Collision early warning method and device for blind area, electronic equipment and storage medium

Abstract

The invention discloses a collision early warning method and device for a blind area, electronic equipment and a storage medium, relates to the technical field of collision early warning, and is applied to a vehicle-mounted terminal, and the vehicle-mounted terminal is in communication connection with a roadside sensing end. Receiving target information sent by the roadside sensing end; if it is determined that the vehicle is driven into the target intersection, obtaining a first position of the vehicle, and determining a first distance and a first duration of the vehicle from the first position to the target intersection according to the first position; determining a collision risk level of collision between the vehicle and the target vehicle according to the target information; and performing collision early warning according to the collision risk level, the first distance, the target message and the first duration. According to the invention, the accuracy and real-time performance of collision early warning of the vehicle running on the branch lane can be improved, the potential traffic safety hazard caused by sight shielding of the target intersection is effectively solved, and the early warning effect of the vehicle entering the T-shaped intersection is improved.

Description

Technical Field

[0001] This application relates to the field of collision warning technology, and more specifically, to a collision warning method, device, electronic device and storage medium for blind spots. Background Technology

[0002] Collisions are most likely to occur at road intersections, especially at T-junctions. When vehicles from auxiliary lanes enter the main lane, significant blind spots exist due to obstructions from buildings, green belts, or other obstacles, making it difficult for drivers to observe traffic on the main road. This obstructed vision greatly increases the risk of traffic accidents, particularly when vehicles on the main road are traveling at higher speeds. Current technologies typically use convex wide-angle mirrors or radar detectors at intersections to warn of vehicles entering, or rely on the vehicle's own sensing equipment. However, these methods are affected by environmental factors, weather conditions, and the vehicle's own equipment, making it impossible to accurately warn all vehicles entering the intersection, resulting in poor warning effectiveness. Therefore, improving the warning effectiveness for vehicles entering T-junctions is a pressing issue that needs to be addressed. Summary of the Invention

[0003] In view of this, embodiments of this application propose a collision warning method, device, electronic device, and storage medium for blind spots to improve the above-mentioned problems.

[0004] According to a first aspect of the embodiments of this application, a collision warning method for blind spots is provided, applied to an in-vehicle terminal, the in-vehicle terminal being communicatively connected to a roadside sensing terminal, the method comprising: when a vehicle is in a side lane of a target intersection and there are no traffic lights at the target intersection, receiving target information sent by the roadside sensing terminal; if it is determined that the vehicle has entered the target intersection, obtaining a first position of the vehicle, and determining a first distance and a first time duration for the vehicle to reach the target intersection from the first position based on the first position; determining a collision risk level for a collision between the vehicle and a target vehicle based on the target information, wherein the target vehicle includes / is: a vehicle traveling in the main lane of the target intersection; and issuing a collision warning based on the collision risk level, the first distance, the target information, and the first time duration.

[0005] In some embodiments, determining the collision risk level of a collision between the vehicle and a target vehicle in the main lane of the target intersection based on the target information includes: determining a second distance between the target vehicle and the roadside sensing terminal based on the target information; determining a target distance range corresponding to the second distance; and determining the target collision risk level based on the target distance range.

[0006] In some embodiments, determining the target collision risk level based on the target distance range includes: if the target distance range indicates that the second distance is greater than a first distance threshold, then determining the target collision risk level as a first level; if the target distance range indicates that the second distance is less than a second distance threshold and greater than a third distance threshold, then determining the target collision risk level as a second level, wherein the first distance threshold is greater than the second distance threshold and the third distance threshold, and the second distance threshold is greater than the third distance threshold; if the target distance range indicates that the second distance is less than the third distance threshold, then determining the target collision risk level as a third level.

[0007] In some embodiments, before issuing a collision warning based on the collision risk level, the first distance, the target message, and the first duration, the method further includes: determining a second duration for the target vehicle to reach the roadside sensing end based on the target information, and determining a duration difference between the first duration and the second duration; if the duration difference is less than or equal to a duration threshold, then issuing a collision warning based on the collision risk level, the first distance, the target message, and the first duration.

[0008] In some embodiments, the target information includes the vehicle type of the target vehicle and the lane information of the target vehicle; the collision warning based on the collision risk level, the first distance, the target message, and the first duration includes: if the target collision risk level is a first level, then determining a first warning message based on the target information and issuing a collision warning based on the first warning message; if the target collision risk level is a second level, then determining a second warning message based on the first distance and the lane information and issuing a collision warning based on the second warning message; if the target collision risk level is a third level, then determining a third warning message based on the first distance, the first duration, the lane information, and the vehicle type and issuing a collision warning based on the third warning message.

[0009] According to a second aspect of the embodiments of this application, a collision warning method for blind spots is provided, applied to a roadside sensing terminal, wherein the roadside sensing terminal is communicatively connected to an in-vehicle terminal. The method includes: when there is no traffic light at a target intersection, acquiring a second position of a target vehicle at the target intersection, calibration parameters of the roadside sensing terminal, and vehicle information of the target vehicle, wherein the target vehicle includes / is: a vehicle traveling on the main lane of the target intersection; determining a second distance from the target vehicle to the target intersection based on the second position, the vehicle information, and the calibration parameters; determining target information based on the vehicle information and the second distance, and sending the target information to the in-vehicle terminal so that the in-vehicle terminal can issue a collision warning based on the target information.

[0010] According to a third aspect of the embodiments of this application, a blind spot collision warning device is provided, applied to an in-vehicle terminal, wherein the in-vehicle terminal is communicatively connected to a roadside sensing terminal, the device comprising: a target information receiving module, configured to receive target information sent by the roadside sensing terminal when the vehicle is in a side lane of a target intersection and there is no traffic light at the target intersection; a first determination module, configured to obtain a first position of the vehicle if it is determined that the vehicle has entered the target intersection, and determine a first distance and a first duration for the vehicle to reach the target intersection from the first position based on the first position; a collision risk level determination module, configured to determine the collision risk level of a collision between the vehicle and a target vehicle based on the target information, wherein the target vehicle includes / is: a vehicle traveling in the main lane of the target intersection; and a collision warning module, configured to issue a collision warning based on the collision risk level, the first distance, the target information, and the first duration.

[0011] According to a fourth aspect of the embodiments of this application, a blind spot collision warning device is provided, applied to a roadside sensing terminal, the roadside sensing terminal being communicatively connected to an in-vehicle terminal, the device comprising: an information acquisition module, configured to acquire, when there is no traffic light at the target intersection, a second position of a target vehicle at the target intersection, calibration parameters of the roadside sensing terminal, and vehicle information of the target vehicle, wherein the target vehicle includes / is: a vehicle traveling on the main lane of the target intersection; a second determination module, configured to determine a second distance from the target vehicle to the target intersection based on the second position and the calibration parameters; and a target information sending module, configured to determine target information based on the vehicle information and the second distance, and send the target information to the in-vehicle terminal, so that the in-vehicle terminal performs a collision warning based on the target information.

[0012] According to a fifth aspect of the present application, an electronic device is provided, comprising: a processor; and a memory storing computer-readable instructions, wherein when the computer-readable instructions are executed by the processor, the collision warning method for blind spots as described above is implemented.

[0013] According to a sixth aspect of the present application, a computer-readable storage medium is provided, on which computer-readable instructions are stored, which, when executed by a processor, implement the collision warning method for blind spots as described above.

[0014] In this application's solution, when the vehicle is in the side lane of a target intersection and there are no traffic lights at the target intersection, it receives target information sent by a roadside sensing terminal. Upon determining that the vehicle has entered the target intersection, it first obtains the vehicle's first position and determines the first distance and first time taken for the vehicle to reach the target intersection from the first position. Based on this first position, it determines the collision risk level between the vehicle and the target vehicle using the target information. Finally, it issues a collision warning based on the collision risk level, the first distance, the target information, and the first time taken. This application, by combining roadside sensing and communication technologies, overcomes the line-of-sight limitations of traditional vehicle-mounted sensors, achieving accurate beyond-line-of-sight perception of traffic conditions in blind spots. This significantly improves the accuracy and real-time performance of collision warnings for vehicles traveling in side lanes, effectively solving traffic safety hazards caused by obstructed vision at target intersections and improving the warning effect for vehicles entering T-junctions.

[0015] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the embodiments of this application. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0017] Figure 1 This is a schematic diagram of a blind spot collision warning system according to an embodiment of this application.

[0018] Figure 2 This is a schematic flowchart illustrating a collision warning method for blind spots according to an embodiment of this application.

[0019] Figure 3 This is a flowchart illustrating a collision warning method for blind spots according to another embodiment of this application.

[0020] Figure 4This is a schematic flowchart illustrating the specific steps of step 340 according to an embodiment of this application.

[0021] Figure 5 This is a schematic flowchart of a collision warning method for blind spots according to another embodiment of this application.

[0022] Figure 6 This is a schematic flowchart of a collision warning method for blind spots according to another embodiment of this application.

[0023] Figure 7 This is a schematic flowchart of a collision warning method for blind spots according to an embodiment of this application.

[0024] Figure 8 This is a schematic flowchart of a collision warning method for blind spots according to another embodiment of this application.

[0025] Figure 9 This is a schematic diagram illustrating the positional relationship between the roadside sensing terminal and the target vehicle at a target intersection, according to an embodiment of this application.

[0026] Figure 10 This is a schematic flowchart of a collision warning method for blind spots according to an embodiment of this application.

[0027] Figure 11 This is a block diagram of a collision warning device for blind spots according to an embodiment of this application.

[0028] Figure 12 This is a block diagram of a collision warning device for blind spots according to another embodiment of this application.

[0029] Figure 13 This is a hardware structure diagram of an electronic device according to an embodiment of this application.

[0030] The accompanying drawings have illustrated specific embodiments of the present application. More detailed descriptions will follow. These drawings and descriptions are not intended to limit the scope of the present application's embodiments in any way, but rather to illustrate the concepts of the present application's embodiments to those skilled in the art through specific embodiments. Detailed Implementation

[0031] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make this application more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art.

[0032] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0033] Please see Figure 1 , Figure 1 This application illustrates a blind spot collision warning system according to an embodiment of the present application, such as... Figure 1 As shown below, the method for implementing collision warning in a blind spot collision warning system will be illustrated by example.

[0034] In one alternative implementation, the blind spot collision warning system includes a roadside sensing terminal 110 and an on-board terminal 120, wherein the roadside sensing terminal 110 and the on-board terminal 120 refer to software units or modules.

[0035] For example, when there is no traffic light at the target intersection, the side sensing terminal 110 acquires the second position of the target vehicle traveling on the main road lane, the calibration parameters of the roadside sensing terminal, and the vehicle information of the target vehicle. Then, based on the second position, vehicle information, and calibration parameters, it determines the second distance from the target vehicle to the target intersection. Finally, based on the vehicle information and the second distance, it determines the target information and sends the target information to the vehicle terminal 120.

[0036] The vehicle terminal 120 receives target information sent by the roadside sensing terminal 110. When the vehicle enters the target intersection, it obtains the first position of the vehicle and determines the first distance and first time from the first position to the target intersection based on the first position. Then, it determines the collision risk level of the vehicle and the target vehicle based on the target information. Finally, it issues a collision warning based on the collision risk level, the first distance, the target information and the first time.

[0037] Figure 1 The system in [the document] can be used to implement the following Figure 2 For the collision warning method for the described blind spot, please refer to [link / reference]. Figure 2 , Figure 2 This application illustrates a blind spot collision warning method according to an embodiment of the present application. In a specific embodiment, this blind spot collision warning method can be applied to, for example... Figure 11 The blind spot collision warning device 800 and the electronic device 1000 equipped with the blind spot collision warning device 800 are shown. Figure 13The specific process of this embodiment will be described below. Of course, it is understood that this method can be executed by an electronic device with computing power, such as an in-vehicle terminal, a cloud server, or other processors. The following will focus on... Figure 2 The process shown is described in detail and applied to an in-vehicle terminal. The in-vehicle terminal is connected to the roadside sensing terminal. The collision warning method for blind spots may specifically include the following steps 210-240.

[0038] Step 210: When the vehicle is in the side lane of the target intersection and there is no traffic light at the target intersection, it receives the target information sent by the roadside sensing terminal.

[0039] As an alternative approach, when a vehicle enters any intersection, it must be aware of other vehicles at the intersection. However, at the target intersection, buildings, green belts, or other obstacles can obstruct the driver's view, creating significant blind spots and preventing timely observation of other vehicles in the side lanes besides the vehicle's own. If there are no traffic lights at the target intersection, the probability of traffic accidents further increases. Therefore, when a vehicle is in a side lane of a target intersection where there are no traffic lights, to ensure the safety of all vehicles at the target intersection, roadside sensors can be deployed to actively detect vehicles about to enter the main road's blind spots. This information can then be transmitted in real-time to vehicles in the side lanes about to enter the main road via V2I communication technology, significantly improving traffic safety at the target intersection. The target intersection can be a T-junction.

[0040] Optionally, the roadside sensing terminal can use a visual sensing module to detect vehicles entering the blind spot of the target intersection, thereby determining the vehicle information. The vehicle information is then encapsulated to obtain standard V2I target information, which is then sent to the vehicle terminal via V2I communication technology.

[0041] Optionally, when the vehicle enters the communication range of the roadside sensing terminal, the roadside sensing terminal sends a communication request to the vehicle's onboard terminal. The onboard terminal then establishes a communication connection with the roadside sensing terminal based on this request and sends a connection signal back to the roadside sensing terminal. This allows the roadside sensing terminal to send target information to the vehicle's onboard terminal. If the onboard terminal is connecting to the roadside sensing terminal for the first time, it will prompt the user on the vehicle's infotainment screen or an electronic device connected to the onboard terminal whether to connect. After the user selects to connect, the onboard terminal establishes a communication connection with the roadside sensing terminal based on the communication request.

[0042] Step 220: If it is determined that the vehicle has entered the target intersection, then the first position of the vehicle is obtained, and the first distance and first time duration of the vehicle from the first position to the target intersection are determined based on the first position.

[0043] As an alternative approach, after the vehicle's onboard terminal receives the target message, it can first determine whether the vehicle needs to enter the target intersection, that is, whether the vehicle merges from the side road lane into the main road lane. In this way, if it is determined that the vehicle has entered the target intersection, the vehicle's first position can be obtained, and the first distance and first duration can be determined from the first position.

[0044] In one alternative scenario, it can be determined whether the vehicle has entered the target intersection by obtaining the navigation route from the vehicle's navigation system. That is, if the navigation route indicates that the vehicle needs to merge from the side road lane into the main road lane, then it is determined that the vehicle has entered the target intersection.

[0045] In another alternative scenario, the vehicle's real-time latitude and longitude, as well as its heading angle, can be obtained first. Then, the vehicle's entry into the target intersection can be determined based on the real-time latitude and longitude and heading angle data. For example, the vehicle's trajectory can be predicted based on the real-time latitude and longitude and heading angle data, and the vehicle's entry into the target intersection can be determined based on the predicted trajectory.

[0046] As an alternative approach, after obtaining the vehicle's first location, the first distance from the first location to the target intersection can be determined based on the first location and the location information of the roadside sensing terminal. The first distance can be determined by calculating the Euclidean distance between the first location and the location information of the roadside sensing terminal.

[0047] Optionally, the real-time speed of the vehicle can be obtained, and then the first time it takes for the vehicle to travel from the first position to the target intersection can be determined based on the real-time speed of the vehicle and the first distance.

[0048] Step 230: Determine the collision risk level of the collision between the vehicle and the target vehicle based on the target information, wherein the target vehicle includes / is: a vehicle traveling on the main road lane in the target intersection.

[0049] As an alternative approach, when it is determined that the vehicle will enter the main road lane of the target intersection from the side road lane, the target information can be analyzed first to determine the distance between the target vehicle in the main road lane of the target intersection and the roadside sensing terminal, as well as the time required for the target vehicle to travel to the roadside sensing terminal. Then, based on the distance between the target vehicle and the roadside sensing terminal, the time required for the target vehicle to travel to the roadside sensing terminal, and the first distance and the first time, the collision risk level of the collision between the vehicle and the target vehicle can be determined. This allows the vehicle to be warned based on the collision risk level, enabling it to take evasive action based on the warning and ensure its driving safety.

[0050] In one alternative scenario, the collision risk level between the vehicle and the target vehicle can be determined based on a first relationship between the distance between the target vehicle and the roadside sensing terminal and a first distance, and a second relationship between the time taken for the target vehicle to travel to the roadside sensing terminal and a first time.

[0051] Step 240: Issue a collision warning based on the collision risk level, the first distance, the target message, and the first duration.

[0052] As an alternative approach, after determining the collision risk level of the vehicle, a strategy for issuing warnings to the vehicle can be determined based on the collision risk level. Under this strategy, a corresponding warning message can be generated based on a first distance, target message, and / or a first duration, so that the vehicle terminal can issue a collision warning to the vehicle based on the warning message.

[0053] In one optional scenario, different early warning strategies can be pre-set for different collision risk levels, with different early warning methods and specific content. For example, if the collision risk level is high, a collision warning can be issued based on the first time distance, target message, and first duration; if the collision risk level is low, a collision warning can be issued based on the target message.

[0054] In the embodiments of this application, when the vehicle is in the side lane of the target intersection and there is no traffic light at the target intersection, it receives target information sent by the roadside sensing terminal; and upon determining that the vehicle has entered the target intersection, it first obtains the vehicle's first position, and determines the first distance and first time duration from the first position to the target intersection based on the first position. Based on this, it determines the collision risk level of a collision between the vehicle and the target vehicle, and finally issues a collision warning based on the collision risk level, the first distance, the target information, and the first time duration. This application, by combining roadside sensing and communication technologies, breaks through the line-of-sight limitations of traditional vehicle-mounted sensors, achieving accurate beyond-line-of-sight perception of traffic conditions in blind spots. This significantly improves the accuracy and real-time performance of collision warnings for vehicles traveling in side lanes, effectively solves traffic safety hazards caused by obstructed vision at target intersections, and improves the warning effect for vehicles entering T-junctions.

[0055] Please see Figure 3 , Figure 3 This application illustrates a collision warning method for blind spots provided by an embodiment of the present application. The following will focus on... Figure 3 The process shown is described in detail and applied to an in-vehicle terminal. The in-vehicle terminal is connected to the roadside sensing terminal. The collision warning method for blind spots may specifically include the following steps 310-350.

[0056] Step 310: When the vehicle is in the side lane of the target intersection and there is no traffic light at the target intersection, it receives the target information sent by the roadside sensing terminal.

[0057] Step 320: If it is determined that the vehicle has entered the target intersection, then the first position of the vehicle is obtained, and the first distance and first time duration of the vehicle from the first position to the target intersection are determined based on the first position.

[0058] Step 330: Determine the second distance between the target vehicle and the roadside sensing terminal based on the target information.

[0059] As an alternative approach, after determining that the vehicle has entered the target intersection, the target information can be analyzed to determine the first position information of the target vehicle in the main road lane and the second position information of the roadside sensing terminal. Based on the first and second position information, the second distance between the target vehicle and the roadside sensing terminal can be determined.

[0060] Optionally, after detecting a target vehicle, the roadside sensing terminal can first determine the relative distance of the target vehicle and encapsulate the relative distance and other information (such as the vehicle model information and lane information) to obtain target information. Then, after receiving the target information, the vehicle terminal can directly parse the target information to obtain the relative distance, and thus determine the relative distance as the second distance.

[0061] Step 340: Determine the target distance range corresponding to the second distance, and determine the target collision risk level based on the target distance range.

[0062] As an alternative approach, after determining the second distance, in order to improve the accuracy of collision warnings for the vehicle, the target distance range corresponding to the second distance can be determined first, so as to determine the target collision risk based on the target distance range.

[0063] Optionally, in order to accurately determine the collision risk level of a vehicle, multiple distance ranges can be preset, and a collision risk level can be set for each distance range. In this way, after determining the second distance, the target distance range corresponding to the second distance can be determined among multiple distance ranges, and then the target collision risk level corresponding to the target distance range can be determined.

[0064] In some embodiments, such as Figure 4 As shown, step 340 includes steps 341-343.

[0065] Step 341: If the target distance range indicates that the second distance is greater than the first distance threshold, then the target collision risk level is determined to be the first level.

[0066] As an alternative approach, multiple distance thresholds can be preset, and then multiple distance ranges can be determined by these multiple distance thresholds. The second distance is then compared with the multiple distance thresholds to determine the target distance range in which the second distance is located.

[0067] Optionally, when the second distance is determined to be greater than the first distance threshold, it can be determined that the target vehicle is far from the roadside sensing unit. In this case, it can be determined that the risk of a collision between the target vehicle and the vehicle is low. Therefore, the target collision risk level is determined to be the lowest level, the first level. For example, if the vehicle is more than 100 meters away from the intersection, that is, the second distance is greater than 100 meters, the target collision risk level is determined to be the first level.

[0068] Step 342: If the target distance range indicates that the second distance is less than the second distance threshold and greater than the third distance threshold, then the target collision risk level is determined to be the second level, wherein the first distance threshold is greater than the second distance threshold and the third distance threshold, and the second distance threshold is greater than the third distance threshold.

[0069] As an alternative approach, when the second distance is determined to be less than a second distance threshold but greater than a third distance threshold, it can be determined that the target vehicle is approaching the roadside sensing unit. In this case, the risk of a collision between the target vehicle and the vehicle can be considered increased. However, the vehicle can still avoid a collision in time through deceleration and other control measures. Therefore, the target collision risk level is determined to be a moderate level two. For example, when the vehicle enters within 20 to 50 meters, the target collision risk level is determined to be level two.

[0070] Step 343: If the target distance range indicates that the second distance is less than the third distance threshold, then the target collision risk level is determined to be level three.

[0071] As an alternative approach, when the second distance is determined to be less than the third distance threshold, it can be determined that the target vehicle is very close to the roadside sensing unit. In this case, the risk of a collision between the target vehicle and the vehicle can be determined to be high, and therefore, the target collision risk level is determined to be the highest level, the third level. For example, when the vehicle is within 20 meters, the target collision risk level is determined to be the highest level, the third level.

[0072] Please continue reading. Figure 3 Step 350: A collision warning is issued based on the collision risk level, the first distance, the target message, and the first duration.

[0073] The specific steps of steps 310-320 and 350 can be found in steps 210-220 and 240, and will not be repeated here.

[0074] In this embodiment, the second distance between the target vehicle and the roadside sensing terminal can be determined first based on the target information. After determining the target distance range corresponding to the second distance, the target collision risk level can be determined based on the target distance range. This allows for collision warnings to be issued to the vehicle based on the target collision risk level, ensuring the accuracy of the collision warnings.

[0075] Please see Figure 5 , Figure 5 This application illustrates a collision warning method for blind spots provided by an embodiment of the present application. The following will focus on... Figure 5 The process shown is described in detail and applied to an in-vehicle terminal. The in-vehicle terminal is connected to the roadside sensing terminal. The collision warning method for blind spots may specifically include the following steps 410-470.

[0076] Step 410: When the vehicle is in the side lane of the target intersection and there is no traffic light at the target intersection, it receives the target information sent by the roadside sensing terminal.

[0077] Step 420: If it is determined that the vehicle has entered the target intersection, then the first position of the vehicle is obtained, and the first distance and first time duration of the vehicle from the first position to the target intersection are determined based on the first position.

[0078] Step 430: Determine the second distance between the target vehicle and the roadside sensing terminal based on the target information.

[0079] Step 440: Determine the target distance range corresponding to the second distance, and determine the target collision risk level based on the target distance range.

[0080] Step 450: Determine the second time it takes for the target vehicle to arrive at the roadside sensing terminal based on the target information, and determine the time difference between the first time and the second time.

[0081] As an alternative approach, after determining the target collision risk level between the vehicle and the target vehicle, in order to avoid issuing collision warnings to the vehicle too early or too late, causing the driver to decelerate too early and collide with the vehicle behind, or decelerate too late and collide with the target vehicle, the second time it takes for the target vehicle to arrive at the roadside sensing end can be determined based on the target information. This allows for the determination of the time difference between the second and first time durations, and then the determination of whether to issue a collision warning to the vehicle based on the time difference.

[0082] Step 460: If the duration difference is less than or equal to the duration threshold, then a collision warning is issued based on the collision risk level, the first distance, the target message, and the first duration.

[0083] As an alternative approach, when the time difference is less than or equal to a time threshold, it can be determined that the target vehicle and the vehicle have entered a collision risk zone. This means that the probability of a collision between the vehicle and the target vehicle at their respective positions entering the target intersection at this point is significantly increased. Furthermore, if the vehicle can make appropriate adjustments within this zone, a collision warning can be issued, allowing the driver or the vehicle to control the vehicle to avoid obstacles based on the warning, thus ensuring the vehicle's driving safety.

[0084] Step 470: Issue a collision warning based on the collision risk level, the first distance, the target message, and the first duration.

[0085] For a detailed description of steps 410-420 and 470, please refer to steps 210-220 and 240. For a detailed description of steps 430 and 440, please refer to steps 330-340. They will not be repeated here.

[0086] In this embodiment, the second time it takes for the target vehicle to arrive at the roadside sensing end can be determined first based on the target information, and the time difference between the first time and the second time can be determined. If the time difference is less than or equal to the time threshold, a collision warning is issued based on the collision risk level, the first distance, the target message, and the first time. This avoids issuing a collision warning to the vehicle too early or too late, which could cause the driver to decelerate too early and collide with the vehicle behind, or decelerate too late and collide with the target vehicle, thus ensuring the accuracy of the collision warning.

[0087] Please see Figure 6 , Figure 6 This application illustrates a collision warning method for blind spots provided by an embodiment of the present application. The following will focus on... Figure 6 The process shown is described in detail and applied to an in-vehicle terminal. The in-vehicle terminal is communicatively connected to a roadside sensing terminal. The target information includes the vehicle type of the target vehicle and the lane information of the target vehicle. The blind spot collision warning method may specifically include the following steps 510-560.

[0088] Step 510: When the vehicle is in the side lane of the target intersection and there is no traffic light at the target intersection, it receives the target information sent by the roadside sensing terminal.

[0089] Step 520: If it is determined that the vehicle has entered the target intersection, then the first position of the vehicle is obtained, and the first distance and first time duration of the vehicle from the first position to the target intersection are determined based on the first position.

[0090] Step 530: Determine the collision risk level of the collision between the vehicle and the target vehicle based on the target information, wherein the target vehicle includes / is: a vehicle traveling on the main road lane in the target intersection.

[0091] The specific steps of steps 510-530 can be found in steps 210-230, and will not be repeated here.

[0092] Step 540: If the target collision risk level is Level 1, then determine the first warning information based on the target information, and issue a collision warning based on the first warning information.

[0093] As an alternative approach, when the target collision risk level is determined to be Level 1, it can be determined that the distance between the current vehicle and the target vehicle is relatively far. In this case, the target information can be used to alert the vehicle that a target vehicle is about to enter at the target intersection, thereby providing a collision warning for the vehicle.

[0094] Optionally, in order to provide collision warnings for the vehicle, a first warning message can be generated based on the location information of the target vehicle or the distance between the target vehicle and the roadside sensing terminal in the target information. This first warning message can then be used to provide collision warnings for the vehicle, ensuring its driving safety.

[0095] Optionally, after generating the first warning information, it can be played through the vehicle's in-vehicle entertainment system to provide a collision warning via voice. For example, the first warning information can be used to determine if a simple voice warning signal is available to alert the driver that a vehicle is approaching on the main road.

[0096] Step 550: If the target collision risk level is level two, then determine the second warning information based on the first distance and the lane information, and issue a collision warning based on the second warning information.

[0097] As an alternative approach, when the target collision risk level is determined to be Level 2, it can be determined that the distance between the vehicle and the target vehicle is relatively close. In this case, more detailed information is needed to provide a collision warning to the vehicle, so as to ensure that the driver can make judgments and take actions based on the collision warning, thereby ensuring the driving safety of the vehicle.

[0098] Optionally, in order to enable the driver to take timely action on the vehicle based on the warning information when a second-level collision risk warning is issued, a second warning information can be generated based on the lane information in the first distance and the target information. The lane information of the target vehicle can then be displayed on the vehicle-mounted display screen or on the electronic device connected to the vehicle terminal, and a voice prompt can be given indicating the first distance between the vehicle and the roadside sensing terminal.

[0099] Step 560: If the target collision risk level is level three, then determine the third warning information based on the first distance, the first duration, the lane information and the vehicle type, and issue a collision warning based on the third warning information.

[0100] As an alternative approach, when the target collision risk level is determined to be Level 3, it can be determined that the distance between the vehicle and the target vehicle is already very close. At this point, it is necessary to inform the driver of the urgency. More detailed warning information can be generated based on more information, so that the driver can quickly take action based on the more detailed warning information, thereby ensuring the driving safety of the vehicle.

[0101] Optionally, to enable drivers to quickly take action based on more detailed warning information when a third-level collision risk warning is issued, a third warning can be generated based on the first distance, the first duration, lane information from the target information, and the vehicle type of the target vehicle from the target information. This third warning can then be displayed on the vehicle's screen or on an electronic device connected to the vehicle terminal, showing the lane information and the vehicle type of the target vehicle from the target information. Voice prompts can also be provided indicating the first distance between the vehicle and the roadside sensor, and the first duration of the vehicle's journey to the roadside sensor. For example, the vehicle's large screen or an electronic device connected to the vehicle terminal can display the vehicle's position, speed, estimated time to reach the target intersection, the target vehicle's position, and vehicle type to warn the driver of approaching vehicles at the intersection.

[0102] In this embodiment, different parameters are used to determine the corresponding warning information based on different target collision risk levels, thereby achieving graded warnings, improving the driver's driving experience, and improving the accuracy of collision warnings.

[0103] Figure 1 The system in [the document] can be used to implement the following Figure 7 For the collision warning method for the described blind spot, please refer to [link / reference]. Figure 7 , Figure 7 This application illustrates a blind spot collision warning method according to an embodiment of the present application. In a specific embodiment, this blind spot collision warning method can be applied to, for example... Figure 12 The blind spot collision warning device 900 and the electronic device 1000 equipped with the blind spot collision warning device 900 are shown. Figure 13 The specific process of this embodiment will be described below. Of course, it is understood that this method can be executed by an electronic device with computing power, such as an in-vehicle terminal, a cloud server, or other processors. The following will focus on... Figure 7 The process shown is described in detail and applied to the roadside sensing terminal. The vehicle terminal is connected to the roadside sensing terminal for communication. The blind spot collision warning method may specifically include the following steps 610-630.

[0104] Step 610: When there is no traffic light at the target intersection, obtain the second location of the target vehicle at the target intersection, the calibration parameters of the roadside sensing terminal, and the vehicle information of the target vehicle, wherein the target vehicle includes / is: a vehicle traveling on the main road lane at the target intersection.

[0105] As an alternative approach, when there are no traffic lights at the target intersection, the probability of a collision between a target vehicle traveling in the main lane and a vehicle in the side lane increases significantly. To ensure the safety of all vehicles traveling at the target intersection, roadside sensors can be installed at the intersection to detect vehicles traveling in the main lane. This allows the information of the target vehicle in the main lane to be sent to the onboard terminals of vehicles in the side lane, enabling the vehicles in the side lane to receive collision warnings based on the received information.

[0106] Optionally, the roadside sensing unit may include a vision sensor, which can be used to acquire the second position of the target vehicle at the target intersection and the vehicle information of the target vehicle. The vehicle information may include the vehicle type, lane information of the lane in which the target vehicle is located, and the vehicle's speed.

[0107] Optionally, during the detection of a target vehicle, in order to obtain vehicle information and the distance between the target vehicle and the roadside sensing terminal from the image data collected by the visual sensor of the roadside sensing terminal, calibration parameters such as focal length, optical center, installation height, and pitch angle of the visual sensor need to be determined. These calibration parameters, which are calibrated after the roadside sensing terminal is installed at the target intersection, can be stored in the roadside sensing terminal's database, allowing direct retrieval of the calibration parameters from the database.

[0108] Step 620: Determine the second distance the target vehicle travels to the target intersection based on the second location, the vehicle information, and the calibration parameters.

[0109] As an alternative approach, after obtaining the second location, vehicle information, and calibration parameters, a reference distance between the target vehicle and the roadside sensing terminal can be determined first based on the calibration parameters and the second location. Then, the lane width of the vehicle's lane and the vehicle width corresponding to the target vehicle's vehicle type are determined based on the vehicle information. The second distance from the target vehicle to the target intersection is then determined based on the lane width, vehicle width, and reference distance, thus ensuring the accuracy of the determined second distance.

[0110] Optionally, a roadside sensing terminal is deployed at a standard T-junction and fixed to a lamppost on the main road at the intersection. The visual perception sensor (camera) faces the oncoming traffic on the main road, with an installation height of approximately 6 meters and a tilt angle of approximately 15 degrees, ensuring a field of view covering the main road lanes within a range of 100-150 meters. After the camera identifies the target vehicle's position on the main road lane, a reference distance between the target vehicle and the roadside sensing terminal is calculated using geometric relationships based on the camera's calibration parameters (focal length, optical center, etc.), installation height, and tilt angle. Then, an algorithm is used to identify the lane position and calculate a second distance from the target vehicle to the intersection.

[0111] Step 630: Determine target information based on the vehicle information and the second distance, and send the target information to the vehicle terminal so that the vehicle terminal can issue a collision warning based on the target information.

[0112] As an alternative approach, after determining the second distance from the target vehicle to the target intersection, in order to obtain information about the target vehicle traveling in the main road lane from the vehicles in the side road lanes of the target intersection, thereby avoiding collisions between the target vehicle and the vehicles in the side road lanes, the target information can be obtained by encapsulating the vehicle information and the second distance. This target information can then be sent to the vehicle-mounted terminal of the vehicle in the side road lane.

[0113] Optionally, to ensure the driving safety of vehicles on the side road lane, the timestamp when acquiring the target vehicle's information can be encapsulated together with the second distance and vehicle information to obtain the target information. Then, after receiving the target information, the on-board terminal of the vehicle on the side road lane parses the target information, performs time alignment based on the timestamp in the target information, and after time alignment, issues a collision warning based on the vehicle's location information corresponding to the timestamp on the on-board terminal.

[0114] In this embodiment, when there are no traffic lights at the target intersection, the second position of the target vehicle at the target intersection, the calibration parameters of the roadside sensing terminal, and the vehicle information of the target vehicle are first obtained through the roadside sensing terminal. Then, based on the second position, vehicle information, and calibration parameters, the second distance from the target vehicle to the target intersection is determined. Finally, based on the vehicle information and the second distance, the target information is determined and sent to the vehicle terminal, so that the vehicle terminal can issue a collision warning based on the target information. By combining roadside sensing and communication technologies, the line-of-sight limitation of traditional vehicle-mounted sensors is overcome, achieving accurate beyond-line-of-sight perception of traffic conditions in blind spots. This significantly improves the accuracy and real-time performance of collision warnings for vehicles traveling on side lanes, effectively solving traffic safety hazards caused by obstructed vision at target intersections and improving the warning effect for vehicles entering T-junctions.

[0115] Please see Figure 8 , Figure 8 This application illustrates a collision warning method for blind spots provided by an embodiment of the present application. The following will focus on... Figure 8 The process shown is described in detail and applied to the roadside sensing terminal. The vehicle terminal is communicatively connected to the roadside sensing terminal. The vehicle information includes the vehicle type of the target vehicle and the lane information. The blind spot collision warning method may specifically include the following steps 710-750.

[0116] Step 710: When there are no traffic lights at the target intersection, obtain the second location of the target vehicle at the target intersection, the calibration parameters of the roadside sensing terminal, and the vehicle information of the target vehicle, wherein the target vehicle includes / is: a vehicle traveling on the main road lane at the target intersection.

[0117] Step 720: Determine the reference distance between the target vehicle and the roadside sensing terminal based on the second position and the calibration parameters.

[0118] As an alternative approach, after obtaining the second position and calibration parameters, a reference distance between the target vehicle and the roadside sensing terminal can be determined based on the second position and calibration parameters. This reference distance indicates the position of the target vehicle within the detection range corresponding to the roadside sensing terminal and the detection distance between the roadside sensing terminal and the target vehicle.

[0119] Step 730: Determine the first width between the target vehicle and the roadside sensing terminal in the corresponding lane based on the lane information.

[0120] As an alternative approach, since the determined reference distance is based on the distance from the roadside sensing end as the origin, such as... Figure 9 As shown, unlike the actual distance the target vehicle travels into the target intersection, it is necessary to determine the lateral distance between the target vehicle and the roadside sensing terminal. This lateral distance is then used to determine the actual distance the target vehicle travels into the target intersection. Therefore, the first width between the target vehicle in the corresponding lane and the roadside sensing terminal can be determined based on the lane information. This first width is then used to determine the actual distance the target vehicle travels into the target intersection.

[0121] Step 740: Determine the second distance based on the vehicle type, the first width, and the reference distance.

[0122] As an alternative approach, since different types of vehicles have different widths—for example, there is a significant difference in width between large trucks and ordinary cars—the initial width of the target vehicle relative to the roadside sensing end in the corresponding lane will change. Therefore, the second distance at which the target vehicle enters the target intersection can be determined based on the vehicle type, the initial width, and the reference distance.

[0123] Optionally, the second width of the target vehicle can be determined first based on the vehicle type, then the width difference between the first width and the second width can be determined, and then the second distance can be determined based on the width difference and the reference distance.

[0124] Step 750: Determine target information based on the vehicle information and the second distance, and send the target information to the vehicle terminal so that the vehicle terminal can issue a collision warning based on the target information.

[0125] The specific steps of steps 710 and 750 can be found in steps 610 and 630, and the wording will not be repeated here.

[0126] In this embodiment, the reference distance between the target vehicle and the roadside sensing terminal can be determined based on the second position and calibration parameters. At the same time, the first width between the target vehicle in the corresponding lane and the roadside sensing terminal can be determined based on the lane information. The second distance can then be determined based on the vehicle type, the first width, and the reference distance, ensuring the accuracy of the determined second distance and thus improving the accuracy of the collision warning.

[0127] Figure 10 This application describes a blind spot collision warning method based on an embodiment of the present application, applied to a blind spot collision warning system. The system includes a roadside sensing unit and an on-board terminal. The roadside sensing unit is fixed to a streetlight pole in the main lane of the target intersection, at a distance from the intersection. The roadside sensing unit is equipped with a deep learning platform, configured as follows: an Intel i5 or higher processor, 8GB of RAM, and an Ubuntu operating system. A Python environment is also deployed, with the PyTorch deep learning framework installed and pre-trained YOLOv8 model weights loaded.

[0128] Multiple cameras are installed in the roadside sensing unit to detect target vehicles. After acquiring images of the target vehicle in the main lane, a binocular ranging algorithm is used to determine the depth based on the triangular geometric relationship between the multiple cameras and the target vehicle. The depth calculation formula is: Z = f × Bd, where f is the focal length of the camera, B is the baseline distance (the distance between the two cameras), and d is the parallax. This allows the second distance of the target vehicle from the roadside sensing unit to be determined based on the depth.

[0129] After determining the depth, the image can be identified using the YOLOv8 model to obtain rich semantic information. This semantic information includes a fine classification of vehicle types (such as small passenger cars, large trucks, etc.) and the specific lane where the target vehicle is located (such as the first lane or the second lane of the main road). Subsequently, all the above-mentioned perception data, namely the second distance, vehicle type, lane information, timestamp, and location information of the roadside sensing terminal, are integrated to obtain a structured application layer data unit. This data unit is first forwarded to a dedicated V2I communication module within the deep learning platform. After receiving the data packet, the V2I module broadcasts it at a specific power and frequency to all vehicle terminals within the intersection area equipped with V2I communication capabilities.

[0130] As vehicles travel on the side lanes of the target intersection, they analyze real-time latitude, longitude, and heading angle data provided by their built-in positioning module. Based on this data, they determine whether their trajectory will cross the target intersection. Once it is confirmed that the vehicle is heading towards and about to merge into the target intersection, it analyzes structured data sent from the roadside sensing unit via the V2I communication interface.

[0131] The onboard terminal parses the received structured data to obtain the target vehicle's speed, estimated arrival time at the intersection, and its lane. This data is then fused and compared in real-time with the vehicle's own speed, acceleration, and precise location. Based on a dynamic safe distance model and a collision time model, a rapid risk assessment is performed to determine the target collision risk level between the vehicle and the target vehicle.

[0132] When the target collision risk level indicates a potential collision risk between the vehicle and the target vehicle, the onboard terminal immediately activates a tiered warning mechanism and issues a collision warning to the vehicle via warning information. This warning information can be output through the vehicle's multimodal human-machine interface. On one hand, it can issue tiered audible alerts through the vehicle's audio system, ranging from basic tone to emergency voice prompts; on the other hand, it can dynamically display graphical warning signs on the vehicle's infotainment system or digital instrument panel, supplemented with key text information (such as "Vehicle approaching from the left, proceed with caution"), providing the driver with clear and timely decision-making assistance.

[0133] Optionally, the tiered early warning mechanism is set to three levels. When the target vehicle is more than 100 meters away from the intersection, a simple voice warning signal is provided to alert the driver in the side lane that a vehicle is approaching from the main lane. When the target vehicle enters within 20 to 50 meters, the display screen of the vehicle in the side lane provides a display warning, including the distance between the target vehicle and the roadside sensing terminal and the target vehicle's lane information. When the vehicle is within 20 meters, the vehicle in the side lane displays the target vehicle's position, speed, estimated time to arrive at the intersection, the position of the vehicle in the side lane, and the target vehicle's vehicle type to warn the driver of the approaching vehicle at the intersection.

[0134] The above embodiments describe in detail the blind spot collision warning method provided by the embodiments of this application. In other embodiments, this application also provides a blind spot collision warning device. Figure 11 This is a block diagram of a blind spot collision warning device according to an embodiment of this application, such as... Figure 11 As shown, the collision warning device 800 for the blind spot is applied to an in-vehicle terminal, which is communicatively connected to a roadside sensing terminal. The device includes: a target information receiving module 810, a first determination module 820, a collision risk level determination module 830, and a collision warning module 840.

[0135] The target information receiving module 810 is used to receive target information sent by the roadside sensing terminal when the vehicle is in the side lane of the target intersection and there is no traffic light at the target intersection; the first determination module 820 is used to obtain the first position of the vehicle if it is determined that the vehicle has entered the target intersection, and determine the first distance and first time duration from the first position to the target intersection based on the first position; the collision risk level determination module 830 is used to determine the collision risk level of the vehicle colliding with a target vehicle based on the target information, wherein the target vehicle includes / is: a vehicle traveling in the main lane of the target intersection; the collision warning module 840 is used to issue a collision warning based on the collision risk level, the first distance, the target information and the first time duration.

[0136] In some embodiments, the collision risk level determination module 830 includes: a second distance determination submodule, configured to determine a second distance between the target vehicle and the roadside sensing terminal based on the target information; and a collision risk level determination submodule, configured to determine a target distance range corresponding to the second distance, and determine the target collision risk level based on the target distance range.

[0137] In some embodiments, the collision risk level determination submodule includes: a first determination unit, configured to determine the target collision risk level as a first level if the target distance range indicates that the second distance is greater than a first distance threshold; a second determination unit, configured to determine the target collision risk level as a second level if the target distance range indicates that the second distance is less than a second distance threshold and greater than a third distance threshold, wherein the first distance threshold is greater than the second distance threshold and the third distance threshold, and the second distance threshold is greater than the third distance threshold; and a third determination unit, configured to determine the target collision risk level as a third level if the target distance range indicates that the second distance is less than the third distance threshold.

[0138] In some embodiments, the collision risk level determination module 830 further includes: a time difference determination submodule, configured to determine the second time of the target vehicle arriving at the roadside sensing end based on the target information, and determine the time difference between the first time and the second time; and a collision warning submodule, configured to issue a collision warning based on the collision risk level, the first distance, the target message, and the first time if the time difference is less than or equal to a time threshold.

[0139] In some embodiments, the target information includes the vehicle type of the target vehicle and the lane information of the target vehicle; the collision warning module 840 includes: a first warning submodule, configured to determine first warning information based on the target information and perform a collision warning based on the first warning information if the target collision risk level is a first level; a second warning submodule, configured to determine second warning information based on the first distance and the lane information and perform a collision warning based on the second warning information if the target collision risk level is a second level; and a third warning submodule, configured to determine third warning information based on the first distance, the first duration, the lane information, and the vehicle type and perform a collision warning based on the third warning information if the target collision risk level is a third level.

[0140] In other embodiments, this application also provides a collision warning device for blind spots. Figure 12 This is a block diagram of a blind spot collision warning device according to an embodiment of this application, such as... Figure 12 As shown, the collision warning device 900 for the blind spot is applied to a roadside sensing terminal, which is communicatively connected to an on-board terminal. The blind spot collision warning device 900 includes: an information acquisition module 910 and a second determination module 920.

[0141] Information acquisition module 910 is used to acquire, when there is no traffic light at the target intersection, the second position of the target vehicle at the target intersection, the calibration parameters of the roadside sensing terminal, and the vehicle information of the target vehicle, wherein the target vehicle includes / is: a vehicle traveling on the main road lane at the target intersection; second determination module 920 is used to determine the second distance from the target vehicle to the target intersection based on the second position and the calibration parameters; target information sending module 930 is used to determine target information based on the vehicle information and the second distance, and send the target information to the vehicle terminal so that the vehicle terminal can issue a collision warning based on the target information.

[0142] According to one aspect of the embodiments of this application, an electronic device is also provided, such as... Figure 13 As shown, the electronic device 1000 also includes a processor 1010 and one or more memories 1020. The one or more memories 1020 are used to store program instructions executed by the processor 1010. When the processor 1010 executes the program instructions, it implements the above-mentioned blind spot collision warning method.

[0143] Furthermore, the processor 1010 may include one or more processing cores. The processor 1010 runs or executes instructions, programs, code sets, or instruction sets stored in the memory 1020, and calls data stored in the memory 1020. Optionally, the processor 1010 may be implemented using at least one hardware form selected from Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 1010 may integrate one or a combination of several of the following: a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), and a modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the displayed content; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor and may be implemented using a separate communication chip.

[0144] According to one aspect of this application, a computer-readable storage medium is also provided, which may be included in the cloud server described in the above embodiments; or it may exist independently and not assembled into the cloud server. The aforementioned computer-readable storage medium carries computer-readable instructions that, when executed by a processor, implement the methods in any of the above embodiments.

[0145] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. Computer-readable storage media can be, for example, but not limited to: electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such transmitted data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0146] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0147] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein.

[0148] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A collision warning method for blind spots, characterized in that, Applied to an in-vehicle terminal, wherein the in-vehicle terminal is communicatively connected to a roadside sensing terminal, the method includes: When the vehicle is in the side lane of the target intersection and there is no traffic light at the target intersection, it receives the target information sent by the roadside sensing terminal. If it is determined that the vehicle has entered the target intersection, then the first position of the vehicle is obtained, and the first distance and first time duration of the vehicle from the first position to the target intersection are determined based on the first position. The collision risk level of the collision between the vehicle and the target vehicle is determined based on the target information, wherein the target vehicle includes / is: a vehicle traveling in the main lane of the target intersection; Collision warnings are issued based on the collision risk level, the first distance, the target message, and the first duration.

2. The method according to claim 1, characterized in that, The step of determining the collision risk level of the vehicle colliding with a target vehicle in the main lane of the target intersection based on the target information includes: Determine the second distance between the target vehicle and the roadside sensing terminal based on the target information; Determine the target distance range corresponding to the second distance, and determine the target collision risk level based on the target distance range.

3. The method according to claim 2, characterized in that, Determining the target collision risk level based on the target distance range includes: If the target distance range indicates that the second distance is greater than the first distance threshold, then the target collision risk level is determined to be the first level; If the target distance range indicates that the second distance is less than the second distance threshold and greater than the third distance threshold, then the target collision risk level is determined to be the second level, wherein the first distance threshold is greater than the second distance threshold and the third distance threshold, and the second distance threshold is greater than the third distance threshold; If the target distance range indicates that the second distance is less than the third distance threshold, then the target collision risk level is determined to be level three.

4. The method according to claim 2, characterized in that, Before issuing a collision warning based on the collision risk level, the first distance, the target message, and the first duration, the method further includes: Based on the target information, determine the second time it takes for the target vehicle to arrive at the roadside sensing terminal, and determine the time difference between the first time and the second time; If the time difference is less than or equal to the time threshold, a collision warning is issued based on the collision risk level, the first distance, the target message, and the first time.

5. The method according to claim 1, characterized in that, The target information includes the vehicle type of the target vehicle and the lane information of the target vehicle. The collision warning based on the collision risk level, the first distance, the target message, and the first duration includes: If the target collision risk level is Level 1, then a first warning message is determined based on the target information, and a collision warning is issued based on the first warning message; If the target collision risk level is level two, then a second warning message is determined based on the first distance and the lane information, and a collision warning is issued based on the second warning message; If the target collision risk level is level three, then a third warning information is determined based on the first distance, the first duration, the lane information, and the vehicle type, and a collision warning is issued based on the third warning information.

6. A collision warning method for blind spots, characterized in that, The method, applied to a roadside sensing terminal and communicatively connected to an on-board terminal, includes: When there are no traffic lights at the target intersection, the second location of the target vehicle at the target intersection, the calibration parameters of the roadside sensing terminal, and the vehicle information of the target vehicle are obtained, wherein the target vehicle includes / is: a vehicle traveling on the main road lane at the target intersection; The second distance from the target vehicle to the target intersection is determined based on the second location, the vehicle information, and the calibration parameters. The target information is determined based on the vehicle information and the second distance, and the target information is sent to the vehicle terminal so that the vehicle terminal can issue a collision warning based on the target information.

7. A collision warning device for blind spots, characterized in that, The device is applied to an in-vehicle terminal, which is communicatively connected to a roadside sensing terminal, and includes: The target information receiving module is used to receive target information sent by the roadside sensing terminal when the vehicle is in the side lane of the target intersection and there is no traffic light at the target intersection. The first determining module is used to, if it is determined that the vehicle has entered the target intersection, obtain the first position of the vehicle, and determine the first distance and first time duration of the vehicle from the first position to the target intersection based on the first position; The collision risk level determination module is used to determine the collision risk level of a collision between the vehicle and a target vehicle based on the target information, wherein the target vehicle includes / is: a vehicle traveling on the main road lane in the target intersection; The collision warning module is used to issue a collision warning based on the collision risk level, the first distance, the target message, and the first duration.

8. A collision warning device for blind spots, characterized in that, An application in a roadside sensing terminal, wherein the roadside sensing terminal is communicatively connected to an on-board terminal, the device includes: The information acquisition module is used to acquire the second position of the target vehicle in the target intersection, the calibration parameters of the roadside sensing terminal, and the vehicle information of the target vehicle when there is no traffic light at the target intersection. The target vehicle includes / is: a vehicle traveling on the main road lane in the target intersection. The second determining module is used to determine the second distance from the target vehicle to the target intersection based on the second position and the calibration parameters; The target information sending module is used to determine target information based on the vehicle information and the second distance, and send the target information to the vehicle terminal so that the vehicle terminal can issue a collision warning based on the target information.

9. An electronic device, characterized in that, The electronic device includes: processor; A memory, wherein computer-readable instructions are stored thereon, which, when executed by the processor, implement the method as described in any one of claims 1 to 5 or 6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium contains program code that can be invoked by a processor to execute the method as described in any one of claims 1 to 5 or 6.

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