Vehicle early-warning method and apparatus, and electronic device and readable medium

Abstract

A vehicle early-warning method and apparatus, and an electronic device and a readable medium. The method applied to a first vehicle terminal comprises: at every preset duration, acquiring first position information of a first vehicle and a map message and a signal light message of a road area where the vehicle is currently located; on the basis of the first position information and the map message, monitoring a first linear distance between the first vehicle and a first stop line, and on the basis of first driving information of the first vehicle and the signal light message, determining whether the first vehicle has a red-light-running risk; when the first linear distance is less than a first distance and the first vehicle has the red-light-running risk, generating first early-warning information; and generating and sending a first safety message to a second vehicle terminal, wherein the first safety message comprises the first position information, the first driving information and the first early-warning information. Therefore, the problem of a collision with another normally traveling vehicle at an intersection due to the current vehicle running a red light is solved.

Description

Vehicle early warning method and device, electronic equipment and readable medium

[0001] The present application claims priority from the Chinese patent application No. 202411312772.9 filed on September 19, 2024, and entitled "Vehicle early warning method and device, electronic equipment and readable medium", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the technical field of vehicles, in particular to a vehicle early warning method, device, electronic equipment and readable medium. BACKGROUND

[0003] With the increasing development of society and the continuous growth of urban population, road traffic is becoming increasingly complex. Vehicle-road cooperation uses advanced wireless communication and new generation Internet technologies for vehicle active safety control and road coordination management.

[0004] Currently, vehicle-road cooperation only involves the interaction of the current vehicle and the roadside unit. If the current vehicle drives to a signal-controlled intersection (lane) and the signal light is about to turn red or is in a red light state, but the vehicle fails to stop within the stop line and continues to drive, the existing technology can perform a red light running warning on the driver of the current vehicle. However, the information that the current vehicle may run a red light is not conveyed to other vehicles driving to the intersection, which may easily lead to a collision between the current vehicle and other normally driving vehicles at the intersection due to the current vehicle running a red light, affecting traffic safety.

[0005] At present, there is no effective solution to the above problems. SUMMARY

[0006] The present application provides a vehicle early warning method, device, electronic equipment and readable medium to solve the technical problem of "collision between the current vehicle and other normally driving vehicles at the intersection due to the current vehicle running a red light".

[0007] According to an aspect of the embodiments of the present application, the present application provides a vehicle early warning method, applied to a first vehicle terminal, comprising: acquiring first position information of the first vehicle and map information and signal lamp information of a road region where the first vehicle is currently located every preset time length; monitoring a first straight line distance between the first vehicle and a first stop line according to the first position information and the map information, and determining whether the first vehicle has a risk of running a red light according to first driving information of the first vehicle and the signal lamp information; generating first early warning information in a case that the first straight line distance is less than a first distance and the first vehicle has the risk of running the red light; generating and sending first safety information to a second vehicle terminal, the first safety information comprising the first position information, the first driving information and the first early warning information, so as to remind the second vehicle to take measures to avoid traffic accidents caused by the risk of running the red light based on the first safety information, wherein the second vehicle and the first vehicle are both in the road region.

[0008] Optionally, the monitoring of the first straight line distance between the first vehicle and the first stop line according to the first position information and the map information, and the determination of whether the first vehicle has the risk of running the red light according to the first driving information of the first vehicle and the signal lamp information, comprise: extracting second position information of the first stop line from the map information; calculating the first straight line distance between the first vehicle and the first stop line according to the first position information and the second position information; determining a current driving direction and a driving speed of the first vehicle according to the first driving information; and determining whether the first vehicle has the risk of running the red light through the first straight line distance, the signal lamp information, the current driving direction and the driving speed of the first vehicle.

[0009] Optionally, after the determination of whether the first vehicle has the risk of running the red light, the method further comprises: generating the first early warning information in a case that the first straight line distance is less than a second distance and the first vehicle has the risk of running the red light, wherein the second distance is greater than the first distance; and issuing a red light running alarm corresponding to the first early warning information until it is detected that the first vehicle does not have the risk of running the red light, and the red light running alarm is stopped.

[0010] According to another aspect of the embodiments of the present application, the present application provides a vehicle early warning method applied to a second vehicle terminal, comprising: acquiring third position information of the second vehicle and map information and signal lamp information of a road region where the vehicle is currently located every preset time length; in the case that a first safety message sent by a first vehicle terminal is received, monitoring a second straight line distance between the second vehicle and a second stop line according to the third position information and the map information, wherein the first safety message comprises first position information, first driving information and first early warning information of a first vehicle existing a red light running risk; if the second straight line distance is less than a third distance, judging whether the second vehicle and the first vehicle exist a collision risk according to the first safety message, second driving information of the second vehicle and the signal lamp information; if the second vehicle and the first vehicle exist the collision risk, generating second early warning information and sending an alarm corresponding to the second early warning information to inform the driver of the collision risk.

[0011] Optionally, judging whether the second vehicle and the first vehicle exist the collision risk according to the first safety message, the second driving information of the second vehicle and the signal lamp information comprises: generating a first driving track of the first vehicle according to the first position information, the first driving information and the first early warning information of the first vehicle, wherein each track point on the first driving track carries a time stamp; predicting a second driving track of the second vehicle according to the second driving information and the signal lamp information, wherein each track point on the second driving track carries a time stamp; judging whether the first driving track and the second driving track exist a coincidence point; if the coincidence point exists, comparing the time stamps of the coincidence point on the first driving track and the second driving track respectively; if the time stamps of the coincidence point on the first driving track and the second driving track are the same, determining that the second vehicle and the first vehicle exist the collision risk.

[0012] Optionally, after determining that the second straight line distance is less than the third distance, the method further comprises: determining a current driving direction and a driving speed of the second vehicle according to the second driving information; determining whether the second vehicle exists a red light running risk according to the second straight line distance, the signal lamp information, the current driving direction and the driving speed of the second vehicle; if the second vehicle exists the red light running risk, generating third early warning information and sending a red light running alarm corresponding to the third early warning information; generating and sending a second safety message to a third vehicle terminal to remind the third vehicle to take measures to avoid traffic accidents caused by the red light running risk based on the second safety message, wherein the second safety message comprises the third position information, the second driving information and the third early warning information, and the third vehicle and the second vehicle are both in the road region.

[0013] According to another aspect of the embodiments of the present application, the present application provides a vehicle early warning device, applied to a first vehicle terminal, comprising: a first acquisition module, configured to acquire first position information of the first vehicle, and map information and signal lamp information of a road region where the vehicle is currently located, at every preset time interval; a first monitoring module, configured to monitor a second straight-line distance between the first vehicle and a first stop line according to the first position information and the map information, and determine whether the first vehicle has a risk of running a red light according to first driving information of the first vehicle and the signal lamp information; a first generation module, configured to generate first early warning information in a case that the first straight-line distance is less than a first distance, and the first vehicle has the risk of running the red light; and a sending module, configured to generate and send first safety information to a second vehicle terminal, the first safety information comprising the first position information, the first driving information and the first early warning information, so as to remind the second vehicle to take measures to avoid traffic accidents caused by the risk of running the red light based on the first safety information, wherein the second vehicle and the first vehicle are both located in the road region.

[0014] According to another aspect of the embodiments of the present application, the present application provides a vehicle early warning device, applied to a second vehicle terminal, comprising: a second acquisition module, configured to acquire third position information of the second vehicle, and map information and signal lamp information of a road region where the vehicle is currently located, at every preset time interval; a second monitoring module, configured to monitor a second straight-line distance between the second vehicle and a second stop line according to the third position information and the map information in a case that the first safety information is received, wherein the first safety information comprises first position information of the first vehicle, first driving information and first early warning information that the first vehicle has a risk of running a red light; a judging module, configured to determine whether the second vehicle and the first vehicle have a risk of collision according to the first safety information, second driving information of the second vehicle and the signal lamp information, if the second straight-line distance is less than a third distance; and a second generation module, configured to generate second early warning information and send an alarm corresponding to the second early warning information to inform the driver of the risk of collision, if the second vehicle and the first vehicle have the risk of collision.

[0015] According to another aspect of the embodiments of the present application, the present application provides an electronic device, comprising a memory, a processor, a communication interface and a communication bus, the memory stores a computer program capable of running on the processor, the memory, the processor and the communication interface communicate through the communication bus, and the processor implements the steps of the above method when executing the computer program.

[0016] According to another aspect of the embodiments of the present application, the present application further provides a computer readable medium having a non-volatile program code executable by a processor, the program code causing the processor to execute the above method.

[0017] The above technical solutions provided by the embodiments of the present application have the following advantages compared with related art:

[0018] The application discloses a vehicle early warning method applied to a first vehicle terminal, and comprises the following steps: acquiring first position information of the first vehicle, and map information and signal lamp information of a road region where the first vehicle is currently located every preset time length; monitoring a first straight line distance between the first vehicle and a first stop line according to the first position information and the map information, and judging whether the first vehicle has a risk of running a red light according to first driving information of the first vehicle and the signal lamp information; generating first early warning information in the case that the first straight line distance is less than a first distance and the first vehicle has the risk of running the red light; and generating and sending first safety information to a second vehicle terminal, wherein the first safety information comprises the first position information, the first driving information and the first early warning information, so as to remind the second vehicle to take measures to avoid traffic accidents caused by the risk of running the red light based on the first safety information, and the second vehicle and the first vehicle are both located in the road region. When it is detected that the first vehicle has the risk of running the red light, the position information, the driving information and the first early warning information that the first vehicle has the risk of running the red light of the first vehicle are timely sent to the second vehicle in the same road region, so that the second vehicle can timely learn the driving condition of the first vehicle, and can timely take necessary measures to avoid collision, thereby solving the problem that the current vehicle running the red light leads to collision with other normally driving vehicles at an intersection. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments consistent with the present application and, together with the description, further serve to explain the principles of the application.

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the accompanying drawings needed to be used in the embodiments or the related art description will be briefly introduced. Obviously, those skilled in the art can obtain other drawings according to these drawings without any creative effort.

[0021] Fig. 1 is a flowchart of an optional vehicle early warning method applied to a first vehicle terminal according to an embodiment of the present application;

[0022] Fig. 2 is a schematic diagram of an optional vehicle interaction scene according to an embodiment of the present application;

[0023] Fig. 3 is a schematic diagram of an optional composition of a vehicle-mounted unit according to an embodiment of the present application;

[0024] Fig. 4 is a schematic diagram of an optional vehicle early warning scene according to an embodiment of the present application;

[0025] Fig. 5 is a flowchart of an optional vehicle early warning method applied to a second vehicle terminal according to an embodiment of the present application;

[0026] Fig. 6 is a block diagram of an optional vehicle early warning device applied to a first vehicle terminal according to an embodiment of the present application;

[0027] Fig. 7 is a block diagram of an optional vehicle early warning device applied to a second vehicle terminal according to an embodiment of the present application;

[0028] Fig. 8 is an optional electronic device structure diagram according to an embodiment of the present application. DETAILED DESCRIPTION

[0029] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0030] In the subsequent description, the suffixes such as "module", "component" or "unit" used to represent elements are only for the convenience of description of the present application, and have no specific meaning. Therefore, "module" and "component" can be used interchangeably.

[0031] With the increasing development of society and the continuous growth of urban population, road traffic is becoming increasingly complex. Vehicle-road cooperation uses advanced wireless communication and new generation Internet technologies for vehicle active safety control and road coordination management.

[0032] Currently, vehicle-road cooperation only involves the interaction between the current vehicle and the road side unit. If the current vehicle drives to a signal-controlled intersection (lane) and the signal light is about to turn red or is in a red light state, but the vehicle fails to stop within the stop line and continues to move forward, the prior art can provide a red light running warning to the driver of the current vehicle, but the information that the current vehicle may run a red light is not conveyed to other vehicles driving to the intersection, at which time it is easy to cause a collision between the current vehicle running a red light and other normally driving vehicles at the intersection, affecting traffic safety.

[0033] To solve the problems mentioned in the background art, according to an aspect of an embodiment of the present application, a vehicle early warning method applied to a first vehicle terminal is provided, as shown in Fig. 1, comprising:

[0034] Step 101, acquiring first position information of the first vehicle and map information and signal light information of a road area where the vehicle is currently located every preset time length;

[0035] Step 103, monitoring a first straight-line distance between the first vehicle and the first stop line according to the first position information and the map message, and determining whether the first vehicle has a risk of running a red light according to the first driving information and the signal light message;

[0036] Step 105, generating the first warning information in a case that the first straight-line distance is less than the first distance and the first vehicle has the risk of running the red light;

[0037] Step 107, generating and sending a first safety message to the second vehicle terminal, the first safety message including the first position information, the first driving information and the first warning information, so as to remind the second vehicle to take measures to avoid traffic accidents caused by the risk of running the red light based on the first safety message, wherein the second vehicle and the first vehicle are both in the road area.

[0038] The OBU (on-board unit) of the vehicle on the road can interact with the outside world through C-V2X (Cellular-Vehicle to Everything). FIG. 2 is a schematic diagram of a vehicle interaction scenario provided by the present application. As shown in FIG. 2, the OBU of the vehicle can communicate with the OBU of another vehicle through V2V (Vehicle-to-Vehicle) communication technology, the OBU can communicate with the RSU (road side unit) through V2I (Vehicle-to-Infrastructure) communication technology, the OBU can communicate with a pedestrian device through V2P (Vehicle-to-Pedestrian) communication technology, and the OBU can communicate with a mobile network through V2N (Vehicle-to-Network) communication technology.

[0039] FIG. 3 is a schematic diagram of a composition of an OBU provided by the present application. As shown in FIG. 3, the OBU includes four modules, i.e., a warning notification module, a message processing module, a position positioning module and a wireless communication module. The warning notification module is used to issue a warning notification to a driver. The position positioning module is used to continuously obtain position information and driving parameters (such as driving direction and driving speed) of the vehicle. The message processing module is used to update BSM (Basic Safety Message) information of the vehicle in real time according to the information obtained by the position positioning module, and periodically send the BSM information to surrounding vehicles. The wireless communication module is used to interact with the outside world.

[0040] The application is directed to the field of V2X wireless communication, and provides a vehicle warning method applied to an RLVW (Red Light Violation Warning) scene. The interaction between intersection vehicles and vehicles, and between vehicles and road side units is fully considered. When a first vehicle is detected to have a risk of running a red light, the position information, driving information and first warning information of the risk of running a red light of the first vehicle are timely sent to a second vehicle in the same road area, so that the second vehicle can timely learn the driving condition of the first vehicle, and can timely take necessary measures to avoid a collision, and the traffic accidents caused by violating the red light rules at the intersection can be further reduced, and the driving safety is improved.

[0041] The second vehicle takes measures based on the first safety message to avoid traffic accidents caused by the risk of running a red light, including but not limited to a collision between the second vehicle and the first vehicle, and a rollover or other accidents of the second vehicle when avoiding the first vehicle running a red light.

[0042] FIG. 4 is a scene diagram of a vehicle warning provided by the application. As shown in FIG. 4, the No. 1 vehicle and the No. 2 vehicle correspond to the first vehicle and the second vehicle of the embodiment of the application respectively. The RSU of the intersection continuously sends MAP messages (map messages) and SPAT messages (signal light messages) to the vehicles in the road area. The MAP message contains road information (such as lane information) and stop line information of the intersection, and the SPAT message contains red and green light information of the intersection. The No. 1 vehicle and the No. 2 vehicle can also continuously send BSM information (blind spot monitoring information) of their own vehicles to each other. The No. 1 vehicle and the No. 2 vehicle both drive to the intersection where the signal light is located. The stop line in front of the No. 1 vehicle is the first stop line, and the stop line in front of the No. 2 vehicle is the second stop line. D2 in FIG. 4 corresponds to the first distance of the application, D1 in FIG. 4 corresponds to the second distance of the application, and D3 in FIG. 4 corresponds to the third distance of the application. Based on the different distances of the vehicles from the front stop line, corresponding risk monitoring (red light risk, collision risk, etc.) is performed. The two vehicles interact with each other, can perceive the driving condition of the other party, and take corresponding measures when necessary to avoid a collision.

[0043] It should be noted that the embodiment is described by taking the first vehicle and the second vehicle, but the vehicle warning method provided by the application can be applied to the interaction and cooperation between multiple vehicles to ensure road safety.

[0044] Specifically, the preset time length can be set according to actual conditions, which is not limited by the application.

[0045] The RSU in the road area continuously broadcasts the map message and the signal light message to the vehicles in the area through the C-V2X wireless technology, the map message contains the road information (such as lane information) and the stop line information of the intersection, and the signal light message contains the traffic light information of the intersection.

[0046] The vehicles in the road area not only continuously receive the map message and the signal light message sent by the RSU, but also send the BSM information of the vehicle to other vehicles, the BSM information includes the current position information and the driving information (such as driving direction and driving speed), and if the vehicle has the risk of running the red light, the warning information corresponding to the risk of running the red light is sent to other vehicles, so that other vehicles take measures to avoid collision with the vehicle running the red light based on the BSM information.

[0047] As an optional embodiment, the first straight line distance between the first vehicle and the first stop line is monitored according to the first position information and the map message, and whether the first vehicle has the risk of running the red light is judged according to the first driving information of the first vehicle and the signal light message, including: extracting the second position information of the first stop line from the map message; calculating the first straight line distance between the first vehicle and the first stop line according to the first position information and the second position information; determining the current driving direction and the driving speed of the first vehicle according to the first driving information; determining whether the first vehicle has the risk of running the red light through the first straight line distance, the signal light message, the current driving direction and the driving speed of the first vehicle.

[0048] In the process of driving the first vehicle to the intersection, the position positioning module of the OBU continuously obtains the real-time position information (i.e. the first position information) and the speed information (i.e. the first driving information) of the OBU.

[0049] The first stop line is the stop line in front of the first vehicle, and the first straight line distance between the vehicle and the stop line can be calculated according to the second position information of the first stop line and the first position information of the first vehicle.

[0050] It is necessary to combine the current speed of the vehicle, the driving direction, the distance between the vehicle and the stop line, and the current timing time of the signal light to determine whether the vehicle has the risk of running the red light.

[0051] It should be noted that the determination of the risk of running the red light mentioned in the present application includes vehicles with driving directions of straight, left turn and right turn, but in actual situations, it can be adjusted based on the traffic rules of the current intersection. For example, at the current intersection, the vehicle with the driving direction of right turn can right turn at the red light without affecting the traffic of other vehicles and pedestrians, and the vehicles with the driving directions of left turn and straight need to wait for the green light, so it is only necessary to analyze the risk of running the red light when the vehicle drives straight and left, and the case of right turn can be ignored.

[0052] Specifically, the color of the current traffic light (red light, green light or yellow light) and the remaining flashing time length are determined, the first straight-line distance is obtained, the time required for the vehicle to reach the stop line is calculated according to the current speed of the vehicle and the first straight-line distance, and whether the vehicle can pass the first stop line before the red light turns on (or before the green light ends) is determined according to the required time and the light change time of the traffic light. If it cannot pass, it will be determined that there is a risk of running a red light.

[0053] The first straight-line distance is divided by the current speed to obtain the target time length required for the first vehicle to reach the stop line. If the traffic light at the current intersection is a red light, the first time length from the current time to the next first green light turning on and the duration of the green light are obtained. If the target time length is less than the first time length (at this time it means that the traffic light is still red when the vehicle reaches the stop line), it is determined that the vehicle has a risk of running a red light. If the target time length is greater than or equal to the first time length and less than the sum of the first time length and the duration of the green light (at this time it means that the vehicle can pass the stop line before the traffic light turns red again), it is determined that the vehicle does not have a risk of running a red light. If the traffic light at the current intersection is a green light, the remaining flashing time length of the green light is obtained. If the target time length is greater than or equal to the remaining flashing time length (which means that the vehicle cannot pass the stop line during the green light period, and thus cannot pass the intersection during the green light period), it is determined that the vehicle has a risk of running a red light. If the target time length is less than the remaining flashing time length (which means that the intersection still displays a green light when the vehicle reaches the stop line), it is determined that the vehicle does not have a risk of running a red light.

[0054] For example, a predicted driving trajectory carrying a time stamp can also be generated according to the current speed of the first vehicle. If the traffic light at the current intersection is a green light, the first time of the next first red light turning on is determined, and the point on the predicted driving trajectory corresponding to the first time is determined. If the point indicates that the first vehicle has passed the current intersection at the first time, it is determined that the vehicle does not have a risk of running a red light. If the point indicates that the first vehicle has not passed the current intersection at the first time, it is determined that the vehicle has a risk of running a red light. If the traffic light at the current intersection is a red light, the second time of the next first green light turning on is determined, and the point on the predicted driving trajectory corresponding to the second time is determined. If the point indicates that the first vehicle has not passed the stop line at the second time, it is determined that the vehicle does not have a risk of running a red light. If the point indicates that the first vehicle has passed the stop line at the second time, it is determined that the vehicle has a risk of running a red light. As an optional embodiment, after determining whether the first vehicle has a risk of running a red light, the method further comprises: generating a first warning information in the case that the first straight-line distance is less than a second distance and the first vehicle has a risk of running a red light, wherein the second distance is greater than the first distance; issuing a red light running warning corresponding to the first warning information until it is detected that the first vehicle does not have a risk of running a red light, and stopping the red light running warning.

[0055] When the straight-line distance between the first vehicle and the first stop line is less than the second distance, it is detected whether the first vehicle has a risk of running a red light, and if the first vehicle has a risk of running a red light, corresponding first warning information is generated, and a red light running alarm is issued. The driver can know through the red light running alarm that there is a possibility of running a red light if the current driving information continues to be used for driving, so that the driver can take brake deceleration measures in time.

[0056] The risk of running a red light of the vehicle is continuously monitored, and if the vehicle does not have a risk of running a red light after deceleration, the red light running alarm is stopped.

[0057] When the first vehicle is still a certain distance away from the first stop line (i.e., the straight-line distance is greater than the first distance), even if there is a risk of running a red light, the driver is only reminded, and at this time, there is enough distance for the driver to take measures. Only if the first vehicle is less than the first distance from the first stop line, and if the vehicle still has a risk of running a red light, the first vehicle needs to send warning information to other vehicles in the road area.

[0058] The application provides a vehicle warning method applied to a first vehicle terminal, including: acquiring first position information of the first vehicle and map information and signal lamp information of a road area in which the vehicle is currently located every preset time length; monitoring a first straight-line distance between the first vehicle and a first stop line according to the first position information and the map information, and determining whether the first vehicle has a risk of running a red light according to first driving information of the first vehicle and the signal lamp information; in a case where the first straight-line distance is less than a first distance and the first vehicle has a risk of running a red light, generating first safety information, wherein the first safety information includes the first position information, the first driving information, and first warning information that the first vehicle has a risk of running a red light; and sending the first safety information to a second vehicle terminal, so that the second vehicle takes measures to avoid a traffic accident caused by the risk of running a red light based on the first safety information, wherein the second vehicle terminal is a terminal of a second vehicle in the road area and in a different lane direction from the first vehicle. When it is detected that the first vehicle has a risk of running a red light, the position information, the driving information, and the first warning information that the first vehicle has a risk of running a red light are sent to the second vehicle in the same road area in time, so that the second vehicle can learn the driving condition of the first vehicle in time, and can take necessary measures to avoid a collision, thereby solving the problem that a collision occurs between the current vehicle and other normally driving vehicles at an intersection due to the current vehicle running a red light.

[0059] According to another aspect of the embodiment of the application, a vehicle warning method applied to a second vehicle terminal is provided, as shown in FIG. 5, including:

[0060] At step 501, the third position information of the second vehicle and the map message and the signal light message of the road region where the vehicle is currently located are acquired every preset time length.

[0061] At step 503, in a case where the first safety message sent by the first vehicle terminal is received, the second straight-line distance between the second vehicle and the second stop line is monitored according to the third position information and the map message, wherein the first safety message comprises the first position information, the first driving information of the first vehicle and the first early warning information that the first vehicle has a risk of running a red light.

[0062] At step 505, if the second straight-line distance is less than the third distance, it is determined whether the second vehicle and the first vehicle have a risk of collision according to the first safety message, the second driving information of the second vehicle and the signal light message.

[0063] At step 507, if the second vehicle and the first vehicle have a risk of collision, the second early warning information is generated, and an alarm corresponding to the second early warning information is sent to inform the driver of the risk of collision.

[0064] In the process of driving of the second vehicle to the intersection, the position positioning module of the OBU constantly acquires the real-time position information (i.e., the third position information) and the speed information (i.e., the second driving information) of itself.

[0065] The safety messages of each vehicle in the road region can be interacted in real time. Under normal circumstances, the safety message does not carry the early warning message corresponding to the risk of running a red light. If the straight-line distance between the current vehicle and the front stop line is less than the first distance, and it is detected that there is still a risk of running a red light, the safety message carrying the early warning information of running a red light also needs to be sent to other vehicles.

[0066] The first early warning information indicates that the vehicle may not be able to brake in time to cross the stop line before reaching the intersection.

[0067] The second vehicle will perform the red light running detection and the sending of the safety message according to the vehicle early warning mode of the first vehicle terminal in the entire driving process. If the safety message sent by the other vehicle terminal carrying the first early warning information of the risk of running a red light is received, it is determined whether the second vehicle and the first vehicle that may run a red light have a risk of collision according to the safety message, the second driving information of the vehicle and the signal light message. Once it is detected that there is a risk of collision with the first vehicle, an alarm corresponding to the second early warning information is sent to inform the driver of the risk of collision. At this time, the driver can take corresponding measures in time to avoid the occurrence of the collision event.

[0068] If the second vehicle detects that there is a collision risk between the second vehicle and the vehicle that has the risk of running a red light, a second warning information is generated, and a warning corresponding to the second warning information is sent to the driver. At the same time, the second warning information is added to the second safety information of the second vehicle, and the second safety information is sent to other vehicles in the region, so that the drivers of the other vehicles can know in advance that an accident may occur at the intersection in front.

[0069] The collision risk includes a traffic accident of the second vehicle due to the risk of running a red light by the first vehicle. In the present application, the direct collision between the first vehicle and the second vehicle is taken as the collision risk for judgment, but there are other collision risk events (such as rollover or other traffic accidents of the second vehicle to avoid the first vehicle).

[0070] If the drivers of the first vehicle and the second vehicle take corresponding measures (such as braking, deceleration, etc.) to successfully avoid running a red light or successfully avoid a collision, the respective warning notification modules cancel the warning.

[0071] As an optional embodiment, the second vehicle and the first vehicle are determined to have a collision risk according to the first safety information, the second driving information of the second vehicle, and the signal light information, including: generating a first driving trajectory of the first vehicle according to the first position information, the first driving information, and the first warning information, wherein each trajectory point on the first driving trajectory carries a time stamp; predicting a second driving trajectory of the second vehicle according to the second driving information and the signal light information, wherein each trajectory point on the second driving trajectory carries a time stamp; determining whether there is an overlapping point between the first driving trajectory and the second driving trajectory; if there is an overlapping point, comparing the time stamps of the overlapping point on the first driving trajectory and the second driving trajectory; and if the time stamps of the overlapping point on the first driving trajectory and the second driving trajectory are the same, determining that the second vehicle and the first vehicle have a collision risk.

[0072] The first driving trajectory and the second driving trajectory are generated simultaneously from the current time as a starting point, and each trajectory point on the first driving trajectory and the second driving trajectory carries a time stamp. As long as it is ensured that the first vehicle and the second vehicle will not be at the same trajectory point (or the two trajectory points are infinitely close) at the same time, it can be ensured that the two vehicles will not collide.

[0073] The first driving trajectory and the second driving trajectory are not necessarily straight-line trajectories. When generating the first driving trajectory and the second driving trajectory, the steering information of the vehicle can also be combined, that is, the present application considers the steering situation when detecting the collision between the vehicles. The first vehicle and the second vehicle of the present application can be two vehicles in any driving direction on the same road region.

[0074] As an optional embodiment, after determining that the second straight-line distance is less than the third distance, the method further comprises: determining the current driving direction and driving speed of the second vehicle according to the second driving information; determining whether the second vehicle has a risk of running a red light according to the second straight-line distance, the signal light message, the current driving direction and driving speed of the second vehicle; if the second vehicle has a risk of running a red light, generating third early warning information and issuing a red light running alarm corresponding to the third early warning information; and generating and sending a second safety message to the third vehicle terminal to remind the third vehicle to take measures to avoid traffic accidents caused by the risk of running a red light based on the second safety message, wherein the second safety message comprises the third position information, the second driving information and the third early warning information, and the third vehicle and the second vehicle are both in the road area.

[0075] The manner of determining whether the second vehicle has a risk of running a red light is similar to the manner of determining whether the first vehicle runs a red light, and will not be described here.

[0076] The third vehicle and the second vehicle are both in the road area, and can also be the first vehicle.

[0077] It should be noted that any vehicle in the road area can simultaneously execute the vehicle early warning method applied to the first vehicle terminal and the second vehicle terminal described in the present application, the manner of generating the third early warning information is the same as the manner of generating the first early warning message, and the manner of generating the second safety message is the same as the manner of generating the first safety message, which will not be described here.

[0078] The third distance can be the same as the second distance.

[0079] If the straight-line distance between the second vehicle and the second stop line is less than the first distance, and there is still a risk of running a red light, it is also necessary to send BSM information (i.e. the second safety message) carrying red light running early warning information to other vehicles.

[0080] The vehicle early warning method provided by the present application fully considers the information intercommunication between intersection vehicles and vehicles, and the interaction between vehicles and road side units, which can further reduce traffic accidents caused by violating red light rules at intersections and improve driving safety.

[0081] The application discloses a vehicle early warning method applied to a second vehicle terminal, and comprises the following steps: acquiring third position information of the second vehicle and map information and signal lamp information of a road region where the vehicle is currently located every preset time length; in the case that a first safety message sent by a first vehicle terminal is received, monitoring a second straight line distance between the second vehicle and a second stop line according to the third position information and the map information, wherein the first safety message comprises first position information, first driving information and first early warning information of a first vehicle existing a red light running risk; if the second straight line distance is smaller than a third distance, judging whether the second vehicle and the first vehicle exist a collision risk according to the first safety message, second driving information of the second vehicle and the signal lamp information; if the second vehicle and the first vehicle exist the collision risk, generating second early warning information and sending an alarm corresponding to the second early warning information to inform the driver of the collision risk. The second vehicle can know the driving condition of the first vehicle in time by receiving the position information, the driving information and the first early warning information of the first vehicle existing the red light running risk, and can take necessary measures to avoid the collision in time, thereby solving the problem that the current vehicle running through a red light leads to a collision with other vehicles normally running at an intersection.

[0082] According to another aspect of the embodiment of the application, the application provides a vehicle early warning device applied to a first vehicle terminal, as shown in FIG. 6, comprising:

[0083] The first acquisition module 602 is used for acquiring first position information of the first vehicle and map information and signal lamp information of a road region where the vehicle is currently located every preset time length.

[0084] The first monitoring module 604 is used for monitoring a first straight line distance between the first vehicle and a first stop line according to the first position information and the map information, and judging whether the first vehicle exists a red light running risk according to first driving information of the first vehicle and the signal lamp information.

[0085] The first generation module 606 is used for generating first early warning information in the case that the first straight line distance is smaller than a first distance and the first vehicle exists the red light running risk.

[0086] The sending module 608 is used for generating and sending a first safety message to a second vehicle terminal, the first safety message comprising the first position information, the first driving information and the first early warning information, so as to remind the second vehicle to take measures to avoid a traffic accident caused by the red light running risk based on the first safety message, wherein the second vehicle and the first vehicle are both located in the road region.

[0087] It should be noted that the first acquisition module 602 in this embodiment can be configured to perform step 101 in the embodiments of the present application, the first monitoring module 604 in this embodiment can be configured to perform step 103 in the embodiments of the present application, the first generation module 606 in this embodiment can be configured to perform step 105 in the embodiments of the present application, and the sending module 608 in this embodiment can be configured to perform step 107 in the embodiments of the present application.

[0088] Optionally, the first monitoring module 604 is further configured to extract second position information of the first stop line from the map message; calculate a first straight-line distance between the first vehicle and the first stop line according to the first position information and the second position information; determine a current driving direction and a driving speed of the first vehicle according to the first driving information; and determine whether the first vehicle has a risk of running a red light according to the first straight-line distance, the signal light message, the current driving direction and the driving speed of the first vehicle.

[0089] Optionally, the apparatus further comprises a first processing module configured to, after determining whether the first vehicle has a risk of running a red light, generate first warning information in a case where the first straight-line distance is less than a second distance and the first vehicle has a risk of running a red light, wherein the second distance is greater than the first distance; and issue a red light running warning corresponding to the first warning information until it is detected that the first vehicle does not have a risk of running a red light, and stop the red light running warning.

[0090] According to another aspect of the embodiments of the present application, the present application provides a vehicle warning apparatus applied to a second vehicle terminal, as shown in FIG. 7, comprising:

[0091] The second acquisition module 702 is configured to acquire third position information of the second vehicle and a map message and a signal light message of a road region where the vehicle is currently located every preset time length;

[0092] The second monitoring module 704 is configured to, in a case where the first safety message issued by the first vehicle terminal is received, monitor a second straight-line distance between the second vehicle and a second stop line according to the third position information and the map message, wherein the first safety message comprises first position information of the first vehicle, first driving information and first warning information that the first vehicle has a risk of running a red light.

[0093] The judging module 706 is configured to, if the second straight-line distance is less than a third distance, judge whether the second vehicle and the first vehicle have a risk of collision according to the first safety message, second driving information of the second vehicle and the signal light message.

[0094] The second generation module 708 is configured to, if the second vehicle and the first vehicle have a risk of collision, generate second warning information and issue an alarm corresponding to the second warning information to inform the driver of the risk of collision.

[0095] It should be noted that the second acquisition module 702 in this embodiment can be configured to perform step 501 in the embodiments of the present application, the second monitoring module 704 in this embodiment can be configured to perform step 503 in the embodiments of the present application, the second generation module 708 in this embodiment can be configured to perform step 505 in the embodiments of the present application, and the second generation module 708 in this embodiment can be configured to perform step 507 in the embodiments of the present application.

[0096] Optionally, the judging module 706 is further configured to generate a first driving track of the first vehicle according to the first position information, the first driving information and the first early warning information, wherein each track point on the first driving track carries a time stamp; predict a second driving track of the second vehicle according to the second driving information and the signal light message, wherein each track point on the second driving track carries a time stamp; judge whether there is an overlapping point between the first driving track and the second driving track; if there is an overlapping point, compare the time stamps of the overlapping point on the first driving track and the second driving track respectively; and if the time stamps of the overlapping point on the first driving track and the second driving track are the same, determine that the second vehicle has a collision risk with the first vehicle.

[0097] Optionally, the apparatus further comprises a second processing module configured to, after determining that the second straight line distance is less than the third distance, determine a current driving direction and a driving speed of the second vehicle according to the second driving information; determine whether the second vehicle has a risk of running a red light according to the second straight line distance, the signal light message, the current driving direction and the driving speed of the second vehicle; if the second vehicle has the risk of running the red light, generate a third early warning information and issue a red light running alarm corresponding to the third early warning information; and generate and send a second safety message to the third vehicle terminal to remind the third vehicle to take measures to avoid a traffic accident caused by the risk of running the red light based on the second safety message, wherein the second safety message comprises the third position information, the second driving information and the third early warning information, and the third vehicle and the second vehicle are both in the road area.

[0098] It should be noted that the above modules have the same examples and application scenarios as the corresponding steps, but are not limited to the contents disclosed in the above embodiments.

[0099] According to another aspect of the embodiments of the present application, the present application provides an electronic device as shown in FIG. 8, which comprises a memory 801, a processor 803, a communication interface 805 and a communication bus 807, the memory 801 stores a computer program which can run on the processor 803, the memory 801 and the processor 803 communicate through the communication interface 805 and the communication bus 807, and the processor 803 implements the steps of the above method when executing the computer program.

[0100] The memory, the processor in the electronic device described above communicate through a communication bus and a communication interface. The communication bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc.

[0101] The memory can include a Random Access Memory (RAM) and can also include a non-volatile memory, such as at least one disk memory. Optionally, the memory can also be at least one storage device located away from the aforementioned processor.

[0102] The processor described above can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.

[0103] The electronic device provided by the embodiments of the present application can be a module capable of realizing a communication function or a terminal device containing the module, etc. The terminal device can be a mobile terminal or a smart terminal. The mobile terminal can be at least one of a mobile phone, a tablet computer, a notebook computer, etc. The smart terminal can be a smart car, a smart watch, a shared bicycle, a smart cabinet, etc. containing a wireless communication module. The module can be a wireless communication module, such as any one of a 2G communication module, a 3G communication module, a 4G communication module, a 5G communication module, an NB-IOT communication module, etc.

[0104] According to another aspect of the embodiments of the present application, a computer readable medium having non-volatile program code executable by a processor is also provided.

[0105] Optionally, the specific examples in the embodiments can refer to the examples described in the above embodiments, and the embodiments will not be described here.

[0106] The embodiments of the present application can refer to the above-mentioned embodiments for specific implementation, and have corresponding technical effects.

[0107] It can be understood that the embodiments described herein can be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing units can be implemented within one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSP Devices), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, other electronic units designed to perform the functions described herein, or a combination thereof.

[0108] For software implementation, the techniques described herein can be implemented with a processing unit that performs the functions described herein. The software code can be stored in a memory and executed by a processor. The memory can be implemented within the processor or external to the processor.

[0109] Those of ordinary skill in the art can understand that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0110] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be described here.

[0111] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division, and actual implementation can have another division manner. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed elements can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0112] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, i.e. may be located in one place, or may be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0113] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0114] The functions, if realized in the form of software functional units and sold or used as independent products, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application essentially or the parts that contribute to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk, and various program code storage media. It should be noted that in this paper, terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed, or include elements inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0115] The above is only a specific embodiment of the present application, which enables those skilled in the art to understand or implement the present application. Various modifications of these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features applied herein.

Claims

1. A vehicle pre-warning method characterized by, The method applied to a first vehicle terminal comprises: acquiring first position information of the first vehicle and map information and signal lamp information of a road region where the first vehicle is currently located every preset time interval; monitoring a first straight-line distance between the first vehicle and a first stop line according to the first position information and the map information, and determining whether the first vehicle has a risk of running a red light according to first driving information of the first vehicle and the signal lamp information; generating first warning information in a case where the first straight-line distance is less than a first distance and the first vehicle has the risk of running the red light; generating and sending first safety information to a second vehicle terminal, the first safety information comprising the first position information, the first driving information and the first warning information, so as to remind the second vehicle to take measures to avoid a traffic accident caused by the risk of running the red light based on the first safety information, wherein the second vehicle and the first vehicle are both located in the road region.

2. The method of claim 1, wherein, The monitoring of the first straight-line distance between the first vehicle and the first stop line according to the first position information and the map information, and the determination of whether the first vehicle has the risk of running the red light according to the first driving information of the first vehicle and the signal lamp information comprise: extracting second position information of the first stop line from the map information; calculating the first straight-line distance between the first vehicle and the first stop line according to the first position information and the second position information; determining a current driving direction and a driving speed of the first vehicle according to the first driving information; determining whether the first vehicle has the risk of running the red light through the first straight-line distance, the signal lamp information, the current driving direction and the driving speed of the first vehicle.

3. The method of claim 1, wherein, After determining whether the first vehicle has the risk of running the red light, the method further comprises: generating the first warning information in a case where the first straight-line distance is less than a second distance and the first vehicle has the risk of running the red light, wherein the second distance is greater than the first distance; issuing a red light running alarm corresponding to the first warning information until it is detected that the first vehicle does not have the risk of running the red light, and stopping the red light running alarm.

4. A vehicle warning method characterized by, The method applied to a second vehicle terminal comprises: acquiring third position information of the second vehicle and map information and signal lamp information of a road region where the second vehicle is currently located every preset time interval; monitoring a second straight-line distance between the second vehicle and a second stop line according to the third position information and the map information in a case where the second vehicle terminal receives first safety information issued by a first vehicle terminal, wherein the first safety information comprises first position information, first driving information of the first vehicle and first warning information that the first vehicle has a risk of running a red light; if the second straight-line distance is less than a third distance, determining whether the second vehicle and the first vehicle have a collision risk according to the first safety information, second driving information of the second vehicle and the signal lamp information. If the second vehicle has the collision risk with the first vehicle, a second warning information is generated, and a warning corresponding to the second warning information is sent out to inform the driver of the collision risk.

5. The method of claim 4, wherein, The determining whether the second vehicle has the collision risk with the first vehicle according to the first safety information, the second driving information of the second vehicle and the signal lamp information comprises: generating a first driving track of the first vehicle according to the first position information, the first driving information and the first warning information of the first vehicle, wherein each track point on the first driving track carries a time stamp; predicting a second driving track of the second vehicle according to the second driving information and the signal lamp information, wherein each track point on the second driving track carries a time stamp; determining whether there is an overlapping point between the first driving track and the second driving track; if there is the overlapping point, comparing the time stamps of the overlapping point on the first driving track and the second driving track respectively; if the time stamps of the overlapping point on the first driving track and the second driving track are the same, determining that the second vehicle has the collision risk with the first vehicle.

6. The method of claim 4, wherein, After determining that the second straight line distance is less than the third distance, the method further comprises: determining a current driving direction and a driving speed of the second vehicle according to the second driving information; determining whether the second vehicle has a red light running risk according to the second straight line distance, the signal lamp information, the current driving direction and the driving speed of the second vehicle; if the second vehicle has the red light running risk, generating a third warning information, and sending out a red light running warning corresponding to the third warning information; generating and sending a second safety information to a third vehicle terminal to remind the third vehicle to take measures to avoid traffic accidents caused by the red light running risk based on the second safety information, wherein the second safety information comprises the third position information, the second driving information and the third warning information, and the third vehicle and the second vehicle are both in the road area.

7. A vehicle warning device, characterised in that applied to a first vehicle terminal, comprising: a first acquisition module configured to acquire first position information of a first vehicle and map information and signal lamp information of a road area where the vehicle is currently located every preset time length; a first monitoring module configured to monitor a first straight line distance between the first vehicle and a first stop line according to the first position information and the map information, and determine whether the first vehicle has a red light running risk according to first driving information of the first vehicle and the signal lamp information; a first generation module configured to generate a first warning information in a case that the first straight line distance is less than a first distance and the first vehicle has the red light running risk; The sending module is configured to generate and send a first safety message to the second vehicle terminal, the first safety message comprising the first position information, the first driving information, and the first early warning information, so as to remind the second vehicle to take measures to avoid traffic accidents caused by the risk of red light running based on the first safety message, wherein the second vehicle and the first vehicle are both located in the road area.

8. A vehicle warning device, characterized by comprising: The application is applied to a second vehicle terminal, and comprises: The second obtaining module is configured to obtain third position information of the second vehicle and map information and signal lamp information of a road area where the vehicle is currently located every preset time length. The second monitoring module is configured to, in a case where a first safety message sent by the first vehicle terminal is received, monitor a second straight-line distance between the second vehicle and a second stop line according to the third position information and the map information, wherein the first safety message comprises first position information, first driving information, and first early warning information that the first vehicle has a risk of red light running. The judging module is configured to, if the second straight-line distance is less than a third distance, judge whether the second vehicle and the first vehicle have a collision risk according to the first safety message, second driving information of the second vehicle, and the signal lamp information. The second generating module is configured to, if the second vehicle and the first vehicle have the collision risk, generate second early warning information and send an alarm corresponding to the second early warning information, so as to inform a driver of the collision risk.

9. An electronic device comprising a memory, a processor, a communication interface and a communication bus, the memory having stored therein a computer program executable on the processor, the memory, the processor being in communication via the communication bus and the communication interface, characterized in that, The processor executes the computer program to realize the steps of the method in any one of claims 1 to 3 or 4 to 6.

10. A computer readable medium having non-transitory program code executable by a processor, the program code comprising instructions for: The program code causes the processor to execute the method in any one of claims 1 to 3 or 4 to 6.

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