Vehicle help seeking method and device based on V2X, electronic equipment and program product

Abstract

The invention discloses a V2X-based vehicle help seeking method and device, electronic equipment and a program product, and the method comprises the steps: obtaining a driver physiological state and a vehicle fault state of a target vehicle, and judging whether to enter a help seeking mode or not; when entering the help-seeking mode, generating a vehicle help-seeking message according to the vehicle position and the help-seeking type, and broadcasting the vehicle help-seeking message through V2X; when the roadside unit receives the vehicle help message, traffic dispersion is carried out on a target lane where the target vehicle is located according to the vehicle help message, and the vehicle help message is reported to the cloud rescue platform; when the rear vehicle receives the vehicle help-seeking message, deceleration avoidance is performed according to the vehicle help-seeking message, and an avoidance confirmation message is returned through V2X; and the target vehicle determines the current safe isolation area according to the avoidance confirmation message, and if the current safe isolation area does not meet the preset requirement, repeatedly broadcasting the vehicle help message and carrying out acousto-optic early warning. The method improves the vehicle rescue efficiency, and can be applied to the technical field of intelligent driving.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving, and in particular to a vehicle help-seeking method and device based on V2X, an electronic device and a program product. BACKGROUND

[0002] Existing vehicle emergency call systems (such as eCall) mainly rely on cellular networks to upload vehicle location and accident information to a cloud platform, which is then forwarded to a rescue center by the cloud. However, this solution has the following defects: 1) Long latency: the time for rescue instructions to be issued to surrounding vehicles is uncontrollable due to multi-level forwarding through base stations, core networks, and cloud platforms; 2) Coverage blind area: the system fails in remote areas or tunnels where there is no cellular signal; 3) Information silos: surrounding vehicles cannot obtain real-time help-seeking information, which may continue to drive into the accident area, causing secondary accidents or congestion.

[0003] The above problems need to be solved urgently. SUMMARY

[0004] The present application aims to at least partially solve one of the problems in the prior art.

[0005] To this end, one purpose of the embodiments of the present application is to provide a vehicle help-seeking method based on V2X, which monitors the driver's physiological state and vehicle fault state of a target vehicle in real time, automatically broadcasts a help-seeking message to roadside units and rear vehicles through V2X in an emergency, controls traffic diversion on the target lane through the roadside units and reports the help-seeking message to a cloud rescue platform, realizes a local-regional-cloud three-level rescue network, slows down and avoids the rear vehicles and returns an avoidance confirmation message, so that the target vehicle can determine the current safety isolation zone according to the avoidance confirmation message, and repeatedly broadcast the help-seeking message when the current safety isolation zone does not meet the demand, thereby providing a zero-blind-area emergency rescue channel for rescue vehicles, facilitating rescue vehicles to rescue the target vehicle, and improving the efficiency of vehicle rescue.

[0006] Another purpose of the embodiments of the present application is to provide a vehicle help-seeking device based on V2X.

[0007] In order to achieve the above technical purpose, the technical solutions adopted by the embodiments of the present application include: On the one hand, the embodiments of the present application provide a vehicle help-seeking method based on V2X, comprising the following steps: acquiring the driver's physiological state and vehicle fault state of a target vehicle, and determining whether to enter a help-seeking mode according to the driver's physiological state and the vehicle fault state; When entering the distress mode, a vehicle distress message is generated based on the vehicle's location and distress type, and the vehicle distress message is broadcast via V2X. When the roadside unit receives the vehicle distress message, it will guide traffic in the target lane where the target vehicle is located according to the vehicle distress message, and report the vehicle distress message to the cloud rescue platform. When a vehicle behind receives the vehicle distress message, it slows down and avoids the target vehicle according to the vehicle distress message, and returns an avoidance confirmation message to the target vehicle via V2X. When the target vehicle receives the avoidance confirmation message, it determines the current safety isolation zone based on the avoidance confirmation message. If the current safety isolation zone does not meet the preset requirements, it repeatedly broadcasts the vehicle help message and issues an audible and visual warning.

[0008] Furthermore, in one embodiment of the present invention, the step of acquiring the driver's physiological state and the vehicle's fault state of the target vehicle, and determining whether to enter the emergency assistance mode based on the driver's physiological state and the vehicle's fault state, specifically includes: The driver's physiological state is obtained through a driver physiological monitoring module, and the driver's physiological state includes the driver's heart rate and steering wheel grip strength. The vehicle fault status is obtained through the vehicle fault detection module, and the vehicle fault status includes the airbag status, the malfunction indicator light status, and the vehicle speed. When the driver's abnormal heart rate reaches a preset duration or the abnormal steering wheel grip strength reaches a preset duration, it is determined that the help mode is entered and the corresponding help type is determined to be medical help. When the airbag is in the deployed state, it is determined that the emergency call mode has been entered, and the corresponding emergency call type is determined to be accident emergency call. When the malfunction indicator lamp is illuminated and the vehicle speed is 0, it is determined that the vehicle has entered the emergency assistance mode and the corresponding emergency assistance type is identified as a malfunction assistance request.

[0009] Furthermore, in one embodiment of the present invention, the step of directing traffic in the target lane where the target vehicle is located based on the vehicle distress message specifically includes: The vehicle's location is determined based on the vehicle's distress message, and the target lane to be diverted is determined based on the vehicle's location. Control the upstream traffic light of the target lane to turn red, and display the corresponding traffic guidance prompts through the variable message sign; The vehicle distress message is forwarded to other vehicles that have entered the target lane.

[0010] Furthermore, in one embodiment of the present invention, the step of decelerating and avoiding the vehicle based on the vehicle distress call and returning an avoidance confirmation message to the target vehicle via V2X specifically includes: The vehicle's location is determined based on the vehicle distress message, and the target lane to be avoided is determined based on the vehicle's location. When the vehicle behind is in the target lane, a first deceleration is determined based on the current position of the vehicle behind and the position of the vehicle, and the vehicle decelerates according to the first deceleration, and then changes lanes after decelerating to a preset speed; When the vehicle behind is not in the target lane, a second deceleration is determined based on the current position of the vehicle behind and the position of the vehicle, and deceleration is performed based on the second deceleration. The avoidance confirmation message is generated based on the current position, current speed, current deceleration, and braking trajectory of the vehicle behind, and is sent to the target vehicle via V2X.

[0011] Furthermore, in one embodiment of the present invention, determining the current security isolation zone based on the avoidance confirmation message specifically includes: The current position, current speed, current deceleration, and braking trajectory of the vehicle behind are determined based on the avoidance confirmation message, and the real-time motion trajectory of the vehicle behind is predicted based on the current position, current speed, current deceleration, and braking trajectory. The vehicle-free section of the target lane is determined based on the real-time movement trajectories of multiple vehicles behind, and the current safety isolation zone is determined based on the vehicle-free section.

[0012] Furthermore, in one embodiment of the present invention, the step of repeatedly broadcasting the vehicle distress message and issuing an audible and visual warning if the current safety isolation zone does not meet the preset requirements specifically includes: The size of the corresponding safety isolation zone is determined based on the type of assistance requested, and it is determined whether the current safety isolation zone has reached the size of the safety isolation zone. When the current safety isolation zone does not reach the size of the safety isolation zone, the vehicle distress message is repeatedly broadcast via V2X, a preset warning audio is played through the audio broadcasting device, and the target vehicle's hazard lights are controlled to flash as a warning.

[0013] Furthermore, in one embodiment of the present invention, the vehicle assistance method further includes the following steps: When the target vehicle meets the conditions for requesting assistance to be lifted, a request for assistance to be lifted message is broadcast via V2X, causing the roadside unit to stop traffic control and causing the vehicles behind to stop slowing down and give way.

[0014] On the other hand, embodiments of the present invention provide a V2X-based vehicle assistance device, comprising: The help-seeking judgment module is used to obtain the driver's physiological state and the vehicle's fault state of the target vehicle, and determine whether to enter the help-seeking mode based on the driver's physiological state and the vehicle's fault state. The help request message broadcasting module is used to generate a vehicle help request message based on the vehicle location and help request type when entering help request mode, and broadcast the vehicle help request message through V2X. The traffic management module is used to manage traffic in the target lane where the target vehicle is located based on the vehicle distress message received by the roadside unit, and to report the vehicle distress message to the cloud rescue platform. The deceleration and avoidance module is used to decelerate and avoid the target vehicle when the vehicle behind receives the vehicle distress message, and return an avoidance confirmation message to the target vehicle via V2X. The safety isolation module is used to determine the current safety isolation zone based on the avoidance confirmation message when the target vehicle receives the avoidance confirmation message. If the current safety isolation zone does not meet the preset requirements, the module will repeatedly broadcast the vehicle assistance message and issue an audible and visual warning.

[0015] On the other hand, embodiments of the present invention provide an electronic device, including: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the above-described V2X-based vehicle assistance method.

[0016] On the other hand, embodiments of the present invention also provide a computer-readable storage medium storing a processor-executable computer program that, when executed by a processor, implements the above-described V2X-based vehicle assistance method.

[0017] On the other hand, embodiments of the present invention also provide a computer program product, including a computer program that, when executed by a processor, implements the above-described V2X-based vehicle assistance method.

[0018] The advantages and beneficial effects of the present invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention: This invention acquires the driver's physiological state and the vehicle's malfunction status of the target vehicle. Based on these conditions, it determines whether to enter a distress mode. When distress mode is entered, a vehicle distress message is generated based on the vehicle's location and distress type, and broadcast via V2X. When the roadside unit receives the distress message, it directs traffic in the target lane where the target vehicle is located and reports the distress message to the cloud-based rescue platform. When a vehicle behind receives the distress message, it slows down and avoids the vehicle, and sends a yield confirmation message back to the target vehicle via V2X. When the target vehicle receives the yield confirmation message, it determines the current safe isolation zone. If the current safe isolation zone does not meet the preset requirements, the vehicle distress message is broadcast again, and an audible and visual warning is issued. This invention provides real-time monitoring of the driver's physiological state and vehicle malfunction status of a target vehicle. In emergencies, it automatically broadcasts a distress message via V2X to roadside units and vehicles behind. The roadside units control traffic flow in the target lane and report the distress message to the cloud-based rescue platform, creating a three-tiered rescue network: local, regional, and cloud. Vehicles behind slow down and give way, sending a confirmation message. This allows the target vehicle to determine its current safe zone based on the confirmation message. If the current safe zone is insufficient, the distress message is broadcast repeatedly, providing a zero-blind-spot emergency rescue channel for rescue vehicles, facilitating rescue and improving the efficiency of vehicle rescue. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments of the present invention are described below. It should be understood that the drawings described below are only for the convenience of clearly describing some embodiments of the technical solutions of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A flowchart illustrating the steps of a V2X-based vehicle assistance method provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of information interaction for a V2X-based vehicle assistance method provided in an embodiment of the present invention. Figure 3 A structural block diagram of a V2X-based vehicle assistance device provided in an embodiment of the present invention; Figure 4 This is a structural block diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In the following description, when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of this invention; they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this invention as detailed in the appended claims.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing embodiments of the invention only and is not intended to limit the invention.

[0023] The V2X-based vehicle assistance method provided in this invention can be applied to a terminal, a server, or software running on either a terminal or a server. In some embodiments, the terminal can be a smartphone, tablet, laptop, desktop computer, smart speaker, smartwatch, or in-vehicle terminal, but is not limited to these. The server can be configured as an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. The server can also be a node server in a blockchain network. The software can be an application that implements the V2X-based vehicle assistance method, but is not limited to the above forms.

[0024] This invention can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices. This invention can be described in the general context of computer-executable instructions, such as program modules, that are executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. This invention can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0025] It should be noted that in various specific embodiments of the present invention, when processing data related to user identity or characteristics, such as user information, user behavior data, user historical data, and user location information, user permission or consent is obtained first. Furthermore, the collection, use, and processing of this data comply with relevant laws, regulations, and standards. In addition, when embodiments of the present invention require access to sensitive personal information of users, separate permission or consent from the user is obtained through pop-ups or redirection to a confirmation page. Only after obtaining the user's separate permission or consent is the necessary user-related data for the normal operation of the embodiments of the present invention acquired.

[0026] Traditional emergency call systems like eCall rely on cellular networks (2G / 3G / 4G / 5G) to upload emergency information to cloud-based rescue platforms. This results in long connection times and high latency (>10s), making it prone to losing contact in basements, tunnels, or mountainous areas. Furthermore, nearby vehicles may not receive the emergency information in real time and could continue driving toward the accident site, causing secondary collisions or traffic jams.

[0027] Based on the above background, the technical problems to be solved by the present invention include, but are not limited to: 1) how to reduce the latency of "triggering a request for help → responding to surrounding vehicles"; 2) how to ensure that requests for help are reachable, reliable and verifiable in scenarios with no base stations, weak networks and mixed traffic (V2X / non-V2X); 3) how to enable roadside facilities (traffic lights, information boards) to work together synchronously to quickly form a dynamic isolation zone so that rescue vehicles can arrive quickly.

[0028] V2X (including V2V vehicle-to-vehicle communication and V2I roadside communication) has the characteristics of low latency (<20ms), high reliability (99.999%), and can work without base station coverage, which can make up for the above-mentioned defects. However, existing V2X applications are mostly concentrated in scenarios such as collision warning and cooperative braking, and have not yet been deeply integrated into the field of emergency rescue.

[0029] This invention provides a V2X-based vehicle assistance method, which automatically sends assistance requests to surrounding vehicles and roadside facilities in emergency situations such as sudden driver illness, vehicle malfunction, or road accidents, thereby enabling traffic management and rapid rescue.

[0030] Reference Figure 1 This invention provides a V2X-based vehicle assistance method, which specifically includes the following steps: S101. Obtain the driver's physiological state and the vehicle's fault status of the target vehicle, and determine whether to enter the emergency assistance mode based on the driver's physiological state and the vehicle's fault status. S102. When entering the help-seeking mode, generate a vehicle help-seeking message based on the vehicle location and help-seeking type, and broadcast the vehicle help-seeking message via V2X. S103. When the roadside unit receives a vehicle distress message, it will guide traffic in the target lane where the target vehicle is located according to the vehicle distress message, and report the vehicle distress message to the cloud rescue platform. S104. When a vehicle behind receives a distress message from another vehicle, it slows down and avoids the vehicle according to the distress message, and sends an avoidance confirmation message back to the target vehicle via V2X. S105. When the target vehicle receives the avoidance confirmation message, the current safety isolation zone is determined according to the avoidance confirmation message. If the current safety isolation zone does not meet the preset requirements, the vehicle assistance message is broadcast repeatedly and an audible and visual warning is issued.

[0031] like Figure 2 The diagram illustrates information interaction in a V2X-based vehicle emergency call method according to an embodiment of the present invention. The onboard emergency call terminal in the target vehicle integrates a V2X communication module, a driver physiological monitoring module (steering wheel grip strength / camera heart rate / seat pressure), a vehicle fault detection module, and an emergency call logic controller. It fuses physiological monitoring (heart rate / grip strength), fault codes, and airbag signals to automatically trigger emergency call messages (including CRC verification for anti-spoofing). These messages are broadcast directly via V2X (PC5 / LTE-V) and reach vehicles within a 200m range within 20ms. Roadside Unit (RSU): The roadside unit integrates a V2X forwarding interface and a signal control interface. After receiving a distress message, it immediately forwards it to nearby vehicles and reports it to the cloud-based rescue platform. At the same time, it controls the upstream traffic lights to turn red and the variable message signs (VMS) to display avoidance information to guide traffic, realizing a three-level rescue system of local, regional, and cloud. Surrounding vehicles are equipped with V2X receiving modules and cooperative braking control. After receiving a distress message, they automatically decelerate, change lanes to avoid the vehicle, activate their hazard lights, and broadcast an avoidance confirmation message in the opposite direction. The cloud-based rescue platform is used to store distress message records and dispatch rescue resources.

[0032] It can be recognized that the embodiments of the present invention monitor the driver's physiological state and vehicle malfunction status of the target vehicle in real time. In emergency situations, it automatically broadcasts a distress message to the roadside unit and vehicles behind via V2X. The roadside unit controls traffic management in the target lane and reports the distress message to the cloud rescue platform, realizing a three-level rescue network of local-regional-cloud. By having vehicles behind slow down and give way and return a yield confirmation message, the target vehicle can determine the current safe isolation zone based on the yield confirmation message. If the current safe isolation zone does not meet the requirements, the distress message is broadcast again, thereby providing a zero-blind-spot emergency rescue channel for rescue vehicles, facilitating rescue vehicles to rescue the target vehicle and improving the efficiency of vehicle rescue.

[0033] As a further optional implementation, the driver's physiological state and the vehicle's malfunction status are obtained, and a decision is made on whether to enter emergency assistance mode based on the driver's physiological state and the vehicle's malfunction status. This specifically includes: S1011. Obtain the driver's physiological state through the driver's physiological monitoring module. The driver's physiological state includes the driver's heart rate and steering wheel grip strength. S1012. Obtain the vehicle fault status through the vehicle fault detection module. The vehicle fault status includes the airbag status, the malfunction indicator light status, and the vehicle speed. S1013. When the driver's heart rate or steering wheel grip strength is abnormal for a preset duration, the system will enter the help mode and determine the corresponding help type as medical help. S1014. When the airbag is in the deployed state, it is determined that the emergency call mode has been entered, and the corresponding emergency call type is determined to be accident emergency call. S1015. When the malfunction indicator lamp is illuminated and the vehicle speed is 0, it is determined that the vehicle has entered the emergency assistance mode and the corresponding emergency assistance type is determined to be fault assistance.

[0034] Specifically, the onboard terminal monitors the driver's status and the vehicle's health status in real time. When any of the following trigger conditions are detected, it automatically enters emergency assistance mode: 1) abnormal driver's heart rate / grip strength lasting >5 seconds; 2) airbag deployment; 3) vehicle malfunction indicator lights (engine / brake / battery) illuminate and vehicle speed is 0. After entering emergency assistance mode, the onboard terminal broadcasts a vehicle emergency assistance message via V2X, including vehicle ID, GPS coordinates, lane, assistance type (medical / fault / accident), and a security verification code (to prevent forgery).

[0035] As a further optional implementation, traffic management is carried out in the target lane where the target vehicle is located based on the vehicle distress message, specifically including: S1031. Determine the vehicle's location based on the vehicle's distress message, and determine the target lane to be diverted based on the vehicle's location. S1032, Control the upstream traffic light of the target lane to turn red, and display the corresponding traffic guidance prompts through the variable message sign; S1033. Forward the vehicle distress message to other vehicles that have entered the target lane.

[0036] Specifically, after receiving a vehicle distress call, the roadside unit determines the vehicle's location based on the message and then identifies the target lane to be managed. It then controls the upstream traffic light of the target lane (such as the traffic light at the entrance of the target lane) to turn red and displays corresponding traffic guidance messages (e.g., "Assistance ahead, slow down and give way") on variable message signs. Simultaneously, to ensure nearby vehicles receive the distress call, the roadside unit forwards it to other vehicles entering the target lane. Furthermore, the roadside unit uploads the distress call to the cloud via a wired network (fiber optic / 5G) for dispatch by the rescue center to provide assistance to the vehicle.

[0037] As a further optional implementation, the vehicle decelerates and avoids the obstacle based on the vehicle's distress message, and returns an avoidance confirmation message to the target vehicle via V2X. This specifically includes: S1041. Determine the vehicle's location based on the vehicle's distress message, and determine the target lane to be avoided based on the vehicle's location. S1042. When a vehicle behind is in the target lane, determine the first deceleration based on the current position of the vehicle behind and the position of the vehicle, and decelerate according to the first deceleration, and then change lanes after decelerating to the preset speed. S1043. When the vehicle behind is not in the target lane, determine the second deceleration based on the current position of the vehicle behind and the vehicle's position, and decelerate according to the second deceleration. S1044. Generate an avoidance confirmation message based on the current position, current speed, current deceleration, and braking trajectory of the vehicle behind, and send the avoidance confirmation message to the target vehicle via V2X.

[0038] Specifically, after receiving a distress message, the following vehicle determines its position based on the message and then identifies the target lane to avoid. If the following vehicle is in the target lane, a first deceleration is determined based on its current position, speed, and position, and the vehicle decelerates accordingly. After reaching a preset speed (e.g., 60 km / h on a highway), the vehicle changes lanes. If the following vehicle is not in the target lane, a second deceleration is determined based on its current position, speed, and position, and the vehicle decelerates accordingly. While decelerating to avoid the vehicle, the following vehicle activates its hazard lights and generates an avoidance confirmation message based on its current position, speed, deceleration, and braking trajectory, which is then sent to the target vehicle via V2X.

[0039] As a further optional implementation, the current security isolation zone is determined based on the avoidance confirmation message, which specifically includes: S1051. Determine the current position, current speed, current deceleration, and braking trajectory of the vehicle behind based on the avoidance confirmation message, and predict the real-time trajectory of the vehicle behind based on the current position, current speed, current deceleration, and braking trajectory. S1052. Determine the vehicle-free section of the target lane based on the real-time movement trajectory of multiple vehicles behind, and determine the current safety isolation zone based on the vehicle-free section.

[0040] Specifically, the target vehicle determines the current position, speed, deceleration, and braking trajectory of the vehicles behind it based on the received avoidance confirmation messages. Then, based on the vehicle's kinematics model, it predicts the real-time trajectory of the vehicles behind it. By jointly analyzing the real-time trajectories of multiple vehicles behind it based on all received avoidance confirmation messages, it ultimately determines a vehicle-free section in the target lane where no vehicles are traveling in the future. Based on the start and end points of this vehicle-free section (the location of the target vehicle), the current safety isolation zone can be determined. Since no vehicles are traveling in this current safety isolation zone, secondary accidents will not occur, and rescue vehicles can quickly reach the location of the target vehicle through this zone.

[0041] As an optional implementation, if the current safety isolation zone does not meet the preset requirements, the vehicle distress message is repeatedly broadcast and an audible and visual warning is issued, specifically including: S1053. Determine the corresponding safety isolation zone size based on the type of assistance requested, and determine whether the current safety isolation zone has reached the required size. S1054. When the current safety isolation zone does not reach the size of the safety isolation zone, the vehicle distress message is repeatedly broadcast via V2X, a preset warning audio is played through the audio broadcasting device, and the target vehicle's hazard lights are controlled to flash as a warning.

[0042] Specifically, the target vehicle determines the corresponding safety isolation zone size based on the type of assistance requested. For example, the safety isolation zone size for medical assistance can be set to 300 meters, for breakdown assistance to 200 meters, and for accident assistance to 400 meters. If the current safety isolation zone does not meet the required size, the vehicle assistance message is repeatedly broadcast via V2X, a preset warning audio is played via an audio broadcasting device, and the target vehicle's hazard lights are activated to flash as a warning.

[0043] As an optional implementation, the vehicle assistance method further includes the following steps: S106. When the target vehicle meets the conditions for requesting assistance to be lifted, a request for assistance to be lifted message is broadcast via V2X, causing the roadside unit to stop traffic guidance and causing vehicles behind to stop slowing down and give way.

[0044] Specifically, when the target vehicle meets the conditions for request cancellation (driver manually cancels / fault repair / rescue arrives), the vehicle terminal broadcasts a request cancellation message, the roadside unit stops traffic control, and surrounding vehicles resume normal driving.

[0045] The vehicle assistance method of the present invention will be further described below with reference to two specific embodiments.

[0046] Scenario of driver's sudden illness: When the steering wheel grip force sensor detects a sudden drop in grip force and the heart rate camera shows a heart rate >180bpm for 5 seconds, the on-board terminal automatically broadcasts a distress signal frame. The roadside unit controls the traffic lights at the three upstream intersections to turn red, and the eight surrounding V2X vehicles slow down to 50km / h and turn on their hazard lights to form a safety isolation zone. The ambulance arrives at the scene within 3 minutes by passing through the safety isolation zone based on the GPS coordinates uploaded by the roadside unit.

[0047] Vehicle breakdown scenario: The battery fault light is on, the vehicle is stopped in a tunnel (no cellular signal), the vehicle terminal broadcasts a distress frame via V2X, the roadside unit at the tunnel entrance receives it and forwards it to external vehicles, the VMS displays "Fault in the tunnel, slow down and change lanes" to avoid chain-reaction rear-end collisions, the tow truck uses the coordinate navigation of the roadside unit to complete the rescue in 10 minutes.

[0048] The method steps of the embodiments of the present invention have been described above. It can be understood that the embodiments of the present invention monitor the driver's physiological state and vehicle malfunction status of the target vehicle in real time. In emergency situations, a help request message is automatically broadcast to the roadside unit and following vehicles via V2X. The roadside unit controls traffic flow in the target lane and reports the help request message to the cloud-based rescue platform, realizing a three-level rescue network of local-regional-cloud. Following vehicles slow down and give way, returning a avoidance confirmation message. This allows the target vehicle to determine the current safe isolation zone based on the avoidance confirmation message. If the current safe isolation zone does not meet the requirements, the help request message is repeatedly broadcast, thereby providing a zero-blind-spot emergency rescue channel for rescue vehicles, facilitating rescue of the target vehicle and improving the efficiency of vehicle rescue.

[0049] Reference Figure 3 This invention provides a V2X-based vehicle assistance device, comprising: The help-seeking judgment module is used to obtain the driver's physiological state and the vehicle's fault state of the target vehicle, and determine whether to enter help-seeking mode based on the driver's physiological state and the vehicle's fault state. The help request message broadcasting module is used to generate a vehicle help request message based on the vehicle's location and help request type when entering help request mode, and broadcast the vehicle help request message via V2X. The traffic management module is used to manage traffic in the target lane where the target vehicle is located when the roadside unit receives a vehicle distress message, and to report the vehicle distress message to the cloud rescue platform. The deceleration and avoidance module is used to decelerate and avoid a vehicle when a vehicle behind receives a vehicle distress message, and return an avoidance confirmation message to the target vehicle via V2X. The safety isolation module is used to determine the current safety isolation zone when the target vehicle receives the avoidance confirmation message. If the current safety isolation zone does not meet the preset requirements, the module will repeatedly broadcast the vehicle help message and issue an audible and visual warning.

[0050] It is understood that the content of the above method embodiments is applicable to the present device embodiments. The specific functions implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0051] Reference Figure 4 This invention provides an electronic device, comprising: At least one processor; At least one memory for storing at least one program; When the above-mentioned at least one program is executed by the above-mentioned at least one processor, the above-mentioned at least one processor implements the above-mentioned V2X-based vehicle assistance method.

[0052] It is understood that the content of the above method embodiments is applicable to this device embodiment. The specific functions implemented by this device embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0053] This invention also provides a computer-readable storage medium storing a processor-executable computer program that, when executed by a processor, implements the aforementioned V2X-based vehicle assistance method.

[0054] This invention provides a computer-readable storage medium that can execute a V2X-based vehicle assistance method provided in the method embodiments of this invention. It can execute any combination of the implementation steps of the method embodiments and has the corresponding functions and beneficial effects of the method.

[0055] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described V2X-based vehicle assistance method.

[0056] It is understood that the content of the above method embodiments is applicable to the embodiments of this program product. The specific functions implemented by the embodiments of this program product are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0057] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0058] The embodiments described in this invention are for the purpose of more clearly illustrating the technical solutions of the embodiments of this invention, and do not constitute a limitation on the technical solutions provided by the embodiments of this invention. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this invention are also applicable to similar technical problems.

[0059] The terms "first," "second," "third," "fourth," etc. (if present) in the specification and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0060] In some alternative embodiments, the functions / operations mentioned in the block diagrams may not occur in the order shown in the operation diagrams. For example, depending on the functions / operations involved, two consecutively shown blocks may actually be executed substantially simultaneously, or the aforementioned blocks may sometimes be executed in reverse order. Furthermore, the embodiments presented and described in the flowcharts of this invention are provided by way of example to provide a more comprehensive understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and sub-operations described as part of a larger operation are executed independently.

[0061] Furthermore, although the invention has been described in the context of functional modules, it should be understood that, unless otherwise stated, one or more of the aforementioned functions and / or features may be integrated into a single physical device and / or software module, or one or more functions and / or features may be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the invention. Rather, given the properties, functions, and internal relationships of the various functional modules in the apparatus disclosed herein, the actual implementation of the module will be understood within the scope of conventional skill of an engineer. Therefore, those skilled in the art can implement the invention as set forth in the claims using ordinary techniques without excessive experimentation. It is also understood that the specific concepts disclosed are merely illustrative and not intended to limit the scope of the invention, which is determined by the full scope of the appended claims and their equivalents.

[0062] If the aforementioned functions 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 invention, or the part that contributes to the prior art, or a portion 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 includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. 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.

[0063] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-including system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0064] More specific examples (a non-exhaustive list) of computer-readable media include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which the aforementioned program can be printed, because the aforementioned program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0065] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0066] In the foregoing description of this specification, references to terms such as "one embodiment," "another embodiment," or "some embodiments" indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0067] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

[0068] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of the present invention.

Claims

1. A V2X-based vehicle assistance method, characterized in that, Includes the following steps: The driver's physiological state and the vehicle's fault status are obtained, and a decision is made on whether to enter the emergency assistance mode based on the driver's physiological state and the vehicle's fault status. When entering the distress mode, a vehicle distress message is generated based on the vehicle's location and distress type, and the vehicle distress message is broadcast via V2X. When the roadside unit receives the vehicle distress message, it will guide traffic in the target lane where the target vehicle is located according to the vehicle distress message, and report the vehicle distress message to the cloud rescue platform. When a vehicle behind receives the vehicle distress message, it slows down and avoids the target vehicle according to the vehicle distress message, and returns an avoidance confirmation message to the target vehicle via V2X. When the target vehicle receives the avoidance confirmation message, it determines the current safety isolation zone based on the avoidance confirmation message. If the current safety isolation zone does not meet the preset requirements, it repeatedly broadcasts the vehicle help message and issues an audible and visual warning.

2. The vehicle assistance method based on V2X according to claim 1, characterized in that, The process of acquiring the driver's physiological state and the vehicle's malfunction status, and determining whether to enter emergency assistance mode based on the driver's physiological state and the vehicle's malfunction status, specifically includes: The driver's physiological state is obtained through a driver physiological monitoring module, and the driver's physiological state includes the driver's heart rate and steering wheel grip strength. The vehicle fault status is obtained through the vehicle fault detection module, and the vehicle fault status includes the airbag status, the malfunction indicator light status, and the vehicle speed. When the driver's abnormal heart rate reaches a preset duration or the abnormal steering wheel grip strength reaches a preset duration, it is determined that the help mode is entered and the corresponding help type is determined to be medical help. When the airbag is in the deployed state, it is determined that the emergency call mode has been entered, and the corresponding emergency call type is determined to be accident emergency call. When the malfunction indicator lamp is illuminated and the vehicle speed is 0, it is determined that the vehicle has entered the emergency assistance mode and the corresponding emergency assistance type is identified as a malfunction assistance request.

3. The vehicle assistance method based on V2X according to claim 1, characterized in that, The step of directing traffic in the target lane where the target vehicle is located based on the vehicle distress message specifically includes: The vehicle's location is determined based on the vehicle's distress message, and the target lane to be diverted is determined based on the vehicle's location. Control the upstream traffic light of the target lane to turn red, and display the corresponding traffic guidance prompts through the variable message sign; The vehicle distress message is forwarded to other vehicles that have entered the target lane.

4. The V2X-based vehicle assistance method according to claim 3, characterized in that, The step of slowing down and avoiding the vehicle based on the distress message, and returning an avoidance confirmation message to the target vehicle via V2X, specifically includes: The vehicle's location is determined based on the vehicle distress message, and the target lane to be avoided is determined based on the vehicle's location. When the vehicle behind is in the target lane, a first deceleration is determined based on the current position of the vehicle behind and the position of the vehicle, and the vehicle decelerates according to the first deceleration, and then changes lanes after decelerating to a preset speed; When the vehicle behind is not in the target lane, a second deceleration is determined based on the current position of the vehicle behind and the position of the vehicle, and deceleration is performed based on the second deceleration. The avoidance confirmation message is generated based on the current position, current speed, current deceleration, and braking trajectory of the vehicle behind, and is sent to the target vehicle via V2X.

5. The vehicle assistance method based on V2X according to claim 1, characterized in that, The step of determining the current security isolation zone based on the avoidance confirmation message specifically includes: The current position, current speed, current deceleration, and braking trajectory of the vehicle behind are determined based on the avoidance confirmation message, and the real-time motion trajectory of the vehicle behind is predicted based on the current position, current speed, current deceleration, and braking trajectory. The vehicle-free section of the target lane is determined based on the real-time movement trajectories of multiple vehicles behind, and the current safety isolation zone is determined based on the vehicle-free section.

6. The vehicle assistance method based on V2X according to claim 1, characterized in that, If the current safety isolation zone does not meet the preset requirements, the vehicle distress message will be broadcast repeatedly and an audible and visual warning will be issued. Specifically, this includes: The size of the corresponding safety isolation zone is determined based on the type of assistance requested, and it is determined whether the current safety isolation zone has reached the size of the safety isolation zone. When the current safety isolation zone does not reach the size of the safety isolation zone, the vehicle distress message is repeatedly broadcast via V2X, a preset warning audio is played through the audio broadcasting device, and the target vehicle's hazard lights are controlled to flash as a warning.

7. A V2X-based vehicle assistance method according to any one of claims 1 to 6, characterized in that, The vehicle assistance method also includes the following steps: When the target vehicle meets the conditions for requesting assistance to be lifted, a request for assistance to be lifted message is broadcast via V2X, causing the roadside unit to stop traffic control and causing the vehicles behind to stop slowing down and give way.

8. A V2X-based vehicle emergency assistance device, characterized in that, include: The help-seeking judgment module is used to obtain the driver's physiological state and the vehicle's fault state of the target vehicle, and determine whether to enter the help-seeking mode based on the driver's physiological state and the vehicle's fault state. The help request message broadcasting module is used to generate a vehicle help request message based on the vehicle location and help request type when entering help request mode, and broadcast the vehicle help request message through V2X. The traffic management module is used to manage traffic in the target lane where the target vehicle is located based on the vehicle distress message received by the roadside unit, and to report the vehicle distress message to the cloud rescue platform. The deceleration and avoidance module is used to decelerate and avoid the target vehicle when the vehicle behind receives the vehicle distress message, and return an avoidance confirmation message to the target vehicle via V2X. The safety isolation module is used to determine the current safety isolation zone based on the avoidance confirmation message when the target vehicle receives the avoidance confirmation message. If the current safety isolation zone does not meet the preset requirements, the module will repeatedly broadcast the vehicle help message and issue an audible and visual warning.

9. An electronic device, characterized in that, include: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements a V2X-based vehicle assistance method as described in any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements a V2X-based vehicle assistance method as described in any one of claims 1 to 7.

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