimated time for leaving the road intersection boundary, and obtain the estimated time interval for the traffic participant to pass through the road intersection. The estimated time for the k-th traffic participant to enter the road intersection boundary at time i is expressed as:

[0068] in, The estimated time for the kth traffic participant to enter the road intersection boundary at time i; Let be the distance between the k-th traffic participant at time i and the boundary of the road intersection they are expected to enter; Let i be the acceleration of the k-th traffic participant at time i. The formula for calculating the acceleration of the kth traffic participant at time i is:

[0069] Let be the instantaneous velocity of the k-th traffic participant at time i; Let be the instantaneous velocity of the k-th traffic participant at time (i-1); For a given time window, the estimated time for the k-th traffic participant to leave the road intersection boundary at time i is expressed as:

[0070] in, For the kth traffic participant, estimate the time at which they will leave the road intersection boundary at time i. Let be the distance between the k-th traffic participant at time i and the boundary of the road intersection from which they are expected to leave; Let be the projected length of the kth traffic participant.

[0071] Step S3: Determine whether there is an overlap in the expected passage time intervals of traffic participants from the intersecting directions through the road intersection. If there is, it is determined that there is a collision risk between the corresponding traffic participants.

[0072] Step S4: Generate collision warning information for situations where there is a risk of collision, and display the collision warning information through a visual display device set on the side of the road at the intersection. The visual display device is an intelligent traffic sign that can display collision warning information. The visual display device displays collision warning information during the period when the expected passage time intervals of traffic participants from intersecting directions overlap, and stops displaying collision warning information after the period when the expected passage time intervals overlap. When determining whether a traffic participant at risk of collision is an intelligent connected vehicle, a collision warning will be sent to that intelligent connected vehicle, specifically: By using roadside units (RSUs) installed on the side of the road at road intersections, collision warning information is continuously broadcast outward using V2I communication technology; The on-board unit (OBU) of intelligent connected vehicles receives broadcast collision warning information.

[0073] The following are embodiments of a collision warning system for road intersections provided in this application. This collision warning system for road intersections belongs to the same inventive concept as the collision warning methods in the above embodiments. For details not described in detail in the embodiments of the collision warning system, please refer to the embodiments of the collision warning methods for road intersections described above.

[0074] like Figure 2 As shown, the collision warning system at a road intersection includes: The information acquisition module is used to collect the movement information of all traffic participants around the road intersection in real time using millimeter-wave radar installed at the road intersection. The estimated time interval calculation module is used to calculate the estimated time for each traffic participant to enter the road intersection boundary and the estimated time for leaving the road intersection boundary based on motion information, so as to obtain the estimated time interval for the traffic participant to pass through the road intersection. The collision risk assessment module is used to determine whether there is an overlap in the expected passage time intervals of traffic participants from intersecting directions through the road intersection. If there is, it is determined that there is a collision risk between the corresponding traffic participants. The collision warning information generation and display module is used to generate collision warning information for situations where there is a risk of collision, and to display the collision warning information through a visual display device set on the side of the road at the intersection.

[0075] The collision warning system in this embodiment is used to implement a collision warning method for road intersections.

[0076] This application also provides an electronic device for implementing the various embodiments of this application. Figure 3 To illustrate the hardware structure of an electronic device according to various embodiments of this application, as shown in the following diagram... Figure 3 As shown, the electronic device includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor.

[0077] Those skilled in the art will understand that the electronic device structure involved in the embodiments of this application does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0078] In embodiments of this application, electronic devices include, but are not limited to, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices may also represent various forms of mobile devices and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the embodiments of this application described and / or claimed herein.

[0079] In this application embodiment, the processor can be implemented using at least one of an Application-Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a processor, a controller, a microcontroller, a microprocessor, or an electronic unit designed to perform the functions described herein. In some cases, such implementations can be implemented within a controller. For software implementations, implementations such as processes or functions can be implemented with separate software modules that allow the performance of at least one function or operation. The software code can be implemented by a software application (or program) written in any suitable programming language, and the software code can be stored in memory and executed by the controller.

[0080] In addition, the electronic device includes some functional modules not shown, which will not be described in detail here.

[0081] Those skilled in the art will understand that the various aspects of the electronic device provided in this application can be implemented as a system, method, or program product. Therefore, the various aspects of this application can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, collectively referred to herein as a "circuit," "module," or "system."

[0082] This application also provides a storage medium storing a program product capable of implementing a collision warning method for road intersections. In some possible implementations, various aspects of this application can also be implemented as a program product comprising program code that, when run on a terminal device, causes the terminal device to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this application.

[0083] The storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example,, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0084] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A collision warning method for road intersections, characterized in that, include: S1. Real-time motion information of all traffic participants around the road intersection is collected by millimeter-wave radar installed at the road intersection; S2. Based on motion information, calculate the estimated time for each traffic participant to enter the road intersection boundary and the estimated time for leaving the road intersection boundary, and obtain the estimated time interval for that traffic participant to pass through the road intersection; S3. Determine whether there is an overlap in the expected passage time intervals of traffic participants from intersecting directions through the road intersection. If there is, determine that there is a collision risk between the corresponding traffic participants. S4. Generate collision warning information for situations where there is a risk of collision, and display the collision warning information through visual display devices set up on the side of the road at road intersections.

2. The collision warning method as described in claim 1, characterized in that, In step S1, the motion information of traffic participants includes projected length, position, direction of travel, instantaneous speed, and distance from the road intersection.

3. The collision warning method as described in claim 2, characterized in that, In step S2, the estimated time for the k-th traffic participant to enter the road intersection boundary at time i is expressed as: in, The estimated time for the kth traffic participant to enter the road intersection boundary at time i; Let be the instantaneous velocity of the k-th traffic participant at time i; Let be the acceleration of the k-th traffic participant at time i; Let be the distance between the k-th traffic participant at time i and the boundary of the road intersection they are expected to enter; The estimated time for the k-th traffic participant to leave the road intersection boundary at time i is expressed as: in, For the kth traffic participant, estimate the time at which they will leave the road intersection boundary at time i. Let be the distance between the k-th traffic participant at time i and the boundary of the road intersection from which they are expected to leave; Let be the projected length of the kth traffic participant.

4. The collision warning method as described in claim 3, characterized in that, The formula for calculating the acceleration of the kth traffic participant at time i is: in, Let be the acceleration of the k-th traffic participant at time i; Let be the instantaneous velocity of the k-th traffic participant at time i; Let be the instantaneous velocity of the k-th traffic participant at time (i-1); Specifies the duration of the time window.

5. The collision warning method as described in claim 1, characterized in that, In step S4, the visual display device is an intelligent traffic sign that can display collision warning information.

6. The collision warning method as described in claim 1, characterized in that, In step S4, the visual display device displays collision warning information during the time period when the expected passage time intervals of traffic participants from different directions overlap, and stops displaying collision warning information after the time period when the expected passage time intervals overlap.

7. The collision warning method as described in claim 1, characterized in that, Step S4 also includes: when the traffic participant at risk of collision is an intelligent connected vehicle, sending collision warning information to that intelligent connected vehicle.

8. A collision warning system for road intersections, characterized in that, To implement the collision warning method as described in any one of claims 1-7, comprising: The information acquisition module is used to collect the movement information of all traffic participants around the road intersection in real time using millimeter-wave radar installed at the road intersection. The estimated time interval calculation module is used to calculate the estimated time for each traffic participant to enter the road intersection boundary and the estimated time for leaving the road intersection boundary based on motion information, so as to obtain the estimated time interval for the traffic participant to pass through the road intersection. The collision risk assessment module is used to determine whether there is an overlap in the expected passage time intervals of traffic participants from intersecting directions through the road intersection. If there is, it is determined that there is a collision risk between the corresponding traffic participants. The collision warning information generation and display module is used to generate collision warning information for situations where there is a risk of collision, and to display the collision warning information through a visual display device set on the side of the road at the intersection.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes a computer program, it implements the steps of the collision warning method as described in any one of claims 1-7.

10. A storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the collision warning method as described in any one of claims 1-7.

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