Accident early warning method, apparatus and system

Abstract

An accident early warning method, apparatus and system. The method comprises: a server receives road anomaly information indicating a position where an accident occurs, and on the basis of the road anomaly information, determines a first broadcast area to which the accident belongs and a first early warning area, wherein the first early warning area is an area where a vehicle is instructed to report vehicle state information, and the vehicle state information comprises a vehicle speed and is used for determining the degree of road congestion caused by the accident; the server broadcasts, to a vehicle in the first broadcast area, accident indication information that indicates the first early warning area. The vehicle in the first broadcast area performs, at least on the basis of a positional relationship between the first early warning area and the ego vehicle, at least one of the following: sending the vehicle state information to the server, controlling an alert apparatus of the ego vehicle to provide accident information, or controlling the ego vehicle to avoid the accident.

Description

Accident early warning methods, devices and systems Technical Field

[0001] This application relates to the field of vehicle safety, and more specifically, to an accident warning method, device, and system. Background Technology

[0002] In high-speed scenarios, traffic accidents can easily lead to rear-end collisions. In dangerous scenarios such as landslides, mudslides, and bridge collapses, vehicles often cannot detect these anomalies in the road within a very short time and take appropriate countermeasures, which can easily cause chain-reaction accidents. In scenarios with poor visibility, such as at night, this can result in even more serious accidents.

[0003] Therefore, an accident early warning system that can provide timely warnings when an accident occurs is urgently needed to be developed. Summary of the Invention

[0004] This application provides an accident early warning method, device, and system. When an accident occurs on the road, the server can promptly determine the location of the accident based on information reported by vehicles and send early warning information to vehicles in the broadcast area where the accident location is located, so that vehicles can take timely evasive measures, thereby improving driving safety and reducing the probability of more serious accidents, thereby reducing the probability of further road congestion.

[0005] Firstly, an accident warning method is provided, which can be executed by a server communicating with the vehicle, for example, by the server's processor, or by a chip or circuit used in the server.

[0006] The method includes: receiving road anomaly information, the road anomaly information indicating the location of a first accident; determining a first broadcast area associated with the first accident and at least one warning area based on the road anomaly information; wherein the first broadcast area covers at least one warning area, the at least one warning area includes the first warning area, the first warning area is an area that instructs vehicles to report vehicle status information, the vehicle status information including vehicle speed, and the vehicle status information is used to determine the degree of road congestion caused by the first accident; broadcasting accident indication information to vehicles in the first broadcast area, the accident indication information indicating at least one warning area.

[0007] In some implementations, the accident indication information also includes road information such as road identifiers (IDs) or road names, which indicate the road where the first accident occurred.

[0008] In some implementations, the accident indication information also indicates the vehicle travel direction supported by the road where the first accident occurred. For example, the first accident is an accident occurring on a first road, and the first road includes a first sub-road supporting vehicle travel in a first direction and a second sub-road supporting vehicle travel in a second direction, wherein the first and second directions are opposite directions; for example, if the first direction is from south to north, then the second direction is from north to south. In the aforementioned scenario, the accident indication information may indicate that the first accident occurred on the first sub-road and / or that the first accident occurred on the second sub-road.

[0009] In some other implementations, the accident indication information also indicates the geographical location where the first accident occurred, such as the latitude and longitude information of the first accident, or it may also include the altitude information of the first accident.

[0010] In some implementations, the first broadcast zone associated with the first accident may include at least one of the following: the first broadcast zone is the broadcast zone to which the location of the first accident belongs; or, the first broadcast zone is a broadcast zone that is geographically adjacent to the broadcast zone to which the location of the first accident belongs, and the occurrence of the first accident affects the traffic flow of the road in the first broadcast zone.

[0011] In some implementations, broadcasting can be done by sending messages via point-to-multipoint transmission or by sending messages via point-to-point transmission.

[0012] In the above technical solution, broadcasting the accident location to vehicles in the broadcast area associated with the accident location helps vehicles in the broadcast area to avoid the road section or location where the accident occurred in a timely manner. Broadcasting at least one warning area, including a first warning area, to vehicles in the broadcast area associated with the accident location helps the server determine the degree of road congestion based on the information reported by vehicles in the first warning area, thereby updating the dynamics related to the first accident to vehicles in the first broadcast area in a timely manner. For example, when the congestion is relieved or eliminated, vehicles in the first broadcast area can be notified in a timely manner, thereby improving the road traffic efficiency.

[0013] In conjunction with the first aspect, in some implementations of the first aspect, at least one warning area further includes a second warning area and / or a third warning area; wherein the second warning area is the area that instructs the vehicle to avoid the first accident; and the third warning area is the area that instructs the vehicle to collect image information related to the first accident.

[0014] In some implementations, the first warning zone includes the second warning zone.

[0015] In the above technical solution, instructing vehicles to avoid accidents via a second warning zone can reduce the probability of more serious accidents and improve the efficiency of accident resolution. Furthermore, by broadcasting the second warning zone, vehicles can plan their routes based on the relationship between the second warning zone and their own position to avoid accident areas. The cloud does not need to calculate whether each vehicle needs a warning or how to avoid accidents, reducing cloud computing complexity and power requirements. Instructing vehicles to collect image information related to the first accident via a third warning zone helps maintenance personnel remotely analyze the cause of the accident, overcoming the time lag that requires personnel to arrive on-site to understand the accident situation, and further improving the efficiency of accident resolution.

[0016] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: receiving vehicle status information from multiple vehicles located in the first warning area; updating at least one warning area based on the vehicle status information to obtain an updated warning area; and broadcasting the updated warning area to vehicles in the first broadcast area.

[0017] In the above technical solution, the first warning area is adjusted according to changes in vehicle speed. For example, when the average speed of vehicles in the first warning area decreases, the first warning area is expanded to avoid the situation where the first warning area cannot completely cover the congested area, which helps to improve the accuracy of the determined congestion level. When the average speed of vehicles in the first warning area increases, the first warning area is shrunk, which helps to reduce the amount of vehicle status information received by the server, thereby reducing the amount of data related to vehicle status information. This not only saves communication overhead but may also reduce the computational overhead of the server in accident warning.

[0018] In conjunction with the first aspect, in some implementations of the first aspect, the updated warning area includes the updated first warning area. Updating at least one warning area based on vehicle status information includes: expanding or shrinking the first warning area in a direction parallel to the vehicle's direction of travel based on changes in vehicle speed in the first warning area, to obtain the updated first warning area.

[0019] In the above technical solution, adjusting the range of the first warning zone in the direction parallel to the vehicle's direction of travel based on changes in vehicle speed helps to improve the accuracy of determining the degree of congestion by using reasonable computational and communication overhead.

[0020] In conjunction with the first aspect, in some implementations of the first aspect, the vehicle status information also indicates the lane in which the vehicle is located, and the updated warning area includes the updated first warning area. Updating at least one warning area based on the vehicle status information includes: expanding or shrinking the first warning area in a direction perpendicular to the vehicle's direction of travel based on the speed change of each lane in at least one lane of the first warning area to obtain the updated first warning area.

[0021] In the above technical solution, when the relationship between vehicle speed and lane can be determined, adjusting the range of the first warning zone in the direction perpendicular to the vehicle's direction of travel based on changes in vehicle speed in the lane helps to improve the accuracy of the determined congestion level by using reasonable computational and communication overhead.

[0022] In conjunction with the first aspect, in some implementations of the first aspect, the road anomaly information includes the type of the first accident and / or the height information of the location where the first accident occurred; wherein the type of the first accident includes at least one of the following: a vehicle accident or a road accident.

[0023] In the above technical solution, when the accident occurs at a location such as an overpass or viaduct where multiple roads exist at the same latitude and longitude, the vehicle reporting the height of the accident location, or information that can identify the three-dimensional layers of the road, helps the server accurately determine the location of the accident and distinguish which road layer the accident occurred on. The vehicle reporting the type of the first accident helps the server to make a preliminary judgment on the severity of the accident, thereby determining a more reasonable warning area.

[0024] In conjunction with the first aspect, in some implementations of the first aspect, the road anomaly information also includes at least one of the following: a road name or road sign indicating the road on which the first accident occurred.

[0025] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: receiving location information from multiple vehicles; and determining at least one vehicle within the first broadcast area based on the location information.

[0026] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: when the received image information is sufficient to reconstruct the scene of the first accident, stopping the transmission of information instructing the third warning area to vehicles in the first broadcast area, or sending information instructing the vehicles in the first broadcast area to stop image information acquisition. This stops receiving image information related to the first accident, saving communication overhead.

[0027] Secondly, an accident warning method is provided, which can be executed by a vehicle, for example, by the vehicle's computing platform, or by a chip or circuit used in the vehicle. The following explanation uses the execution of this method by a first vehicle as an example.

[0028] The method includes: receiving accident indication information broadcast by a server to a first broadcast area, the accident indication information indicating the location of a first accident, and at least one warning area; wherein the first broadcast area covers at least one warning area, the at least one warning area includes a first warning area, the first warning area being an area that instructs vehicles to report vehicle status information, the vehicle status information including vehicle speed, and the vehicle status information being used to determine the degree of road congestion caused by the first accident; sending the vehicle status information of the first vehicle to the server according to the positional relationship between the at least one warning area and the first vehicle; and / or, according to the positional relationship between the at least one warning area and the first vehicle, performing at least one of the following: controlling the first vehicle's warning device to display the accident information, or controlling the first vehicle to avoid the first accident, the accident information indicating the location of the first accident.

[0029] It should be understood that when a vehicle is in the first broadcast zone, the receiving server broadcasts accident indication information to the first broadcast zone.

[0030] In the above technical solution, the vehicle can determine that an accident has occurred on the road based on its position relative to the first warning area. This allows it to promptly avoid the accident site or section of road where the accident occurred, or the vehicle can alert the driver to relevant accident information, enabling the driver to steer the vehicle away from the accident site or section of road where the accident occurred. The vehicle also reports information such as its speed to the server based on its position relative to the first warning area, helping the server to promptly determine the degree of road congestion and update accident-related information.

[0031] In conjunction with the second aspect, in some implementations of the second aspect, the vehicle status information of the first vehicle is sent to the server based on the positional relationship between at least one warning area and the vehicle, including: sending the vehicle status information to the server when the first vehicle is within the first warning area.

[0032] In the above technical solution, vehicles located within the first warning area send vehicle status information to the server, while vehicles located outside the first warning area do not need to send vehicle status information. This helps to save communication overhead and reduce the computational complexity and computing power requirements of the server.

[0033] In conjunction with the second aspect, in some implementations of the second aspect, at least one warning area includes a second warning area, which is an area that instructs vehicles to avoid the first accident, and the first warning area includes the second warning area; based on the positional relationship between at least one warning area and the first vehicle, the warning device of the first vehicle is controlled to display accident information, including: when the first vehicle is traveling toward the location where the first accident occurred, the first vehicle is not in the second warning area, and the distance between the first vehicle and the boundary of the second warning area is less than or equal to a first distance, the warning device is controlled to display accident information.

[0034] In the above technical solution, when the vehicle passes the location of the accident while traveling to its destination, and the distance between the vehicle and the boundary of the second warning area is less than or equal to the first distance, the control prompting device provides an accident information prompt. This helps to save vehicle energy consumption and avoids outputting redundant and useless information to the driver, which may affect his attention.

[0035] In conjunction with the second aspect, in some implementations of the second aspect, at least one warning area further includes a third warning area, which is an area that instructs the vehicle to collect image information related to the first accident; the method further includes: when the first vehicle is in the third warning area, controlling the camera device of the first vehicle to collect environmental information; and sending the environmental information to the server.

[0036] In the above technical solution, collecting accident-related information when the vehicle is in the third warning zone can avoid the vehicle collecting and reporting a large amount of information unrelated to the accident, which helps to save communication costs and computational costs during the server's image processing.

[0037] In conjunction with the second aspect, in some implementations of the second aspect, the field of view (FOV) of the camera device covers the area where the first accident occurred.

[0038] In the above technical solution, when the vehicle is in the third warning zone and collecting accident-related information, controlling the camera device covering the first accident zone to collect images helps to further reduce the reporting of information unrelated to the accident collected by the vehicle, and can further save communication overhead and computing overhead in the process of server image processing.

[0039] In conjunction with the second aspect, in some implementations of the second aspect, before receiving the accident indication information broadcast by the server to the first broadcast area, the method further includes: when the first vehicle's perception system detects the second accident, sending road abnormality information to the server, the road abnormality information indicating the location of the second accident.

[0040] In some implementations, the second accident and the aforementioned first accident can be the same accident, or they can be different accidents.

[0041] In conjunction with the second aspect, in some implementations of the second aspect, the road anomaly information includes the type of the second accident and / or the height information of the location where the second accident occurred; wherein the type of the second accident includes at least one of the following: a vehicle accident or a road accident.

[0042] In conjunction with the second aspect, in some implementations of the second aspect, the method further includes: determining that the first vehicle is in a first broadcast zone based on its location; subscribing to a topic in the first broadcast zone; and receiving accident indication information broadcast by the server to the first broadcast zone, including: receiving accident indication information broadcast by the server based on a topic in the first broadcast zone.

[0043] In the above technical solution, vehicles do not need to report location information to the server, which helps protect vehicle privacy and security; the server does not need to maintain broadcast area information of vehicle ownership, which helps reduce the processing complexity of the server.

[0044] In conjunction with the second aspect, in some implementations of the second aspect, the accident indication information also indicates the geographical location of the first accident and / or the vehicle travel direction supported by the road where the first accident occurred.

[0045] Thirdly, an accident early warning device is provided, which is installed on a server and includes a transceiver unit and a processing unit. Specifically, the transceiver unit is used to: receive road anomaly information, which indicates the location of a first accident; the processing unit is used to: determine, based on the road anomaly information, a first broadcast area associated with the first accident and at least one warning area; wherein, the first broadcast area covers at least one warning area, and the at least one warning area includes the first warning area, which is an area that instructs vehicles to report vehicle status information, including vehicle speed, and the vehicle status information is used to determine the degree of road congestion caused by the first accident; the transceiver unit is also used to: broadcast accident indication information to vehicles in the first broadcast area, which indicates the location of the first accident and at least one warning area.

[0046] In conjunction with the third aspect, in some implementations of the third aspect, at least one warning area further includes a second warning area and / or a third warning area; wherein the second warning area is the area that instructs the vehicle to avoid the first accident; the third warning area is the area that instructs the vehicle to collect image information related to the first accident; and the first warning area includes the second warning area.

[0047] In conjunction with the third aspect, in some implementations of the third aspect, the transceiver unit is further configured to: receive vehicle status information from multiple vehicles located in the first warning area; the processing unit is further configured to: update at least one warning area based on the vehicle status information to obtain the updated warning area; and the transceiver unit is further configured to: broadcast the updated warning area to vehicles in the first broadcast area.

[0048] In conjunction with the third aspect, in some implementations of the third aspect, the updated warning area includes the updated first warning area, and the processing unit is used to: expand or shrink the first warning area in a direction parallel to the vehicle's direction of travel, based on the vehicle speed change in the first warning area, to obtain the updated first warning area.

[0049] In conjunction with the third aspect, in some implementations of the third aspect, the vehicle status information also indicates the lane in which the vehicle is located, and the updated warning area includes the updated first warning area. The processing unit is used to: expand or shrink the first warning area in a direction perpendicular to the vehicle's direction of travel, based on the vehicle speed change in at least one lane of the first warning area, to obtain the updated first warning area.

[0050] In conjunction with the third aspect, in some implementations of the third aspect, the road anomaly information includes the type of the first accident and / or the height information of the location where the first accident occurred; wherein the type of the first accident includes at least one of the following: a vehicle accident or a road accident.

[0051] In conjunction with the third aspect, in some implementations of the third aspect, the transceiver unit is further configured to: receive location information from multiple vehicles; and the processing unit is further configured to: determine at least one vehicle within the first broadcast area based on the location information.

[0052] Fourthly, an accident warning device is provided, which is installed on a first vehicle. The device includes a transceiver unit and a processing unit. Specifically, the transceiver unit is used to: receive accident indication information broadcast by a server to a first broadcast area, the accident indication information indicating the location of the first accident, and at least one warning area; wherein the first broadcast area covers at least one warning area, the at least one warning area includes a first warning area, the first warning area being an area that instructs vehicles to report vehicle status information, the vehicle status information including vehicle speed, and the vehicle status information being used to determine the degree of road congestion caused by the first accident; the processing unit is used to: control the transceiver unit to send the vehicle status information of the first vehicle to the server according to the positional relationship between the at least one warning area and the first vehicle; and / or, according to the positional relationship between the at least one warning area and the first vehicle, perform at least one of the following: control the first vehicle's warning device to display the accident information, or control the first vehicle to avoid the first accident, the accident information indicating the location of the first accident.

[0053] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the processing unit is used to: control the transceiver unit to send vehicle status information to the server when the first vehicle is within the first warning area.

[0054] In conjunction with the fourth aspect, in some implementations of the fourth aspect, at least one warning area includes a second warning area, the second warning area being an area that instructs vehicles to avoid the first accident, and the first warning area includes the second warning area; the processing unit is configured to: control the prompting device to prompt accident information when the first vehicle is traveling toward the location where the first accident occurred, the first vehicle is not in the second warning area, and the distance between the first vehicle and the boundary of the second warning area is less than or equal to a first distance.

[0055] In conjunction with the fourth aspect, in some implementations of the fourth aspect, at least one warning area further includes a third warning area, which is an area that instructs the vehicle to collect image information related to the first accident; the processing unit is also used to: control the camera device of the first vehicle to collect environmental information when the first vehicle is in the third warning area; the transceiver unit is also used to: send environmental information to the server.

[0056] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the field of view (FOV) of the camera device covers the area where the first accident occurred.

[0057] In conjunction with the fourth aspect, in some implementations of the fourth aspect, before the transceiver unit receives the accident indication information broadcast by the server to the first broadcast area, the transceiver unit is also used to: when the perception system of the first vehicle perceives the second accident, send road abnormality information to the server, the road abnormality information indicating the location of the second accident.

[0058] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the road anomaly information includes the type of the second accident and / or the height information of the location where the first accident occurred; wherein the type of the second accident includes at least one of the following: a vehicle accident or a road accident.

[0059] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the processing unit is further configured to: determine that the first vehicle is in the first broadcast zone based on the location of the first vehicle; subscribe to the topic of the first broadcast zone; and the transceiver unit is configured to: receive accident indication information broadcast by the server based on the topic of the first broadcast zone.

[0060] Fifthly, an accident warning device is provided, the device comprising: a processor for executing a computer program stored in the memory, such that the device performs the method in any possible implementation of the first aspect described above.

[0061] In a sixth aspect, an accident warning device is provided, the device comprising: a processor for executing a computer program stored in the memory, such that the device performs the method in any possible implementation of the second aspect described above.

[0062] In conjunction with the fifth or sixth aspect, in some implementations of the fifth or sixth aspect, the device also includes a memory.

[0063] In a seventh aspect, a server is provided, which includes means as described in any possible implementation of the third or fifth aspect.

[0064] Eighthly, a vehicle is provided that includes means as described in any possible implementation of the fourth or sixth aspect.

[0065] In conjunction with aspect eight, in some implementations of aspect eight, the vehicle is used in a broad sense, such as transportation vehicles (e.g., commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (e.g., forklifts, trailers, tractors, etc.), engineering vehicles (e.g., excavators, bulldozers, cranes, etc.), agricultural equipment (e.g., lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc. In practical implementation, the vehicle can also be other intelligent driving equipment such as road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment.

[0066] Ninthly, a computer program product is provided, comprising: computer program code, which, when executed on a computer or processor, causes the computer or processor to perform the method in any possible implementation of the first or second aspect.

[0067] It should be noted that the above computer program code can be stored in whole or in part on a storage medium, which can be packaged together with the processor or packaged separately from the processor.

[0068] In a tenth aspect, a computer-readable storage medium is provided, the computer-readable medium storing instructions that, when executed by a processor, cause the processor to implement the method in any possible implementation of the first or second aspect.

[0069] Eleventhly, a chip is provided, the chip including circuitry for performing the method in any possible implementation of the first or second aspect described above.

[0070] For the beneficial effects not described in detail in aspects three through eleven, please refer to the descriptions in aspect one and / or aspect two, which will not be repeated here. Attached Figure Description

[0071] Figure 1 is a schematic diagram of the accident early warning system provided in an embodiment of this application;

[0072] Figure 2 is another schematic diagram of the accident early warning system provided in the embodiment of this application;

[0073] Figure 3 is a schematic diagram of multiple warning areas provided in an embodiment of this application;

[0074] Figure 4 is a schematic diagram of the broadcast area update associated with the vehicle provided in an embodiment of this application;

[0075] Figure 5 is a schematic flowchart of the accident early warning method provided in the embodiments of this application;

[0076] Figure 6 is another schematic diagram of multiple warning areas provided in the embodiments of this application;

[0077] Figure 7 is another schematic diagram of multiple warning areas provided in the embodiments of this application;

[0078] Figure 8 is another schematic flowchart of the accident early warning method provided in the embodiments of this application;

[0079] Figure 9 is a schematic block diagram of the accident early warning device provided in an embodiment of this application;

[0080] Figure 10 is another schematic block diagram of the accident warning device provided in the embodiments of this application. Detailed Implementation

[0081] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0082] Figure 1 is a functional block diagram of an accident warning system provided in an embodiment of this application. As shown in Figure 1, the system includes a vehicle 100 and a server 200. The vehicle 100 may include a sensing system 120, a communication system 130, and a computing platform 150. The sensing system 120 may include several sensors for sensing information about the environment surrounding the vehicle 100. For example, the sensing system 120 may include a positioning system, which may be a global navigation satellite system (GNSS), such as the global positioning system (GPS), the BeiDou system, or other positioning systems. Alternatively, the sensing system 120 may also include one or more of the following: an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0083] The communication system 130 of vehicle 100 may be one or more devices integrating at least one communication processing module. The communication system 130 can transmit and receive electromagnetic waves via an antenna, enabling vehicle 100 to communicate with other electronic devices (such as electronic devices associated with vehicle 100), cloud servers, etc., through wireless communication technology. The wireless communication technology may include mobile communication technologies such as Global System for Mobile Communication (GSM), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), General Packet Radio Service (GPRS), or Long Term Evolution (LTE), or alternatively, short-range wireless communication technologies such as Bluetooth (BT) and Radio Frequency Identification (RFID). Vehicle 100 can communicate with server 200 through the communication system 130.

[0084] Some or all of the functions of vehicle 100 can be controlled by computing platform 150. Computing platform 150 may include processors 151 to 15n. A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In reconfigurable hardware circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement related functions. Furthermore, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. In addition, the computing platform 150 may also include a memory for storing instructions. Some or all of the processors 151 to 15n can call the instructions in the memory to implement the corresponding functions.

[0085] In practical implementation, server 200 can communicate with multiple vehicles 100 to obtain accident-related information and issue accident warnings. More specifically, Figure 2 shows another schematic diagram of the accident warning system provided in this application. The server can communicate with vehicles in multiple broadcast zones, and the server can send the same information to at least one vehicle in a broadcast zone. Taking broadcast zones associated with the server as an example, if an accident occurs in a vehicle in broadcast zone 1, the vehicle can report its accident information and location to the server through communication system 130. The perception system 120 of vehicles around the accident vehicle can collect environmental information around the vehicle and determine whether an accident exists around the vehicle based on the environmental information. When an accident exists around the vehicle, it can also report the accident and its location to the server. Furthermore, the server can determine the location of the accident and divide multiple warning zones based on the information reported by the accident vehicle and the vehicles around the accident vehicle.

[0086] For example, the server includes an accident monitoring module and a warning area determination module. The accident monitoring module can determine that an accident has occurred on the road and the broadcast area (e.g., broadcast area 1) to which the accident location belongs. The warning area determination module is used to determine multiple warning areas based on the location of the accident, wherein the multiple warning areas include the accident location area, the data collection area, the congestion area, and the vehicle speed collection area. In one example, as shown in Figure 3(a), the data collection area includes the accident location area, the congestion area includes the accident location area and / or the data collection area, and the vehicle speed collection area includes the congestion area. In another example, as shown in Figure 3(b), the data collection area includes the accident location area, the vehicle speed collection area includes the congestion area, and neither the congestion area nor the vehicle speed collection area includes the accident location area. Further, the server sends accident indication information to vehicles in the broadcast area associated with the accident location. This accident indication information indicates the location of multiple warning areas, so that each vehicle in the broadcast area can report information, receive accident warnings, and / or avoid congestion based on its own positional relationship with the warning areas. For example, vehicles in the data collection area collect accident-related images, videos, and other information and report them to the server; vehicles in the speed collection area and congestion area report their speed to the server. It should be understood that vehicles in broadcast area 2 cannot receive information broadcast by the server to broadcast area 1.

[0087] For example, the broadcast area can be divided according to geographical regions, such as administrative regions or other forms of spatial regions; or it can be dynamically constructed based on a specified area, for example, constructing the broadcast area for the current accident as a preset distance around the area where the accident occurred. For example, the preset distance can be a value between 4 kilometers and 6 kilometers, or the preset distance can be other values. For example, the preset distance can be determined based on the average speed of vehicles on the road where the accident occurred; the faster the average speed, the larger the preset distance and the larger the broadcast area.

[0088] In some implementations, the server determines the vehicles present in the broadcast area before sending accident indication information. For example, the server also includes a broadcast area vehicle determination module to identify vehicles present in the broadcast area associated with the accident location, so that the server can send accident indication information to the vehicles in that broadcast area. In one example, vehicles periodically report their locations to the server, and the broadcast area vehicle determination module determines the broadcast area to which each vehicle belongs based on the reported locations; alternatively, when vehicles communicate with the server in other ways, they report location or area information, such as when downloading map data from the server, allowing the server to determine the vehicle's location and thus the broadcast area to which it belongs. If a vehicle in a certain broadcast area does not update its location within a certain period of time, the vehicle is removed from that broadcast area.

[0089] In some implementations, the server does not need to determine the presence of vehicles in the broadcast area before sending accident indication information. Instead, it broadcasts messages to vehicles based on a publish-subscribe pattern using Message Queuing Telemetry Transport (MQTT). In this case, vehicles do not need to report their location information to the server; instead, they determine their own broadcast area. For example, in the MQTT server (broker), a topic is created for each broadcast area, such as TrafficBroadcast / 001 representing broadcast area 001. Further, vehicles and the server define broadcast areas according to pre-agreed rules. Vehicles can calculate their own broadcast area based on these rules. For instance, vehicles and the server can pre-define broadcast areas according to administrative regions or other spatial regions, and the relationship between broadcast areas and geographical locations is pre-stored on the vehicle. Further, vehicles can determine their own broadcast area based on the broadcast area definition rules and their own location, and receive the information broadcast by the server on the corresponding Topic. As shown in Figure 4, when the broadcast zone to which a vehicle belongs changes, the vehicle unsubscribes from the topic of the original broadcast zone (such as broadcast zone 2), subscribes to the topic of the new broadcast zone (such as broadcast zone 1), and receives information broadcast by the server on the topic corresponding to the new broadcast zone.

[0090] Based on the system involved in Figures 1 and 2, this application embodiment provides an accident early warning method. The detailed process of the accident early warning method is shown in Figure 5. The method 300 includes some or all of the steps in S301 to S310.

[0091] S301, Vehicle 1 sends road anomaly information to the cloud server.

[0092] For example, the road anomaly information indicates the location of the accident, and vehicle 1 can be the vehicle involved in the accident, or vehicle 1 can be any vehicle surrounding the accident location. The aforementioned accident can include road-related accidents, such as road collapses or breaks that affect vehicle traffic; or it can also include vehicle-related accidents, such as collisions between vehicles and other obstacles that affect vehicle traffic. The cloud server can be the server described in the foregoing embodiments.

[0093] For example, the road anomaly information includes information about the location of the accident, which may include altitude information such as the elevation of the accident site that indicates the location of the accident; or, the road anomaly information may also include at least one of the following: the road sign where the accident occurred, the accident type, or the road type of the road where the accident occurred. The accident type indicates that the accident reported by vehicle 1 is one or more of the following: a self-vehicle accident, a other vehicle accident, or a road accident; the road type indicates that the road where the accident occurred is one of the following: highway, elevated road, urban road, expressway, etc.

[0094] In some implementations, when the road anomaly information only includes the location of the accident, the cloud server can determine the road marker where the accident occurred based on the location of the accident.

[0095] S302, the cloud server determines the area where the accident occurred based on road anomaly information.

[0096] For example, the area 1 can be the accident area shown in Figure 3. The range of the area 1 can be a range at a certain distance from the location of the accident. This certain distance can be a value between 1 meter and 5 meters. More specifically, the certain distance can be determined according to the type of accident. For example, when the accident type is a vehicle-related accident, the certain distance is a value between 1 meter and 3 meters; or, for example, when the accident type is a road-related accident, the certain distance is a value between 3 meters and 5 meters; or, the certain distance can also be other values.

[0097] S303, the cloud server identifies multiple warning areas, as well as broadcast zone 1 to which area 1 belongs.

[0098] For example, the multiple warning zones include at least one of a data collection zone, a congestion zone, and a vehicle speed collection zone.

[0099] For example, at least one of a data collection area, a congestion area, and a vehicle speed collection area is determined based on area 1. The boundary of the data collection area can be at a distance of 1 from the boundary of area 1, where distance 1 can be a value between 100 meters and 200 meters, or any other value. For the area shown in Figure 3(a), the boundary of the congestion area can be at a distance of 2 from the boundary of the accident area, where distance 2 can be a value between 300 meters and 500 meters, or any other value; the boundary of the vehicle speed collection area can be at a distance of 3 from the boundary of the congestion area, where distance 3 can be a value between 200 meters and 500 meters, or any other value.

[0100] In some implementations, the supported vehicle travel direction in the road where the accident occurred is direction 1. The data collection area, congestion area, and vehicle speed collection area each include four boundaries. Two of these four boundaries can be perpendicular to direction 1, and the remaining two boundaries are parallel to direction 1. One of the two boundaries perpendicular to direction 1 (as shown in Figure 3(a) - type a boundary) is located in the front direction of the vehicle near the accident area and can be tangent to the boundary of area 1. The other boundary (as shown in Figure 3(b) - type b boundary) is located in the rear direction of the vehicle near the accident area and is a certain distance away from area 1. Specifically, the boundary in the data collection area located in the rear direction of the vehicle near the accident area is 1 unit away from the nearest neighbor boundary of area 1; the boundary in the congestion area located in the rear direction of the vehicle near the accident area is 2 units away from the nearest neighbor boundary of area 1; and the boundary in the congestion area located in the rear direction of the vehicle near the accident area is 3 units away from the boundary in the vehicle speed collection area located in the rear direction of the vehicle near the accident area.

[0101] In some other implementations, the positional relationship between the data collection area and the accident site can refer to the aforementioned implementations. Neither the vehicle speed collection area nor the congestion area includes the accident site, and both the vehicle speed collection area and the congestion area are located near the rear of the accident site, as shown in Figure 3(b). Specifically, the class a boundary of the congestion area and the vehicle speed collection area shown in Figure 3(b) is tangent to the rear-side boundary of area 1; the class b boundary of the congestion area is 2 units away from the nearest neighbor boundary of area 1; and the class b boundary of the congestion area is 3 units away from the class b boundary of the vehicle speed collection area.

[0102] In some implementations, the distance between the two boundaries parallel to direction 1 in area 1, data collection area, congestion area, and vehicle speed collection area is greater than or equal to the width of the one-way road where the accident occurred; or, in the data collection area, congestion area, and vehicle speed collection area, both boundaries parallel to direction 1 are tangent to the boundary of area 1.

[0103] Furthermore, the broadcast zone 1 to which region 1 belongs is determined based on region 1. For example, broadcast zone 1 can be dynamically constructed based on region 1, or broadcast zone 1 can be determined based on the geographical location of region 1. In some implementations, broadcast zones adjacent to the broadcast zone to which region 1 belongs can also be determined based on region 1. For example, when the geographical location of region 1 is located on the boundary of broadcast zone 1, an accident may also affect the traffic situation in a broadcast zone (such as broadcast zone 2) that is geographically adjacent to broadcast zone 1. In this case, accident indication information can also be broadcast to vehicles in broadcast zone 2. For more specific implementations of determining broadcast zone 1 (or broadcast zone 2), please refer to the description in the foregoing embodiments, which will not be repeated here.

[0104] S304, The cloud server sends accident indication information to at least one vehicle, including vehicle 2.

[0105] For example, at least one vehicle, including vehicle 2, belongs to broadcast zone 1. In some implementations, the cloud server determines at least one vehicle located in broadcast zone 1 based on the location information reported by multiple vehicles. In still other implementations, each of the at least one vehicle, including vehicle 2, determines that its own vehicle is in broadcast zone 1 according to rules pre-agreed with the cloud server, and receives accident indication information on the Topic corresponding to broadcast zone 1. The method by which the cloud server determines that at least one vehicle, including vehicle 2, belongs to broadcast zone 1, and the method by which at least one vehicle, including vehicle 2, determines that its own vehicle belongs to broadcast zone 1, can be referred to the description in the foregoing embodiments, and will not be repeated here.

[0106] In some implementations, the accident indication information indicates the location of the vehicle speed collection area and / or the congestion area; alternatively, the accident indication information may also indicate the location of the data collection area. Optionally, the accident indication information may also include the road markings where the accident occurred and / or the road direction in which the accident took place. For example, in cases where the road supports vehicles traveling in two opposite directions, the road direction indicates the direction of vehicle travel supported by the one-way road where the accident occurred.

[0107] S305, Vehicle 2 controls the prompting device to display accident information based on the relative position of the vehicle and multiple warning areas.

[0108] For example, the prompting device may include any of the following: a display device, a sound device, and a lighting device. The display device is mainly divided into two categories: the first is an in-vehicle display screen; the second is a projection display screen, such as a head-up display (HUD). An in-vehicle display screen is a physical display screen and an important component of an in-vehicle infotainment system. Multiple displays can be installed in the cabin, such as digital instrument cluster displays and central control screens. In some possible implementations, one or more of the aforementioned in-vehicle displays can be human-machine interfaces (HMIs), for example, the central control screen can be an HMI. A head-up display, also known as a head-up display system, is mainly used to display driving information such as speed and navigation on a display device (e.g., the windshield) in front of the driver. This reduces the driver's eye-shifting time, avoids pupil changes caused by eye-shifting, and improves driving safety and comfort. HUDs include, for example, combiner-HUD (C-HUD) systems, windshield-HUD (W-HUD) systems, and augmented reality HUD (AR-HUD) systems. Sound-generating devices can include in-vehicle speakers, in-vehicle audio systems, and other in-vehicle sound-generating devices. Lighting devices are used for displaying lights and can include in-vehicle ambient lighting and other interior lighting devices.

[0109] In some implementations, when the direction of travel of vehicle 2 coincides with the direction supported by the one-way road where the accident occurred, the vehicle controls the warning device to display accident information based on its relative position to multiple warning zones. For example, when vehicle 2 is outside a congested area and the distance between vehicle 2 and the category b boundary of the congested area is less than or equal to distance 4, the warning device displays accident information, which may indicate the distance between the accident area and the vehicle and / or the type of accident. Exemplarily, distance 4 can be a value between 100 meters and 200 meters, or it can be any other value.

[0110] For example, vehicle 2 can determine whether its driving direction is consistent with the direction supported by the one-way road where the accident occurred based on the driving path planned by the vehicle; or, vehicle 2 can determine whether its driving direction is consistent with the direction supported by the one-way road where the accident occurred based on the change of the distance between the vehicle and the accident area over time. For example, if the distance between the vehicle and the accident area gradually decreases, then the driving direction of the vehicle is consistent with the direction supported by the one-way road where the accident occurred.

[0111] S306, Vehicle 2 sends vehicle status information to the cloud server.

[0112] For example, the vehicle status information includes the vehicle's speed, or it may also include the vehicle's position. The vehicle's position can be its actual location, which may indicate the lane the vehicle is in; or it can be the warning area the vehicle is in, such as the vehicle being within the speed collection area and outside the congestion area, or the vehicle being within the congestion area and outside the data collection area.

[0113] In some implementations, if the multiple warning zones in S305 include data acquisition zones, then when vehicle 2 is within the data acquisition zone, the camera device of vehicle 2 can acquire images and / or videos of the accident site and send the relevant image and / or video information to the cloud server. For example, vehicle 2 can control the camera device in vehicle 2 that covers the accident site area based on the relative position of the accident site and its own vehicle to acquire the aforementioned images and / or videos.

[0114] S307: The cloud server updates multiple warning zones based on vehicle status information.

[0115] For example, the cloud server expands or shrinks the congestion area and / or vehicle speed collection area based on the vehicle speed information reported by multiple vehicles.

[0116] In one example, if the average vehicle speed reported by vehicles in the speed collection area gradually decreases, the congestion area and / or speed collection area is expanded. For example, as shown in Figure 6, the congestion area and / or speed collection area is expanded parallel to the vehicle travel direction. In another example, if the average vehicle speed reported by vehicles in the speed collection area gradually increases, the congestion area and / or speed collection area is reduced. In yet another example, if some vehicles in the speed collection area have a higher average speed and the remaining vehicles have a lower average speed, the lanes of the vehicles with higher average speeds and the lanes of the vehicles with lower average speeds are determined separately, thereby reducing the congestion area and / or speed collection area. In this example, the reduction refers to a reduction in the dimension perpendicular to the vehicle travel direction. For example, as shown in Figure 7, the accident area occupies lanes 2 and 3. If the average vehicle speed in lanes 1 and 4 gradually increases, the congestion area and / or speed collection area can be reduced perpendicular to the vehicle travel direction.

[0117] After the warning area is updated on the cloud server, the location of the updated warning area can be broadcast to vehicles in broadcast area 1.

[0118] In some implementations, if the multiple warning areas in S305 do not include the data acquisition area, then S308 can be executed:

[0119] S308, the cloud server sends image acquisition instruction information to vehicle 2.

[0120] For example, image acquisition instruction information can indicate a data acquisition area so that vehicle 2 can acquire accident-related images and / or videos within the data acquisition area.

[0121] S309, Vehicle 2 collects images and / or videos related to the accident.

[0122] S310, Vehicle 2 uploads images and / or videos to the cloud server.

[0123] In some implementations, the cloud server merges accident-related image and / or video data uploaded by multiple vehicles. When the relevant image data can reconstruct part or all of the accident scene, the cloud server notifies the vehicles to cease collecting accident-related images and / or videos. For example, the information broadcast by the cloud server to vehicles in broadcast area 1 may no longer include information about the data collection area; or, for another example, the cloud server may broadcast an instruction to vehicles in broadcast area 1 to stop collecting accident-related images and / or videos.

[0124] In the accident early warning method provided in this application embodiment, the vehicle involved in the accident or vehicles near the accident site can report relevant accident information to the server. The server then broadcasts the accident location to vehicles in the broadcast area associated with that location, helping vehicles in the broadcast area to avoid the accident site or road segment in a timely manner. Furthermore, the server broadcasts at least one warning area, including a vehicle speed collection area, to vehicles in the broadcast area associated with the accident location. This helps the server determine the degree of road congestion based on information reported by vehicles in the vehicle speed collection area, thereby providing timely updates on accident-related dynamics to vehicles in the broadcast area.

[0125] Figure 8 shows another schematic flowchart of the accident warning method provided in this application embodiment. This method can be executed by a server and multiple vehicles, including a first vehicle. The first vehicle can be vehicle 100 as shown in Figure 1, and the server can be server 200 as shown in Figure 1. The method includes:

[0126] S810, the server receives road anomaly information, which indicates the location of the first accident.

[0127] For example, the first accident can be an accident involving the vehicle that reported the road anomaly information; or the first accident can be an accident involving another vehicle or an accident occurring on a road through which the vehicle that reported the road anomaly information passed. The road anomaly information indicating the location of the first accident can be further specified as: the road anomaly information indicating the geographical location of the first accident.

[0128] In some implementations, the road anomaly information includes the type of the first accident and / or the elevation information of the location where the first accident occurred; wherein the type of the first accident includes at least one of the following: a vehicle accident or a road accident.

[0129] For example, a more detailed description of the road anomaly information can be found in the description in method 300, which will not be repeated here.

[0130] It should be understood that the server can receive accident-related information reported by multiple vehicles and determine the location of each accident based on the accident-related information reported by each vehicle.

[0131] S820: Based on road anomaly information, the server determines the first broadcast zone associated with the first accident and at least one warning zone.

[0132] The first broadcast area covers at least one warning area, which includes a first warning area. The first warning area is an area that instructs vehicles to report vehicle status information, including vehicle speed, and this information is used to determine the degree of road congestion caused by the first accident. For example, the first warning area can be the vehicle speed collection area in the aforementioned embodiments; or, the first warning area can also be the congestion area in the aforementioned embodiments.

[0133] For example, the first broadcast area can be broadcast area 1 in method 300, or it can be another broadcast area. The method for the server to divide the broadcast area and the method for determining the first broadcast area associated with the first incident can be referred to the description in the foregoing embodiments, and will not be repeated here.

[0134] In some implementations, at least one warning area further includes a second warning area and / or a third warning area; wherein the second warning area is the area instructing vehicles to avoid the first accident; the third warning area is the area instructing vehicles to collect image information related to the first accident; and the first warning area includes the second warning area. Exemplarily, the second warning area can be a congestion area as described in the foregoing embodiments, and the third warning area can be a data collection area as described in the foregoing embodiments.

[0135] S830, the server broadcasts accident indication information to vehicles in the first broadcast area, including the first vehicle, and the accident indication information indicates at least one warning area.

[0136] For example, the accident indication information also indicates the geographical location of the first accident and / or the vehicle travel direction supported by the road where the first accident occurred. The geographical location of the first accident may include the latitude and longitude information of the first accident, or it may also include the altitude information of the first accident.

[0137] In some implementations, before executing S830, the method further includes: the server receiving location information from multiple vehicles; and the server determining at least one vehicle in the first broadcast area based on the aforementioned location information.

[0138] In some other implementations, the first vehicle determines that it is in the first broadcast zone based on its location; and subscribes to the topic of the first broadcast zone; further, the first vehicle receives accident indication information broadcast by the server based on the topic of the first broadcast zone.

[0139] For example, the first vehicle may include vehicle 2 in method 300.

[0140] In some implementations, when the first vehicle's perception system detects the second accident, the first vehicle reports road anomaly information to the server. This road anomaly information can indicate the location of the second accident. The perception system may include sensors such as cameras and lidar; alternatively, the perception information may also include sensors capable of detecting accidents involving the vehicle itself. That is, the second accident can be an accident occurring involving the first vehicle, an accident involving another vehicle, or an accident occurring on the road through which the first vehicle travels. In some implementations, the second accident and the first accident are the same accident.

[0141] S840, the first vehicle sends vehicle status information of the first vehicle to the server according to the positional relationship between the first vehicle and at least one warning area; and / or according to the positional relationship between the first vehicle and at least one warning area, performs at least one of the following: controls the first vehicle's warning device to display accident information, or controls the first vehicle to avoid the first accident, wherein the accident information indicates the location of the first accident.

[0142] For example, when the accident indication information indicates the geographical location of the first accident, the location of the first accident indicated by the accident information can be the aforementioned geographical location; when the accident indication information does not indicate the geographical location of the first accident, the location of the first accident indicated by the accident information can be the location of the first warning area.

[0143] In some implementations, vehicle status information of a first vehicle is sent to the server based on the location relationship between at least one warning area and the vehicle, including: sending vehicle status information to the server when the first vehicle is within the first warning area.

[0144] It should be noted that "the first vehicle is located within the first warning area" can be understood as: part or all of the body of the first vehicle is located within the first warning area.

[0145] In some implementations, at least one warning area includes a second warning area, which is an area instructing vehicles to avoid the first accident, and the first warning area includes the second warning area. Based on the positional relationship between the at least one warning area and the first vehicle, the system controls the first vehicle's warning device to display accident information, including: when the first vehicle is moving towards the location of the first accident, the first vehicle is not in the second warning area, and the distance between the first vehicle and the boundary of the second warning area is less than or equal to a first distance, the system controls the warning device to display accident information. For example, the first distance can be distance 4 in method 300, or it can be other values.

[0146] In some implementations, at least one warning zone further includes a third warning zone, which is an area instructing the vehicle to collect image information related to the first accident. The method further includes: when the first vehicle is in the third warning zone, controlling the camera device of the first vehicle to collect environmental information; and sending the environmental information to a server. Exemplarily, the environmental information may include one or more frames of images, wherein the multiple frames of images may constitute a video stream.

[0147] In some implementations, the field of view (FOV) of the camera device covers the area where the first accident occurred. In practice, the camera device for collecting environmental information can be switched as the vehicle moves. For example, as the vehicle moves closer to the location of the first accident, the front-view camera can be controlled to collect environmental information; furthermore, as the vehicle moves, if the location of the first accident is to the side of the vehicle, the side-view camera can be controlled to collect environmental information, and so on. If the location of the first accident is to the rear of the vehicle, the rear-view camera can also be controlled to collect environmental information.

[0148] In some implementations, the method further includes: the server receiving vehicle status information from multiple vehicles located in the first warning area; the server updating at least one warning area based on the vehicle status information to obtain the updated warning area; and the server broadcasting the updated warning area to vehicles in the first broadcast area.

[0149] In one example, the updated warning area includes an updated first warning area. Updating at least one warning area based on vehicle status information includes: expanding or shrinking the first warning area in a direction parallel to the vehicle's direction of travel based on changes in vehicle speed in the first warning area, to obtain an updated first warning area.

[0150] In another example, the vehicle status information also indicates the lane in which the vehicle is located. The updated warning area includes an updated first warning area. Updating at least one warning area based on the vehicle status information includes: expanding or shrinking the first warning area in a direction perpendicular to the vehicle's direction of travel based on the speed change of each lane in at least one lane of the first warning area to obtain an updated first warning area.

[0151] The vehicle status information indicating the lane the vehicle is in can include: the vehicle status information explicitly indicating the lane the vehicle is in; or the vehicle status information implicitly indicating the lane the vehicle is in. For example, if the vehicle status information includes the vehicle's location, the server can determine the lane the vehicle is in based on the vehicle's location.

[0152] In actual implementation, the updated warning area also includes the updated second warning area. For more specific methods of adjusting the warning area, please refer to the description in method 300, which will not be repeated here.

[0153] It should be understood that when the server broadcasts the updated warning area to vehicles in the first broadcast area, if the first vehicle is still in the first broadcast area, the first vehicle can also receive the updated warning area and report information based on the updated warning area; if the first vehicle is not in the first broadcast area, the first vehicle will no longer receive the information of the updated warning area.

[0154] The accident warning method provided in this application embodiment enables the server to promptly determine the location of the accident based on the information reported by the vehicle when an accident occurs on the road, and send warning information to vehicles in the broadcast area where the accident location belongs, so that vehicles in the broadcast area can take timely evasive measures, thereby improving driving safety and reducing the probability of more serious accidents, thereby reducing the probability of further road congestion.

[0155] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions between the various embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0156] The methods provided by the embodiments of this application have been described in detail above with reference to Figures 1 to 8. The apparatus provided by the embodiments of this application will now be described in detail below with reference to Figures 9 and 10. It should be understood that the descriptions of the apparatus embodiments correspond to the descriptions of the method embodiments; therefore, any content not described in detail can be referred to the method embodiments above, and for the sake of brevity, will not be repeated here.

[0157] Figure 9 shows a schematic block diagram of an accident early warning device 2000 provided in an embodiment of this application. The device 2000 may include units for executing the methods described in the foregoing embodiments. Furthermore, each unit in the device 2000 implements a corresponding process of the above method embodiments. The device 2000 includes a transceiver unit 2010, which can be used to implement corresponding data acquisition or transmission / reception functions. The device 2000 also includes a processing unit 2020, which can be used to implement corresponding processing functions.

[0158] Optionally, the device 2000 further includes a storage unit, which can be used to store instructions and / or data. The processing unit 2020 can read the instructions and / or data in the storage unit so that the device can perform the relevant actions in the aforementioned method embodiments.

[0159] It should be understood that the specific process of each unit performing the above-mentioned corresponding steps has been described in detail in the above method embodiments, and will not be repeated here for the sake of brevity.

[0160] It should also be understood that the device 2000 described herein is embodied in the form of a functional unit. The terms “module” or “unit” may refer to application-specific ASICs, electronic circuits, processors (e.g., shared processors, proprietary processors, or group processors) and memory for executing one or more software or firmware programs, integrated logic circuits, and / or other suitable components that support the described functions.

[0161] The apparatuses described above are capable of implementing the corresponding steps performed by the computing platform 150 in the methods described above. These functions can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the functions described above; for example, the transceiver unit 2010 can be replaced by a transceiver, and other units, such as processing units, can be replaced by a processor, used to execute the relevant processing operations in each method embodiment.

[0162] In the specific implementation process, the units in the above device can be fully or partially integrated together, or they can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SoC).

[0163] Figure 10 is another schematic block diagram of the accident warning device provided in the embodiments of this application. The device 2100 shown in Figure 10 may include: a processor 2110, a transceiver 2120, and a memory 2130. The processor 2110, transceiver 2120, and memory 2130 are connected via internal connection paths. The memory 2130 is used to store instructions, and the processor 2110 is used to execute the instructions stored in the memory 2130 to implement the methods in the above embodiments. Optionally, the memory 2130 may be coupled to the processor 2110 via an interface or integrated with the processor 2110.

[0164] It should be noted that the transceiver 2120 mentioned above may include, but is not limited to, transceiver devices such as input / output interfaces, to realize communication between device 2100 and other devices or communication networks.

[0165] Memory 2130 can be volatile memory and / or non-volatile memory. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM). For example, RAM can be used as an external cache. By way of example and not limitation, RAM includes various forms such as: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0166] Transceiver 2120 uses transceiver devices, such as but not limited to transceivers, to enable communication between device 2100 and other devices or communication networks to receive / send data / information for implementing the methods in the above embodiments.

[0167] This application also provides an intelligent driving device, which includes the device 2000 or device 2100 in the above embodiments.

[0168] This application also provides a server, which includes the device 2000 or device 2100 in the above embodiments.

[0169] This application also provides a computer program product, which includes computer program code. When the computer program code is run on a computer, it causes the computer to implement the methods described in the above embodiments of this application.

[0170] This application also provides a computer-readable storage medium storing computer instructions that, when executed on a computer, cause the computer to implement the methods described in the above embodiments of this application.

[0171] This application also provides a chip, including circuitry, for performing the methods described in the above embodiments of this application.

[0172] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0173] In the description of the embodiments of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. In this application, "at least one" means one or more, and "more" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0174] The use of prefixes such as "first" and "second" in this application embodiment is solely for distinguishing different descriptive objects and does not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is found in the claims or the context of the embodiments, and the use of such prefixes should not constitute unnecessary restrictions.

[0175] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0176] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions between the various embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0177] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0178] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0179] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An accident early warning method characterized by, Applied to servers, including: Receive road anomaly information, which indicates the location of the first accident; Based on the road anomaly information, determine the first broadcast zone associated with the first accident and at least one warning zone; Wherein, the first broadcast area covers the at least one warning area, the at least one warning area includes a first warning area, the first warning area is an area that instructs vehicles to report vehicle status information, the vehicle status information includes vehicle speed, and the vehicle status information is used to determine the degree of road congestion caused by the first accident; An accident warning message is broadcast to vehicles in the first broadcast area, the accident warning message indicating the at least one warning area.

2. The method of claim 1, wherein, The at least one warning area also includes a second warning area and / or a third warning area; The second warning area is the area that instructs vehicles to avoid the first accident; the third warning area is the area that instructs vehicles to collect image information related to the first accident.

3. The method according to claim 1 or 2, characterized in that, The method further includes: Receive vehicle status information from multiple vehicles located in the first warning area; The at least one warning area is updated based on the vehicle status information to obtain the updated warning area; The updated warning area is broadcast to vehicles in the first broadcast area.

4. The method of claim 3, wherein, The updated warning area includes an updated first warning area, and updating the at least one warning area based on the vehicle status information includes: Based on the vehicle speed changes in the first warning area, the first warning area is expanded or reduced in a direction parallel to the vehicle's direction of travel to obtain the updated first warning area.

5. The method according to claim 3 or 4, characterized in that, The vehicle status information also indicates the lane the vehicle is in, and the updated warning area includes an updated first warning area. Updating the at least one warning area based on the vehicle status information includes: Based on the speed change of each lane in at least one lane of the first warning area, the first warning area is expanded or reduced in a direction perpendicular to the vehicle's direction of travel to obtain the updated first warning area.

6. The method according to any one of claims 1 to 5, characterized in that, The road anomaly information includes the type of the first accident and / or the elevation information of the location where the first accident occurred; The type of the first accident includes at least one of the following: a vehicle accident or a road accident.

7. The method according to any one of claims 1 to 6, characterized in that, The method further includes: Receive location information from multiple vehicles; Based on the location information, at least one vehicle within the first broadcast area is identified.

8. The method according to any one of claims 1 to 7, characterized in that, The accident indication information also indicates the geographical location where the first accident occurred, and / or the vehicle travel direction supported by the road where the first accident occurred.

9. An accident warning method characterized by, Applied to the first vehicle, including: The server receives accident indication information broadcast to the first broadcast zone, the accident indication information indicating at least one warning zone; Wherein, the first broadcast area covers the at least one warning area, the at least one warning area includes a first warning area, the first warning area is an area that instructs vehicles to report vehicle status information, the vehicle status information includes vehicle speed, and the vehicle status information is used to determine the degree of road congestion caused by the first accident; Based on the location relationship between the at least one warning area and the first vehicle, send the vehicle status information of the first vehicle to the server; and / or Based on the positional relationship between the at least one warning area and the first vehicle, perform at least one of the following: control the warning device of the first vehicle to display accident information, or control the first vehicle to avoid the first accident, wherein the accident information indicates the location of the first accident.

10. The method of claim 9, wherein, The step of sending the vehicle status information of the first vehicle to the server based on the location relationship between the at least one warning area and the vehicle includes: When the first vehicle is within the first warning area, the vehicle status information is sent to the server.

11. The method according to claim 9 or 10, characterized in that, The at least one warning area includes a second warning area, which is an area that instructs vehicles to avoid the first accident, and the first warning area includes the second warning area; The step of controlling the warning device of the first vehicle to display accident information based on the positional relationship between the at least one warning area and the first vehicle includes: When the first vehicle is traveling toward the location where the first accident occurred, the first vehicle is not in the second warning area, and the distance between the first vehicle and the boundary of the second warning area is less than or equal to the first distance, the prompting device is controlled to prompt the accident information.

12. The method according to any one of claims 9 to 11, characterized in that, The at least one warning area also includes a third warning area, which is an area that instructs the vehicle to collect image information related to the first accident. The method further includes: When the first vehicle is in the third warning area, the camera device of the first vehicle is controlled to collect environmental information; Send the environmental information to the server.

13. The method of claim 12, wherein, The field of view (FOV) of the camera device covers the area where the first accident occurred.

14. The method according to any one of claims 9 to 13, characterized in that, Before the receiving server broadcasts the accident indication information to the first broadcast area, the method further includes: When the first vehicle's perception system detects the second accident, it sends road anomaly information to the server, the road anomaly information indicating the location of the second accident.

15. The method of claim 14, wherein, The road anomaly information includes the type of the second accident and / or the elevation information of the location where the second accident occurred; The type of the second accident includes at least one of the following: a vehicle accident or a road accident.

16. The method according to any one of claims 9 to 15, characterized in that, The method further includes: Based on the location of the first vehicle, it is determined that the first vehicle is in the first broadcast area; Subscribe to topics in the first broadcast section; The incident indication information broadcast by the receiving server to the first broadcast area includes: Receive the incident indication information broadcast by the server based on the topic of the first broadcast area.

17. The method according to any one of claims 9 to 16, characterized in that, The accident indication information also indicates the geographical location where the first accident occurred, and / or the vehicle travel direction supported by the road where the first accident occurred.

18. An accident warning device, characterized in that Configured on the server, including: The transceiver unit is used to receive road anomaly information, which indicates the location of the first accident. The processing unit is configured to determine, based on the road anomaly information, the first broadcast zone associated with the first accident and at least one warning zone; Wherein, the first broadcast area covers the at least one warning area, the at least one warning area includes a first warning area, the first warning area is an area that instructs vehicles to report vehicle status information, the vehicle status information includes vehicle speed, and the vehicle status information is used to determine the degree of road congestion caused by the first accident; The transceiver unit is also configured to: broadcast accident indication information to vehicles in the first broadcast area, the accident indication information indicating the at least one warning area.

19. The apparatus of claim 18, wherein, The at least one warning area also includes a second warning area and / or a third warning area; The second warning area is the area that instructs vehicles to avoid the first accident; the third warning area is the area that instructs vehicles to collect image information related to the first accident.

20. The apparatus of claim 18 or 19, wherein, The transceiver unit is also used for: Receive vehicle status information from multiple vehicles located in the first warning area; The processing unit is further configured to: update the at least one warning area according to the vehicle status information to obtain the updated warning area; The transceiver unit is also used to broadcast the updated warning area to vehicles in the first broadcast area.

21. The apparatus of claim 20, wherein, The updated warning area includes the updated first warning area, and the processing unit is used for: Based on the vehicle speed changes in the first warning area, the first warning area is expanded or reduced in a direction parallel to the vehicle's direction of travel to obtain the updated first warning area.

22. The apparatus of claim 20 or 21, wherein, The vehicle status information also indicates the lane the vehicle is in, the updated warning area includes the updated first warning area, and the processing unit is used for: Based on the speed change of each lane in at least one lane of the first warning area, the first warning area is expanded or reduced in a direction perpendicular to the vehicle's direction of travel to obtain the updated first warning area.

23. The apparatus of any one of claims 18-22, wherein, The road anomaly information includes the type of the first accident and / or the elevation information of the location where the first accident occurred; The type of the first accident includes at least one of the following: a vehicle accident or a road accident.

24. The apparatus of any one of claims 18-23, wherein, The transceiver unit is also used for: Receive location information from multiple vehicles; The processing unit is further configured to: determine at least one vehicle within the first broadcast area based on the location information.

25. The apparatus of any one of claims 18-24, wherein, The accident indication information also indicates the geographical location where the first accident occurred, and / or the vehicle travel direction supported by the road where the first accident occurred.

26. An accident warning device, characterized in that Located in the first vehicle, including: The transceiver unit is used to receive accident indication information broadcast by the server to the first broadcast area, wherein the accident indication information indicates at least one warning area; Wherein, the first broadcast area covers the at least one warning area, the at least one warning area includes a first warning area, the first warning area is an area that instructs vehicles to report vehicle status information, the vehicle status information includes vehicle speed, and the vehicle status information is used to determine the degree of road congestion caused by the first accident; The processing unit is configured to: control the transceiver unit to send vehicle status information of the first vehicle to the server based on the positional relationship between the at least one warning area and the first vehicle; and / or Based on the positional relationship between the at least one warning area and the first vehicle, perform at least one of the following: control the warning device of the first vehicle to display accident information, or control the first vehicle to avoid the first accident, wherein the accident information indicates the location of the first accident.

27. The apparatus of claim 26, wherein, The processing unit is used for: When the first vehicle is within the first warning area, the transceiver unit is controlled to send the vehicle status information to the server.

28. The apparatus of claim 26 or 27, wherein, The at least one warning area includes a second warning area, which is an area that instructs vehicles to avoid the first accident, and the first warning area includes the second warning area; The processing unit is used for: When the first vehicle is traveling toward the location where the first accident occurred, the first vehicle is not in the second warning area, and the distance between the first vehicle and the boundary of the second warning area is less than or equal to the first distance, the prompting device is controlled to prompt the accident information.

29. The apparatus of any one of claims 26-28, wherein, The at least one warning area also includes a third warning area, which is an area that instructs the vehicle to collect image information related to the first accident. The processing unit is also used for: When the first vehicle is in the third warning area, the camera device of the first vehicle is controlled to collect environmental information; The transceiver unit is also used to send the environmental information to the server.

30. The apparatus of claim 29, wherein, The field of view (FOV) of the camera device covers the area where the first accident occurred.

31. The apparatus of any one of claims 26-30, wherein, Before receiving the accident indication information broadcast by the server to the first broadcast area, the transceiver unit is further configured to: When the first vehicle's perception system detects the second accident, it sends road anomaly information to the server, the road anomaly information indicating the location of the second accident.

32. The apparatus of claim 31, wherein, The road anomaly information includes the type of the second accident and / or the elevation information of the location where the second accident occurred; The type of the second accident includes at least one of the following: a vehicle accident or a road accident.

33. The apparatus of any one of claims 26-32, wherein, The processing unit is also used for: Based on the location of the first vehicle, it is determined that the first vehicle is in the first broadcast area; Subscribe to topics in the first broadcast section; The transceiver unit is used for: Receive the incident indication information broadcast by the server based on the topic of the first broadcast area.

34. The apparatus of any one of claims 26-33, wherein, The accident indication information also indicates the geographical location where the first accident occurred, and / or the vehicle travel direction supported by the road where the first accident occurred.

35. An accident warning device, characterized in that include: A processor for executing a computer program stored in memory to cause the apparatus to perform the method as described in any one of claims 1 to 8.

36. An accident warning device, characterized in that include: A processor for executing a computer program stored in memory to cause the apparatus to perform the method as described in any one of claims 9 to 17.

37. A server, comprising: Includes the apparatus as described in any one of claims 18 to 25, or includes the apparatus as described in claim 31.

38. A vehicle characterized by Includes the apparatus as described in any one of claims 26 to 34, or includes the apparatus as described in claim 32.

39. An accident warning system, characterized by It includes the server as described in claim 37 and the vehicle as described in claim 38.

40. A computer-readable storage medium, comprising: It stores instructions that, when executed by a processor, implement the method as described in any one of claims 1 to 17.

41. A chip, comprising: The chip includes circuitry for performing the method as described in any one of claims 1 to 17.

42. A computer program product, characterised in that, The computer program product includes: computer program code, which, when executed by a processor, implements the method as described in any one of claims 1 to 17.

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