Car following alarm method, device and equipment, storage medium and product

Abstract

The invention discloses a car following alarm method, device and equipment, a storage medium and a product, and relates to the technical field of auxiliary driving, and the car following alarm method comprises the steps that the vehicle state information of a self vehicle and a target vehicle is acquired, and the vehicle state information comprises the acceleration of a current control period; based on the acceleration, determining an acceleration sequence of different vehicles after time decay in a preset prediction period; on the basis of the attenuated acceleration sequence, predicting to obtain future driving tracks of the different vehicles; and based on the future driving track, whether a collision risk exists is judged, and if yes, car following alarm is triggered. According to the invention, the parameters for triggering the car following alarm are not fixed, but the car following is triggered through the parameters after time decay, so that the problem that the reliability of the car following alarm is reduced due to the fact that the track prediction result deviates from reality due to the fixed parameters can be avoided.

Description

Technical Field

[0001] This application relates to the field of driver assistance technology, and in particular to a following alarm method, device, equipment, storage medium and product. Background Technology

[0002] In related technologies, existing adaptive cruise control systems mainly rely on fixed parameters for alarm decisions, but this has significant drawbacks in actual driving scenarios. If the assumption of continuous acceleration or deceleration is still used, it will lead to "overly optimistic" trajectory prediction, which is very likely to cause the trajectory prediction results to deviate from reality and reduce the reliability of following alarms. Summary of the Invention

[0003] The main purpose of this application is to provide a vehicle-following alarm method, device, equipment, storage medium and product, which aims to solve the technical problem that fixed parameters can easily cause the trajectory prediction results to deviate from reality, reducing the reliability of the vehicle-following alarm.

[0004] To achieve the above objectives, this application proposes a following vehicle alarm method, the following methods comprising:

[0005] Obtain vehicle status information for both the vehicle and the target vehicle, wherein the vehicle status information includes the acceleration of the current control cycle; Based on the acceleration, determine the acceleration sequence of different vehicles after time decay within a preset prediction period; Based on the decayed acceleration sequence, the future driving trajectories of the different vehicles are predicted; Based on the future driving trajectory, determine whether there is a collision risk. If so, trigger a following alarm.

[0006] In one embodiment, the acceleration includes a first acceleration of the vehicle and a second acceleration of the target vehicle, and the step of determining the acceleration sequence of different vehicles after time decay within a preset prediction period based on the acceleration includes: Based on the target time from the current time for each cycle within the preset prediction period, the attenuation coefficient corresponding to each cycle is determined. Based on the acceleration and the decay coefficient, the acceleration sequence of different vehicles after time decay within the preset prediction period is determined.

[0007] In one embodiment, the acceleration includes a first acceleration of the vehicle and a second acceleration of the target vehicle. The step of determining the acceleration sequence of different vehicles after time decay within the preset prediction period based on the acceleration and the decay coefficient includes: The request acceleration within the preset prediction period from the current control period is sequentially obtained from the request acceleration buffer. Based on the first acceleration and the requested acceleration, an initial acceleration sequence is constructed; Based on the attenuation coefficient and the initial acceleration sequence, determine the acceleration sequence of the vehicle after time decay; Based on the attenuation coefficient, the second acceleration is attenuated sequentially to obtain the acceleration sequence of the target vehicle after time attenuation.

[0008] In one embodiment, the step of sequentially obtaining the request acceleration within the preset prediction period from the request acceleration buffer during the current control period includes: Traverse the request acceleration cache and sequentially determine the request acceleration of each period within the prediction period by a preset number of delay periods, wherein the prediction period is less than the cache period covered by the request acceleration cache.

[0009] In one embodiment, the step of determining whether there is a collision risk based on the future driving trajectory, and triggering a following warning if a collision risk exists, includes: Based on the future driving trajectory, the collision time between the vehicle and the target vehicle is calculated; Based on the collision time, determine the collision risk level, and based on the collision risk level, determine whether there is a collision risk. If present, a following alarm will be triggered, and a warning message corresponding to the collision risk level will be output.

[0010] In one embodiment, after the step of obtaining the vehicle status information of the vehicle and the target vehicle, the method further includes: Based on the vehicle status information, determine the actual distance between the vehicle and the target vehicle and the actual speed of the vehicle in the current control cycle; Based on the actual vehicle speed, determine the safe distance threshold for the current control cycle; Based on the actual distance and the safe distance threshold, a distance risk level is determined, and based on the collision risk level, it is determined whether there is a collision risk. If present, a following vehicle alarm will be triggered, and a warning message corresponding to the distance risk level will be output.

[0011] Furthermore, to achieve the above objectives, this application also proposes a following vehicle alarm device, which includes: The acquisition module is used to acquire vehicle status information of the vehicle and the target vehicle, wherein the vehicle status information includes the acceleration of the current control cycle; The attenuation module is used to determine the acceleration sequence of different vehicles after time decay within a preset prediction period based on the acceleration. The prediction module is used to predict the future driving trajectories of the different vehicles based on the decayed acceleration sequence. The judgment module is used to determine whether there is a collision risk based on the future driving trajectory. If there is a risk, a following alarm is triggered.

[0012] In addition, to achieve the above objectives, this application also proposes a vehicle-following alarm device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the vehicle-following alarm method as described above.

[0013] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the following alarm method described above.

[0014] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the following alarm method described above.

[0015] One or more technical solutions proposed in this application have at least the following technical effects: In contrast to existing adaptive cruise control systems that rely primarily on fixed parameters for warning decisions, significant drawbacks exist in real-world driving scenarios. If the assumption of continuous acceleration or deceleration is still used, it leads to overly optimistic trajectory predictions, easily causing the predictions to deviate from reality and reducing the reliability of the following warning. This application, however, acquires vehicle status information of both the user vehicle and the target vehicle. This vehicle status information includes the acceleration of the current control cycle. Based on the acceleration, it determines the acceleration sequence of different vehicles after time decay within a preset prediction period. Based on the decayed acceleration sequence, it predicts the future driving trajectories of the different vehicles. Based on the future driving trajectories, it determines whether a collision risk exists; if so, it triggers a following warning. After obtaining vehicle status information of the self-vehicle and the target vehicle, including the acceleration of the current control cycle, this application determines the acceleration sequence after time decay within a preset prediction period based on the acceleration, and predicts the future driving trajectory of different vehicles based on the acceleration sequence. When there is a collision risk, a following alarm is triggered. In this application, the parameters for triggering the following alarm are not fixed, but are triggered by parameters after time decay. This can avoid the problem that fixed parameters will cause the trajectory prediction results to deviate from reality and reduce the reliability of the following alarm. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating an embodiment of the following vehicle alarm method of this application. Figure 2 This is a schematic diagram illustrating the acceleration execution response delay of the following alarm method in this application; Figure 3 This is a flowchart illustrating Embodiment 2 of the vehicle following alarm method of this application; Figure 4 This is a schematic diagram of the module structure of the following alarm device according to an embodiment of this application; Figure 5 This is a schematic diagram of the device structure of the hardware operating environment involved in the vehicle following alarm method in the embodiments of this application.

[0019] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0021] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0022] The main solution of this application embodiment is: to obtain vehicle status information of the vehicle and the target vehicle, wherein the vehicle status information includes the acceleration of the current control cycle; based on the acceleration, to determine the acceleration sequence of different vehicles after time decay within a preset prediction cycle; based on the decayed acceleration sequence, to predict the future driving trajectory of the different vehicles; based on the future driving trajectory, to determine whether there is a collision risk, and if so, to trigger a following alarm.

[0023] In related technologies, existing adaptive cruise control systems mainly rely on fixed parameters for alarm decisions, but this has significant drawbacks in actual driving scenarios. If the assumption of continuous acceleration or deceleration is still used, it will lead to "overly optimistic" trajectory prediction, which is very likely to cause the trajectory prediction results to deviate from reality and reduce the reliability of following alarms.

[0024] In this application, the parameters that trigger the following alarm are not fixed, but rather the parameters after time decay are used to trigger following. This avoids the problem that fixed parameters cause the trajectory prediction results to deviate from reality and reduce the reliability of the following alarm.

[0025] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device or vehicle following alarm device capable of performing the above functions. The following description uses a vehicle following alarm device as an example to illustrate this embodiment and the subsequent embodiments.

[0026] Based on this, the embodiments of this application provide a following alarm method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the vehicle-following alarm method of this application.

[0027] In this embodiment, the following vehicle alarm method includes steps S10~S40: Step S10: Obtain vehicle status information of the vehicle and the target vehicle, wherein the vehicle status information includes the acceleration of the current control cycle; It should be noted that the executing entity in this embodiment is a following alarm device. The "own vehicle" refers to the vehicle equipped with an adaptive cruise control system (ACC). The "target vehicle" refers to the vehicle traveling in front of the own vehicle. Vehicle status information includes dynamic parameters of both the own vehicle and the target vehicle, such as speed, acceleration, and position. The acceleration in the current control cycle refers to the acceleration values ​​of the own vehicle and the target vehicle collected in real time by sensors within each operating cycle (e.g., 0.1 seconds) of the ACC system. The following alarm device collects the vehicle status information of both the own vehicle and the target vehicle in real time through sensors during the current control cycle.

[0028] Step S20: Based on the acceleration, determine the acceleration sequence of different vehicles after time decay within a preset prediction period; Understandably, the preset prediction period refers to a future time range, such as 5 seconds, set by the system for predicting the future trajectory of a vehicle. Time decay is a correction mechanism introduced to avoid overly optimistic future acceleration predictions, causing the predicted acceleration value to gradually approach zero over time. The acceleration sequence refers to the ordered set of predicted acceleration values, corrected by the time decay, corresponding to each system cycle (e.g., 0.1 seconds) within the preset prediction period. The following vehicle alarm device introduces a gain parameter that decays over time to correct the future acceleration of both the vehicle and the target vehicle, obtaining the acceleration sequence of both vehicles within the preset prediction period.

[0029] Step S30: Based on the decayed acceleration sequence, predict the future driving trajectories of the different vehicles; It should be noted that the future driving trajectory refers to the predicted displacement change of the vehicle along the driving direction over a future period of time (i.e., the preset prediction period). The following warning device uses an acceleration sequence that has been corrected for time decay for integral prediction, which can obtain a future driving trajectory that more closely matches the actual vehicle dynamics characteristics and avoid the accumulation of prediction errors caused by assuming constant acceleration.

[0030] Step S40: Based on the future driving trajectory, determine whether there is a collision risk. If there is, trigger a following alarm.

[0031] Understandably, following vehicle warning devices calculate the time to collision (TTC) between the two vehicles by comparing the future driving trajectories of the vehicle and the target vehicle, or by comparing the real-time distance with the dynamic safe distance threshold, thereby assessing the potential level of danger. Based on the different risk levels determined, they execute pre-set warning actions of different intensities. These warning actions integrate multiple modalities such as visual, auditory, and tactile senses.

[0032] Specifically, the following alarm device predicts the speed sequence of different vehicles based on the acceleration sequence, and determines the future driving trajectory based on the speed sequence.

[0033] Calculation of future driving distance of the vehicle:

[0034] in, Let be the speed of the vehicle in the kth control cycle. To control the cycle, .

[0035] Calculation of the target vehicle's future driving distance:

[0036] in, Let be the speed of the target vehicle during the kth control cycle.

[0037] In one feasible implementation, the step of determining the acceleration sequence of different vehicles after time decay within a preset prediction period based on the acceleration includes: Based on the target time from the current time for each cycle within the preset prediction period, the attenuation coefficient corresponding to each cycle is determined. It should be noted that the target time refers to the length of time elapsed from the current moment to a specific prediction cycle within the preset prediction period. The attenuation coefficient is a numerical gain factor between 0 and 1, used to weight the current acceleration to simulate the trend of acceleration gradually attenuating to zero over time. The following alarm device dynamically determines a corresponding attenuation coefficient for each cycle based on the length of time elapsed for each specific prediction cycle within the preset prediction period.

[0038] Specifically, the following alarm device is equipped with a two-dimensional relationship table for time and acceleration gain (i.e., attenuation coefficient), as shown in Table 1. This table is based on calibration corrections made according to actual conditions. The two-dimensional relationship table for time and acceleration gain is designed as follows: Table 1

[0039] Specifically, the following alarm device calculates its target time as t = k for the kth prediction period (system period T = 0.1 seconds). T seconds. Assuming k=20, the target time t=2 seconds. The device then looks up the corresponding relationship table and finds the attenuation coefficient of 0.8 for a time of 2 seconds. This attenuation coefficient will be used to correct the predicted acceleration value of the 20th prediction cycle, i.e., a_future(k)=a_current. 0.8, thereby achieving the decay processing of future acceleration sequences.

[0040] Based on the acceleration and the decay coefficient, the acceleration sequence of different vehicles after time decay within the preset prediction period is determined.

[0041] Understandably, the following alarm device multiplies the raw acceleration obtained in the current control cycle with the attenuation coefficient determined for each future prediction cycle, thereby calculating the corrected future predicted acceleration values, i.e., the acceleration sequence, of the vehicle and the target vehicle arranged in chronological order.

[0042] In one feasible implementation, the step of determining the acceleration sequence of different vehicles after time decay within the preset prediction period, based on the acceleration and the decay coefficient, includes: The request acceleration within the preset prediction period from the current control period is sequentially obtained from the request acceleration buffer. It should be noted that the request acceleration buffer is an array storage device used to store historical request acceleration values. Its capacity is designed to store the request acceleration values ​​of the most recent 50 system cycles. Because the vehicle will not respond to the requested acceleration immediately during autonomous driving, there will be a certain delay. Figure 2 As shown, Figure 2 A diagram illustrating the acceleration execution response delay is provided, and the number of actuator response delay cycles can be set. This parameter is determined based on the vehicle's acceleration delay period, which is the time required for the requested acceleration sent to the vehicle at the current moment. The acceleration will only be executed after the cycle. Let the system operating cycle be... From now to the future Time (i.e.) Figure 2 The predicted vehicle acceleration for TaccDly is as follows:

[0043] in, This is the historical request acceleration value corresponding to the current moment in the request acceleration record table.

[0044] Understandably, the following alarm device reads acceleration values ​​in ascending order of array indices to obtain historical requested acceleration data from the current moment to the future preset prediction period (such as the TaccDly time period including actuator delay). By obtaining historical requested acceleration in chronological order from a dedicated buffer, it provides an accurate data foundation for acceleration delay compensation, accurately simulating the response delay characteristics of the actuator. This effectively eliminates the deviation between control commands and actual vehicle response caused by execution delay, improving the accuracy of predicting the vehicle's future speed.

[0045] Based on the first acceleration and the requested acceleration, an initial acceleration sequence is constructed; It should be noted that the first acceleration refers to the actual measured acceleration in the current control cycle. The following alarm device constructs an ordered set, i.e., an initial acceleration sequence, based on the first acceleration and the requested acceleration. This set includes the current actual acceleration and the historical requested accelerations required within the future preset prediction cycle.

[0046] Based on the attenuation coefficient and the initial acceleration sequence, determine the acceleration sequence of the vehicle after time decay; Understandably, the vehicle following alarm device generates a new predicted acceleration sequence that better reflects the actual dynamic characteristics of the vehicle by multiplying each element of the initial acceleration sequence by its corresponding decay coefficient at a future time point. By combining the initial acceleration sequence, which reflects the delay characteristics of the actuator, with the decay coefficient that decreases over time, a reasonable correction to the future vehicle acceleration is achieved. This effectively eliminates the prediction bias caused by assuming that the current acceleration or the requested acceleration will continue indefinitely, making the generated decayed acceleration sequence more realistically reflect the vehicle's motion state in the future, providing a key guarantee for the subsequent accurate calculation of the driving trajectory and collision time.

[0047] Based on the attenuation coefficient, the second acceleration is attenuated sequentially to obtain the acceleration sequence of the target vehicle after time attenuation.

[0048] It should be noted that the second acceleration refers to the actual measured acceleration of the target vehicle in the current control cycle. The following alarm device applies the corresponding attenuation coefficient to the predicted acceleration values ​​of the target vehicle in each future cycle according to the time sequence within the preset prediction cycle, and obtains the acceleration sequence of the target vehicle composed of the predicted acceleration values ​​of each cycle after attenuation correction.

[0049] Specifically, assuming the system period Seconds, when At that time, according to Table 1 Find the correspondence between the acceleration gain and time t, and locate the acceleration gain at time t. The actual gain value is obtained by looking up the table. ,when hour, Looking up the table, the gain value is 0.2. Looking up the table again, the gain value is... .

[0050] Right now The acceleration after one system cycle is:

[0051]

[0052] ...

[0054] In one feasible implementation, the step of sequentially obtaining the request acceleration within the preset prediction period from the request acceleration buffer during the current control period includes: Traverse the request acceleration cache and sequentially determine the request acceleration of each period within the prediction period by a preset number of delay periods, wherein the prediction period is less than the cache period covered by the request acceleration cache.

[0055] Understandably, the following alarm device retrieves the requested acceleration corresponding to the number of delay cycles from the requested acceleration buffer for each cycle within the prediction period.

[0056] Specifically, the request acceleration cache covers the request acceleration data of the most recent 50 system cycles, and automatically overwrites the oldest data when it is full.

[0057] In this embodiment, by traversing the request acceleration buffer and obtaining historical request acceleration based on the actuator delay model, the acceleration prediction error caused by the actuator response delay can be accurately compensated, thereby providing a reliable data foundation for subsequent speed correction and trajectory prediction, and improving the accuracy and reliability of the following alarm system.

[0058] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 3 Step S30, the following vehicle alarm method further includes steps S01~S03: Step S01: Based on the future driving trajectory, calculate the collision time between the vehicle and the target vehicle; It should be noted that Time to Collision (TTC) refers to the time required for a collision to occur if the vehicle and the target vehicle maintain their current predicted motion, calculated based on the current relative positions of the two vehicles and their predicted future trajectories. This is the time required for a collision to occur if the following vehicle warning system (or similar device) calculates the same time requirement.

[0059] Specifically, the following vehicle alarm system uses a pursuit model to calculate TTC (Time to Collision). This means that when the distance the vehicle has traveled plus the current distance is greater than the sum of the distance the vehicle in front has traveled and the current distance between the two vehicles, a collision is considered to have occurred. The time required for this is the TTC, calculated using the following formula:

[0060] in, The relative distance between the vehicle and the target vehicle. The distance the vehicle will travel in the next k periods. Let k be the distance the target vehicle will travel over the next k periods. This represents the relative distance at the current moment.

[0061] The following alarm device performs the above calculation cyclically. ,when The calculation stops when the vehicle collides with the vehicle in front, then the TTC is:

[0062] Specifically, when k is greater than the set parameter threshold kmax (e.g., 500), the calculation stops, indicating that no collision will occur. TTC can be set to infinity or a large value.

[0063] Step S02: Determine the collision risk level based on the collision time, and determine whether there is a collision risk based on the collision risk level; It is understandable that collision risk level refers to multiple risk levels divided according to the magnitude of Time To Collision (TTC), including no risk, low risk, medium risk, and high risk levels. The following vehicle warning device compares the calculated TTC value with multiple preset TTC thresholds. When the TTC value is less than the threshold of the highest risk level, it determines that there is a collision risk; otherwise, it determines that there is no collision risk.

[0064] Step S03: If the collision risk level exists, trigger the following alarm and output the warning message corresponding to the collision risk level.

[0065] It should be noted that the following vehicle warning device executes a corresponding multimodal warning combination based on the determined collision risk level, including visual, auditory, and tactile cues. Specifically, the warning cues corresponding to the collision risk level refer to different intensities and forms of warnings configured for different risk levels according to a pre-set mapping relationship.

[0066] Specifically, the following collision warning system issues collision warnings based on the calculated TTC value. Different TTC thresholds are set, such as TTCwarning1, TTCwarning2, TTCwarning3, and TTCwarning4. When the actual TTC is lower than the threshold for each level, different warning actions are executed, as shown in Table 2.

[0067] Table 2

[0068] In one feasible implementation, the step of obtaining the vehicle status information of the vehicle and the target vehicle further includes: Based on the vehicle status information, determine the actual distance between the vehicle and the target vehicle and the actual speed of the vehicle in the current control cycle; It should be noted that actual distance refers to the relative distance between the vehicle and the target vehicle ahead, measured in real time by onboard ranging sensors (such as radar or cameras). Actual vehicle speed refers to the instantaneous speed of the vehicle at the current moment, obtained by vehicle speed sensors (such as wheel speed sensors or inertial measurement units). By accurately acquiring the vehicle's actual speed and the actual distance between the two vehicles in real time, the following warning system provides the most basic and crucial input parameters for subsequent safety distance threshold comparison, future trajectory prediction, and collision time calculation.

[0069] Based on the actual vehicle speed, determine the safe distance threshold for the current control cycle; Understandably, the safe distance threshold refers to a dynamic distance limit value related to the vehicle's speed, preset to ensure driving safety. It includes multiple levels (such as Dsafe1, Dsafe2, and Dsafe3) corresponding to different risk levels. The following warning device obtains the safe distance threshold corresponding to the current vehicle speed using a lookup table.

[0070] Based on the actual distance and the safe distance threshold, a distance risk level is determined, and based on the collision risk level, it is determined whether there is a collision risk. It should be noted that the distance risk level refers to the risk level classified based on the comparison results of the actual distance with multiple safe distance thresholds. The following alarm device determines the distance risk level by comparing the actual distance with the queried safe distance thresholds (such as Dsafe1, Dsafe2, Dsafe3) level by level, and then judges whether there is a collision risk based on the collision risk level.

[0071] Specifically, the mapping table between vehicle speed and safe distance is shown in Table 3.

[0072] Table 3

[0073] If present, a following vehicle alarm will be triggered, and a warning message corresponding to the distance risk level will be output.

[0074] Understandably, when the following vehicle alarm is triggered, the following vehicle alarm device will execute a combination of warning actions that match the specific distance risk level. Through distance risk alarm, it can effectively deal with scenarios where TTC calculations may fail but the actual distance has entered the danger zone (such as when the vehicle in front suddenly cuts in), and can prevent the alarm from being delayed due to the vehicle in front suddenly cutting in.

[0075] In this implementation, by simultaneously establishing distance risk alarms and collision risk alarms, a dual safety protection mechanism is formed, which together constructs a comprehensive safety protection system.

[0076] This application also provides a following alarm device, please refer to... Figure 4 The following vehicle alarm device includes: The acquisition module 10 is used to acquire vehicle status information of the vehicle and the target vehicle, wherein the vehicle status information includes the acceleration of the current control cycle; The attenuation module 20 is used to determine the acceleration sequence of different vehicles after time attenuation within a preset prediction period based on the acceleration. Prediction module 30 is used to predict the future driving trajectory of the different vehicles based on the decayed acceleration sequence; The judgment module 40 is used to determine whether there is a collision risk based on the future driving trajectory. If there is a risk, a following alarm is triggered.

[0077] Optionally, the attenuation module includes: The attenuation coefficient determination submodule is used to determine the attenuation coefficient corresponding to each cycle based on the target time from the current time for each cycle within the preset prediction period; and to determine the acceleration sequence of different vehicles after time decay within the preset prediction period based on the acceleration and the attenuation coefficient.

[0078] Optionally, the attenuation coefficient determination submodule includes: The construction unit is configured to sequentially obtain the requested acceleration within the preset prediction period from the requested acceleration buffer from the current control period; construct an initial acceleration sequence based on the first acceleration and the requested acceleration; determine the acceleration sequence of the vehicle after time decay based on the attenuation coefficient and the initial acceleration sequence; and attenuate the second acceleration sequentially based on the attenuation coefficient to obtain the acceleration sequence of the target vehicle after time decay.

[0079] Optionally, the building unit includes: The traversal subunit is used to traverse the request acceleration buffer and sequentially determine the request acceleration of a preset number of delay periods from each period within the prediction period, wherein the prediction period is less than the cache period covered by the request acceleration buffer.

[0080] Optionally, the determination module includes: The first alarm submodule is used to calculate the collision time between the vehicle and the target vehicle based on the future driving trajectory; determine the collision risk level based on the collision time; determine whether there is a collision risk based on the collision risk level; if there is a collision risk, trigger a following alarm and output a warning prompt corresponding to the collision risk level.

[0081] The second alarm submodule is used to determine the actual distance between the self-vehicle and the target vehicle and the actual speed of the self-vehicle in the current control cycle based on the vehicle status information; determine the safe distance threshold for the current control cycle based on the actual speed; determine the distance risk level based on the actual distance and the safe distance threshold; determine whether there is a collision risk based on the collision risk level; if there is a collision risk, trigger a following alarm and output a warning prompt corresponding to the distance risk level.

[0082] The following alarm device provided in this application, employing the following alarm method in the above embodiments, can solve the technical problem of following alarm. Compared with the prior art, the beneficial effects of the following alarm device provided in this application are the same as those of the following alarm method provided in the above embodiments, and other technical features in the following alarm device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0083] This application provides a vehicle following alarm device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the vehicle following alarm method in the above embodiment 1.

[0084] The following is for reference. Figure 5 The diagram illustrates a structural schematic suitable for implementing the vehicle-following alarm device in the embodiments of this application. The vehicle-following alarm device in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, tablets, digital radio receivers, PDAs (Personal Digital Assistants), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 5 The vehicle following alarm device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0085] like Figure 5As shown, the vehicle-following alarm device may include a processing unit 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the vehicle-following alarm device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows the vehicle-following alarm device to communicate wirelessly or wiredly with other devices to exchange data. Although the figures show vehicle-following alarm devices with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0086] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0087] The following alarm device provided in this application, employing the following alarm method in the above embodiments, can solve the technical problem of following alarm. Compared with the prior art, the beneficial effects of the following alarm device provided in this application are the same as those of the following alarm method provided in the above embodiments, and other technical features of the following alarm device are the same as those disclosed in the method of the previous embodiment, and will not be repeated here.

[0088] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0089] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0090] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the following alarm method in the above embodiments.

[0091] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer 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. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0092] The aforementioned computer-readable storage medium may be included in the vehicle-following alarm device; or it may exist independently and not be installed in the vehicle-following alarm device.

[0093] The aforementioned computer-readable storage medium carries one or more programs. When the aforementioned one or more programs are executed by the vehicle following alarm device, the vehicle following alarm device causes the following to: acquire vehicle status information of the vehicle itself and the target vehicle, wherein the vehicle status information includes the acceleration of the current control cycle; based on the acceleration, determine the acceleration sequence of different vehicles after time decay within a preset prediction period; based on the decayed acceleration sequence, predict the future driving trajectory of the different vehicles; based on the future driving trajectory, determine whether there is a collision risk, and if so, trigger a vehicle following alarm.

[0094] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0095] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0096] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0097] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described following alarm method, thereby solving the technical problem of following alarms. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the following alarm method provided in the above embodiments, and will not be repeated here.

[0098] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the following alarm method as described above.

[0099] The computer program product provided in this application can solve the technical problem of following vehicle alarm. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as the beneficial effects of the following vehicle alarm method provided in the above embodiments, and will not be repeated here.

[0100] The above description is only a part of the embodiments of this application and does not limit the scope of protection of this application. All equivalent structural transformations made under the technical concept of this application and using the content of this application specification and drawings, or direct / indirect applications in other related technical fields, are included in the scope of protection of this application.

Claims

1. A method for vehicle-following alarm, characterized in that, The following vehicle alarm method includes: Obtain vehicle status information for both the vehicle and the target vehicle, wherein the vehicle status information includes the acceleration of the current control cycle; Based on the acceleration, determine the acceleration sequence of different vehicles after time decay within a preset prediction period; Based on the decayed acceleration sequence, the future driving trajectories of the different vehicles are predicted; Based on the future driving trajectory, determine whether there is a collision risk. If so, trigger a following alarm.

2. The following vehicle alarm method as described in claim 1, characterized in that, The acceleration includes a first acceleration of the vehicle and a second acceleration of the target vehicle. The step of determining the acceleration sequence of different vehicles after time decay within a preset prediction period based on the acceleration includes: Based on the target time from the current time for each cycle within the preset prediction period, the attenuation coefficient corresponding to each cycle is determined. Based on the acceleration and the decay coefficient, the acceleration sequence of different vehicles after time decay within the preset prediction period is determined.

3. The following vehicle alarm method as described in claim 2, characterized in that, The acceleration includes a first acceleration of the vehicle and a second acceleration of the target vehicle. The step of determining the acceleration sequence of different vehicles after time decay within the preset prediction period based on the acceleration and the decay coefficient includes: The request acceleration within the preset prediction period from the current control period is sequentially obtained from the request acceleration buffer. Based on the first acceleration and the requested acceleration, an initial acceleration sequence is constructed; Based on the attenuation coefficient and the initial acceleration sequence, determine the acceleration sequence of the vehicle after time decay; Based on the attenuation coefficient, the second acceleration is attenuated sequentially to obtain the acceleration sequence of the target vehicle after time attenuation.

4. The following vehicle alarm method as described in claim 3, characterized in that, The step of sequentially obtaining the request acceleration within the preset prediction period from the request acceleration cache includes: Traverse the request acceleration cache and sequentially determine the request acceleration of each period within the prediction period by a preset number of delay periods, wherein the prediction period is less than the cache period covered by the request acceleration cache.

5. The following vehicle alarm method as described in claim 1, characterized in that, The step of determining whether there is a collision risk based on the future driving trajectory, and triggering a following warning if a collision risk exists, includes: Based on the future driving trajectory, the collision time between the vehicle and the target vehicle is calculated; Based on the collision time, determine the collision risk level, and based on the collision risk level, determine whether there is a collision risk. If present, a following alarm will be triggered, and a warning message corresponding to the collision risk level will be output.

6. The following vehicle alarm method as described in claim 1, characterized in that, The step of obtaining the vehicle status information of the vehicle and the target vehicle also includes: Based on the vehicle status information, determine the actual distance between the vehicle and the target vehicle and the actual speed of the vehicle in the current control cycle; Based on the actual vehicle speed, determine the safe distance threshold for the current control cycle; Based on the actual distance and the safe distance threshold, a distance risk level is determined, and based on the collision risk level, it is determined whether there is a collision risk. If present, a following vehicle alarm will be triggered, and a warning message corresponding to the distance risk level will be output.

7. A vehicle-following alarm device, characterized in that, The device includes: The acquisition module is used to acquire vehicle status information of the vehicle and the target vehicle, wherein the vehicle status information includes the acceleration of the current control cycle; The attenuation module is used to determine the acceleration sequence of different vehicles after time decay within a preset prediction period based on the acceleration. The prediction module is used to predict the future driving trajectories of the different vehicles based on the decayed acceleration sequence. The judgment module is used to determine whether there is a collision risk based on the future driving trajectory. If there is a risk, a following alarm is triggered.

8. A vehicle-following alarm device, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the following alarm method as described in any one of claims 1 to 6.

9. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the following alarm 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 that, when executed by a processor, implements the steps of the following alarm method as described in any one of claims 1 to 6.

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