An automatic emergency call method for vehicle accidents and an on-board terminal integrating V2X communication

Abstract

This invention relates to the field of emergency communication technology and discloses an automatic emergency call method and vehicle-mounted terminal for vehicle accidents integrating V2X communication. The method includes: collecting accident trigger data and the vehicle's communication status; determining the trigger type to obtain candidate accident events and trigger types; generating a witness request and sending it to a witness node via vehicle-to-everything (V2X) direct communication; receiving a witness summary returned by the witness node; verifying the independence of the witness node identifier; comparing the consistency of the witnessed road segments; determining the same time period for the witnessed events to obtain a reliable accident result; when the result is confirmed, generating an accident event identifier and an emergency call execution certificate, and determining the transmission path of the formal emergency call message; and sending the formal emergency call message through the transmission path. This application improves the reliability, arrival rate, and merging processing efficiency of accident emergency calls, and reduces the risk of false alarms and duplicate dispatches.

Description

Technical Field

[0001] This invention relates to the field of emergency communication technology, and more specifically, to an automatic emergency call method and vehicle-mounted terminal for vehicle accidents that integrates V2X (Vehicle to Everything) communication. Background Technology

[0002] With the development of intelligent connected vehicles, in-vehicle communication terminals, and vehicle-to-everything (V2X) direct communication technologies, automatic emergency calls for help in vehicle accidents have evolved from the traditional method of manually dialing emergency numbers to a technological system that automatically triggers rescue requests based on in-vehicle sensors, vehicle status data, and communication links. By collecting information such as collision, rollover, airbag detection, speed changes, abnormal parking, and vehicle location through in-vehicle terminals, and determining that an accident may have occurred, the system sends the accident information to the rescue platform, thereby shortening the accident detection and rescue response time.

[0003] In the prior art, Chinese invention patent application CN119898288A, "A Rescue Method and System Based on Autonomous Driving Active Safety and ECALL," receives information on vehicle acceleration changes, collision deceleration or inertial force, rollover tilt angle, speed changes, and vehicle airbag information. It triggers an emergency call system when relevant data exceeds a set threshold or when airbags deploy. While this solves the problem of automatically triggering an emergency call after a vehicle accident, it is insufficient in complex road environments such as tunnels, mountain roads, underpasses, and elevated ramps. Accident vehicles may face unstable public network signals, vehicle location deviations, and delays in reporting accident information. This solution determines whether the triggering conditions are met and whether to initiate an emergency call based on the vehicle's sensor data. It does not adequately consider situations where the vehicle's location may be off, communication links may be abnormal, and the same accident information may be repeatedly reported from multiple sources in complex road scenarios. The accident information received by the rescue platform may have different sources, similar times, and similar locations but inconsistent content, which can easily affect the determination of the accident's authenticity and the efficiency of rescue work order processing.

[0004] Therefore, it is necessary to design an automatic emergency call method for vehicle accidents that integrates V2X communication and an on-board terminal to solve the problems existing in the current technology. Summary of the Invention

[0005] In view of this, the present invention proposes an automatic emergency call method for vehicle accidents and an on-board terminal that integrates V2X communication, aiming to solve the problem that automatic emergency calls for vehicle accidents are prone to misjudgment due to single-vehicle triggering, positioning deviation, communication abnormalities and multiple sources of repeated reporting, which affect the accuracy of accident confirmation and rescue work order processing in complex road and weak communication environments.

[0006] This invention proposes an automatic emergency call method for vehicle accidents integrating V2X communication, comprising: The vehicle terminal collects accident triggering data and the vehicle's communication status, determines the triggering type of the accident triggering data, and obtains candidate accident events and triggering types; A witness request is generated based on the candidate accident events, and the witness request is sent to the witness node via vehicle-to-everything (V2X) direct communication. The witness node includes surrounding vehicle terminals and roadside units. Receive the witness summary returned by the witness node, the witness summary including the witness node identifier, forwarding path, witnessed road segment, witness time and accident observation result; The witness node identifier is verified for independence, the witness road segment is compared for consistency, the witness time is determined to be in the same time period, and the accident credibility result is obtained by combining the trigger type and the accident observation result; when the accident credibility result is a confirmed result, an accident event identifier and a distress call execution certificate bound to the candidate accident event are generated, and the transmission path of the formal distress call message is determined according to the vehicle's communication status. A formal distress message is sent through the transmission path.

[0007] Furthermore, when determining the trigger type of the accident trigger data, the following steps are included: Extract collision trigger signals, airbag status, vehicle posture change data, vehicle speed change data, and abnormal parking data; when the airbag status is triggered, the vehicle posture change data indicates vehicle rollover, or the collision trigger signal meets the preset strong collision conditions, generate candidate accident events and determine the trigger type as a strong trigger type; when the strong trigger type conditions are not met, but the vehicle speed change data indicates sudden deceleration of the vehicle and the abnormal parking data indicates that the vehicle is continuously stopped within the driving road segment, generate candidate accident events and determine the trigger type as a suspected trigger type.

[0008] Furthermore, generating a witness request includes: extracting the trigger type, trigger time, driving road segment, and temporary event marker from the candidate accident event, and writing the trigger type, trigger time, driving road segment, and temporary event marker into the witness request, so that the witness node can identify the witness object associated with the candidate accident event based on the temporary event marker.

[0009] Furthermore, when performing independence verification, the process includes: identifying witness digests with different witness node identifiers and different forwarding paths as independent witness digests, and using the independent witness digests for consistency comparison and determination of the same time period; identifying witness digests with the same witness node identifier or the same forwarding path as duplicate witness digests, and excluding the role of the duplicate witness digests in confirming the credible results of the incident.

[0010] Furthermore, obtaining credible results regarding an incident includes: When the trigger type is a strong trigger type and there is no independent witness summary characterizing a road segment conflict, a confirmation result is obtained; When the trigger type is a suspected trigger type, and there are at least two independent witness summaries, the witness road segments are consistent, the witness times belong to the same time period, and the accident observation results indicate abnormal parking or road obstruction, a confirmation result is obtained; In other cases, the result is pending confirmation.

[0011] Furthermore, after obtaining the confirmation result, the method further includes: when the witnessed road segment is inconsistent with the driving road segment in the candidate accident event, the witnessed road segment that has passed the independence verification and has the largest number of segments will be used as the corrected road segment; the candidate accident event will be updated with the corrected road segment, and an accident event identifier will be generated with the updated candidate accident event.

[0012] Furthermore, when sending a formal distress message through the aforementioned transmission path, it includes: When the vehicle's communication status indicates that the public network is unavailable and the roadside unit is unreachable, the transmission path will be determined as the forwarding path of the surrounding vehicle terminals. After receiving the formal distress message, the surrounding vehicle terminals will verify the distress execution certificate. If the verification is successful, the formal distress message will be forwarded. If the verification fails, the forwarding will be rejected and no new formal distress message will be generated.

[0013] Furthermore, the formal distress call message includes an accident event identifier, distress call execution certificate, trigger type, witnessed road segment, witnessed time, accident observation results, set of witness node identifiers participating in the confirmation, and transmission path record; after receiving the formal distress call message, the rescue platform verifies the distress call execution certificate, and after the verification is passed, it matches the accident work order according to the accident event identifier.

[0014] Furthermore, when matching accident work orders, the following steps are taken: when multiple formal distress calls have the same accident event identifier, or when the accident event identifiers are different but the trigger type is the same, the witnessed road segments are the same, the witnessed time belongs to the same time period, the accident observation results are the same, and the same witnessed node identifier exists in the set of witness node identifiers participating in the confirmation, the multiple formal distress calls are merged into the same accident work order.

[0015] Compared with existing technologies, the beneficial effects of this invention are as follows: It processes the vehicle accident triggering data into candidate accident events and trigger types, and introduces surrounding vehicle terminals and roadside units as witness nodes through vehicle-to-everything (V2X) direct communication, transforming the accident emergency call process from single-vehicle trigger judgment to a collaborative confirmation method involving both vehicle triggering and near-field witnessing; through combined verification of witness node identifiers, forwarding paths, witnessed road segments, witnessing times, and accident observation results, it can eliminate witness summaries repeatedly returned from the same node or path, reducing false multi-source confirmations caused by multiple forwarding nodes. Simultaneously, it utilizes road segment consistency and simultaneous time-period judgment to reduce accident confirmation deviations caused by positioning offset, misjudgment of adjacent roads, and time lag; ensuring the reliability of the accident... Once the confirmation result is achieved, an accident event identifier and a distress call execution certificate bound to the candidate accident event are generated. This ensures that the formal distress call message has a unique event attribution and forwarding certificate basis, preventing surrounding vehicle terminals from arbitrarily generating duplicate formal distress call messages. It also facilitates the rescue platform to merge distress call information from multiple sources for the same accident. The transmission path of the formal distress call message is selected based on the vehicle's communication status, enabling the vehicle to use a matching distress call sending method in different communication environments, such as when the public network is available, when the public network is unavailable but the roadside unit is reachable, and when neither the public network nor the roadside unit is reachable. This improves the arrival rate of accident distress calls and the efficiency of work order processing in complex road environments, and reduces the risks of false alarms, missed alarms, duplicate alarms, and duplicate dispatches.

[0016] On the other hand, this application also provides a vehicle-mounted terminal for automatic emergency call in vehicle accidents that integrates V2X communication, used to apply the above-mentioned automatic emergency call method for vehicle accidents that integrates V2X communication, including: The data acquisition module is used to collect accident triggering data and the vehicle's communication status. The trigger determination module is used to determine the trigger type of the accident trigger data and obtain candidate accident events and trigger types. The witness request module is used to generate a witness request based on the candidate accident event and send the witness request to the witness node through vehicle-to-everything (V2X) direct communication. A witness receiving module is used to receive the witness summary returned by the witness node; The determination module is used to verify the independence of the witness node identifier in the witness summary, compare the consistency of the witnessed road segments, determine the witness time as being in the same time period, and obtain the reliable result of the accident by combining the trigger type and the accident observation results. The distress call generation module is used to generate an accident event identifier and distress call execution certificate bound to the candidate accident event when the trusted result of the accident is a confirmed result, and to generate a formal distress call message. The transmission control module is used to determine the transmission path of the formal distress message based on the vehicle's communication status, and to send the formal distress message through the transmission path.

[0017] It is understandable that the above-mentioned automatic emergency call method for vehicle accidents and the vehicle-mounted terminal that integrates V2X communication have the same beneficial effects, and will not be elaborated further here. Attached Figure Description

[0018] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A flowchart of an automatic emergency call method for vehicle accidents integrating V2X communication provided in an embodiment of the present invention; Figure 2 A flowchart for reliable accident verification provided in this embodiment of the invention; Figure 3 This is a functional block diagram of an onboard terminal for automatic emergency call in vehicle accidents that integrates V2X communication, provided in an embodiment of the present invention. Detailed Implementation

[0019] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] In some embodiments of this application, see Figure 1 As shown, this application proposes an automatic emergency call method for vehicle accidents integrating V2X communication, including: S100: The vehicle terminal collects accident trigger data and the vehicle's communication status, determines the trigger type of the accident trigger data, and obtains candidate accident events and trigger types.

[0021] S200: Generates witness requests based on candidate accident events and sends the witness requests to witness nodes via vehicle-to-everything (V2X) direct communication. Witness nodes include surrounding vehicle terminals and roadside units.

[0022] S300: Receives the witness summary returned by the witness node. The witness summary includes the witness node identifier, forwarding path, witnessed road segment, witness time, and accident observation results.

[0023] S400: Performs independence verification on witness node identifiers, consistency comparison on witness road segments, and simultaneous determination of witness times, and obtains a reliable accident result by combining trigger type and accident observation results. When the reliable accident result is confirmed, it generates an accident event identifier and a distress call execution certificate bound to the candidate accident event, and determines the transmission path of the formal distress call message based on the vehicle's communication status.

[0024] S500: Sends a formal distress message via the transmission path.

[0025] Specifically, this embodiment provides an automatic emergency call method for vehicle accidents integrating V2X communication, applicable to vehicles equipped with an on-board terminal, positioning equipment, inertial sensors, a vehicle status acquisition interface, and vehicle-to-everything (V2X) communication capabilities. The on-board terminal collects accident trigger data and the vehicle's communication status during vehicle operation. Accident trigger data includes collision trigger signals, airbag status, vehicle attitude change data, vehicle speed change data, abnormal parking data, and driving road segments. The collision trigger signal can originate from the vehicle's collision sensor or vehicle safety controller. The airbag status indicates whether the airbags have deployed. The vehicle attitude change data indicates whether the vehicle has rolled over or tilted abnormally. The vehicle speed change data indicates whether the vehicle has decelerated suddenly. The abnormal parking data indicates whether the vehicle has stopped abnormally within the driving road segment. The driving road segment can be obtained by combining vehicle positioning results with electronic map matching, used to distinguish adjacent roads, on / off ramps, roads inside and outside tunnels, and oncoming lanes. The vehicle's communication status indicates whether the on-board terminal can currently access the public network, establish V2X direct communication with roadside units, and establish V2X direct communication with surrounding vehicle terminals.

[0026] The vehicle's communication status can be obtained through onboard terminal detection of public network links, roadside unit links, and links to surrounding vehicle terminals. Public network link detection includes network registration status, data link establishment results, and the results of a preset number of emergency call platform connection attempts. Roadside unit link detection includes whether roadside unit broadcast messages are received and whether a vehicle-to-everything (V2X) direct connection handshake can be completed. Surrounding vehicle terminal link detection includes whether surrounding vehicle terminal broadcast messages are received and whether the link quality meets preset forwarding requirements. Meeting preset forwarding requirements means that the onboard terminal continuously receives broadcast messages from the same surrounding vehicle terminal within a preset detection time, and the link confirmation message returned by the surrounding vehicle terminal can be received by the onboard terminal within a preset response time. As an optional implementation, the preset detection time can be set to 3 to 10 seconds, and the preset response time can be set to 1 to 3 seconds. When multiple surrounding vehicle terminals meet the preset forwarding requirements, the surrounding vehicle terminal that has completed emergency call execution credential verification, has a shorter forwarding path, and a shorter link confirmation message return time is preferentially selected as the forwarding node. If a public network link fails to be established within a preset number of connection attempts, or if data transmission confirmation cannot be completed within a preset detection period, the public network is deemed unavailable. If no broadcast message is received from the roadside unit, or if a vehicle-to-everything (V2X) communication handshake cannot be completed with the roadside unit, the roadside unit is deemed unreachable.

[0027] When determining the trigger type of accident trigger data, the vehicle terminal first extracts the collision trigger signal, airbag status, vehicle attitude change data, vehicle speed change data, and abnormal parking data, and then determines whether to generate a candidate accident event. A candidate accident event refers to an accident candidate record that has not yet been issued as a formal emergency call message; it includes at least the trigger time, trigger type, driving road segment, temporary vehicle anonymity identifier, and temporary event marker. Preset strong collision conditions can be calibrated based on vehicle curb weight, collision sensor sampling frequency, airbag control strategy, and road test data; for example, the collision level output by the vehicle safety controller reaching a preset level can be used as the judgment criterion. Vehicle rollover can be determined comprehensively based on changes in vehicle attitude angle, angular velocity, and vehicle stability control status. Rapid vehicle deceleration can be determined based on the speed decrease within a preset time. Continuous parking can be determined based on the vehicle speed being lower than a preset parking speed within a driving road segment and continuing to reach a preset parking duration. The above thresholds are not limited to fixed values ​​and can be pre-calibrated during the vehicle model adaptation stage and written into the accident judgment rules of the vehicle terminal. As an optional implementation, the preset parking speed can be set to no more than 5 kilometers per hour, and the preset parking duration can be set to 6 to 10 seconds. Rapid vehicle deceleration can be determined by the vehicle speed decrease reaching the vehicle's calibrated rapid deceleration level within a preset time, with the preset time set to 2 to 5 seconds. Preset strong collision conditions can be determined based on the strong collision indicator output by the vehicle safety controller, the collision level reaching a preset level, or the airbag trigger signal. The above numerical ranges are only for illustrating possible implementations; specific values ​​can be calibrated based on the vehicle model, sensor sampling frequency, vehicle safety strategy, and road test results. When the airbag status is triggered, vehicle posture change data indicates vehicle rollover, or the collision trigger signal reaches the preset strong collision condition, the on-board terminal generates a candidate accident event and determines the trigger type as a strong trigger type. When the strong trigger type condition is not met, but the vehicle speed change data indicates rapid vehicle deceleration, and the abnormal parking data indicates the vehicle is continuously stopped within the driving road segment, the on-board terminal generates a candidate accident event and determines the trigger type as a suspected trigger type. Therefore, strong triggering types correspond to obvious accident risks, while suspected triggering types correspond to unverified accident risks that may be caused by sudden braking, pothole impacts, temporary stops, etc.

[0028] After generating candidate accident events, the vehicle-mounted terminal extracts the trigger type, trigger time, driving road segment, and temporary event marker from the candidate accident events and writes them into the witness request. The temporary event marker can be generated by combining the vehicle's temporary anonymous identifier, the time period of the trigger time, the driving road segment, and a random sequence number, and is used to enable witness nodes to identify which candidate accident event their returned witness summary belongs to. The vehicle-mounted terminal sends witness requests to witness nodes within a preset communication range via vehicle-to-everything (V2X) direct communication. Witness nodes include surrounding vehicle terminals and roadside units. After receiving the witness request, the witness nodes do not need to make a final judgment on whether the accident is real; they only return the witness summary associated with the temporary event marker. The witness summary includes the witness node identifier, forwarding path, witnessing road segment, witness time, and accident observation result. Among them, the witness node identifier can be a temporary identifier; the forwarding path indicates whether the witness summary is returned directly by the witness node or forwarded through other nodes; the witnessing road segment indicates the road location corresponding to the candidate accident event observed by the witness node; the witness time indicates the time when the witness node formed the witness summary; and the accident observation result indicates whether the witness node observed abnormal parking, road obstacles, abnormal deceleration, or other objective phenomena related to the candidate accident event. Among them, the accident observation results characterize abnormal parking, which means that the witness node observes the candidate accident vehicle in a stationary or low-speed stopped state within the same witnessed road segment, and the duration of this state reaches the preset observation time. The accident observation results characterize road obstacles, which means that the witness node observes stationary vehicles, scattered objects, collision residue, or other obstacles affecting vehicle passage within the same witnessed road segment. The preset observation time can be set to 3 seconds to 10 seconds and can be calibrated according to road type, vehicle-to-everything (V2X) direct communication sampling period, and witness node type. Consistent accident observation results mean that multiple witness summaries all characterize abnormal parking, all characterize road obstacles, or all characterize both abnormal parking and road obstacles. The witness summaries preferably use structured fields and do not force the uploading of video, audio, vehicle owner identity, or in-vehicle images to reduce privacy data transmission and reduce communication load. The forwarding path is used to record the arrival method of the witness summaries and can include direct return paths and relay return paths. A direct return path means that the witness summaries are directly returned from the witness node to the vehicle terminal, while a relay return path means that the witness summaries are forwarded by other surrounding vehicle terminals or roadside units before reaching the vehicle terminal. For relay return paths, the forwarding path records at least the temporary identifier or path number of the previous hop forwarding node so that the vehicle terminal can identify whether multiple witness digests arrive via the same forwarding path.

[0029] See Figure 2As shown, this embodiment further explains the process of credible accident confirmation. After receiving the witness summary, the vehicle terminal performs independence verification on the witness node identifier, consistency comparison on the witnessed road segments, and determines the witness time as being within the same time period. It then combines the trigger type and accident observation results to obtain a credible accident result. Specifically, if the witness node identifiers are different and the forwarding paths are different, the corresponding witness summary is determined as an independent witness summary. If the witness node identifiers are the same or the forwarding paths are the same, the corresponding witness summary is determined as a duplicate witness summary, which is not used to obtain a confirmation result. Road segment consistency means that the witnessed road segment is the same as the driving road segment in the candidate accident event, or, as determined by the electronic map, belongs to the same accident-affected road segment under the same driving direction. Road segment conflict means that the witnessed road segments are located on different roads, opposite roads, or roads separated vertically, and cannot be confirmed as the same accident-affected location through map matching. The same time period can be determined based on a preset time window before and after the trigger time. This time window can be set to 5 to 15 seconds and can be calibrated according to the vehicle-to-everything (V2X) direct communication latency and road environment. Witnessing times belonging to the same time period means that the witnessing time in the witnessing summary falls within the same preset time window before and after the triggering time of the candidate accident event. When the witnessing times of multiple independent witnessing summaries all fall within this preset time window, it is determined that the multiple witnessing times belong to the same time period. When the witnessing time of at least one independent witnessing summary exceeds this preset time window, and it cannot be proven by the forwarding path record that it is a delayed arrival, the witnessing summary will not be used to obtain the confirmation result. When the triggering type is a strong triggering type, and there are no independent witnessing summaries indicating a road segment conflict, the vehicle terminal obtains the confirmation result. When the triggering type is a suspected triggering type, and there are no less than 2 independent witnessing summaries, the witnessed road segments are consistent, the witnessing times belong to the same time period, and the accident observation result indicates abnormal parking or road obstruction, the vehicle terminal obtains the confirmation result. In other cases, a pending confirmation result is obtained. A pending confirmation result does not trigger a formal distress call message; the witnessing summary can continue to be requested or the driver can be asked to cancel the confirmation to avoid directly escalating a suspected false triggering into a formal distress call. For strong triggering types, even if no independent witnessing summary is received, a confirmation result is still obtained because there are no independent witnessing summaries indicating a road segment conflict. If an independent witness summary is received and at least one independent witness summary indicates a road segment conflict, a confirmation result is not obtained directly; instead, a pending confirmation result is obtained or the road segment review process is initiated.

[0030] When the credible outcome of an accident is confirmed, the vehicle terminal generates an accident event identifier and a distress call execution credential bound to the candidate accident event. The accident event identifier uniquely identifies the same candidate accident event and can be generated based on the vehicle's temporary anonymity identifier, confirmation time, driving road segment or modified road segment, and temporary event marker. The distress call execution credential indicates that the candidate accident event has been credibly confirmed, allowing the formal distress call message to be sent or forwarded. The distress call execution credential can be set with a validity period and applicable transmission path, enabling surrounding vehicle terminals to verify the validity of the distress call before forwarding it, rather than mistakenly forwarding ordinary witness requests or duplicate messages as formal distress calls. The formal distress call message includes the accident event identifier, distress call execution credential, trigger type, witness road segment, witness time, accident observation result, set of witness node identifiers participating in the confirmation, and transmission path record. The set of witness node identifiers participating in the confirmation is the set of witness node identifiers corresponding to the independent witness digest used to obtain the confirmation result. When verifying the emergency call execution certificate at nearby vehicle terminals, at least the following checks must be performed: whether the emergency call execution certificate matches the accident event identifier, whether it is within its validity period, and whether the current forwarding path is a transmission path permitted by the emergency call execution certificate. If all of the above checks pass, the emergency call execution certificate is deemed to have passed verification. If any check fails, the emergency call execution certificate is deemed to have failed verification.

[0031] The vehicle-mounted terminal determines the transmission path of the formal distress call message based on the vehicle's communication status. If the vehicle's communication status indicates that the public network is available, the vehicle-mounted terminal prioritizes sending the formal distress call message to the rescue platform via the public network. If the public network is unavailable but the roadside unit is reachable, the formal distress call message is sent to the roadside unit via vehicle-to-everything (V2X) direct communication, and the roadside unit forwards it to the rescue platform. If both the public network and the roadside unit are unreachable, the transmission path is determined to be the forwarding path of surrounding vehicle terminals. After receiving the formal distress call message, the surrounding vehicle terminals first verify the distress call execution certificate. If the verification is successful, the formal distress call message is forwarded; if the verification fails, forwarding is rejected and no new formal distress call message is generated. After receiving the formal distress call message, the rescue platform verifies the distress call execution certificate. If the verification is successful, it matches the incident work order based on the incident event identifier. When multiple formal distress calls share the same accident event identifier, or when the accident event identifiers differ but the trigger type, witnessed road segment, witnessed time period, accident observation results, and the same witnessed node identifier exist in the set of witness node identifiers participating in the confirmation, the multiple formal distress calls will be merged into a single accident work order. This matching method avoids the formation of multiple rescue work orders due to the same accident being repeatedly reported by different surrounding vehicle terminals or roadside units.

[0032] Understandably, for accident emergency calls under complex road conditions and weak communication, the system no longer relies on a single vehicle triggering result. Instead, it performs layered verification of the vehicle's triggering type and near-field witness summaries. This ensures that strong triggering events maintain the timeliness of emergency calls, while suspected triggering events can reduce the risk of false alarms through independent witness summaries. Simultaneously, emergency call execution credentials restrict the forwarding entities of formal emergency call messages, ensuring that surrounding vehicle terminals only undertake the forwarding function after verification, without bearing the final responsibility for accident determination or arbitrarily generating new formal emergency call messages. This embodiment creates a closed loop by merging accident confirmation, message forwarding, and work orders, making it particularly suitable for scenarios with unstable public networks and a high probability of location misalignment, such as tunnels, underpasses, and mountain roads.

[0033] This embodiment further illustrates the processing procedure when positioning offset occurs in adjacent roads, ramps, or upper / lower levels of elevated roads. After a vehicle accident, the positioning location collected by the vehicle-mounted terminal may be affected by satellite obstruction, multipath reflection, or signal jumps at tunnel entrances and exits, causing inconsistencies between the driving road segment in the candidate accident event and the actual accident road segment. In this case, the vehicle-mounted terminal still sends a witness request according to the candidate accident event and receives witness summaries returned by multiple witness nodes. If the accident credibility result is a confirmed result, but the witnessed road segment is inconsistent with the driving road segment in the candidate accident event, the vehicle-mounted terminal does not directly use the initial driving road segment of the vehicle to generate an accident event identifier. Instead, it compares the number of each witnessed road segment in the witness summaries that have passed independence verification and selects the witnessed road segment with the most number as the corrected road segment. If there are at least two witnessed road segments with the most number, the witnessed road segment returned by the roadside unit and whose witness time belongs to the same time period is selected first. If the corrected road segment still cannot be determined, the driving road segment in the candidate accident event is retained, and the road segment is marked for verification in the formal distress message. When the rescue platform receives a formal distress call marked as a road segment pending verification, it does not change the confirmation result corresponding to the formal distress call. Instead, it treats the road segment as information awaiting further verification by manual or roadside units and retains the original driving road segment and all witness road segments in the accident work order.

[0034] Specifically, in scenarios where an elevated highway runs parallel to a ground-level auxiliary road, the vehicle's location equipment might match the vehicle to the ground-level auxiliary road. However, the witness road segments returned by the roadside unit and the terminals of vehicles behind it all point to the elevated main road, and the witness times all fall within the same time period. The accident observation results all indicate abnormal parking or road obstruction. In this case, the vehicle terminal uses the witness road segment corresponding to the elevated main road as a corrected road segment to update the candidate accident event, and generates an accident event identifier based on the updated candidate accident event. The formal distress message simultaneously carries the corrected road segment, witness time, accident observation results, and a set of witness node identifiers that participated in the confirmation. This allows the rescue platform to merge subsequent accident messages forwarded by other nearby vehicle terminals or roadside units into a single accident work order, rather than splitting the same accident into multiple accident work orders with similar locations due to initial location offset.

[0035] This embodiment utilizes witnessed road segments that have passed independence verification to correct road segments of candidate accident events during the accident distress call confirmation process. This reduces dispatch deviations caused by incorrect positioning in environments prone to location drift, such as elevated roads, ramps, tunnel entrances and exits, and mountain curves. This embodiment further uses witnessed summaries, previously used as verification criteria for accident credibility, to correct the road segments where the accident occurred. This ensures that the official distress call message has a more stable road attribution before being sent, thereby reducing the pressure on the rescue platform for subsequent manual verification and merging of duplicate work orders.

[0036] In summary, this method processes vehicle accident triggering data into candidate accident events and trigger types. By introducing surrounding vehicle terminals and roadside units as witness nodes through vehicle-to-everything (V2X) direct communication, the accident distress call process shifts from single-vehicle trigger judgment to a collaborative confirmation method involving both vehicle triggering and near-field witnessing. Through combined verification of witness node identifiers, forwarding paths, witnessed road segments, witnessing times, and accident observation results, it can eliminate duplicate witness summaries returned from the same node or path, reducing false multi-source confirmations caused by multiple forwarding nodes. Simultaneously, it utilizes road segment consistency and simultaneous time-period judgment to reduce accident confirmation bias caused by location offset, misjudgment of adjacent roads, and time lag. After a credible accident result reaches confirmation, an accident event identifier and distress call execution certificate bound to the candidate accident event are generated. This ensures that the formal distress call message has a unique event attribution and forwarding certificate basis, preventing surrounding vehicle terminals from arbitrarily generating duplicate formal distress call messages and facilitating the merging of multi-source distress call information for the same accident by the rescue platform. The system selects the transmission path for the formal distress call message based on the vehicle's communication status, enabling the vehicle to use a matching distress call sending method in different communication environments, such as when the public network is available, when the public network is unavailable but the roadside unit is accessible, and when neither the public network nor the roadside unit is accessible. This improves the arrival rate of emergency distress calls and the efficiency of work order processing in complex road environments, and reduces the risks of false alarms, missed alarms, duplicate alarms, and duplicate work orders.

[0037] Based on another preferred embodiment described above, see [link to preferred embodiment]. Figure 3 As shown, this embodiment provides a vehicle-mounted terminal for automatic emergency call in vehicle accidents that integrates V2X communication, used to apply the above-mentioned automatic emergency call method for vehicle accidents that integrates V2X communication, including: The data acquisition module is used to collect accident triggering data and the vehicle's communication status.

[0038] The trigger determination module is used to determine the trigger type of accident trigger data and obtain candidate accident events and trigger types.

[0039] The witness request module is used to generate witness requests based on candidate accident events and send the witness requests to the witness nodes through vehicle-to-everything (V2X) direct communication.

[0040] The witness receiving module is used to receive the witness summary returned by the witness node.

[0041] The determination module is used to verify the independence of the witness node identifiers in the witness summary, compare the consistency of the witnessed road segments, determine the witness time in the same time period, and obtain the reliable result of the accident by combining the trigger type and the accident observation results.

[0042] The distress call generation module is used to generate an incident event identifier and distress call execution certificate bound to the candidate incident event when the incident credibility result is a confirmed result, and to generate a formal distress call message.

[0043] The transmission control module is used to determine the transmission path of the formal distress message based on the vehicle's communication status, and to send the formal distress message through the transmission path.

[0044] It is understandable that the above-mentioned automatic emergency call method for vehicle accidents and the vehicle-mounted terminal that integrates V2X communication have the same beneficial effects, and will not be elaborated further here.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the protection scope of the present invention.

Claims

1. A vehicle accident automatic distress calling method fusing V2X communication, characterized in that, include: The vehicle terminal collects accident triggering data and the vehicle's communication status, determines the triggering type of the accident triggering data, and obtains candidate accident events and triggering types; A witness request is generated based on the candidate accident events, and the witness request is sent to the witness node via vehicle-to-everything (V2X) direct communication. The witness node includes surrounding vehicle terminals and roadside units. Receive the witness summary returned by the witness node, the witness summary including the witness node identifier, forwarding path, witnessed road segment, witness time and accident observation result; The witness node identifier is verified for independence, the witness road segment is compared for consistency, the witness time is determined to be within the same time period, and the reliable accident result is obtained by combining the trigger type and the accident observation result; When the credible result of the accident is confirmed, an accident event identifier and a distress call execution certificate bound to the candidate accident event are generated, and the transmission path of the formal distress call message is determined according to the vehicle's communication status. A formal distress message is sent through the transmission path. 2.The vehicle accident automatic distress calling method of fusing V2X communication according to claim 1, characterized in that, When determining the trigger type of the accident trigger data, the following steps are included: Extract collision trigger signals, airbag status, vehicle posture change data, vehicle speed change data, and abnormal parking data; when the airbag status is triggered, the vehicle posture change data indicates vehicle rollover, or the collision trigger signal meets the preset strong collision conditions, generate candidate accident events and determine the trigger type as a strong trigger type; when the strong trigger type conditions are not met, but the vehicle speed change data indicates sudden deceleration of the vehicle and the abnormal parking data indicates that the vehicle is continuously stopped within the driving road segment, generate candidate accident events and determine the trigger type as a suspected trigger type.

3. The automatic emergency call method for vehicle accidents integrating V2X communication according to claim 2, characterized in that, Generating a witness request includes: extracting the trigger type, trigger time, driving road segment, and temporary event marker from the candidate accident event, and writing the trigger type, trigger time, driving road segment, and temporary event marker into the witness request, so that the witness node can identify the witness object associated with the candidate accident event based on the temporary event marker.

4. The automatic emergency call method for vehicle accidents integrating V2X communication according to claim 2, characterized in that, When performing independence verification, the following steps are taken: witness digests with different witness node identifiers and different forwarding paths are identified as independent witness digests, and the independent witness digests are used for consistency comparison and determination of the same time period; witness digests with the same witness node identifier or the same forwarding path are identified as duplicate witness digests, and the duplicate witness digests are excluded from confirming the credible results of the incident.

5. The automatic emergency call method for vehicle accidents integrating V2X communication according to claim 4, characterized in that, When obtaining credible results of an incident, the following are included: When the trigger type is a strong trigger type and there is no independent witness summary characterizing a road segment conflict, a confirmation result is obtained; When the trigger type is a suspected trigger type, and there are at least two independent witness summaries, the witness road segments are consistent, the witness times belong to the same time period, and the accident observation results indicate abnormal parking or road obstruction, a confirmation result is obtained; In other cases, the result is pending confirmation.

6. The automatic emergency call method for vehicle accidents integrating V2X communication according to claim 5, characterized in that, After obtaining the confirmation result, the process further includes: when the witnessed road segment is inconsistent with the driving road segment in the candidate accident event, the witnessed road segment with the largest number of independent verifications is used as the corrected road segment; the candidate accident event is updated with the corrected road segment, and an accident event identifier is generated with the updated candidate accident event.

7. The automatic emergency call method for vehicle accidents integrating V2X communication according to claim 1, characterized in that, When sending a formal distress message through the transmission path, it includes: When the vehicle's communication status indicates that the public network is unavailable and the roadside unit is unreachable, the transmission path will be determined as the forwarding path of the surrounding vehicle terminals. After receiving the formal distress message, the surrounding vehicle terminals will verify the distress execution certificate. If the verification is successful, the formal distress message will be forwarded. If the verification fails, the forwarding will be rejected and no new formal distress message will be generated.

8. The automatic emergency call method for vehicle accidents integrating V2X communication according to claim 7, characterized in that, The formal distress call message includes an accident event identifier, distress call execution certificate, trigger type, witnessed road segment, witnessed time, accident observation results, set of witness node identifiers participating in the confirmation, and transmission path record; after receiving the formal distress call message, the rescue platform verifies the distress call execution certificate, and after the verification is successful, it matches the accident work order according to the accident event identifier.

9. The automatic emergency call method for vehicle accidents integrating V2X communication according to claim 8, characterized in that, When matching accident work orders, the following steps are taken: when multiple formal distress calls have the same accident event identifier, or when the accident event identifiers are different but the trigger type is the same, the witnessed road segments are the same, the witnessed time belongs to the same time period, the accident observation results are the same, and the same witnessed node identifier exists in the set of witness node identifiers participating in the confirmation, the multiple formal distress calls are merged into the same accident work order.

10. A vehicle-mounted terminal for automatic emergency call in vehicle accidents integrating V2X communication, used to apply the automatic emergency call method for vehicle accidents integrating V2X communication as described in any one of claims 1-9, characterized in that, include: The data acquisition module is used to collect accident triggering data and the vehicle's communication status. The trigger determination module is used to determine the trigger type of the accident trigger data and obtain candidate accident events and trigger types. The witness request module is used to generate a witness request based on the candidate accident event and send the witness request to the witness node through vehicle-to-everything (V2X) direct communication. A witness receiving module is used to receive the witness summary returned by the witness node; The determination module is used to verify the independence of the witness node identifiers in the witness summary, compare the consistency of the witnessed road segments, determine the witness time as being in the same time period, and obtain the reliable accident result by combining the trigger type and accident observation results. The distress call generation module is used to generate an accident event identifier and distress call execution certificate bound to the candidate accident event when the trusted result of the accident is a confirmed result, and to generate a formal distress call message. The transmission control module is used to determine the transmission path of the formal distress message based on the vehicle's communication status, and to send the formal distress message through the transmission path.

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