Method, system and device for generating vehicle safety reminding information and medium

Abstract

The invention provides a vehicle safety reminding information generation method and system, equipment and a medium. The method comprises the steps that vehicle basic safety information broadcasted by a target vehicle is acquired; performing information matching with a vehicle safety detection event one by one based on the vehicle basic safety information and the vehicle driving information to obtain a safety detection result; the safety detection result is a logical operation result between the vehicle safety detection events; and generating vehicle safety reminding information according to the safety detection result. According to the method, the vehicle basic safety information broadcasted by the target vehicle is received in real time, dynamic calculation is performed in combination with the driving state of the vehicle, potential vehicle collision risks, dangerous road section risks and emergency vehicle encountering risks can be recognized in advance, so that targeted safety reminding information is generated, and the vehicle driving safety is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle networking, and in particular to a method, system, device, medium, and program product for generating vehicle safety reminder information. Background Technology

[0002] Currently, there is no effective warning system for oncoming and lateral turning vehicles at intersections, which could lead to collisions between the main vehicle and these vehicles at the intersection, thus affecting traffic safety. Furthermore, there is no effective warning system for other special traffic scenarios, posing significant safety hazards to drivers. Summary of the Invention

[0003] The purpose of this application is to provide a method, system, computer-readable storage medium, and cellular vehicle networking device for generating vehicle safety warning information, which can effectively provide early warnings for different types of vehicle driving risks.

[0004] To address the aforementioned technical problems, this application provides a method for generating vehicle safety reminder information, the specific technical solution of which is as follows:

[0005] Obtain basic vehicle safety information broadcast by the target vehicle;

[0006] Based on the vehicle's basic safety information and driving information, information is matched one by one with the vehicle safety detection events to obtain the safety detection result; the safety detection result is the result of logical operation between each of the vehicle safety detection events.

[0007] Vehicle safety alert information is generated based on the safety test results.

[0008] Optionally, based on the vehicle's basic safety information and driving information, information is matched one by one with the vehicle safety detection events to obtain safety detection results. These results include:

[0009] If the vehicle safety detection event includes a vehicle collision risk event, vehicle collision risk detection is performed based on the target vehicle driving information and the vehicle's own driving information contained in the vehicle's basic safety information to obtain a first detection result.

[0010] If the vehicle safety detection event includes a dangerous road segment event, a dangerous road segment matching detection is performed based on the dangerous road segment information contained in the vehicle's basic safety information and the vehicle's driving information to obtain a second detection result;

[0011] If the vehicle safety detection event includes an emergency vehicle encounter event, an emergency vehicle encounter risk detection is performed based on the emergency vehicle information included in the vehicle's basic safety information to obtain a third detection result;

[0012] A security detection result is generated based on the logical OR operation result between the first detection result, the second detection result, and the third detection result.

[0013] Optionally, before obtaining the first detection result, the method further includes: performing vehicle collision risk detection based on the target vehicle's driving information and the vehicle's own driving information included in the vehicle's basic safety information.

[0014] Obtain a vehicle trajectory prediction model; the vehicle trajectory prediction model is used to simulate the distance between vehicles, and the distance between vehicles includes the current spacing and the vehicle driving direction type;

[0015] Accordingly, based on the target vehicle's driving information and the vehicle's own driving information included in the vehicle's basic safety information, vehicle collision risk detection is performed, and the first detection result includes:

[0016] The target vehicle's driving information and the vehicle's own driving information are input into the vehicle trajectory prediction model to obtain a first detection result containing vehicle collision risk information. The vehicle trajectory prediction model calculates the distance between the vehicle and the target vehicle based on the target vehicle's driving information and the vehicle's own information. If the distance is less than a safe distance, a first detection result is generated. The safe distance is the smaller of a calculated safe distance and a set safe distance. The process of determining the calculated safe distance includes: determining the calculated safe distance based on the vehicle's current driving direction, current speed, and current position, as well as the target vehicle's target speed, target driving direction, and target position information. The speed difference between the current speed and the target speed along the reference direction, using the current driving direction or the target driving direction as the reference direction, is positively correlated with the calculated safe distance.

[0017] Optionally, based on the dangerous road segment information included in the vehicle's basic safety information and the vehicle's driving information, dangerous road segment matching detection is performed to obtain a second detection result, including:

[0018] Read the dangerous road section information from the vehicle's basic safety information;

[0019] The real-time location information of this vehicle is determined based on the vehicle's driving information.

[0020] If the distance between the real-time location information of the vehicle and the corresponding dangerous coordinates of the dangerous road section is less than a safety threshold, a second detection result is generated.

[0021] Optionally, based on the emergency vehicle information included in the vehicle's basic safety information, an emergency vehicle encounter risk detection is performed to obtain a third detection result, including:

[0022] Read the emergency vehicle information included in the vehicle's basic safety information;

[0023] If the emergency vehicle information indicates that the target vehicle carries an emergency event sign, the first emergency vehicle risk information is obtained by combining the vehicle's driving information with emergency vehicle encounter risk detection.

[0024] If the emergency vehicle information is an emergency vehicle that does not carry an emergency event sign, an emergency vehicle encounter risk detection is performed in conjunction with the vehicle's driving information to obtain second emergency vehicle risk information; the third detection result includes the first emergency vehicle risk information and the second emergency vehicle risk information; the priority of the second emergency vehicle risk information is lower than that of the first emergency vehicle risk information.

[0025] Optionally, generating vehicle safety alert information based on the safety detection results includes:

[0026] If the safety detection result includes the first detection result, a first vehicle safety reminder message is generated that includes the location information and driving information of the target vehicle.

[0027] If the safety detection result includes the second detection result, a second vehicle safety alert message is generated that includes the real-time distance between the vehicle and the dangerous road section information.

[0028] If the safety detection result includes the third detection result, a third vehicle safety alert message containing the real-time distance between the vehicle and the emergency vehicle is generated.

[0029] This application also provides a system for generating vehicle safety reminder information, including:

[0030] The broadcast information acquisition module is used to acquire basic vehicle safety information broadcast by the target vehicle.

[0031] The vehicle safety event matching module is used to match the vehicle's basic safety information and driving information with vehicle safety detection events one by one to obtain a safety detection result; the safety detection result is the result of logical operation between the various vehicle safety detection events.

[0032] The message generation module is used to generate vehicle safety reminder information based on the safety detection results.

[0033] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described above.

[0034] This application also provides a cellular vehicle-to-everything (V2X) device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method described above when it calls the computer program in the memory.

[0035] This application also provides a computer program product, including a computer program that, when executed, implements the steps of the method described above.

[0036] This application provides a method for generating vehicle safety reminder information, comprising: acquiring basic vehicle safety information broadcast by a target vehicle; matching the basic vehicle safety information and the vehicle's driving information with vehicle safety detection events one by one to obtain safety detection results; the safety detection results being the logical operation results between the various vehicle safety detection events; and generating vehicle safety reminder information based on the safety detection results.

[0037] This application enables real-time perception of the status of surrounding vehicles by acquiring basic vehicle safety information broadcast by the target vehicle. This provides accurate and comprehensive foundational data for subsequent safety detection, allowing the vehicle to promptly understand key information such as the speed and position of surrounding vehicles, effectively expanding the vehicle's safety monitoring range and avoiding potential dangers caused by blind spots or information lag. By combining the acquired basic vehicle safety information with the vehicle's driving information and matching it one by one with vehicle safety detection events, comprehensive analysis can accurately identify various potential safety risks. It not only considers the vehicle's driving status but also fully integrates the situation of surrounding vehicles. Through information matching, it can accurately determine whether there are safety issues such as collision risk and rear-end collision risk, improving the accuracy and reliability of safety detection and effectively reducing the possibility of false alarms and missed alarms. The matched safety detection results are the logical operation results between various vehicle safety detection events, comprehensively considering multiple safety detection events to more comprehensively assess the vehicle's safety status. This allows for better adaptation to complex traffic scenarios and improves vehicle safety under complex road conditions. Finally, based on the safety inspection results, vehicle safety reminders are generated, providing timely and accurate safety tips that help make correct driving decisions, such as slowing down or changing lanes in advance, thereby effectively preventing traffic accidents and ensuring the safety of vehicles and passengers.

[0038] This application also provides a vehicle safety reminder information generation system, a computer-readable storage medium, a cellular vehicle networking device, and a computer program product, which have the above-mentioned beneficial effects, and will not be elaborated here. Attached Figure Description

[0039] 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, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0040] Figure 1 A flowchart illustrating a method for generating vehicle safety reminder information provided in this application embodiment;

[0041] Figure 2 This is a schematic diagram of vehicle collision risk event detection provided in an embodiment of this application;

[0042] Figure 3 This is a schematic diagram of emergency vehicle encounter event detection provided in an embodiment of this application;

[0043] Figure 4 This is a schematic diagram of hazardous road segment event detection provided in an embodiment of this application;

[0044] Figure 5 This is a schematic diagram of a vehicle safety reminder information generation system provided in an embodiment of this application;

[0045] Figure 6 This is a structural diagram of a cellular vehicle-to-everything (V2X) device provided in an embodiment of this application. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0047] See Figure 1 , Figure 1 A flowchart illustrating a method for generating vehicle safety reminder information provided in this application embodiment, the method comprising:

[0048] S101: Obtain basic vehicle safety information broadcast by the target vehicle;

[0049] S102: Based on the vehicle's basic safety information and the vehicle's driving information, match the information with the vehicle safety detection events one by one to obtain the safety detection result; the safety detection result is the result of logical operation between each of the vehicle safety detection events.

[0050] S103: Generate vehicle safety reminder information based on the safety detection results.

[0051] In step S101, the vehicle can continuously monitor the basic vehicle safety information periodically broadcast by surrounding nodes through the cellular vehicle-to-everything (C-V2X) interface, thereby obtaining the target vehicle's basic vehicle safety information in real time, including but not limited to raw parameters such as position, speed, heading angle, four-axis acceleration, vehicle length, width, height, and emergency vehicle sign position.

[0052] There are no restrictions on the types and content of information included in the basic vehicle safety information. It shall at least include the target vehicle's target location information, target driving direction and target speed information. It may also include the target vehicle's vehicle type, such as police car, fire truck, ambulance or other special vehicle, and may also include the target vehicle's basic information (such as vehicle size), siren, warning light information, turn signal information and braking information, etc.

[0053] In one feasible implementation of this application, when the vehicle receives a basic vehicle safety information message, it can first perform integrity verification and certificate validity verification on the basic vehicle safety information, retaining only the data packets that pass the verification; then, it parses the temporary identifier (Temporary ID) in the packet header and compares it with the locally stored neighbor list. If it is a new node, an entry is created; if it is an existing node, the corresponding field is updated. By verifying the basic vehicle safety information, the reliability, real-time nature, and completeness of the information source can be guaranteed.

[0054] In step S102, the aim is to match the vehicle's basic safety information and driving information with vehicle safety detection events one by one to obtain safety detection results. The specific types of vehicle safety detection events are not specifically limited here, and may include, but are not limited to, vehicle collision events, dangerous road section events, and emergency vehicle events. In addition, they may also include secondary events following traffic accidents, etc.

[0055] In one feasible implementation, this step can be implemented as follows:

[0056] If the vehicle safety detection event includes a vehicle collision risk event, vehicle collision risk detection is performed based on the target vehicle driving information and the vehicle's own driving information contained in the vehicle's basic safety information to obtain a first detection result.

[0057] If the vehicle safety detection event includes a dangerous road segment event, a dangerous road segment matching detection is performed based on the dangerous road segment information contained in the vehicle's basic safety information and the vehicle's driving information to obtain a second detection result;

[0058] If the vehicle safety detection event includes an emergency vehicle encounter event, an emergency vehicle encounter risk detection is performed based on the emergency vehicle information included in the vehicle's basic safety information to obtain a third detection result;

[0059] A security detection result is generated based on the logical OR operation result between the first detection result, the second detection result, and the third detection result.

[0060] For vehicle collision risk events, the target vehicle's driving information, including speed, direction, and coordinates, can be acquired in real time, while the vehicle's own driving information, such as speed, direction, and position, is also collected. The target vehicle's driving information is then compared and analyzed with the vehicle's own information. For example, based on parameters such as the relative speed, relative position, and direction of travel of the two vehicles, a collision risk is determined. If the relative speed of the two vehicles is high and the distance gradually decreases, and their directions of travel show a tendency to intersect or overlap, the collision risk is considered high. Based on the above assessment, the first detection result of the vehicle collision risk is obtained. This result can be a simple risk level classification (e.g., high risk, medium risk, low risk) or a more detailed description of the collision risk, such as the estimated collision time and collision location.

[0061] When conducting vehicle collision risk detection, considering the high speed of motor vehicles and the numerous possibilities of directional changes, a vehicle trajectory prediction model can be obtained in advance to improve the accuracy and efficiency of vehicle collision risk detection. The vehicle trajectory prediction model is used to simulate the distance between vehicles, which can include the current distance and the type of vehicle travel direction.

[0062] For incidents involving dangerous road sections, information about these sections can be extracted from the vehicle's basic safety information. This information may include the start and end coordinates of the dangerous road section and its characteristics (such as sharp bends, steep slopes, and accident-prone areas). Dangerous road section information can be obtained from pre-stored map data, data released by road management departments, or real-time data updated during vehicle operation. The system matches the vehicle's location information with the dangerous road section information. When the vehicle enters or is about to enter a dangerous road section, a successful match is determined, and a second detection result is output. This second result can include the specific location of the dangerous road section, its distance from the vehicle, and the estimated entry time, used to alert the driver to the danger.

[0063] For emergency vehicle encounters, emergency vehicle information, including its location, direction of travel, and speed, can be obtained from the vehicle's basic safety information. The vehicle's travel information is then compared and analyzed with the emergency vehicle's information. This determines whether the paths of the two vehicles intersect or overlap, and whether their relative positions and speeds pose a risk of encounter. For example, if the vehicle and the emergency vehicle are traveling on the same road at a relatively high speed, or if their paths intersect and are about to reach the intersection, then an emergency vehicle encounter risk is considered present, leading to a third detection result. This third result can include the risk level of the emergency vehicle encounter, the estimated time of encounter, and the encounter location, to promptly alert the driver to avoid the emergency vehicle.

[0064] Logical operations are performed on the first detection result (vehicle collision risk detection result), the second detection result (dangerous road segment matching detection result), and the third detection result (emergency vehicle encounter risk detection result). No specific limitation is made on the type of logical operation performed. In one feasible implementation, the detection results of each vehicle safety detection event can be logically ORed to ensure that all vehicle safety detection events can be represented by safety detection results. In another feasible implementation, different priorities can be set for vehicle safety detection events to ensure that safety detection results preferentially represent the detection results of higher-priority vehicle safety detection events.

[0065] In other words, if any one of the test results indicates a risk (such as high collision risk, matching a dangerous road section, or high risk of encountering an emergency vehicle), the overall safety test result is determined to be a safety risk.

[0066] Step S103 aims to generate vehicle safety alert information. This can be achieved by combining a pre-defined emergency vehicle alert strategy library. It should be noted that the target vehicle can be multiple vehicles, and one or more vehicle safety alert messages can be generated based on all the basic safety information of the vehicles that can receive the broadcast.

[0067] It should be noted that while vehicle safety alerts are generated based on safety inspection results, it is not required that all vehicle safety inspection events generate corresponding alerts. In practice, some vehicle safety alerts can be generated based on the urgency of each vehicle safety inspection event. This urgency is determined by the real-time distance between the vehicle and the hazardous object; the smaller the real-time distance, the higher the urgency, and the two are negatively correlated. Hazardous objects include, but are not limited to, potential collision targets, dangerous road sections, and other vehicles carrying emergency signs.

[0068] Furthermore, in one feasible implementation, for different vehicle safety detection events, corresponding vehicle safety alert information generation thresholds can be set. These thresholds are also determined by the real-time distance between the vehicle and the hazardous object, i.e., the threshold unit is meters. For example, a first information generation threshold, a second information generation threshold, and a third information generation threshold can be set for vehicle collision risk events, hazardous road segment events, and emergency vehicle encounter events, respectively. When the distance between the vehicle and the target vehicle that may collide is less than the first information generation threshold, or when the distance between the vehicle and the hazardous road segment is less than the second information generation threshold, or when the distance between the vehicle and the emergency vehicle is less than the third information generation threshold, corresponding vehicle safety information can be generated.

[0069] Taking the estimated collision time as an example, the rule engine can determine whether the estimated collision time is less than a threshold. If it is less, a level one audible and visual alarm is immediately triggered. At this time, a scene diagram can also be pushed to the instrument panel and HUD via the vehicle's Ethernet. If the estimated collision time is greater than the threshold but a lane change conflict exists, a level two mild alert is triggered, which only displays a thumbnail on the instrument panel.

[0070] In addition, this vehicle can continuously monitor the target vehicle's basic safety information. Once the emergency event indicator is cleared, or the target vehicle moves out of a safe distance or leaves a dangerous section of road, the corresponding vehicle safety reminder information can be turned off.

[0071] This application embodiment, by acquiring the basic vehicle safety information broadcast by the target vehicle, enables real-time perception of the status of surrounding vehicles. This provides accurate and comprehensive basic data for subsequent safety detection, allowing the vehicle to promptly understand key information such as the speed and position of surrounding vehicles, effectively expanding the vehicle's safety monitoring range and avoiding potential dangers caused by blind spots or information lag. By combining the acquired basic vehicle safety information with the vehicle's driving information and matching it one by one with vehicle safety detection events, comprehensive analysis can accurately identify various potential safety risks. It not only considers the vehicle's driving status but also fully integrates the situation of surrounding vehicles. Through information matching, it can accurately determine whether there are safety issues such as collision risk or rear-end collision risk, improving the accuracy and reliability of safety detection and effectively reducing the possibility of false alarms and missed alarms. The matched safety detection results are the logical operation results between various vehicle safety detection events, comprehensively considering multiple safety detection events to more comprehensively assess the vehicle's safety status, better adapting to complex traffic scenarios and improving vehicle safety under complex road conditions. Finally, based on the safety inspection results, vehicle safety reminders are generated, providing timely and accurate safety tips that help make correct driving decisions, such as slowing down or changing lanes in advance, thereby effectively preventing traffic accidents and ensuring the safety of vehicles and passengers.

[0072] Based on the above embodiments, as a preferred embodiment, when generating the first detection result, the target vehicle driving information and the vehicle's own driving information can be input into the vehicle driving trajectory prediction model to obtain a first detection result that outputs vehicle collision risk information.

[0073] The target vehicle broadcasts basic vehicle safety information via vehicle-to-vehicle communication technology. The target vehicle also transmits its own driving information (including speed, direction of travel, and position) to the target vehicle via wireless communication. The target vehicle receives this information as the target vehicle's driving information input.

[0074] When collecting vehicle driving information, the system uses the vehicle's own sensors (such as speed sensors and gyroscopes) to obtain the vehicle's current driving direction, speed, and position. The speed sensor can accurately measure the vehicle's speed, the gyroscope can determine the vehicle's driving direction, and the vehicle's positioning system (such as GPS) can provide the vehicle's current position.

[0075] Subsequently, the collected target vehicle driving information and the vehicle's own driving information are input into the vehicle trajectory prediction model. The vehicle trajectory prediction model calculates the distance between the vehicle and the target vehicle based on the input information, and comprehensively considers factors such as the driving direction, speed, and position of the vehicle and the target vehicle to predict the possible driving trajectories of the vehicle and the target vehicle in the future, thereby determining the distance between the two vehicles.

[0076] Use the current direction of travel of this vehicle or the direction of travel of the target vehicle as the reference direction. For example, if this vehicle and the target vehicle are traveling in the same direction, you can choose the direction of travel of this vehicle as the reference direction; if they are traveling in opposite directions, you can also choose a suitable reference direction according to the actual situation.

[0077] Along the reference direction, consider the current speed of this vehicle and the speed of the target vehicle. The safe distance is calculated based on the speed difference between the two. The larger the speed difference, the larger the calculated safe distance. A large speed difference means that the relative speeds of the two vehicles are high, requiring a greater safe distance to avoid a collision. This process can be implemented through the internal logic of the model. The model determines the calculated safe distance based on input information such as vehicle speed, according to certain rules (such as considering factors like vehicle braking performance).

[0078] The safe distance is the smaller of the calculated safe distance and the set safe distance. The calculated safe distance can be determined based on the current driving direction, current speed, current vehicle position, target speed information, driving direction, and target position information. When calculating the safe distance, the current driving direction or the target driving direction should be used as the reference direction. The speed difference between the current speed and the target speed along the reference direction (vehicle speed is a vector) is positively correlated with the calculated safe distance.

[0079] The safety distance can be set by those skilled in the art, for example, it can be a fixed value. The calculation of the safety distance can also take into account information such as weather, road surface slippage, and traffic congestion to comprehensively determine the safety distance. The calculated safety distance is updated in real time with changes in vehicle speed, relative position, and direction of travel. The smaller value is used as the warning threshold after comparison with the set safety distance. This ensures that the vehicle can obtain a safe distance judgment that is neither overly sensitive nor lacking in protection in scenarios such as high-speed approach, low-speed stopping, or passing oncoming traffic, significantly reducing the risk of collisions during vehicle encounters at intersections.

[0080] The calculated safe distance and the set safe distance are compared, and the smaller value between the two is selected as the final safe distance to avoid collision risks due to the safe distance being too large or too small. If the vehicle distance is less than the determined safe distance, a first detection result containing vehicle collision risk information is generated.

[0081] This embodiment utilizes a vehicle trajectory prediction model to predict the relative position and movement trend of the vehicle and a target vehicle over a future period. When the distance between vehicles is detected to be less than the safe distance, a collision risk warning can be issued promptly. In complex traffic environments, such as urban intersections and multi-lane changes, vehicle directions and speeds change frequently. The vehicle trajectory prediction model can comprehensively consider these changing factors and accurately calculate the safe distance between vehicles. For example, at intersections, vehicles may change direction in multiple ways, such as turning or going straight. The model can predict the distance between vehicles in different directions based on real-time driving information, ensuring a safe distance is maintained in various complex traffic scenarios.

[0082] Based on the above embodiments, in a preferred embodiment, when the second detection result is obtained, the dangerous road section information in the vehicle's basic safety information can be read, and the vehicle's real-time location information can be determined based on the vehicle's driving information. If the distance between the real-time location information of the vehicle and the corresponding dangerous coordinates of the dangerous road section information is less than a safety threshold, the second detection result is generated.

[0083] If the basic vehicle safety information broadcast by the target vehicle includes information on dangerous road sections, road map information and the broadcast basic vehicle safety information can be combined to mark potentially dangerous road sections. For example, in dangerous road sections such as school zones, intersections, construction sites, abnormal road sections, and mudslide sections, the vehicle's speed and distance can be used to determine whether safety hazards will occur in these sections, and appropriate markings can be made. Finally, a second set of basic vehicle safety information for dangerous road section warnings can be generated.

[0084] Vehicles are equipped with Intelligent Transportation Systems (ITS) or Advanced Driver Assistance Systems (ADAS) that can collect and store various types of data in real time during driving. These systems acquire information such as road conditions, traffic signals, and the dynamics of surrounding vehicles through sensors on the vehicle (such as cameras, radar, and lidar) and the vehicle's electronic control unit (ECU). Hazardous road segment information may be recorded in specific formats or with labels. For example, when a vehicle passes through a road segment with an accident record, frequent traffic violations, or complex terrain, the system will automatically mark the segment as hazardous and store its location, length, and potential risk type in the vehicle's local database.

[0085] Furthermore, vehicles can obtain information about hazardous road sections from external data sources through vehicle-to-everything (V2X) technology. For example, vehicles can communicate with traffic management department servers, shared data platforms of other vehicles, or specialized road safety information service platforms. External data sources can provide broader and more timely information on hazardous road sections, such as sections with recent traffic accidents, sections with road condition changes due to natural disasters, and construction sites. Vehicles receive this information through wireless communication modules (such as 4G, 5G, and V2X communication modules) and integrate it into their own driving information database.

[0086] By combining vehicle-mounted sensors with external data sources, the timeliness and accuracy of information on hazardous road sections can be improved, reducing safety risks caused by missing or delayed information. When labeling hazardous road section information in the vehicle trajectory prediction model, feature engineering transforms these sections into corresponding features. For example, for curves, information such as radius of curvature, curve length, and superelevation can be extracted; for intersections, traffic light status, pedestrian crossing flow, and the speed and distance of lateral vehicles can be extracted; for road sections with poor conditions, features such as road surface smoothness and slipperiness can be extracted. Through feature embedding, hazardous road section information is labeled in the vehicle trajectory prediction model. For autonomous driving systems, accurate labeling information helps them plan driving paths and adjust driving states more effectively, improving the safety and reliability of autonomous driving.

[0087] If dangerous road segment information is detected, the broadcast dangerous road segment information can include the location, length, type of danger, and suggested countermeasures of the dangerous road segment, and is sent to surrounding vehicles in a standardized data format via wireless communication network.

[0088] Vehicles receiving broadcast information can assess and process warnings about dangerous road sections based on their location and driving status. For example, the vehicle's onboard system can automatically calculate its distance and relative speed to the dangerous section, determining whether emergency braking, lane changing, or other safety measures are necessary. Simultaneously, the vehicle's display system will show the received warning information to the driver, alerting them to potential hazards ahead.

[0089] This embodiment effectively expands the reach of dangerous road section information by broadcasting basic safety information for a second vehicle that includes warnings of dangerous road sections, enabling more vehicles to be aware of potential hazards and take appropriate safety measures. Through the broadcasting mechanism of vehicle-to-everything (V2X) technology, dangerous road section information can be rapidly transmitted between vehicles, reducing traffic accidents caused by information asymmetry.

[0090] Based on the above embodiments, as a preferred embodiment, the information matching process for emergency vehicle encounter events may include the following steps:

[0091] Read emergency vehicle information, which is included in the vehicle's basic safety information.

[0092] If the emergency vehicle information indicates that the target vehicle is carrying an emergency event sign, the emergency vehicle encounter risk detection is performed in combination with the vehicle's own driving information to obtain the first emergency vehicle risk information.

[0093] If the emergency vehicle information is an emergency vehicle that does not carry an emergency event sign, an emergency vehicle encounter risk detection is performed in conjunction with the vehicle's driving information to obtain the second emergency vehicle risk information.

[0094] The third test result includes risk information for the first emergency vehicle and risk information for the second emergency vehicle; the risk information for the second emergency vehicle has a lower priority than the risk information for the first emergency vehicle.

[0095] First, the basic vehicle type is identified to determine if it is a non-emergency vehicle. Non-emergency vehicles typically refer to ordinary passenger cars, trucks, and other non-emergency, non-fire, police, or other special vehicles. Once the target vehicle is confirmed to be an emergency vehicle and carrying an emergency sign, first-level emergency vehicle risk information is generated. At this point, based on the specific content of the detected emergency sign, combined with information such as the vehicle's current location, direction of travel, and speed, a corresponding third-level detection result is generated. If the safety detection result includes the third-level detection result, third-level vehicle safety alert information containing the real-time distance to the emergency vehicle is generated. The content of the third-level vehicle safety alert information may include the type, location, and distance of the emergency, as well as suggested response measures. For example, if the emergency sign indicates an accident ahead, the safety alert information may advise the driver to slow down, take evasive action, or change lanes in advance.

[0096] If an emergency vehicle does not carry an emergency sign, a second emergency vehicle risk information is generated by combining the vehicle's driving information with an emergency vehicle encounter risk detection. Emergency vehicles without emergency signs typically do not have high right-of-way; therefore, the priority of the second emergency vehicle risk information is usually lower than that of the first emergency vehicle risk information. Additionally, for non-emergency vehicles carrying emergency signs, such as civilian vehicles broadcasting basic safety information when urgently transporting patients to the hospital, second emergency vehicle risk information can also be generated.

[0097] It is easy to understand that when generating vehicle safety alert information, the information is matched based on the results of vehicle safety detection events.

[0098] Specifically, if the safety inspection result includes the first inspection result, a first vehicle safety alert message containing the target vehicle's corresponding location information and driving information is generated;

[0099] If the safety detection result includes a second detection result, generate a second vehicle safety alert message that includes the real-time distance between the vehicle and the dangerous road section information;

[0100] If the safety inspection results include third inspection results, generate a third vehicle safety alert message that includes the real-time distance between the vehicle and the emergency vehicle.

[0101] For vehicle collision risk events, the most important features are the target vehicle's location and driving information. For hazardous road segment events, the most important feature is the real-time distance to the hazardous road segment. For emergency vehicle encounter events, the most important feature is the real-time distance to the emergency vehicle. Furthermore, those skilled in the art can add other relevant information to each vehicle safety alert message; examples are not provided here.

[0102] For example, if the dangerous road section information is a landslide section, the second vehicle safety alert information can also include weather information to help determine whether the landslide may worsen.

[0103] The following descriptions illustrate vehicle collision risk events, dangerous road section events, and emergency vehicle encounter events through corresponding exemplary implementation methods:

[0104] For vehicle collision risk events, see Figure 2 , Figure 2 This is a schematic diagram of vehicle collision risk event detection provided in an embodiment of this application:

[0105] Step 1: The OBU vehicle unit continuously broadcasts basic vehicle safety messages to surrounding vehicle OBUs via C-V2X wireless technology.

[0106] Step 2: Vehicle OBU 1 (HV), Vehicle OBU 2 (RV1), Vehicle OBU 3 (RV3), and Vehicle OBU 4 (RV4) continuously receive basic vehicle safety messages broadcast by the other party (which may include their own location information, speed information, driving direction information, turn signal information, etc.).

[0107] Step 3: Vehicle No. 1's OBU (HV) moves towards the intersection and continues straight, continuously acquiring its real-time location and speed information. Specifically:

[0108] (1) Continuously receive basic vehicle safety messages (carrying the location information, speed information, and driving direction information of vehicle 2) from the OBU (RV1) of vehicle 2, and calculate the driving information of the target vehicle. Based on its own vehicle (HV) information (location information, speed information, etc.) and the basic vehicle safety messages from the OBU of vehicle 2, determine that vehicle 2 is a vehicle traveling straight from the left side. Based on the driving information of vehicle 2 and its own vehicle, continuously calculate whether its own vehicle (HV) has a risk of collision with vehicle 2. If there is a risk of collision, generate a vehicle safety reminder message to notify the driver of its own vehicle of the danger of collision with vehicle 2 so that the driver can take appropriate measures.

[0109] (2) Continuously receive basic vehicle safety messages from the OBU (RV2) of vehicle No. 3 (carrying the location information, speed information, driving direction information, turn signal information, etc. of vehicle No. 3), and calculate the driving information of the target vehicle. Based on its own vehicle (HV) information (location information, speed information, etc.) and the basic vehicle safety messages from the OBU of vehicle No. 3, determine that vehicle No. 3 is a vehicle turning left from the right side. Based on the driving information of vehicle No. 3 and the driving information of its own vehicle, continuously calculate whether its own vehicle (HV) has a risk of collision with vehicle No. 3. If there is a risk of collision, generate a vehicle safety reminder message to notify the driver of its own vehicle of the danger of collision with vehicle No. 3 so that the driver can take appropriate measures.

[0110] (3) Continuously receive basic vehicle safety messages from the OBU (RV3) of vehicle 4 (carrying the location information, speed information, driving direction information, turn signal information, etc. of vehicle 4), and calculate the driving information of the target vehicle. Based on the vehicle (HV) information (location information, speed information, etc.) and the basic vehicle safety messages from the OBU of vehicle 4, determine that vehicle 3 is a vehicle turning left from the opposite direction. Based on the driving information of vehicle 4 and the driving information of the vehicle itself, continuously calculate whether there is a risk of collision between the vehicle (HV) and vehicle 4. If there is a risk of collision, generate a vehicle safety reminder message to notify the driver of the danger of collision with vehicle 4 so that the driver can take appropriate measures.

[0111] Step 4: The driver of vehicle 1's OBU (HV) takes appropriate measures based on the warning, such as braking and slowing down, and successfully avoids a collision, thus canceling the warning.

[0112] See Figure 3 , Figure 3 This is a schematic diagram of emergency vehicle encounter event detection provided in an embodiment of this application. The OBU (on-board unit) may include a location positioning module, a message processing module, and a wireless communication module. Figure 3 The radius r1 is the safety distance, and the radius r2 is the redundant safety distance that is greater than the safety distance.

[0113] Step 1: The OBU (On-Board Unit) can continuously broadcast basic vehicle safety messages to surrounding vehicle OBUs via C-V2X wireless technology. Specifically, the location module processes and provides information such as time, location, and speed; the message processing module processes information such as time, location, speed, vehicle type, driving direction, turn signals, and braking, and then constructs the basic vehicle safety information; the wireless communication module is responsible for broadcasting the basic vehicle safety information via C-V2X technology.

[0114] Step 2: Vehicles such as the 1st ordinary vehicle OBU (this vehicle), the 2nd emergency vehicle OBU (target vehicle 1), the 3rd emergency vehicle OBU (target vehicle 2), the 4th emergency vehicle OBU (target vehicle 3), the 5th emergency vehicle OBU (target vehicle 4), the 6th emergency vehicle OBU (target vehicle 5), the 7th emergency vehicle OBU (target vehicle 6), and the 8th emergency vehicle OBU (target vehicle 7) continuously receive basic vehicle safety information periodically sent by each other.

[0115] Step 3: When emergency vehicles are continuously transmitting basic vehicle safety information, if no emergency task is being performed, the transmitted basic vehicle safety information will not include emergency event information, siren activation, or flashing light activation information, such as... Figure 3 Emergency vehicles numbered 3, 5, and 7; when performing emergency missions, the basic safety information sent by the system must include emergency event information, siren activation, and flashing light activation information, such as... Figure 3 Emergency vehicles numbered 2, 4, 6, 8, and 9.

[0116] Step 4: Vehicle 1 (the vehicle's OBU) is driving normally on the road, continuously acquiring its own real-time location and speed information, and continuously receiving and processing basic vehicle safety information from surrounding emergency vehicles. Based on its own vehicle information (location, speed, etc.) and the basic vehicle safety information from surrounding emergency vehicle OBUs (vehicle type, location, speed, emergency event information, siren activation, flashing light activation, etc.), it continuously calculates the distance between its own vehicle and the surrounding emergency vehicles (target vehicles). Specifically:

[0117] (1) If the distance between this vehicle and the target vehicle is greater than r2 (e.g. Figure 3 (For emergency vehicles No. 2 and No. 5 in the list), regardless of whether the target vehicle is performing an emergency mission or not, this vehicle does not need to generate vehicle safety alert information; the vehicle can operate normally in accordance with traffic rules.

[0118] (2) If the distance between this vehicle and the target vehicle is greater than r1 and less than r2 (e.g. Figure 3 (Emergency vehicle No. 3 in the list). Based on the basic vehicle safety information received from the target vehicle, it is determined that the target vehicle is not performing an emergency mission (vehicle type is emergency vehicle, no emergency event information is carried, siren is not turned on, and warning lights are not turned on). This vehicle does not need to generate vehicle safety reminder information and can operate normally in accordance with traffic rules.

[0119] (3) If the distance between this vehicle and the target vehicle is greater than r1 and less than r2 (e.g. Figure 3 If the target vehicle is the No. 9 emergency vehicle in the list, and the target vehicle's speed is less than the threshold S1 (e.g., 80 km / h), regardless of whether the target vehicle is performing an emergency mission or not, this vehicle does not need to generate vehicle safety alert information, and the vehicle can operate normally according to traffic rules.

[0120] (4) If the distance between this vehicle and the target vehicle is greater than r1 and less than r2 (e.g. Figure 3 If the target vehicle is designated as Emergency Vehicle No. 4 and its speed is greater than or equal to the threshold S1 (e.g., 80 km / h), and the target vehicle is determined to be performing an emergency task based on the received basic vehicle safety information (vehicle type is Emergency Vehicle, carrying emergency event information, or with siren or flashing lights on), then the vehicle generates a vehicle safety alert to notify the driver of the presence of an emergency vehicle performing a task and to report its location. The driver is reminded to slow down and give way to the emergency vehicle, allowing it to pass first.

[0121] (5) If the distance between this vehicle and the target vehicle is less than r1 (e.g. Figure 3(Emergency vehicle No. 7 in the list). Based on the basic vehicle safety information received from the target vehicle, it is determined that the target vehicle is not performing an emergency mission (vehicle type is emergency vehicle, no emergency event information is carried, siren is not turned on, and flashing lights are not turned on). This vehicle does not need to generate vehicle safety reminder information and can operate normally in accordance with traffic rules.

[0122] (6) If the distance between this vehicle and the target vehicle is less than r1 (e.g.) Figure 3 If the target vehicle is identified as an emergency vehicle (vehicle type: emergency vehicle, carrying emergency information, or with siren or flashing lights on), and the vehicle's driver is alerted by a vehicle safety warning message indicating the presence of an emergency vehicle nearby, the driver is reminded to slow down and give way to the emergency vehicle.

[0123] Step 5: The driver of vehicle 1's OBU (the vehicle itself) takes appropriate measures based on the vehicle safety alert information, such as driving normally, braking, slowing down, or avoiding obstacles, and then cancels the warning.

[0124] See Figure 4 , Figure 4 This is a schematic diagram of hazardous road segment event detection provided in an embodiment of this application. Figure 4 This includes vehicles 1, 2, and 3, as well as Roadside Units (RSUs) 1 and 2. Considering the distance limitations of broadcasting basic vehicle safety information between vehicles, to further improve the timely broadcasting of hazardous road section information, this hazardous road section information can originate not only from the basic vehicle safety information broadcast by the target vehicles but also from roadside traffic information broadcast by the roadside units. An exemplary implementation process is as follows:

[0125] Step 1: Each vehicle's OBU continuously acquires its own real-time location and speed information, and broadcasts basic vehicle safety information. (Carrying its own location, speed, and direction of travel information, it broadcasts basic vehicle safety information until a detection is detected.) Figure 4 When there is an obstacle as shown, the basic vehicle safety information broadcast by each vehicle does not include information about dangerous road sections.

[0126] Step 2: Vehicles such as Vehicle 1 OBU and Vehicle 2 OBU continuously receive basic vehicle safety information periodically sent by each other's message processing module.

[0127] Step 3: Vehicle No. 1 approaches a dangerous road area (such as deep water under a bridge, potholes on the road, slippery roads, sharp turns ahead, landslides, dead ends, etc.). Figure 4 (Using an obstacle as an example).

[0128] Step 4: The sensor modules of the OBU of vehicle No. 1, such as radar and high-definition camera, detect obstacles on the road ahead and generate relevant dangerous road section data, including obstacle location information and obstacle size.

[0129] Step 5: The OBU of vehicle No. 1 updates the vehicle's basic safety information (including the vehicle's location, speed, and direction of travel, and carrying information about dangerous road sections) based on the dangerous road section data, and continuously broadcasts it to the OBUs of surrounding vehicles and roadside units (RSUs) via C-V2X wireless technology.

[0130] Step 6: When the distance between the calculated location of vehicle 1 and the location of the dangerous road section is less than the threshold D1, a vehicle safety reminder message is generated to notify the driver of the presence of a dangerous road section ahead, and the information of the dangerous road section, such as deep pits or landslides, is provided so that the driver can take appropriate measures.

[0131] Step 7: Vehicle 2's OBU approaches Vehicle 1, continuously acquiring its own real-time location information, speed, and other information, and continuously receiving basic vehicle safety information broadcast by Vehicle 1's OBU.

[0132] (1) When the vehicle basic safety information of vehicle No. 1 is received but does not carry dangerous road section information, vehicle No. 2 OBU does not need to generate vehicle safety reminder information.

[0133] (2) When the basic safety information of vehicle No. 1 carries dangerous road section information, and the distance between the calculated position of vehicle No. 2 OBU and the dangerous road section position is greater than the threshold D1, vehicle No. 2 OBU does not need to generate vehicle safety reminder information.

[0134] Vehicle 2's OBU updates its basic safety information (carrying its own location, speed, and direction of travel, as well as information on dangerous road sections) based on data from dangerous road sections, and continuously broadcasts it to surrounding vehicle OBUs and roadside units (RSUs) via C-V2X wireless technology.

[0135] (3) When the basic safety information of vehicle No. 1 carries dangerous road section information, when the distance between the calculated position of vehicle No. 2 and the dangerous road section position is less than the threshold D1, a vehicle safety reminder message is generated to notify the driver of the vehicle that there is a dangerous road section ahead, and the dangerous road section information such as deep pits, landslides, etc. are given as a prompt so that the driver can take corresponding measures.

[0136] In addition, the vehicle's OBU information processing module updates the vehicle's basic safety information (carrying its own location information, speed information, driving direction information, and dangerous road section information) based on the dangerous road section data, and continuously broadcasts it to the surrounding vehicle OBUs and roadside units (RSUs) through the C-V2X wireless communication module.

[0137] Step 8, the RSU roadside unit, such as RSU No. 1, continuously receives basic vehicle safety information sent by the OBUs of surrounding vehicles via C-V2X wireless technology. When the received basic vehicle safety information from surrounding vehicles carries information about dangerous road sections:

[0138] (1) First, the RSU roadside unit constructs roadside traffic information, carries dangerous road section information, and broadcasts it to the surrounding vehicle OBU.

[0139] (2) Next, the dangerous road section information is notified to the Traffic Control Center (TCC), and then the Traffic Control Center (TCC) notifies all RSU roadside units in the nearby area of ​​the dangerous road section information.

[0140] Step 9: The nearby RSU roadside units, such as RSU No. 2, receive dangerous road segment information from the Traffic Control Center (TCC) and construct roadside traffic information accordingly, carrying the dangerous road segment information and broadcasting it to surrounding vehicles.

[0141] Step 10: Surrounding vehicles, such as Vehicle 3's OBU, continuously receive roadside traffic information from the RSU roadside unit to obtain information on dangerous road sections. When Vehicle 3's OBU information processing module calculates that the distance between its own position and the dangerous road section is less than the threshold D2, it generates a vehicle safety reminder message to notify its driver that there is a dangerous road section ahead and provides the dangerous road section information so that the driver can take appropriate measures.

[0142] Step 11: After the drivers of Vehicle 1, Vehicle 2, and Vehicle 3 take appropriate measures such as braking, slowing down, or taking a detour to successfully avoid an accident and move away from the dangerous section of road, the warning is cancelled.

[0143] See Figure 5 , Figure 5 This is a schematic diagram of a vehicle safety reminder information generation system provided in an embodiment of this application. The system includes:

[0144] The broadcast information acquisition module is used to acquire basic vehicle safety information broadcast by the target vehicle.

[0145] The vehicle safety event matching module is used to match the vehicle's basic safety information and driving information with vehicle safety detection events one by one to obtain a safety detection result; the safety detection result is the result of logical operation between the various vehicle safety detection events.

[0146] The message generation module is used to generate vehicle safety reminder information based on the safety detection results.

[0147] This application also provides a computer program product, including a computer program that, when executed, implements the steps of the method described in the above embodiments.

[0148] This application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the method described in the above method embodiments.

[0149] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0150] The computer-readable storage medium provided in this embodiment includes the method mentioned above, and has the same effect.

[0151] This application also provides a cellular vehicle-to-everything (V2X) device, see [link / reference]. Figure 6 The present application provides a structural diagram of a cellular vehicle networking device, as shown in the embodiment. Figure 6 As shown, it may include a processor 1410 and a memory 1420.

[0152] The processor 1410 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 1410 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 1410 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 1410 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 1410 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0153] The memory 1420 may include one or more computer-readable storage media, which may be non-transitory. The memory 1420 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 1420 is used to store at least the following computer program 1421, which, after being loaded and executed by the processor 1410, is capable of implementing the relevant steps in the method executed by the cellular vehicle networking device side as disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 1420 may also include an operating system 1422 and data 1423, etc., and the storage method may be temporary storage or permanent storage. The operating system 1422 may include Windows, Linux, Android, etc.

[0154] In some embodiments, the cellular vehicle-to-everything (V2X) device may further include a display screen 1430, an input / output interface 1440, a communication interface 1450, a sensor 1460, a power supply 1470, and a communication bus 1480.

[0155] certainly, Figure 6 The structure of the cellular vehicle-to-everything (V2X) device shown does not constitute a limitation on the cellular V2X device in the embodiments of this application. In practical applications, the cellular V2X device may include devices with a larger... Figure 6 More or fewer components as shown, or combinations of certain components.

[0156] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. As the system provided in the embodiments corresponds to the method provided in the embodiments, the description is relatively simple; relevant parts can be found in the method section.

[0157] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of this application.

[0158] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A method for generating vehicle safety reminder information, characterized in that, include: Obtain basic vehicle safety information broadcast by the target vehicle; Based on the vehicle's basic safety information and driving information, information is matched one by one with the vehicle safety detection events to obtain the safety detection result; the safety detection result is the result of logical operation between each of the vehicle safety detection events. Vehicle safety alert information is generated based on the safety test results.

2. The method according to claim 1, characterized in that, Based on the vehicle's basic safety information and driving information, information is matched one by one with the vehicle safety detection events to obtain the safety detection results, which include: If the vehicle safety detection event includes a vehicle collision risk event, vehicle collision risk detection is performed based on the target vehicle driving information and the vehicle's own driving information contained in the vehicle's basic safety information to obtain a first detection result. If the vehicle safety detection event includes a dangerous road segment event, a dangerous road segment matching detection is performed based on the dangerous road segment information contained in the vehicle's basic safety information and the vehicle's driving information to obtain a second detection result; If the vehicle safety detection event includes an emergency vehicle encounter event, an emergency vehicle encounter risk detection is performed based on the emergency vehicle information included in the vehicle's basic safety information to obtain a third detection result; A security detection result is generated based on the logical OR operation result between the first detection result, the second detection result, and the third detection result.

3. The method according to claim 2, characterized in that, Before obtaining the first detection result, vehicle collision risk detection is performed based on the target vehicle's driving information and the vehicle's own driving information included in the basic vehicle safety information. This process also includes: Obtain a vehicle trajectory prediction model; the vehicle trajectory prediction model is used to simulate the distance between vehicles, and the distance between vehicles includes the current spacing and the vehicle driving direction type; Accordingly, based on the target vehicle's driving information and the vehicle's own driving information included in the vehicle's basic safety information, vehicle collision risk detection is performed, and the first detection result includes: The target vehicle's driving information and the vehicle's own driving information are input into the vehicle trajectory prediction model to obtain a first detection result that includes vehicle collision risk information. The vehicle trajectory prediction model calculates the distance between the vehicle and the target vehicle based on the target vehicle's driving information and the vehicle's own information. If the distance is less than a safe distance, a first detection result is generated. The safe distance is the smaller of a calculated safe distance and a set safe distance. The process of determining the calculated safe distance includes: determining the calculated safe distance based on the vehicle's current driving direction, current speed, and current position, as well as the target vehicle's target speed, target driving direction, and target position information. The speed difference between the current speed and the target speed along the reference direction, using the current driving direction or the target driving direction as the reference direction, is positively correlated with the calculated safe distance.

4. The method according to claim 2, characterized in that, Based on the dangerous road segment information included in the vehicle's basic safety information and the vehicle's driving information, dangerous road segment matching detection is performed to obtain the second detection result, which includes: Read the dangerous road section information from the vehicle's basic safety information; The real-time location information of this vehicle is determined based on the vehicle's driving information. If the distance between the real-time location information of the vehicle and the corresponding dangerous coordinates of the dangerous road section is less than a safety threshold, a second detection result is generated.

5. The method according to claim 2, characterized in that, Based on the emergency vehicle information included in the vehicle's basic safety information, an emergency vehicle encounter risk detection is performed, resulting in a third detection result including: Read the emergency vehicle information included in the vehicle's basic safety information; If the emergency vehicle information indicates that the target vehicle carries an emergency event sign, the first emergency vehicle risk information is obtained by combining the vehicle's driving information with emergency vehicle encounter risk detection. If the emergency vehicle information is an emergency vehicle that does not carry an emergency event sign, an emergency vehicle encounter risk detection is performed in conjunction with the vehicle's driving information to obtain second emergency vehicle risk information; the third detection result includes the first emergency vehicle risk information and the second emergency vehicle risk information; the priority of the second emergency vehicle risk information is lower than that of the first emergency vehicle risk information.

6. The method according to claim 2, characterized in that, The vehicle safety alert information generated based on the safety test results includes: If the safety detection result includes the first detection result, a first vehicle safety reminder message is generated that includes the location information and driving information of the target vehicle. If the safety detection result includes the second detection result, a second vehicle safety alert message is generated that includes the real-time distance between the vehicle and the dangerous road section information. If the safety detection result includes the third detection result, a third vehicle safety alert message containing the real-time distance between the vehicle and the emergency vehicle is generated.

7. A system for generating vehicle safety reminder information, characterized in that, include: The broadcast information acquisition module is used to acquire basic vehicle safety information broadcast by the target vehicle. The vehicle safety event matching module is used to match the vehicle's basic safety information and driving information with vehicle safety detection events one by one to obtain a safety detection result; the safety detection result is the result of logical operation between the various vehicle safety detection events. The message generation module is used to generate vehicle safety reminder information based on the safety detection results.

8. A cellular vehicle-to-everything (V2X) device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the steps of the method as claimed in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the steps of the method as described in any one of claims 1 to 6.

10. A computer program product, characterized in that, Includes a computer program, which, when executed, implements the steps of the method as described in any one of claims 1 to 6.

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