Vehicle collision early warning method and device, vehicle and storage medium

Abstract

The invention provides a vehicle collision early warning method and device, a vehicle and a storage medium, and relates to the technical field of intelligent driving, and the method comprises the steps: obtaining the driving state information of the vehicle, the environment information of the environment where the vehicle is located, and the distance information of traffic objects around the vehicle relative to the vehicle; for each traffic object, calculating a safe distance between the traffic object and the vehicle according to the driving state information, the environment information and the distance information; and when the speed of the person behind the traffic object and the vehicle is greater than a preset speed, judging whether the real-time distance between the traffic object and the vehicle is smaller than the safe distance, and performing collision early warning under the condition that the judgment result is positive. According to the scheme, the safety distance can be dynamically calculated according to the vehicle state, the environment information and the traffic object information, collision early warning is performed, the probability of traffic collision accidents can be effectively reduced, and life and property safety is guaranteed.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and in particular to a vehicle collision warning method, device, vehicle, and storage medium. Background Technology

[0002] With the continuous increase in car ownership, the traffic accident rate remains high. Among these accidents, vehicle collisions are one of the main causes of personal injury and property damage. To improve driving safety, many vehicles are now equipped with various collision warning systems.

[0003] Existing vehicle collision warning systems typically acquire information about surrounding traffic objects using sensors such as radar and cameras, and issue collision warnings based on preset fixed safety distance thresholds or simple speed-braking distance models. However, these systems suffer from inaccurate safety distance calculations. Currently, most systems use fixed thresholds or only consider the vehicle's own speed to calculate the safety distance, resulting in unsatisfactory timeliness and accuracy of warnings in different driving scenarios.

[0004] Therefore, current vehicle collision warning systems still need improvement in determining safe distances. Summary of the Invention

[0005] This application provides a vehicle collision warning method, device, vehicle, and storage medium, which can solve the problem of inaccurate calculation of safe distance in existing vehicle collision warning systems.

[0006] According to a first aspect of this application, a vehicle collision warning method is provided, the method comprising: Acquire vehicle driving status information, environmental information of the vehicle's surroundings, and distance information of surrounding traffic objects relative to the vehicle. For each traffic object, the safe distance between the traffic object and the vehicle is calculated based on the driving status information, the environmental information, and the distance information. For each traffic object, when the speed of the traffic object and the vehicle located behind is greater than a preset speed, it is determined whether the real-time distance between the traffic object and the vehicle is less than the safe distance, and a collision warning is issued if the determination result is positive.

[0007] In some implementations, the vehicle's driving status information includes the vehicle's speed and acceleration, and the environmental information includes the slope and road surface features of the road where the vehicle is located, as well as the light intensity information of the environment in which the vehicle is located. The step of calculating the safe distance between the traffic object and the vehicle based on the driving status information, the environmental information, and the distance information includes: Based on the slope and road surface features, query the first preset table to obtain the corresponding target acceleration; Based on the road surface features, query the second preset table to obtain the corresponding safety margin; The corresponding reaction time is obtained by querying the third preset table based on the light intensity information. The safe distance between the traffic object and the vehicle is calculated based on the vehicle's speed and acceleration, the distance information of the traffic object relative to the vehicle, the target acceleration, the safety margin, and the reaction time.

[0008] In some implementations, calculating the safe distance between the traffic object and the vehicle based on the vehicle's speed and acceleration, the distance information of the traffic object relative to the vehicle, the target acceleration, the safety margin, and the reaction time includes: When the traffic object is a forward traffic object located in front of the vehicle, the safe distance between the traffic object and the vehicle is calculated using the following formula: in, This indicates the safe distance between the traffic object and the vehicle. Indicates the speed of the vehicle. This indicates the reaction time. Indicates the speed of the forward-moving object. Indicates the acceleration of a forward-moving object. This represents the target acceleration. This indicates the safety margin; Alternatively, when the traffic object is a rearward traffic object located behind the vehicle, the safe distance between the traffic object and the vehicle is calculated using the following formula: in, Indicates the vehicle's acceleration. Indicates the speed of the backward traffic object.

[0009] In some implementations, the speed of the forward-moving object is determined by the following formula: in, This represents the change in distance between a vehicle and an oncoming object within a unit of time. Indicates a unit of time; The acceleration of the forward-moving object is determined by the following formula: in, This represents the change in the speed of a forward-moving object per unit time. The speed of the backward traffic object is determined by the following formula: in, It represents the change in distance between a vehicle and a backward traffic object per unit of time.

[0010] In some implementations, a collision warning is issued when the determination result is positive, including: If the judgment result is positive, a warning is triggered for the vehicle itself.

[0011] In some implementations, a collision warning is issued when the determination result is positive, including: If the judgment result is positive, an early warning is triggered for the traffic object.

[0012] In some implementations, the traffic object is a rearward traffic object located behind the vehicle; triggering a warning for the traffic object includes: Text or images are displayed by matrix-style rear marker lights located at the rear of the vehicle to warn of rearward traffic objects.

[0013] In some implementations, the preset speed is determined based on the environmental information.

[0014] In some implementations, the preset speed is obtained by querying a fourth preset table using the slope and the road surface features.

[0015] According to a second aspect of this application, a vehicle collision warning device is provided, the device comprising: The acquisition module is used to acquire vehicle driving status information, environmental information of the vehicle's surrounding environment, and distance information of traffic objects around the vehicle relative to the vehicle. The calculation module is used to calculate the safe distance between the traffic object and the vehicle for each traffic object based on the driving status information, the environmental information, and the distance information. The judgment module is used to determine whether the real-time distance between the traffic object and the vehicle is less than the safe distance when the speed of the traffic object and the vehicle located behind it is greater than the preset speed for each traffic object, and to issue a collision warning if the judgment result is positive.

[0016] According to a third aspect of this application, a vehicle, a processor, and a memory storing computer program instructions are provided; the processor executes the computer program instructions to implement the steps of the vehicle collision warning method described in any embodiment; or, the vehicle includes the vehicle collision warning device described in the above embodiments.

[0017] According to a fourth aspect of this application, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the steps of the vehicle collision warning method described in any embodiment.

[0018] The vehicle collision warning method of this application includes: acquiring vehicle driving status information, environmental information of the vehicle's surrounding environment, and distance information of surrounding traffic objects relative to the vehicle; for each traffic object, calculating a safe distance between the traffic object and the vehicle based on the driving status information, the environmental information, and the distance information; and when the speed of the traffic object located behind the vehicle is greater than a preset speed, determining whether the real-time distance between the traffic object and the vehicle is less than the safe distance, and issuing a collision warning if the determination result is affirmative. The vehicle collision warning method provided by this application dynamically calculates the safe distance between the traffic object and the vehicle by comprehensively considering the vehicle's driving status information, the environmental information of the vehicle's surrounding environment, and the distance information of the traffic objects. This makes the setting of the safe distance more consistent with actual driving scenarios, avoids the inaccuracies caused by fixed thresholds or calculations based on a single factor, significantly improves the timeliness and accuracy of the warning, and effectively avoids false alarms and missed alarms. Attached Figure Description

[0019] To more clearly illustrate the specific embodiments of this application or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a flowchart illustrating the steps of a vehicle collision warning method according to an embodiment of this application; Figure 2 This is a schematic diagram illustrating the assembly of a matrix-type rear marker light according to an embodiment of this application; Figure 3 This is a structural block diagram illustrating a vehicle collision warning device according to an embodiment of this application; Figure 4 This is a structural block diagram illustrating an embodiment of an electronic device according to this application. Detailed Implementation

[0021] To make the above and other features and advantages of this application clearer, the application is further described below with reference to the accompanying drawings. It should be understood that the specific embodiments given herein are for the purpose of explanation to those skilled in the art, and are exemplary only, not restrictive.

[0022] In the following description, numerous specific details are set forth to provide a thorough understanding of this application. However, it will be apparent to those skilled in the art that the specific details are not required to practice this application. In other instances, well-known steps or operations have not been described in detail to avoid obscuring this application.

[0023] The vehicle collision warning method provided in this application embodiment can be executed by the vehicle collision warning device provided in this application embodiment, which can be configured in the vehicle's electronic equipment.

[0024] This application provides a vehicle collision warning method.

[0025] The vehicle collision warning method provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0026] like Figure 1 As shown, the vehicle collision warning method provided in this application includes the following steps: Step 101: Obtain the vehicle's driving status information, the environmental information of the vehicle's surroundings, and the distance information of surrounding traffic objects relative to the vehicle.

[0027] In this embodiment, various data acquisition devices and communication units, such as front and rear radar, front and rear cameras, and light sensors, can be used to identify and measure the distances to vehicles, pedestrians, and other traffic participants and obstacles in front of and behind the vehicle, and to identify road conditions. The radar identifies the distances to vehicles, pedestrians, and obstacles in front of and behind the vehicle. The cameras identify the characteristics of vehicles, pedestrians, and obstacles in front of and behind the vehicle, as well as road conditions. The light sensors identify the ambient light intensity.

[0028] Specifically, the vehicle's driving status information may include, but is not limited to, the vehicle's speed and acceleration. This information can be acquired through the vehicle's own sensors, such as wheel speed sensors and inertial measurement units (IMUs).

[0029] The environmental information surrounding the vehicle may include, but is not limited to, the slope of the road, road surface features, and ambient light intensity. Road slope can be obtained through camera image recognition or GPS / high-precision map data. Road surface features (such as dry asphalt, wet asphalt, mud, gravel, etc.) can be obtained through wheel slip ratio sensors, camera image recognition, vibration sensors, or external weather information. Different road surface features significantly affect the vehicle's braking performance. Ambient light intensity can be obtained through a light sensor at the front of the vehicle; ambient light intensity affects the driver's reaction time.

[0030] The distance information of traffic objects around the vehicle relative to the vehicle may include, but is not limited to, the real-time distance between the traffic object and the vehicle, and the change of the distance between the traffic object and the vehicle over time. This information can be acquired by sensors such as lidar, millimeter-wave radar, ultrasonic sensors, or cameras. In one embodiment, for each detected traffic object, its speed and acceleration are determined based on the change of its relative distance to the vehicle over time.

[0031] Step 102: For each traffic object, calculate the safe distance between the traffic object and the vehicle based on the driving status information, the environmental information, and the distance information.

[0032] In this embodiment, the safe distance between each traffic object and the vehicle is dynamically calculated based on various acquired information.

[0033] The vehicle's driving status information includes the vehicle's speed and acceleration.

[0034] The environmental information includes the slope of the road where the vehicle is located, road surface features, and the light intensity of the environment in which the vehicle is located.

[0035] The specific process of calculating the safe distance based on driving status information, environmental information, and distance information includes: Step 1021: Query the first preset table based on the slope and road surface characteristics to obtain the corresponding target acceleration. This first preset table stores the maximum or optimal deceleration (i.e., target acceleration) that a vehicle can achieve under different slopes (e.g., slope 1, slope 2, etc.) and different road surface characteristics (e.g., dry asphalt, wet asphalt, mud, gravel, etc.). Specifically, the first preset table may be Table 1 below.

[0036] Table 1 Step 1022: Query the second preset table based on the road surface characteristics to obtain the corresponding safety margin. This second preset table pre-stores the safety factor or additional safety distance (i.e., safety margin) applied to the required braking distance under different road surface characteristics. Specifically, the second preset table can be Table 2 below.

[0037] Table 2 Step 1023: Query the third preset table based on the light intensity information to obtain the corresponding reaction time. This third preset table stores the average reaction time of the driver under different light intensities (e.g., E1, E2, etc.). For example, in dimly lit or low-contrast environments, the driver's reaction time is usually longer. Specifically, the third preset table can be Table 3 below.

[0038] Table 3 Step 1024: Calculate the safe distance between the traffic object and the vehicle based on the vehicle's speed and acceleration, the distance information of the traffic object relative to the vehicle, the target acceleration, the safety margin, and the reaction time. In this embodiment, the method for calculating the safe distance differs for different types of traffic objects: (1) When the traffic object is a forward traffic object located in front of the vehicle, the safe distance between the traffic object and the vehicle is calculated using the following formula: in, This indicates the safe distance between the traffic object and the vehicle. Indicates the speed of the vehicle. This indicates the reaction time. Indicates the speed of the forward-moving object. Indicates the acceleration of a forward-moving object. This represents the target acceleration. This indicates the safety margin.

[0039] In actual calculations, if When the value is greater than 0 and less than or equal to 0.01g, Treat it as 0.01g. If it is less than or equal to 0 and greater than or equal to -0.01g, Treat with -0.01g.

[0040] The calculation formula takes into account the distance the vehicle travels during the driver's reaction time, the distance from when the vehicle begins to brake to when it stops, the displacement of the oncoming traffic object during the vehicle's reaction and braking, and additional safety margins.

[0041] The speed of the forward-moving object can be determined by the following formula: in, Indicates the speed of the vehicle. This represents the change in distance between a vehicle and an oncoming object within a unit of time. The unit of time can be expressed as 0.01 seconds.

[0042] The acceleration of the forward-moving object can be determined by the following formula: in, It represents the change in speed of a forward-moving object per unit time.

[0043] (2) When the traffic object is a rearward traffic object located behind the vehicle, the safe distance between the traffic object and the vehicle is calculated using the following formula: in, Indicates the vehicle's acceleration. Indicates the speed of the backward traffic object.

[0044] In actual calculations, if When the value is greater than 0 and less than or equal to 0.01g, Treat it as 0.01g. If it is less than or equal to 0 and greater than or equal to -0.01g, Treat with -0.01g.

[0045] The calculation formula takes into account the distance traveled by the following traffic object (i.e., the following vehicle) within the driver's reaction time, the distance from when the following vehicle begins to brake to when it stops, and the displacement of the vehicle during the reaction and braking of the following vehicle, plus a safety margin.

[0046] The speed of the backward traffic object can be determined by the following formula: in, It represents the change in distance between a vehicle and a backward traffic object per unit of time.

[0047] Step 103: For each traffic object, when the speed of the traffic object and the vehicle located behind is greater than the preset speed, determine whether the real-time distance between the traffic object and the vehicle is less than the safe distance, and issue a collision warning if the determination result is positive.

[0048] In this embodiment, it is first necessary to determine the vehicle located behind the other in the traffic object or vehicle. In the case of a forward traffic object, the vehicle is the rear vehicle. In the case of a backward traffic object, the traffic object (the following vehicle) is the rear vehicle. Then, it is determined whether the speed of the rear vehicle is greater than a preset speed. This preset speed can be a fixed, low speed value (e.g., 5 km / h) to avoid frequently triggering unnecessary warnings when the vehicle is traveling at low speed or stopped. In a preferred embodiment, the preset speed can be determined based on the environmental information. For example, the preset speed can be obtained by querying a fourth preset table using the slope and road surface features. When the road surface is slippery or the slope is steep, even a relatively low speed may pose a risk, so the preset speed can be adjusted accordingly to trigger the judgment earlier. Only when the speed of the vehicle located behind the other in the traffic object or vehicle is greater than the preset speed will the system further determine whether the real-time distance between the traffic object and the vehicle is less than a safe distance. If the judgment result is positive, a collision warning is triggered. Specifically, the fourth preset table can be Table 4 below.

[0049] Table 4 A collision warning is issued if the judgment result is positive. In this embodiment, the warning may include various forms: (1) Triggering a warning for the vehicle itself. This can be a warning to the driver, such as, but not limited to, instrument panel pop-up reminders, in-vehicle sound reminders, and steering wheel vibrations. In addition, in the case of autonomous driving, warnings for the vehicle itself can be achieved by sending collision avoidance commands (such as deceleration commands) to the autonomous driving system.

[0050] (2) Trigger an early warning for the traffic object.

[0051] Here, traffic objects include forward-moving traffic objects and backward-moving traffic objects. Forward-moving or backward-moving traffic objects can be determined by receiving and processing image information fed back from the vehicle's forward and backward cameras. Forward-moving traffic objects include, but are not limited to: cars, non-motorized vehicles, pedestrians, and fixed obstacles. Backward-moving traffic objects include, but are not limited to: cars, non-motorized vehicles, pedestrians, and fixed obstacles. Optionally, warnings for traffic objects can be based on the type of traffic object.

[0052] In one embodiment, the decision on whether to enable exterior light and sound alerts for a traffic object is determined based on the type of traffic object, as detailed in Table 5 below.

[0053] Table 5 For oncoming traffic objects, drivers can enable or disable the "Forward Alert" function via hardware switches, instrument panel soft switches, or mobile app. When the "forward traffic object" is a vehicle, pedestrian, or other person controlling a traffic participant, and the "Forward Alert" function is enabled, and the forward distance (the distance between the oncoming traffic object and the vehicle) is less than the safe distance, the "Forward Alert" function is triggered, alerting the vehicle and pedestrian ahead via the vehicle's overtaking lights and horn. Specifically, it can be set to control the overtaking lights to flash 3 times in a cycle, and the horn to sound 3 times in a synchronized cycle.

[0054] For rearward traffic objects, drivers are allowed to turn the "Rear Alert" function on or off via hardware switches, instrument panel soft switches, or mobile apps. When the "rearward traffic object" is a vehicle, pedestrian, or other person controlling a traffic participant, and the "Rear Alert" function is activated, and the rearward distance (the distance between the rearward traffic object and the vehicle) is less than a safe distance, the "Rear Alert" function is triggered. For example, it may illuminate the vehicle's hazard warning lights. If the vehicle is equipped with matrix rear marker lights, the rear matrix marker lights may be illuminated in graphic or text form (see [link]). Figure 2 ).

[0055] By using the above methods, this application can assess the risk of collision accidents by real-time monitoring of the relative motion of traffic participants, including but not limited to motor vehicles, non-motor vehicles, and pedestrians, in the front and rear directions of the vehicle. It can also remind and protect the driver of the vehicle and the vehicles and pedestrians in front and behind through means such as lights, sounds, and vibrations, thereby effectively reducing the probability of traffic collision accidents and ensuring the safety of life and property.

[0056] The vehicle collision warning method of this application includes: acquiring vehicle driving status information, environmental information of the vehicle's surrounding environment, and distance information of surrounding traffic objects relative to the vehicle; for each traffic object, calculating a safe distance between the traffic object and the vehicle based on the driving status information, the environmental information, and the distance information; and when the speed of the traffic object located behind the vehicle is greater than a preset speed, determining whether the real-time distance between the traffic object and the vehicle is less than the safe distance, and issuing a collision warning if the determination result is affirmative. The vehicle collision warning method provided in this application dynamically calculates the safe distance between the traffic object and the vehicle by comprehensively considering the vehicle's driving status information (such as speed and acceleration), the environmental information of the vehicle's surrounding environment (such as road slope, road surface features, and light intensity), and the distance information of the traffic object. This makes the setting of the safe distance more consistent with actual driving scenarios, avoids the inaccuracies caused by fixed thresholds or single-factor calculations, significantly improves the timeliness and accuracy of the warning, and effectively avoids false alarms and missed alarms.

[0057] The present application will now be described with reference to a specific embodiment.

[0058] This application is based on intelligent driving radar and image recognition technology. The method of this application includes: Step 1: The driver activates the "Forward Reminder" and "Rearward Reminder" functions; Step 2: Current vehicle speed V1 > V e Function enabled; current road slope i1; ambient light intensity E1. Step 3: The vehicle's front radar detects the distance D of the vehicle in front of it. f ; Step 4: The feature recognition module derives the forward target feature C based on the forward target image. f The road surface feature C1 is determined to be "dry asphalt" based on the road image and is classified as "non-motorized vehicle". Step 5: The collision calculation module calculates the reaction time T based on the ambient light intensity E1. r1 The safety margin D is calculated based on the road surface characteristic C1. a1 ; Step 6: The collision calculation module calculates the target acceleration a based on the road surface feature C1 and the road surface slope i1. d1 ; Step 7: The collision calculation module uses V1 and D... f Calculate the speed V2 and acceleration a1 of the vehicle in front; Step 8: The collision calculation module calculates based on V1 and T. r1 a d1 V2, a1, D a1 The safe distance D is calculated. t1 ; Step 9: D f By D f ≥D t1 Switch to D f1 <D t1 This triggers vibrations in the vehicle's instrument panel, sound system, and steering wheel to alert the driver; it also activates the high beams by flashing three times in a cycle and the horn by sounding three times in a cycle to alert the driver of the vehicle in front; the function then exits. Step 10: After receiving the reminder, the driver of this vehicle shall control the vehicle to slow down; Step 11: The system identifies the distance D of the vehicle behind. r C r The vehicle is a "motor vehicle", the road surface feature C2 is "wet and slippery asphalt", the vehicle speed is V3, the current road surface slope is i2, and the ambient light intensity is E2. Step 12: The system calculates the safe distance D. t2 ; Step 13, D r By D r ≥ D t2 Switch to D r <D t2If there is a risk of rear-end collision, the system will trigger vibrations in the instrument panel, sound system, and steering wheel to alert the driver; the hazard warning lights will illuminate, and the matrix rear position lights will display text and images to alert drivers of following vehicles. Step 14: The following vehicle slows down, its speed is V4. <V e The function exits, turns off the hazard warning lights and matrix rear marker lights, and stops image and text output.

[0059] This embodiment calculates the safe collision distance in real time by identifying the distances to traffic participants and obstacles in front of and behind the vehicle, as well as road conditions. When the distance is lower than the safe distance, a safety alert is triggered to remind the driver, vehicles in front and behind, and pedestrians, which can effectively reduce the probability of traffic collisions and protect the safety of life and property.

[0060] Figure 3 The structural block diagram of a vehicle collision warning device according to an embodiment of this application is shown.

[0061] The vehicle collision warning device provided in this application includes the following functional modules: The acquisition module 301 is used to acquire the vehicle's driving status information, the environmental information of the vehicle's environment, and the distance information of traffic objects around the vehicle relative to the vehicle. The calculation module 302 is used to calculate the safe distance between the traffic object and the vehicle for each traffic object based on the driving status information, the environmental information and the distance information; The judgment module 303 is used to determine whether the real-time distance between the traffic object and the vehicle is less than the safe distance when the speed of the traffic object and the vehicle located behind is greater than the preset speed for each traffic object, and to issue a collision warning if the judgment result is positive.

[0062] The vehicle collision warning device of this application dynamically calculates the safe distance between the vehicle and other vehicles by comprehensively considering the vehicle's driving status information (such as speed and acceleration), environmental information of the vehicle's surroundings (such as road slope, road surface features, and light intensity), and distance information of other vehicles. This makes the setting of the safe distance more consistent with actual driving scenarios, avoids the inaccuracies caused by fixed thresholds or calculations based on a single factor, significantly improves the timeliness and accuracy of the warning, and effectively avoids false alarms and missed alarms.

[0063] It should be understood that the specific features, operations, and details described above with respect to the method of this application can also be similarly applied to the apparatus of this application, or vice versa. Furthermore, each step of the method of this application described above can be performed by the apparatus of this application.

[0064] It should be understood that the various modules / units of the device of this application can be implemented wholly or partially through software, hardware, firmware, or a combination thereof. Each module / unit can be embedded in the processor of the electronic device in hardware or firmware form or independent of the processor, or it can be stored in the memory of the electronic device in software form for the processor to call to execute the operation of each module / unit. Each module / unit can be implemented as an independent component or module, or two or more modules / units can be implemented as a single component or module.

[0065] This application also provides a vehicle including the vehicle collision warning device described in any embodiment of this application.

[0066] like Figure 4 As shown, this application provides an electronic device 400, which includes a processor 401 and a memory 402 storing computer program instructions. The processor 401 executes the computer program instructions to implement the steps of the vehicle collision warning method described above. This electronic device 400 can be broadly categorized as a server, terminal, or any other electronic device with the necessary computing and / or processing capabilities.

[0067] In one embodiment, the electronic device 400 may include a processor, memory, network interface, communication interface, etc., connected via a system bus. The processor of the electronic device 400 can be used to provide necessary computing, processing, and / or control capabilities. The memory of the electronic device 400 may include non-volatile storage media and internal memory. The non-volatile storage media may store an operating system, computer programs, etc. The internal memory can provide an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface and communication interface of the electronic device 400 can be used to connect and communicate with external devices via a network. When the computer program is executed by the processor, it performs the steps of the method of this application.

[0068] This application provides a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the aforementioned vehicle collision warning method.

[0069] Those skilled in the art will understand that the method steps of this application can be performed by a computer program instructing related hardware, such as electronic device 400 or a processor. The computer program can be stored in a non-transitory computer-readable storage medium, and its execution causes the steps of this application to be performed. Depending on the context, any reference herein to memory, storage, or other media may include non-volatile or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid-state drive, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0070] The technical features described above can be combined arbitrarily. Although not all possible combinations of these technical features are described, any combination of these technical features should be considered to be covered by this specification, provided that such combination does not contain contradictions.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A vehicle collision warning method, characterized in that, The method includes: Acquire vehicle driving status information, environmental information of the vehicle's surroundings, and distance information of surrounding traffic objects relative to the vehicle. For each traffic object, the safe distance between the traffic object and the vehicle is calculated based on the driving status information, the environmental information, and the distance information. For each traffic object, when the speed of the traffic object and the vehicle located behind is greater than a preset speed, it is determined whether the real-time distance between the traffic object and the vehicle is less than the safe distance, and a collision warning is issued if the determination result is positive.

2. The vehicle collision warning method according to claim 1, characterized in that, The vehicle's driving status information includes the vehicle's speed and acceleration, and the environmental information includes the slope and road surface features of the road where the vehicle is located, as well as the light intensity information of the environment in which the vehicle is located. The step of calculating the safe distance between the traffic object and the vehicle based on the driving status information, the environmental information, and the distance information includes: Based on the slope and road surface features, query the first preset table to obtain the corresponding target acceleration; Based on the road surface features, query the second preset table to obtain the corresponding safety margin; The corresponding reaction time is obtained by querying the third preset table based on the light intensity information. The safe distance between the traffic object and the vehicle is calculated based on the vehicle's speed and acceleration, the distance information of the traffic object relative to the vehicle, the target acceleration, the safety margin, and the reaction time.

3. The vehicle collision warning method according to claim 2, characterized in that, The step of calculating the safe distance between the traffic object and the vehicle based on the vehicle's speed and acceleration, the distance information of the traffic object relative to the vehicle, the target acceleration, the safety margin, and the reaction time includes: When the traffic object is a forward traffic object located in front of the vehicle, the safe distance between the traffic object and the vehicle is calculated using the following formula: in, This indicates the safe distance between the traffic object and the vehicle. Indicates the speed of the vehicle. This indicates the reaction time. Indicates the speed of the forward-moving object. Indicates the acceleration of a forward-moving object. This represents the target acceleration. This indicates the safety margin; Alternatively, when the traffic object is a rearward traffic object located behind the vehicle, the safe distance between the traffic object and the vehicle is calculated using the following formula: in, Indicates the vehicle's acceleration. Indicates the speed of the backward traffic object.

4. The vehicle collision warning method according to claim 3, characterized in that, The speed of the forward-moving object is determined by the following formula: in, This represents the change in distance between a vehicle and an oncoming object within a unit of time. Indicates a unit of time; The acceleration of the forward-moving object is determined by the following formula: in, This represents the change in the speed of a forward-moving object per unit time. The speed of the backward traffic object is determined by the following formula: in, It represents the change in distance between a vehicle and a backward traffic object per unit of time.

5. The vehicle collision warning method according to claim 1, characterized in that, When the judgment result is positive, a collision warning will be issued, including: If the judgment result is positive, a warning is triggered for the vehicle itself.

6. The vehicle collision warning method according to claim 5, characterized in that, When the judgment result is positive, a collision warning will be issued, including: If the judgment result is positive, an early warning is triggered for the traffic object.

7. The vehicle collision warning method according to claim 6, characterized in that, The traffic object is a rearward traffic object located behind the vehicle; triggering a warning for the traffic object includes: Text or images are displayed by matrix-style rear marker lights located at the rear of the vehicle to warn of rearward traffic objects.

8. The vehicle collision warning method according to claim 2, characterized in that, The preset speed is determined based on the environmental information.

9. The vehicle collision warning method according to claim 8, characterized in that, The preset speed is obtained by querying the fourth preset table using the slope and road surface features.

10. A vehicle collision warning device, characterized in that, The device includes: The acquisition module is used to acquire vehicle driving status information, environmental information of the vehicle's surrounding environment, and distance information of traffic objects around the vehicle relative to the vehicle. The calculation module is used to calculate the safe distance between the traffic object and the vehicle for each traffic object based on the driving status information, the environmental information, and the distance information. The judgment module is used to determine whether the real-time distance between the traffic object and the vehicle is less than the safe distance when the speed of the traffic object and the vehicle located behind it is greater than the preset speed for each traffic object, and to issue a collision warning if the judgment result is positive.

11. A vehicle, characterized in that, The vehicle includes: a processor and a memory storing computer program instructions; the processor, when executing the computer program instructions, implements the steps of the vehicle collision warning method according to any one of claims 1 to 9; or... The vehicle includes the vehicle collision warning device according to claim 10.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the vehicle collision warning method as described in any one of claims 1 to 9.

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