Vehicle safety driving early warning system and method based on cooperative vehicle infrastructure technology

Abstract

The invention discloses a vehicle safety driving early warning system and method based on a vehicle infrastructure cooperation technology, and the system comprises a data collection unit which is used for collecting static information and dynamic information on a road; the dangerous event identification unit is used for acquiring static information and dynamic information, identifying a dangerous event and a front vehicle type, generating a dangerous event message and sending the dangerous event message to a target object; the roadside unit is used for acquiring the dangerous event message and the navigation information, combining the dangerous event message and the navigation information with the road map information, finding out a vehicle of which the navigation information displays that the vehicle needs to pass through a dangerous event occurrence area, and then forwarding the dangerous event message to the corresponding vehicle; the information interaction unit is used for establishing communication connection between the vehicle and the road side unit and establishing communication connection between the front vehicle and the rear vehicle after the rear vehicle recognizes that the front vehicle is a large vehicle; a communication connection is established between the front vehicle and the rear vehicle, and the rear vehicle automatically acquires a dangerous event message directly sent by the front vehicle.

Description

Technical Field

[0001] This invention relates to the field of vehicle safety driving warning technology, and specifically to a vehicle safety driving warning system and method based on vehicle-road cooperative technology. Background Technology

[0002] With the rapid development of intelligent transportation and vehicle-road cooperative technologies, significant progress has been made in active safety technologies in the automotive field. Vehicle-road cooperative technologies, including vehicle-to-vehicle communication and vehicle-to-roadside unit communication, enable vehicles to transcend the limitations of their own sensors, acquiring road environment information over longer distances and wider areas, thereby achieving early warnings of potential hazards. Typical applications include forward collision warning and intersection collision warning. These systems effectively improve road traffic safety by sharing information with roadside units or surrounding vehicles.

[0003] Existing vehicle-road cooperative safety early warning systems primarily rely on vehicles uploading perceived local hazard information to roadside units. These units then process the information and distribute it to surrounding vehicles via broadcast or regional broadcast. Currently, these systems are mainly designed from the perspective of passenger cars (buses), failing to adequately consider the safety needs of special traffic participants like motorcycles, resulting in significant limitations. Firstly, motorcycles, due to their small size and poor stability, are exceptionally sensitive to road conditions (such as damage, potholes, and low traction). These static hazards may have little impact on cars, but pose a serious threat to motorcyclists. Existing systems lack high-precision identification and early warning mechanisms specifically for these motorcycle-specific static hazards.

[0004] Secondly, and more significantly, motorcycles sometimes follow large vehicles (such as trucks and buses). These large vehicles, with their massive size, completely obstruct the motorcycle's forward view, creating a huge blind spot. This prevents motorcyclists from promptly perceiving dangerous events (such as sudden braking, road obstacles, or pedestrians crossing) ahead of the large vehicle. While existing vehicle-to-everything (V2X) technologies can broadcast hazard information via roadside devices, this broadcasting method suffers from information redundancy and latency issues. When a motorcycle is obstructed by a large vehicle, it may not receive information from the roadside device in a timely and accurate manner, or it may receive duplicate information from both the roadside device and the vehicle ahead, leading to system warning confusion and interfering with the rider's judgment.

[0005] Furthermore, current vehicle-to-vehicle communication is mostly based on indiscriminate broadcasting or simple following models, lacking an intelligent, scenario-based communication triggering and filtering mechanism. This leads to communication channel congestion and generates a large amount of redundant information unrelated to the receiving vehicle, which may interfere with the rider's judgment. Especially in blind spot scenarios, motorcycles cannot automatically and preferentially establish high-priority vehicle-to-vehicle communication links with large vehicles that critically obstruct their view, thus failing to obtain the most direct and immediate hazard visibility.

[0006] Therefore, there is an urgent need in this field for a vehicle-road cooperative driving early warning system and method specifically designed for motorcycles that can effectively overcome blind spots and achieve accurate and efficient early warning. Summary of the Invention

[0007] The purpose of this invention is to provide a vehicle safety driving warning system and method based on vehicle-road cooperative technology, so as to solve the problem that current safety driving warning systems cannot provide warnings for motorcycles.

[0008] To address the aforementioned technical problems, in a first aspect, the present invention provides a vehicle safety driving early warning system based on vehicle-road cooperative technology, comprising:

[0009] The data acquisition unit, installed on the vehicle, is used to collect static and dynamic information on the road; the static information includes road surface information and obstacle information; the dynamic information includes vehicle information and pedestrian information.

[0010] The hazard event identification unit, installed on the vehicle, is used to acquire static and dynamic information, and identify hazard events and the type of vehicle ahead based on the static and dynamic information; then, it generates a hazard event message based on the identified hazard event and sends the hazard event message to the target object;

[0011] Roadside units, deployed along the road, are used to acquire hazard event messages and navigation information from various vehicles on the road, combine the hazard event messages and navigation information with road map information, identify vehicles whose navigation information indicates they need to pass through the area where the hazard event occurred, and then forward the hazard event message to the corresponding vehicle.

[0012] The information interaction unit is used to establish a communication connection between the vehicle and the roadside unit, and to establish a communication connection between the vehicle and the vehicle after the following vehicle identifies the preceding vehicle as a large vehicle; when a communication connection is established between the preceding vehicle and the following vehicle, the following vehicle automatically obtains the dangerous event message directly sent by the preceding vehicle.

[0013] Furthermore, if the hazard event message first received by the following vehicle comes from the preceding vehicle, then the repeated hazard event messages sent by the roadside unit are automatically blocked; if the hazard event message first received by the following vehicle comes from the roadside unit, then the interval between the time of the repeated hazard event message sent by the preceding vehicle and the time of the first received hazard event message is calculated. If the interval is less than a threshold, then the repeated hazard event message is blocked; if the interval is greater than the threshold, then the hazard event message sent by the preceding vehicle is still received.

[0014] Furthermore, if the vehicle in front activates broadcast mode, the vehicle behind will send a communication request to the vehicle in front, and the two vehicles will automatically establish a communication connection; otherwise, the vehicle in front must agree to the communication request before the two vehicles can establish a communication connection.

[0015] Furthermore, the data acquisition unit includes:

[0016] A vision sensor is used to capture image information from the front via a camera;

[0017] Radar detectors are used to construct a 3D environment around the vehicle using millimeter-wave radar.

[0018] An inertial measurement unit (IMU) is used to collect changes in the vehicle's pose.

[0019] GPS devices are used to collect vehicle location information.

[0020] Furthermore, hazard identification includes static hazard identification and dynamic hazard identification.

[0021] Furthermore, static hazard event identification includes: using a pre-trained deep learning model to identify damaged road surfaces based on image information, identifying road obstacles based on the constructed 3D environment, and identifying low-adhesion road surfaces based on changes in vehicle body pose; when damaged road surfaces, obstacles, or low-adhesion road surfaces are identified, they are bound to location information and sent to the roadside device.

[0022] Furthermore, dynamic hazard event identification includes: using Kalman filtering and multi-target tracking algorithms to continuously track the position, speed, and trajectory of vehicles or pedestrians based on image and radar information, and predict their movement path in the next few seconds, thereby identifying the dangerous behavioral intentions of vehicles or pedestrians; when the dangerous behavioral intentions of vehicles or pedestrians are identified, they are bound to the location information and sent to the roadside device.

[0023] Furthermore, vehicle type identification methods include:

[0024] Extract the size information of the vehicle in front from the dynamic information;

[0025] The size information is compared with a preset threshold. If the height or width of the vehicle in front is greater than the threshold, it is marked as a large vehicle.

[0026] Furthermore, the roadside unit receives hazard events with location information and navigation information and matches them with the map. When a hazard event is in the navigation information of any vehicle, a hazard event message is sent to that vehicle. The hazard event message includes: hazard type, GPS coordinates, timestamp, and severity.

[0027] Secondly, the present invention provides a vehicle safety driving early warning method based on vehicle-road cooperation, characterized in that it includes:

[0028] Static and dynamic information about the road is collected by a data acquisition unit installed on the vehicle; static information includes road surface information and obstacle information; dynamic information includes vehicle information and pedestrian information.

[0029] The system acquires static and dynamic information through a hazard identification unit, and identifies hazard events and the type of vehicle ahead based on the static and dynamic information; then, it generates hazard event messages based on the identified hazard events and sends the hazard event messages to the target object.

[0030] The system acquires hazard event messages and navigation information from various vehicles on the road via roadside units. It then combines these messages with road map information to identify vehicles whose navigation information requires them to pass through the hazard event area specified in the hazard event message. The system then forwards the hazard event message to the corresponding vehicle. A communication connection is established between the preceding vehicle and the following vehicle, allowing the following vehicle to automatically acquire hazard event messages directly sent by the preceding vehicle.

[0031] The beneficial effects of this invention are as follows: by constructing a dual protection system that combines forward-looking early warning provided by roadside units with real-time warning provided directly by the vehicle in front, it provides seamless safety protection for motorcyclists from far to near and from the overall situation to the local situation. Attached Figure Description

[0032] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, use the same reference numerals to denote the same or similar parts. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0033] Figure 1 This is a schematic diagram of a structure according to an embodiment of the present invention;

[0034] Figure 2 This is a schematic diagram of one embodiment of the present invention.

[0035] Among them: 1. Roadside unit; 2. Vehicle I; 3. Vehicle II (large vehicle); 4. Vehicle III (motorcycle). Detailed Implementation

[0036] like Figure 1 The vehicle safety driving warning system based on vehicle-road cooperative technology shown includes

[0037] The data acquisition unit, installed on the vehicle, is used to collect static and dynamic information on the road; static information includes road surface information and obstacle information; dynamic information includes vehicle information and pedestrian information.

[0038] The hazard event identification unit, installed on the vehicle, is used to acquire static and dynamic information, and identify hazard events and the type of vehicle ahead based on the static and dynamic information; then, it generates a hazard event message (including: hazard type, GPS coordinates, timestamp, severity) based on the identified hazard event, and sends the hazard event message to the target object;

[0039] Roadside units, deployed along the road (such as on streetlights and traffic sign poles), are used to acquire hazard event messages and navigation information from vehicles on the road, combine the hazard event messages and navigation information with road map information, identify vehicles whose navigation information indicates they need to pass through the area where the hazard event occurred, and then forward the hazard event message to the corresponding vehicle.

[0040] The information interaction unit is used to establish a communication connection between the vehicle and the roadside unit, and to establish a communication connection between the vehicle and the vehicle after the following vehicle identifies the preceding vehicle as a large vehicle; when a communication connection is established between the preceding vehicle and the following vehicle, the following vehicle automatically obtains the dangerous event message directly sent by the preceding vehicle.

[0041] Hazardous event messages originate from messages uploaded by vehicles connected to the system (e.g., vehicle A reports a pothole at location D at time T). The roadside unit, acting as a regional information hub, integrates multi-source information from different vehicles to form a localized "dynamic hazard map" on the server side. Simultaneously, the roadside unit actively acquires navigation information (destination / planned route) from vehicles within the area and compares it with the "dynamic hazard map." When the system predicts that a vehicle's future path will pass through a known hazardous area, the roadside unit issues an advance warning to that vehicle. This helps vehicles adjust their speed or change lanes in advance based on received hazard event messages, achieving proactive defensive driving assistance. Furthermore, the roadside unit in this application, by combining map and navigation information, only sends warnings to relevant vehicles, avoiding invalid broadcasts and reducing system load and driver interference.

[0042] Once the following vehicle (motorcycle) recognizes the preceding vehicle as a large vehicle and establishes a communication connection, the preceding vehicle directly and point-to-point sends the raw information it detected or the danger event message generated after preliminary processing to the following vehicle. This overcomes the problem of the large vehicle obstructing the view, achieves line of sight penetration, and allows direct access to the danger detected by the vehicle, greatly improving the safety of following the vehicle. Furthermore, with the motorcyclist already mentally prepared after receiving the warning from the roadside unit, the instant confirmation and emergency supplement from the preceding vehicle enable them to take braking or evasive action more decisively and safely.

[0043] According to one embodiment of this application, if the hazard event message first received by the following vehicle comes from the preceding vehicle, then the repeated hazard event messages sent by the roadside unit are automatically blocked; if the hazard event message first received by the following vehicle comes from the roadside unit, then the interval between the time of the repeated hazard event message sent by the preceding vehicle and the time of the first received hazard event message is calculated. If the interval is less than a threshold, then the repeated hazard event message is blocked; if the interval is greater than the threshold, then the hazard event message sent by the preceding vehicle is still received.

[0044] This embodiment effectively blocks repeated alarms by intelligently determining the source of the first message and setting a time threshold, avoiding redundancy and interference in early warning information; furthermore, it can effectively reduce unnecessary data transmission in the wireless channel and reduce the risk of network congestion.

[0045] According to one embodiment of this application, if the preceding vehicle activates broadcast mode, the following vehicle sends a communication request to the preceding vehicle, and the two vehicles automatically establish a communication connection; otherwise, the preceding vehicle must agree to the communication request before the two vehicles establish a communication connection. By setting a flexible connection mechanism, the system is more easily accepted and deployed by different user groups, balancing communication efficiency and user autonomy.

[0046] According to one embodiment of this application, the data acquisition unit includes:

[0047] A vision sensor is used to acquire image information ahead via a camera, including images of the road surface ahead, as well as images of obstacles, vehicles, and pedestrians on the road;

[0048] Radar detectors are used to construct a 3D environment around the vehicle using millimeter-wave radar, and can typically detect stationary obstacles.

[0049] An inertial measurement unit (IMU) is used to collect changes in vehicle body posture. The IMU can sensitively detect abnormal acceleration, angular velocity changes and vehicle posture instability, which can facilitate subsequent indirect judgment of road surface adhesion conditions.

[0050] GPS devices are used to collect vehicle location information.

[0051] According to one embodiment of this application, hazard identification includes static hazard identification and dynamic hazard identification.

[0052] According to one embodiment of this application, static hazard event identification includes: using a pre-trained deep learning model to identify damaged road surfaces (e.g., potholes, cracks, dented or missing manhole covers, etc.) based on image information; identifying road obstacles (e.g., fallen rocks, spilled goods, broken branches, etc.) based on a constructed 3D environment; and identifying low-adhesion road surfaces (e.g., ice, snow, rain, oil stains, etc.) based on vehicle pose changes. When damaged road surfaces, obstacles, or low-adhesion road surfaces are identified, they are bound to location information and sent to the roadside device. This embodiment uses a currently mature deep learning model, 3D environment construction, and vehicle pose changes to identify damaged road surfaces, road obstacles, and low-adhesion road surfaces, achieving high accuracy and binding hazards to locations to generate warning information with direct guidance significance.

[0053] According to one embodiment of this application, dynamic hazardous event identification includes: continuously tracking the position, speed, and trajectory of vehicles or pedestrians based on image and radar information using Kalman filtering and multi-target tracking algorithms, and predicting their movement paths in the next few seconds, thereby identifying the dangerous behavioral intentions of vehicles or pedestrians (such as pedestrians or non-motorized vehicles suddenly crossing the road); when the dangerous behavioral intentions of vehicles or pedestrians are identified, they are bound to location information and sent to the roadside device. This embodiment uses the currently mature Kalman filtering and multi-target tracking algorithms, which can not only perceive the current state but also predict the movement paths in the next few seconds, thereby providing early warning before dangerous behavior occurs, changing passive response to active prevention; it can accurately identify the dangerous intentions of pedestrians and vehicles (such as pedestrians or non-motorized vehicles suddenly crossing the road, vehicles suddenly stopping), greatly improving safety in urban road environments.

[0054] According to one embodiment of this application, the vehicle type identification method includes:

[0055] Extract the size information (such as height and width) of the vehicle in front from the dynamic information;

[0056] The size information is compared with a preset threshold. If the height or width of the vehicle in front is greater than the threshold, it is marked as a large vehicle (such as a truck or bus). This embodiment accurately identifies large vehicles that cause blind spots through a simple and reliable size threshold judgment, thereby automatically activating the crucial "see-through" function. By setting the vehicle in front as a large vehicle as the trigger condition for establishing a communication connection with that vehicle, instead of establishing a connection with all vehicles in front, communication resources are saved and system efficiency is improved.

[0057] According to one embodiment of this application, the roadside device receives a hazardous event with location information and navigation information, and matches it with a map. When the hazardous event is present in the navigation information of any vehicle, a hazardous event message is sent to that vehicle. The hazardous event message includes: hazard type, GPS coordinates, timestamp, and severity. This embodiment confirms the true correlation between hazardous events and vehicle paths by matching with the map, thus improving the accuracy of early warning decisions.

[0058] Secondly, the present invention provides a vehicle safety driving early warning method based on vehicle-road cooperation, characterized in that it includes:

[0059] Static and dynamic information about the road is collected by a data acquisition unit installed on the vehicle; static information includes road surface information and obstacle information; dynamic information includes vehicle information and pedestrian information.

[0060] The system acquires static and dynamic information through a hazard identification unit, and identifies hazard events and the type of vehicle ahead based on the static and dynamic information; then, it generates hazard event messages based on the identified hazard events and sends the hazard event messages to the target object.

[0061] The system acquires hazard event messages and navigation information from various vehicles on the road via roadside units. It then combines these messages with road map information to identify vehicles whose navigation information requires them to pass through the hazard event area specified in the hazard event message. The system then forwards the hazard event message to the corresponding vehicle. A communication connection is established between the preceding vehicle and the following vehicle, allowing the following vehicle to automatically acquire hazard event messages directly sent by the preceding vehicle.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A vehicle safety driving early warning system based on vehicle-road cooperation, characterized in that, include A data acquisition unit, installed on a vehicle, is used to collect static and dynamic information on the road; the static information includes road surface information and obstacle information; the dynamic information includes vehicle information and pedestrian information. A hazard event identification unit, installed on the vehicle, is used to acquire the static and dynamic information, and to identify hazard events and the type of vehicle ahead based on the static and dynamic information; Then, a danger event message is generated based on the identified danger events, and the danger event message is sent to the target object; The roadside unit, deployed along the road, is used to acquire hazard event messages and navigation information from various vehicles on the road, combine the hazard event messages and navigation information with road map information, find the vehicles whose navigation information indicates that they need to pass through the area where the hazard event occurred, and then forward the hazard event message to the corresponding vehicle. The information interaction unit is used to establish a communication connection between the vehicle and the roadside unit, and to establish a communication connection between the vehicle and the vehicle after the following vehicle identifies the preceding vehicle as a large vehicle; when a communication connection is established between the preceding vehicle and the following vehicle, the following vehicle automatically obtains the dangerous event message directly sent by the preceding vehicle.

2. The vehicle safety driving early warning system based on vehicle-road cooperation according to claim 1, characterized in that, If the following vehicle receives its first hazard event message from the preceding vehicle, it automatically blocks duplicate hazard event messages sent by the roadside unit. If the following vehicle receives its first hazard event message from the roadside unit, it calculates the interval between the time when the following vehicle sends a duplicate hazard event message and the time when it receives the first hazard event message. If the interval is less than a threshold, the duplicate hazard event message is blocked. If the interval is greater than the threshold, the following vehicle continues to receive hazard event messages sent by the preceding vehicle.

3. The vehicle safety driving early warning system based on vehicle-road cooperation according to claim 1 or 2, characterized in that, If the vehicle in front has its broadcast mode enabled, the vehicle behind will send a communication request to the vehicle in front, and the two vehicles will automatically establish a communication connection; otherwise, the vehicle in front must agree to the communication request before the two vehicles can establish a communication connection.

4. The vehicle safety driving early warning system based on vehicle-road cooperation according to claim 1, characterized in that, The data acquisition unit includes: A vision sensor is used to capture image information from the front via a camera; Radar detectors are used to construct a 3D environment around the vehicle using millimeter-wave radar. An inertial measurement unit (IMU) is used to collect changes in the vehicle's pose. GPS devices are used to collect vehicle location information.

5. The vehicle safety driving early warning system based on vehicle-road cooperation according to claim 4, characterized in that, The hazard identification includes static hazard identification and dynamic hazard identification.

6. The vehicle safety driving early warning system based on vehicle-road cooperation according to claim 5, characterized in that, The static hazard event identification includes: using a pre-trained deep learning model to identify damaged road surfaces based on the image information, identifying road obstacles based on the constructed 3D environment, and identifying low-adhesion road surfaces based on changes in vehicle body pose; when damaged road surfaces, obstacles, or low-adhesion road surfaces are identified, they are bound to location information and sent to the roadside device.

7. The vehicle safety driving early warning system based on vehicle-road cooperation according to claim 5, characterized in that, The dynamic hazard event identification includes: using Kalman filtering and multi-target tracking algorithms to continuously track the position, speed and trajectory of vehicles or pedestrians based on image information and radar information, and predict their movement path in the next few seconds, thereby identifying the dangerous behavioral intentions of vehicles or pedestrians; when the dangerous behavioral intentions of vehicles or pedestrians are identified, they are bound to the location information and sent to the roadside device.

8. The vehicle safety driving early warning system based on vehicle-road cooperation according to claim 1, characterized in that, The vehicle type identification method includes: Extract the size information of the vehicle in front from the dynamic information; The size information is compared with a preset threshold. If the height or width of the vehicle in front is greater than the threshold, it is marked as a large vehicle.

9. The vehicle safety driving early warning system based on vehicle-road cooperation according to claim 1, characterized in that, The roadside device receives hazardous events with location information and navigation information and matches them with the map. When a hazardous event is in the navigation information of any vehicle, it sends a hazardous event message to that vehicle. The hazardous event message includes: hazard type, GPS coordinates, timestamp, and severity.

10. A vehicle safety driving early warning method based on vehicle-road cooperation, characterized in that, include: Static and dynamic information about the road is collected by data acquisition units installed on vehicles; The static information includes road surface information and obstacle information; The dynamic information includes vehicle information and pedestrian information; The static and dynamic information are acquired through the hazard identification unit, and the hazard and the type of vehicle ahead are identified based on the static and dynamic information. Then, a danger event message is generated based on the identified danger events, and the danger event message is sent to the target object; The system acquires hazard event messages and navigation information from various vehicles on the road via roadside units, combines these messages with road map information, identifies vehicles whose navigation information needs to pass through the hazard event area in the hazard event message, and then forwards the hazard event message to the corresponding vehicle. A communication connection is established between the vehicle in front and the vehicle behind, and the vehicle behind automatically receives dangerous event messages directly sent by the vehicle in front.

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