CN111508274A - Collision early warning method, device and equipment - Google Patents
Collision early warning method, device and equipment Download PDFInfo
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- CN111508274A CN111508274A CN202010187537.9A CN202010187537A CN111508274A CN 111508274 A CN111508274 A CN 111508274A CN 202010187537 A CN202010187537 A CN 202010187537A CN 111508274 A CN111508274 A CN 111508274A
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Abstract
The application discloses a collision early warning method, a collision early warning device and collision early warning equipment, wherein the collision early warning method comprises a vehicle filtering method executed before collision early warning is carried out on a vehicle, and the vehicle filtering method comprises the following steps: determining a remote vehicle within the communication distance range of the vehicle to form a remote vehicle set of the vehicle; determining the vehicles in the distant vehicle set, which are distant vehicles on the left side of the intersection and the right side of the intersection, as first distant vehicles to be filtered; if the time of the vehicle reaching the collision point is larger than the time threshold value of the vehicle reaching the intersection, filtering from the distant vehicle set; otherwise, filtering the first to-be-filtered far vehicle with the time reaching the collision point being greater than the threshold value of the collision time of the intersection; filtering the first far vehicle to be filtered, wherein the time difference between the first far vehicle and the time when the vehicle reaches the collision point is larger than a time difference threshold value; and performing collision early warning based on the filtered remote vehicles in the remote vehicle set. The number of vehicles participating in collision early warning calculation is reduced through vehicle filtering, and the calculated amount is reduced on the basis of not influencing the accuracy of collision early warning.
Description
Technical Field
The application relates to the field of data processing, in particular to a collision early warning method, device and equipment.
Background
In the field of intelligent automobiles, vehicles equipped with V2X (vehicle-to-observing) devices can mutually transmit information such as position, speed, direction and the like through dedicated short-range communication, and after receiving information of surrounding vehicles, the vehicles can judge whether the surrounding vehicles have collision danger with the vehicles by combining the information of the vehicles, so as to realize collision early warning. If there is collision danger, remind the driver in time through sound and image to reduce the incidence of traffic accident.
The effective communication distance of the V2X equipment is generally 300-1000 meters, and when the vehicles travel on a road section with large traffic flow and easy congestion, the number of the vehicles in the effective communication distance range may exceed 300. If the collision early warning processing method is executed for each vehicle, the calculation amount is huge, the requirement on the calculation capacity of the equipment is high, and the manufacturing cost of the equipment is high.
Therefore, how to reduce the calculation amount of the equipment for processing the collision early warning and avoid increasing the manufacturing cost of the equipment is a problem which is urgently needed to be solved at present.
Disclosure of Invention
In view of this, the present application provides a collision early warning method, apparatus and device, which reduce the number of far cars participating in collision early warning calculation by effectively filtering the far cars of the own car in advance, thereby reducing the calculation amount of collision early warning processing and avoiding increasing the manufacturing cost of the device.
In a first aspect, to achieve the above object, the present application provides a collision warning method, where the collision warning method includes a vehicle filtering method performed before collision warning is performed on a host vehicle, and the vehicle filtering method includes:
determining remote vehicles within the communication distance range of the host vehicle to form a remote vehicle set of the host vehicle;
determining the vehicle position relation between the distant vehicles in the distant vehicle set and the vehicle as distant vehicles on the left side and the right side of the intersection as first distant vehicles to be filtered;
if the time of the vehicle reaching a predetermined collision point is greater than a preset intersection reaching time threshold, filtering the first far vehicle to be filtered from the far vehicle set;
if the time of the vehicle reaching the collision point is not greater than the preset intersection reaching time threshold, filtering the first far vehicle to be filtered, the time of the vehicle reaching the collision point is greater than the preset intersection collision time threshold, from the far vehicle set;
filtering the first far vehicle to be filtered, which has a time difference with the time when the vehicle reaches the collision point larger than a preset time difference threshold value, from the far vehicle set;
and performing collision early warning on the vehicle based on the remote vehicles in the remote vehicle set filtered by the vehicle filtering method.
In an optional embodiment, before filtering from the far vehicle set, the first far vehicle to be filtered, whose time to reach the collision point is greater than the preset intersection collision time threshold, further includes:
and filtering the first far car to be filtered, which is not in the preset intersection collision distance range of the vehicle, from the far car set.
In an optional implementation manner, after determining the distant vehicles within the communication distance range of the host vehicle to form a distant vehicle set of the host vehicle, the method further includes:
determining a far vehicle which is in reverse front of the left adjacent lane and has a vehicle position relation with the vehicle in the far vehicle set as a second far vehicle to be filtered;
and filtering other remote vehicles except the remote vehicle closest to the host vehicle in the second remote vehicle to be filtered from the remote vehicle set.
In an optional implementation manner, after determining the distant vehicles within the communication distance range of the host vehicle to form a distant vehicle set of the host vehicle, the method further includes:
determining the vehicle position relation in the far vehicle set and the vehicle of the vehicle as a far vehicle in the reverse front of the left far lane as a third far vehicle to be filtered;
determining M far vehicles which are closest to the host vehicle in the third far vehicles to be filtered and N far vehicles which have the shortest time to the host vehicle; wherein M and N are preset integers;
and filtering other remote vehicles except the M remote vehicles and the N remote vehicles in the third remote vehicles to be filtered from the remote vehicle set.
In an optional implementation manner, after determining the distant vehicles within the communication distance range of the host vehicle to form a distant vehicle set of the host vehicle, the method further includes:
determining the vehicle position relation of the remote vehicle set and the vehicle as a remote vehicle in the same lane and in the same direction and in the front direction as a fourth remote vehicle to be filtered;
filtering other remote cars except the remote car meeting a preset first condition in the fourth remote car to be filtered from the remote car set; the preset first condition comprises that the vehicle is within a preset safe driving distance of the vehicle, the predicted collision time is not greater than a preset safe time threshold value or sudden braking action exists;
determining a far vehicle which is closest to the vehicle among far vehicles which are in reverse front of the left adjacent lane and have a vehicle position relation with the vehicle, and taking the far vehicle as a standard far vehicle;
and filtering the remote vehicles, the distance between which and the vehicle is not less than the distance between the standard remote vehicle and the vehicle, in the fourth remote vehicles to be filtered from the remote vehicle set.
In an optional implementation manner, after determining the distant vehicles within the communication distance range of the host vehicle to form a distant vehicle set of the host vehicle, the method further includes:
determining a remote vehicle which is in the same direction and right behind with the vehicle position relation of the vehicle in the remote vehicle set as a fifth remote vehicle to be filtered;
filtering other remote cars except the remote car meeting a preset second condition in the fifth remote car to be filtered from the remote car set; the preset second condition comprises that the distance is within a preset safe driving distance or the predicted collision time is not greater than a preset safe time threshold value.
In an optional embodiment, after determining the distant vehicles within the communication distance range of the host vehicle to constitute the distant vehicle set of the host vehicle and before determining the vehicle positional relationship between the distant vehicles and the host vehicle, the method further includes:
filtering the remote vehicles, the distance between which and the host vehicle is not less than the preset first distance threshold value, from the remote vehicle set; the preset first distance threshold value is the maximum value of a preset safe distance, a preset safe driving distance of the vehicle and a preset far vehicle safe driving distance;
filtering the remote vehicles with relative reaction time not less than preset safe reaction time from the remote vehicle set; and the relative reaction time is the ratio of the distance between the remote vehicle and the vehicle to the relative speed.
In a second aspect, the present application further provides a collision warning apparatus, which includes a vehicle filtering apparatus, the vehicle filtering apparatus includes a first determining module, a second determining module, a first filtering module, a second filtering module, and a third filtering module:
the first determination module is used for determining the remote vehicles within the communication distance range of the vehicle to form a remote vehicle set of the vehicle;
the second determining module is used for determining the vehicles in the distant vehicle set, which have the vehicle position relation with the vehicle, as distant vehicles on the left side and the right side of the intersection as first distant vehicles to be filtered;
the first filtering module is used for filtering the first far vehicle to be filtered from the far vehicle set when the time of the vehicle reaching a predetermined collision point is greater than a preset intersection reaching time threshold value;
the second filtering module is used for filtering the first far vehicle to be filtered, which reaches the collision point and is longer than the preset intersection collision time threshold value, from the far vehicle set when the time of the vehicle reaching the collision point is not longer than the preset intersection collision time threshold value;
the third filtering module is used for filtering the first far vehicle to be filtered, which has a time difference with the time when the vehicle reaches the collision point larger than a preset time difference threshold value, from the far vehicle set;
and the early warning module is used for carrying out collision early warning on the vehicle based on the remote vehicles in the remote vehicle set filtered by the vehicle filtering device.
In a third aspect, the present application provides a computer-readable storage medium having stored therein instructions that, when run on a terminal device, cause the terminal device to implement any of the methods described above.
In a fourth aspect, the present application provides an apparatus comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the method of any one of the above when executing the computer program.
In the collision warning method provided in the embodiment of the present application, a vehicle filtering method is performed before the collision warning method performs collision warning on the host vehicle, and specifically, a distant vehicle within a communication distance range of the host vehicle is determined to form a distant vehicle set of the host vehicle. Then, of the distant vehicles on the left side of the intersection and the right side of the intersection, the distant vehicles that do not have a collision risk with the own vehicle are filtered from the distant vehicle set. And finally, performing collision early warning on the vehicle based on the filtered remote vehicle set. Therefore, the method and the device filter the vehicles which have no obvious collision risk with the vehicle in advance before the calculation of the collision early warning, so that the number of the vehicles participating in the calculation of the collision early warning is greatly reduced, the calculation amount of the equipment is reduced, and the equipment with high manufacturing cost and strong calculation capacity is not needed.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a flowchart of a collision warning method according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a vehicle distribution at an intersection according to an embodiment of the present application;
fig. 3 is a schematic diagram illustrating a positional relationship between a host vehicle and a remote vehicle according to an embodiment of the present disclosure;
fig. 4 is a flowchart of another collision warning method provided in the embodiment of the present application;
FIG. 5 is a schematic view of another embodiment of the present disclosure showing a relationship between a host vehicle and a remote vehicle;
FIG. 6 is a schematic diagram illustrating a positional relationship between a host vehicle and a remote vehicle according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a collision warning apparatus according to an embodiment of the present disclosure;
fig. 8 is a structural diagram of a collision warning apparatus according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The vehicle collision warning processing is based on the vehicle information within the effective communication distance range of the V2X device, and the number of vehicles generally meeting the above conditions is large, and if the collision warning calculation is implemented for each vehicle, the calculation amount for the device for processing the collision warning calculation is very large, so that a device with high calculation capability and high manufacturing cost is required, which undoubtedly increases the cost.
Based on the above problems, the applicant finds that vehicle filtering is performed first before performing collision early warning on a vehicle, so that the performance consumption of the collision early warning on a system can be obviously reduced.
Specifically, in the collision warning method provided by the present application, a distant vehicle within a communication distance range of the host vehicle is determined to form a distant vehicle set of the host vehicle. Then, of the distant vehicles on the left side of the intersection and the right side of the intersection, the distant vehicles that do not have a collision risk with the own vehicle are filtered from the distant vehicle set. And finally, performing collision early warning on the vehicle based on the filtered remote vehicle set. Obviously, the number of vehicles participating in collision early warning calculation can be obviously reduced, and the calculation amount of equipment is reduced.
The application provides a collision early warning method, wherein the collision early warning method comprises a vehicle filtering method executed before collision early warning is carried out on a host vehicle. Referring to fig. 1, a flow chart of a collision warning method provided in an embodiment of the present application is shown, where the method includes:
s101: and determining the distant vehicles within the communication distance range of the host vehicle to form a distant vehicle set of the host vehicle.
In the embodiment of the present application, the host vehicle is equipped with a V2X (vehicle-to-vehicle) device for mutually transmitting information such as position, speed, direction, and the like with other vehicles within a communication distance range by dedicated short-range communication.
In practical application, the vehicle can acquire driving information of a remote vehicle within a communication distance range, and the communication distance range of the vehicle is 300-1000 meters generally. The vehicle can use the remote vehicles which acquire the driving information to form a remote vehicle set of the vehicle, and the remote vehicle set is used for performing collision early warning on the vehicle. In an optional implementation manner, a unique identifier of a remote vehicle, from which the vehicle acquires the driving information, is stored in the remote vehicle set.
It should be noted that, because the number of the distant vehicles in the distant vehicle set is large, for this reason, before performing collision warning on the host vehicle, it is necessary to filter the vehicles in the distant vehicle set that have no obvious risk of collision with the host vehicle, so as to reduce the number of the distant vehicles participating in the collision warning process of the host vehicle, and a filtering scheme for the distant vehicles in the distant vehicle set is specifically described below.
S102: and determining the vehicle position relation between the far vehicle set and the vehicle as the far vehicles on the left side and the right side of the intersection as the first far vehicle to be filtered.
Since the collision warning processing for the host vehicle is related to the vehicle positional relationship, for example, the forward collision warning is processed based on a distant vehicle that is directly ahead in the same lane as the host vehicle, and is not related to other distant vehicles, that is, other distant vehicles do not collide with the host vehicle in the forward direction, before the collision warning processing for the host vehicle, the vehicle positional relationship between each distant vehicle in the distant vehicle set and the host vehicle is first determined, and then vehicle filtering is performed based on the determined vehicle positional relationship.
Specifically, the determining manner of the vehicle position relationship in the embodiment of the present application is not limited, and the vehicle position relationship between the remote vehicle and the host vehicle may include: the number of the lanes is 17 in total, namely the left side of the intersection, the right side of the intersection, the same-direction front of the same lane, the same-direction front of the left adjacent lane, the same-direction front of the left far lane, the same-direction front of the right far lane, the same-direction front of the same lane, the same-direction front of the left adjacent lane, the same-direction rear of the right adjacent lane, the same-direction rear of the left far lane, the same-direction front of the right far lane, the reverse front of the left adjacent.
In practical application, the crossroad collision early warning belongs to an existing vehicle collision early warning mode, and in order to reduce the number of the distant vehicles participating in crossroad collision early warning processing, the distant vehicles related to crossroad collision early warning need to be filtered in the embodiment of the application, so that the calculated amount of crossroad collision early warning processing is reduced.
According to the method and the device, the vehicles related to the early warning of the collision at the intersection are usually far vehicles which have the vehicle position relationship with the vehicle at the left side and the right side of the intersection, so that the vehicles related to the early warning of the collision at the intersection can be determined as the first far vehicle to be filtered according to the embodiment of the application, so that the first far vehicle to be filtered can be filtered, and the calculation amount of the early warning processing of the collision at the intersection can be reduced. The specific filtration mode is described later.
S103: and if the time of the vehicle reaching the predetermined collision point is greater than a preset intersection reaching time threshold, filtering the first far vehicle to be filtered from the far vehicle set.
Whether the vehicle is in the intersection collision or not is related to the time for the vehicle to reach the collision point, so that the situation that the time for the vehicle to reach the collision point is too long and is far longer than the usual reaction time can be understood, in this case, the early warning of the intersection collision is not required at present, and the determined first remote vehicles to be filtered can be filtered from the remote vehicle set of the vehicle. That is, the distant vehicles having the vehicle position relationship with the host vehicle of both the left side and the right side of the intersection are filtered from the distant vehicle set, and in fact, the distant vehicles having the vehicle position relationship with the host vehicle of both the left side and the right side of the intersection are not related to the collision warning of other types of vehicles, so that the filtering of the distant vehicles having the vehicle position relationship with the host vehicle of both the left side and the right side of the intersection from the distant vehicle set does not affect the warning results of the collision warning of other types of vehicles (such as the forward collision warning).
In the embodiment of the present application, before determining the time at which the host vehicle reaches the collision point, first, the distance from the host vehicle to the collision point is calculated, and then, based on the distance and the speed of the host vehicle, the time at which the host vehicle reaches the collision point is calculated. As shown in fig. 2, a schematic diagram of a vehicle distribution at an intersection provided in the embodiment of the present application is shown, where HV is used to represent a vehicle, vehicles with vehicle position relationship to HV are RV1, RV2 and RV3 respectively at the left side of the intersection, and vehicles with vehicle position relationship to HV are RV4 and RV5 respectively at the right side of the intersection. In an alternative embodiment, the location of the collision point may be determined first, for example, the collision point of HV and RV3 may be point M shown in fig. 3, and the specific manner for determining collision point M is not limited in this application.
In addition, since HM/sinA in fig. 3 is AH/sinM, HM/sinA is obtained by conversion, and the distance HM between the host vehicle HV and the collision point M can be determined by the above equation. In fig. 3, the magnitudes sinA and sinM are obtained, HM is used to indicate the distance from the collision point M to the point H of the position of the host vehicle HV, and AH is used to indicate the distance from the point a of the position of RV3 to the point H of the position of the HV.
In an alternative embodiment, the time when the host vehicle reaches the collision point may be calculated based on a basic formula that calculates the speed using the acceleration and the time, as follows:
TTC_H＝sqrt(2*HM/HV_ACCELERATE+hv_speed*hv_speed/HV_ACCELERATE*HV_ACCELERATE)–hv_speed/HV_ACCELERATE；
where TTC _ H is used to indicate the time at which the host vehicle reaches the collision point, HM is used to indicate the distance between the host vehicle and the collision point, HV _ ACCE L ERATE is used to indicate the acceleration of the host vehicle, and HV _ speed is used to indicate the speed of the host vehicle.
In one embodiment, if 2 × HM/HV _ ACCE L erat + HV _ speed × HV _ speed/HV _ ACCE L erat HV _ ACCE L erat in the above formula is less than 0, it indicates that the vehicle is not currently approaching the collision point, and TTC _ H may directly take the value of the preset intersection time threshold.
It should be noted that the embodiment of the present application is not limited to other calculation manners for determining the time when the host vehicle reaches the collision point.
In practical application, after the time TTC _ H of the vehicle reaching the collision point of the intersection is obtained through calculation, whether the time TTC _ H is greater than a preset intersection reaching time threshold value or not is judged, and if the time TTC _ H is greater than the preset intersection reaching time threshold value, it is indicated that the time of the vehicle reaching the collision point of the intersection is long enough and far greater than the normal reaction time. The preset time threshold value of reaching the intersection is a preset value, and is usually a value far larger than the driving reaction time. Obviously, the first far vehicle to be filtered is filtered from the far vehicle set of the host vehicle, so that the number of the far vehicles participating in the collision early warning processing of the host vehicle can be reduced, and the calculation amount of equipment is reduced.
S104: and if the time of the vehicle reaching the collision point is not more than the preset intersection reaching time threshold, filtering the first far vehicle to be filtered, which reaches the collision point and is more than the preset intersection collision time threshold, from the far vehicle set.
In practical application, if it is determined that the time for the host vehicle to reach the collision point is not greater than the preset time threshold for reaching the intersection, it indicates that the host vehicle needs to be subjected to intersection collision early warning processing. And the first to-be-filtered far vehicles have far vehicles with long enough time to reach the collision point, and the far vehicles do not usually collide with the vehicle at the intersection, so that the embodiment of the application can also filter the first to-be-filtered far vehicles with long enough time to reach the collision point, so as to reduce the calculated amount of collision early warning processing on the premise of not influencing the collision early warning accuracy.
For this reason, the embodiment of the present application further needs to calculate the time when each first far-from-vehicle to be filtered respectively reaches the collision point, so as to determine the first far-from-vehicle to be filtered, whose time to reach the collision point is greater than the preset intersection collision time threshold. Specifically, the calculation of the time when the first distant vehicle to be filtered reaches the collision point may be implemented by referring to the above-described manner of calculating the time when the host vehicle reaches the collision point.
In an alternative embodiment, the time for the first remote vehicle to be filtered to reach the collision point may also be calculated based on a basic formula for calculating the speed by using the acceleration and the time, as follows:
TTC_R＝sqrt(2*AM/RV_ACCELERATE+rv_speed*rv_speed/RV_ACCELERATE*RV_ACCELERATE)–rv_speed/RV_ACCELERATE；
wherein TTC _ R is used to indicate the time when the first filtered far vehicle reaches the collision point, AM is used to indicate the distance between the first filtered far vehicle and the collision point, RV _ ACCE L ERATE is used to indicate the acceleration of the first filtered far vehicle, and RV _ speed is used to indicate the speed of the first filtered far vehicle;
in one embodiment, if 2 AM/RV _ ACCE L ERAte + RV _ speed RV _ speed/RV _ ACCE L ERAte RV _ ACCE L ERAte <0 in the above formula, it indicates that the remote vehicle is not currently approaching the collision point, and the TTC _ R may be directly set as the preset intersection time threshold.
It should be noted that the embodiment of the present application is not limited to other calculation manners for determining that the first far car to be filtered reaches the collision point.
In practical application, as a far vehicle with a long enough time to reach the collision point of the intersection usually does not collide with the vehicle at the intersection, the first far vehicle to be filtered, which has the time to reach the collision point greater than the preset intersection collision time threshold, can be filtered from the far vehicle set, so as to reduce the calculation amount involved in the intersection collision early warning processing.
S105: and filtering the first far vehicle to be filtered, which has a time difference with the time when the vehicle reaches the collision point larger than a preset time difference threshold value, from the far vehicle set.
In the embodiment of the application, the first to-be-filtered far vehicles with the time reaching the collision point being greater than the preset intersection collision time threshold can be filtered from the far vehicle set, and the first to-be-filtered far vehicles with the time difference between the time reaching the collision point and the time reaching the collision point of the vehicle being greater than the preset time difference threshold can also be filtered from the far vehicle set, so that the number of the far vehicles participating in collision early warning processing is further reduced. The preset time difference threshold value is a preset value, and is generally a value that can ensure that the vehicle and the distant vehicle do not collide with each other.
In practical application, if the difference between the time when the first to-be-filtered distant vehicle reaches the collision point and the time when the host vehicle reaches the collision point is greater than the preset time difference threshold, it is indicated that there is no risk of collision between the first to-be-filtered distant vehicle and the host vehicle, and therefore the first to-be-filtered distant vehicle meeting the above conditions does not need to participate in the intersection collision early warning processing of the host vehicle and can be filtered from the distant vehicle set.
S106: and performing collision early warning on the vehicle based on the remote vehicles in the remote vehicle set filtered by the vehicle filtering method.
In the embodiment of the application, the filtered remote vehicle set can be used for performing collision early warning processing on the vehicle, and the collision early warning mode is not limited in the embodiment of the application.
In addition, the number of the far vehicles in the filtered far vehicle set is reduced, so that the number of the far vehicles participating in collision early warning calculation of the vehicle is reduced, and the calculation amount of collision early warning is reduced.
According to the collision early warning method provided by the embodiment of the application, the distant vehicles within the communication distance range of the vehicle form a distant vehicle set, and a part of the distant vehicles are filtered from the distant vehicle set through analysis of the distant vehicles which are unlikely to collide with the vehicle in the collision early warning of the crossroad, so that the number of the vehicles participating in collision early warning calculation is reduced, and the calculation amount of collision early warning processing is reduced on the basis of not reducing the accuracy of the collision early warning.
In order to further reduce the calculated amount of collision early warning processing on the basis of not affecting the accuracy of collision early warning, an embodiment of the present application further provides a collision early warning method, and with reference to fig. 4, a flowchart of another collision early warning method provided in the embodiment of the present application is provided, specifically, the method includes:
s401: and determining the distant vehicles within the communication distance range of the host vehicle to form a distant vehicle set of the host vehicle.
S401 in the embodiment of the present application may refer to the description of S101 in the above embodiment for understanding, and is not described herein again.
S402: filtering the remote vehicles, the distance between which and the host vehicle is not less than the preset first distance threshold value, from the remote vehicle set; the preset first distance threshold value is the maximum value of a preset safe distance, a preset safe driving distance of the vehicle and a preset far vehicle safe driving distance.
In practical applications, not every distant vehicle in the distant vehicle set may collide with the host vehicle, for example, from the perspective of the distance from the host vehicle, a distant vehicle outside the preset safe driving distance of the host vehicle will not generally collide with the host vehicle, a distant vehicle outside the preset safe driving distance will not generally collide with the host vehicle, and in addition, if the distance between the host vehicle and the distant vehicle is greater than the preset safe driving distance, the distant vehicle will not generally collide with the host vehicle.
For this reason, it can be understood that a distant vehicle in the distant vehicle set, which is located at a distance from the host vehicle that is less than any one of the preset safe distance, the safe driving distance of the host vehicle, and the preset safe driving distance of the distant vehicle, needs to remain in the distant vehicle set for performing collision warning processing on the host vehicle. In another aspect, it is understood that, for a distant vehicle in the distant vehicle set, where the distance between the distant vehicle set and the vehicle is not less than the maximum of the preset safe distance, the safe driving distance of the vehicle, and the preset safe driving distance of the distant vehicle, the distant vehicle is generally unlikely to collide with the vehicle, and therefore, the distance may be filtered from the distant vehicle set, so as to reduce the amount of calculation for performing collision warning processing on the vehicle, and improve the efficiency of the collision warning processing.
In an alternative embodiment, the following formula may be used to calculate the safe driving distance of the host vehicle, and the following formula is used:
S1＝hv_speed*FILTER_REACTION_TIME+(hv_speed)*(hv_speed)/(2*FILTER_DECELERATION)+L；
s1 represents the safe driving distance of the vehicle, hv _ speed represents the vehicle speed, FI L TER _ region _ TIME represents the preset REACTION TIME, FI L TER _ dec L alert represents the preset deceleration, both are configuration items, L represents the safe distance between the two vehicles during parking, and the safe driving distance is usually 2m by default.
In an alternative embodiment, the following formula can also be used to calculate the safe driving distance of the remote vehicle, and the following formula is used as follows:
S2＝rv_speed*FILTER_REACTION_TIME+(rv_speed)*(rv_speed)/(2*FILTER_DECELERATION)+L；
wherein S2 represents the safe driving distance of the remote vehicle, rv _ speed represents the speed of the vehicle, FI L TER _ REACTION _ TIME is the preset REACTION TIME, FI L TER _ DECE L ERATION is the preset deceleration, both are configuration items, L is the safe distance of the two vehicles during parking, and the default is 2 m.
The present application is not limited to other ways of obtaining the safe driving distance between the vehicle and the distant vehicle.
S403: filtering the remote vehicles with relative reaction time not less than preset safe reaction time from the remote vehicle set; and the relative reaction time is the ratio of the distance between the remote vehicle and the vehicle to the relative speed.
In practical applications, if the relative response time is long enough, there is usually no collision risk between the distant vehicle and the host vehicle, and therefore, the embodiments of the present application may filter the distant vehicle whose relative response time is not less than the preset safe response time from the distant vehicle set.
In an alternative embodiment, the relative response time is a ratio of a distance between the host vehicle and the remote vehicle to a relative speed. Wherein, before determining the relative reaction time, the distance and the relative speed between the host vehicle and the distant vehicle are firstly acquired. Specifically, the distance between the host vehicle and the distant vehicle is acquired in many ways, and is not limited herein. The calculation manner of the relative speed between the host vehicle and the distant vehicle can be understood by referring to fig. 5, where fig. 5 is a schematic diagram of the positional relationship between the host vehicle HV and the distant vehicle RV provided in the embodiment of the present application. The relative speed between the host vehicle and the distant vehicle may be determined using the following equation:
relative_speed＝hv_speed*cos(∠1)+rv_speed*cos(∠2)；
relative _ speed is used for representing the relative speed between the vehicle and the far vehicle, hv _ speed is used for representing the speed of the vehicle, and rv _ speed is used for representing the speed of the far vehicle.
It should be noted that if relative _ speed <0, it indicates that the distant vehicle is far away from the host vehicle, and there is no risk of collision between the host vehicle and the distant vehicle; if relative _ speed >0, it indicates that the host vehicle and the distant vehicle are approaching, and at this time, if the relative reaction time is less than the preset safe reaction time, there is a collision risk, and the distant vehicle meeting this condition needs to be reserved for collision warning processing of the host vehicle.
In the embodiment of the application, after the relative speed relative _ speed between the host vehicle and the remote vehicle and the distance between the host vehicle and the remote vehicle are acquired, the value of distance/relative _ speed is determined as the relative reaction time. If the relative reaction time of any far vehicle is not less than the preset safe reaction time, the far vehicle can be filtered from the far vehicle set, and the calculation amount of subsequent collision early warning processing is reduced.
In addition, before the vehicle filtering steps of S402 and S403 are executed, the vehicle is retained in advance as a far vehicle of a sudden braking, runaway, double-flash start or emergency vehicle, and the filtering process is not required.
It is to be noted that the filtering of the distant vehicles in S402 and S403 described above may be performed before the determination of the vehicle positional relationship between the distant vehicle and the host vehicle, and not only the number of distant vehicles participating in the collision warning process for the host vehicle but also the number of distant vehicles that need to be determined for the vehicle positional relationship may be reduced, and not only the amount of calculation for the collision warning process for the host vehicle but also the amount of calculation for determining the vehicle positional relationship may be reduced.
S404: and determining the vehicle position relation between the far vehicle set and the vehicle as the far vehicles on the left side and the right side of the intersection as the first far vehicle to be filtered.
S404 in this embodiment of the application can be understood by referring to the description of S102 in the above embodiment, which is not described herein again.
S405: and filtering the first far car to be filtered, which is not in the preset intersection collision distance range of the vehicle, from the far car set.
In the embodiment of the present application, before performing the subsequent filtering of S406-S408 on the first remote vehicle to be filtered, the first remote vehicle to be filtered may be first filtered from the distance to the host vehicle, specifically, the first remote vehicle to be filtered is filtered by using the preset intersection collision distance range of the host vehicle, so as to reduce the number of remote vehicles that need to perform the subsequent filtering of S406-S408.
Specifically, for the collision danger of the stationary vehicle starting, in the embodiment of the present application, the first to-be-filtered distant vehicle with a speed greater than 0 is filtered from the distant vehicle set, which is not in the preset intersection collision distance range of the vehicle.
S406: and if the time of the vehicle reaching the predetermined collision point is greater than a preset intersection reaching time threshold, filtering the first far vehicle to be filtered from the far vehicle set.
S407: and if the time of the vehicle reaching the collision point is not more than the preset intersection reaching time threshold, filtering the first far vehicle to be filtered, which reaches the collision point and is more than the preset intersection collision time threshold, from the far vehicle set.
S408: and filtering the first far vehicle to be filtered, which has a time difference with the time when the vehicle reaches the collision point larger than a preset time difference threshold value, from the far vehicle set.
S406 to S408 in the embodiment of the present application can be understood by referring to the descriptions of S103 to S105 in the above embodiments, which are not described herein again.
S409: and determining the vehicle position relation between the remote vehicle set and the vehicle as a remote vehicle in the reverse front of the left adjacent lane as a second remote vehicle to be filtered.
In practical application, for the left-turn auxiliary collision early warning, a far vehicle having a vehicle position relationship with the vehicle in reverse front of the left adjacent lane may collide with the vehicle, so that the far vehicle having the vehicle position relationship with the vehicle in reverse front of the left adjacent lane in the far vehicle set is determined as a second far vehicle to be filtered, so as to filter the far vehicle in reverse front of the left adjacent lane.
As shown in fig. 2, the vehicle positional relationship of the distant vehicle RV-7 with the host vehicle HV is the reverse front of the left-adjacent lane, so the distant vehicle RV-7 can be determined as the second to-be-filtered distant vehicle of the host vehicle HV.
S410: and filtering other remote vehicles except the remote vehicle closest to the host vehicle in the second remote vehicle to be filtered from the remote vehicle set.
In practical applications, for the left-turn auxiliary collision warning, among the distant vehicles which are located in the opposite front direction from the left adjacent lane and have the vehicle position relationship with the host vehicle, the distant vehicle which is closest to the host vehicle has a risk of colliding with the host vehicle, and the other second distant vehicles to be filtered do not usually collide with the host vehicle. Therefore, in the embodiment of the application, the other distant vehicles except for the distant vehicle RV7 closest to the host vehicle in the second distant vehicle to be filtered are filtered from the distant vehicle set, so as to reduce the number of distant vehicles participating in the collision warning processing on the host vehicle and reduce the calculation amount.
S411: and carrying out collision early warning on the vehicle based on the filtered remote vehicles in the remote vehicle set.
S411 in the embodiment of the present application can be understood by referring to the description of S106 in the above embodiment, and is not described herein again.
It should be noted that the execution order of S404-S408 and S409-S410 is not limited in the embodiments of the present application.
In addition, in practical applications, for the left-turn auxiliary collision warning, a far vehicle having a vehicle position relationship with the host vehicle that is opposite to the left far lane may also collide with the host vehicle, so that the embodiment of the present application determines a far vehicle having a vehicle position relationship with the host vehicle that is opposite to the left far lane in the set of far vehicles as a far vehicle that is opposite to the left far lane and is to be a third far vehicle to be filtered, so as to filter the far vehicle that is opposite to the left far lane.
As shown in fig. 2, the vehicle positional relationship of the host vehicle HV and the distant vehicles RV-6 and RV-8 is the reverse front of the left distant lane, and therefore the distant vehicles RV-6 and RV-8 can be determined as the third distant vehicle to be filtered of the host vehicle HV.
In practical application, during a left turn, M distant vehicles closest to the host vehicle among distant vehicles located in a forward direction opposite to the left distant lane in relation to the vehicle location of the host vehicle may collide with the host vehicle, so that in the embodiment of the present application, M distant vehicles closest to the host vehicle among the third distant vehicles to be filtered, such as RV-6 and RV-8 in fig. 2, need to be determined. In addition, since some distant vehicles may be far away but have a high speed, among the distant vehicles located forward in the opposite direction from the left distant lane with respect to the vehicle position of the host vehicle, N distant vehicles having the shortest time to the host vehicle may collide with the host vehicle, and the N distant vehicles may overlap with the M distant vehicles. Therefore, the embodiment of the application also needs to determine the N distant vehicles with the shortest time to the host vehicle in the third distant vehicles to be filtered. Wherein M and N are preset integers. It should be noted that, in the embodiment of the present application, the manner of determining the M far cars and the N far cars is not limited.
In the embodiment of the present application, in order to reduce the calculation amount of the collision warning processing without reducing the accuracy of the collision warning processing on the host vehicle, the other far vehicles except the determined M far vehicles and N far vehicles in the third far vehicle to be filtered may be filtered from the far vehicle set.
In addition, in practical applications, for the forward collision warning and the emergency braking warning, there is a risk of collision with the vehicle when the vehicle position relationship with the vehicle is a far vehicle in the same direction and directly ahead of the vehicle in the same lane.
In the forward collision warning, not only the fourth far vehicle to be filtered closest to the host vehicle has a collision risk, but also the sight line of the host vehicle HV is shielded by the closest far vehicle RV-2 as shown in fig. 6, and the far vehicle RV-2 changes lanes to avoid collision with the previous far vehicle RV-1, and at this time, the host vehicle HV should know in advance that there is a collision risk with the far vehicle RV-1, so in the embodiment of the present application, the far vehicle RV-1 needs to be reserved for collision warning processing of the host vehicle to avoid collision.
Therefore, the fourth to-be-filtered distant vehicle within the preset safe driving distance of the vehicle can be reserved, and in addition, in order to avoid missing the fourth to-be-filtered distant vehicle which may have a collision risk with the vehicle, the fourth to-be-filtered distant vehicle of which the predicted collision time is not greater than the preset safe time threshold value can be reserved. The fourth to-be-filtered far vehicle with sudden braking behavior may also have a collision risk with the host vehicle, so that the fourth to-be-filtered far vehicle with sudden braking behavior also needs to be reserved.
In an optional embodiment, the other far cars except the far car meeting the preset first condition in the fourth far car to be filtered are filtered from the far car set; the preset first condition comprises that the vehicle is within a preset safe driving distance, the predicted collision time is not more than a preset safe time threshold value or sudden braking behavior exists.
In addition, for the reverse overtaking early warning, the position relationship between the fourth far vehicle to be filtered and the vehicle of the vehicle is determined to be a far vehicle in the same lane and in the same direction and in the front, and the collision risk exists between the fourth far vehicle to be filtered and the vehicle. It can be understood that, during reverse overtaking, it is possible to overtake the preceding vehicle or vehicles at the same time, but the remote vehicle closest to the host vehicle in the fourth remote vehicle to be filtered may actually affect the overtaking behavior of the host vehicle, and therefore, needs to be retained.
In an alternative embodiment, a far vehicle closest to the host vehicle among far vehicles having a vehicle position relationship with the host vehicle in the reverse front of the left-adjacent lane may be determined as the standard far vehicle. And then, filtering the distant vehicles, the distance between which and the vehicle is not less than the distance between the standard distant vehicle and the vehicle, in the fourth distant vehicle to be filtered from the distant vehicle set so as to reduce the calculation amount of collision early warning on the premise of not influencing the accuracy of subsequent collision early warning.
In addition, when a vehicle changes lanes, the vehicle generally collides with a blind area or a nearest vehicle that is about to enter the blind area, and therefore, in the embodiment of the present application, a distant vehicle that is likely to collide with the vehicle is filtered from distant vehicles that are directly behind and in the same direction as the vehicle.
Specifically, a distant vehicle, which has a vehicle position relationship with the host vehicle in the same direction and directly behind, in the distant vehicle set is determined as a fifth distant vehicle to be filtered. Then, a fifth to-be-filtered distant vehicle within the preset distant vehicle safe driving distance or with the predicted collision time not greater than the preset safe time threshold has a risk of collision with the vehicle, so in the embodiment of the present application, the preset second condition is set to be within the preset distant vehicle safe driving distance or with the predicted collision time not greater than the preset safe time threshold, the fifth to-be-filtered distant vehicle satisfying the preset second condition is retained, and the fifth to-be-filtered distant vehicles except the distant vehicle satisfying the preset second condition are filtered from the distant vehicle set, so as to reduce the number of the distant vehicles participating in subsequent collision early warning processing on the vehicle in the distant vehicle set, and reduce the calculation amount.
In the collision early warning method provided by the embodiment of the application, the remote vehicles with collision risks with the vehicle are determined by analyzing collision early warning conditions of various types of vehicles, only the remote vehicles are reserved, and other remote vehicles are filtered from the remote vehicle set, so that the number of vehicles participating in collision early warning calculation is reduced, and the calculated amount of collision early warning processing is further reduced on the basis of not reducing the collision early warning accuracy.
Based on the above method implementation, the present application provides a collision early warning device, and refer to fig. 7, which is a schematic structural diagram of a collision early warning device provided in an embodiment of the present application. The collision warning device comprises a vehicle filtering device 710, wherein the vehicle filtering device 710 comprises a first determining module 701, a second determining module 702, a first filtering module 703, a second filtering module 704 and a third filtering module 705:
a first determining module 701, configured to determine a distant vehicle within a communication distance range of a host vehicle to form a distant vehicle set of the host vehicle;
a second determining module 702, configured to determine a distant vehicle, in the distant vehicle set, having a vehicle position relationship with the host vehicle as a left distant vehicle of the intersection and a right distant vehicle of the intersection, as a first distant vehicle to be filtered;
the first filtering module 703 is configured to filter the first far car to be filtered from the far car set when the time that the host car reaches the predetermined collision point is greater than a preset intersection reaching time threshold;
a second filtering module 704, configured to filter, from the far vehicle set, the first far vehicle to be filtered, which has a time to reach the collision point greater than the preset intersection collision time threshold, when the time to reach the collision point of the host vehicle is not greater than the preset intersection collision time threshold;
a third filtering module 705, configured to filter the first far vehicle to be filtered, where a difference between the time of the host vehicle and the time of the host vehicle reaching the collision point is greater than a preset time difference threshold, from the far vehicle set;
the early warning module 706 is configured to perform collision early warning on the host vehicle based on the remote vehicles in the remote vehicle set filtered by the vehicle filtering device 710.
In the collision early warning device provided by the embodiment of the application, the distant vehicles within the communication distance range of the vehicle form a distant vehicle set, the distant vehicles which are unlikely to collide with the vehicle in the vehicle collision early warning are determined through analysis, and then the distant vehicles are filtered from the distant vehicle set, so that the number of the vehicles participating in collision early warning calculation is reduced, and the calculation amount of collision early warning processing is reduced on the basis of not reducing the accuracy of collision early warning.
In addition, an embodiment of the present application further provides a collision warning apparatus, as shown in fig. 8, which may include:
a processor 801, a memory 802, an input device 803, and an output device 804. The number of the processors 801 in the collision warning apparatus may be one or more, and one processor is taken as an example in fig. 8. In some embodiments of the invention, the processor 801, the memory 802, the input device 803 and the output device 804 may be connected by a bus or other means, wherein the connection by the bus is exemplified in fig. 8.
The memory 802 may be used to store software programs and modules, and the processor 801 executes various functional applications and data processing of the collision warning apparatus by operating the software programs and modules stored in the memory 802. The memory 802 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, and the like. Further, the memory 802 may include high speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. The input device 803 may be used to receive input numeric or character information and generate signal inputs related to user settings and functional control of the collision warning apparatus.
Specifically, in this embodiment, the processor 801 loads an executable file corresponding to a process of one or more application programs into the memory 802 according to the following instructions, and the processor 801 runs the application programs stored in the memory 802, thereby implementing various functions of the collision warning apparatus.
In addition, the application also provides a computer-readable storage medium, wherein instructions are stored in the computer-readable storage medium, and when the instructions are run on the terminal device, the terminal device is enabled to realize a collision early warning function.
It is understood that for the apparatus embodiments, since they correspond substantially to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The collision early warning method, the collision early warning device and the collision early warning equipment provided by the embodiment of the application are introduced in detail, a specific example is applied in the text to explain the principle and the implementation mode of the application, and the description of the embodiment is only used for helping to understand the method and the core idea of the application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (10)
1. A collision warning method is characterized by comprising a vehicle filtering method executed before collision warning is carried out on a host vehicle, wherein the vehicle filtering method comprises the following steps:
determining remote vehicles within the communication distance range of the host vehicle to form a remote vehicle set of the host vehicle;
determining the vehicle position relation between the distant vehicles in the distant vehicle set and the vehicle as distant vehicles on the left side and the right side of the intersection as first distant vehicles to be filtered;
if the time of the vehicle reaching a predetermined collision point is greater than a preset intersection reaching time threshold, filtering the first far vehicle to be filtered from the far vehicle set;
if the time of the vehicle reaching the collision point is not greater than the preset intersection reaching time threshold, filtering the first far vehicle to be filtered, the time of the vehicle reaching the collision point is greater than the preset intersection collision time threshold, from the far vehicle set;
filtering the first far vehicle to be filtered, which has a time difference with the time when the vehicle reaches the collision point larger than a preset time difference threshold value, from the far vehicle set;
and performing collision early warning on the vehicle based on the remote vehicles in the remote vehicle set filtered by the vehicle filtering method.
2. The method of claim 1, wherein said first far car to be filtered having a time to reach said collision point greater than said preset intersection collision time threshold is further comprised, prior to filtering from said set of far cars:
and filtering the first far car to be filtered, which is not in the preset intersection collision distance range of the vehicle, from the far car set.
3. The method of claim 1, wherein after determining the distant vehicles within the communication distance range of the host vehicle to form the distant vehicle set of the host vehicle, further comprising:
determining a far vehicle which is in reverse front of the left adjacent lane and has a vehicle position relation with the vehicle in the far vehicle set as a second far vehicle to be filtered;
and filtering other remote vehicles except the remote vehicle closest to the host vehicle in the second remote vehicle to be filtered from the remote vehicle set.
4. The method of claim 1, wherein after determining the distant vehicles within the communication distance range of the host vehicle to form the distant vehicle set of the host vehicle, further comprising:
determining the vehicle position relation in the far vehicle set and the vehicle of the vehicle as a far vehicle in the reverse front of the left far lane as a third far vehicle to be filtered;
determining M far vehicles which are closest to the host vehicle in the third far vehicles to be filtered and N far vehicles which have the shortest time to the host vehicle; wherein M and N are preset integers;
and filtering other remote vehicles except the M remote vehicles and the N remote vehicles in the third remote vehicles to be filtered from the remote vehicle set.
5. The method of claim 1, wherein after determining the distant vehicles within the communication distance range of the host vehicle to form the distant vehicle set of the host vehicle, further comprising:
determining the vehicle position relation of the remote vehicle set and the vehicle as a remote vehicle in the same lane and in the same direction and in the front direction as a fourth remote vehicle to be filtered;
filtering other remote cars except the remote car meeting a preset first condition in the fourth remote car to be filtered from the remote car set; the preset first condition comprises that the vehicle is within a preset safe driving distance of the vehicle, the predicted collision time is not greater than a preset safe time threshold value or sudden braking action exists;
determining a far vehicle which is closest to the vehicle among far vehicles which are in reverse front of the left adjacent lane and have a vehicle position relation with the vehicle, and taking the far vehicle as a standard far vehicle;
and filtering the remote vehicles, the distance between which and the vehicle is not less than the distance between the standard remote vehicle and the vehicle, in the fourth remote vehicles to be filtered from the remote vehicle set.
6. The method of claim 1, wherein after determining the distant vehicles within the communication distance range of the host vehicle to form the distant vehicle set of the host vehicle, further comprising:
determining a remote vehicle which is in the same direction and right behind with the vehicle position relation of the vehicle in the remote vehicle set as a fifth remote vehicle to be filtered;
filtering other remote cars except the remote car meeting a preset second condition in the fifth remote car to be filtered from the remote car set; the preset second condition comprises that the distance is within a preset safe driving distance or the predicted collision time is not greater than a preset safe time threshold value.
7. The method according to any one of claims 1-6, wherein after determining the distant vehicles within the communication distance range of the host vehicle to constitute a distant vehicle set of the host vehicle and before determining the vehicle positional relationship of the distant vehicles to the host vehicle, further comprising:
filtering the remote vehicles, the distance between which and the host vehicle is not less than the preset first distance threshold value, from the remote vehicle set; the preset first distance threshold value is the maximum value of a preset safe distance, a preset safe driving distance of the vehicle and a preset far vehicle safe driving distance;
filtering the remote vehicles with relative reaction time not less than preset safe reaction time from the remote vehicle set; and the relative reaction time is the ratio of the distance between the remote vehicle and the vehicle to the relative speed.
8. The collision early warning device is characterized by comprising a vehicle filtering device, wherein the vehicle filtering device comprises a first determining module, a second determining module, a first filtering module, a second filtering module and a third filtering module:
the first determination module is used for determining the remote vehicles within the communication distance range of the vehicle to form a remote vehicle set of the vehicle;
the second determining module is used for determining the vehicles in the distant vehicle set, which have the vehicle position relation with the vehicle, as distant vehicles on the left side and the right side of the intersection as first distant vehicles to be filtered;
the first filtering module is used for filtering the first far vehicle to be filtered from the far vehicle set when the time of the vehicle reaching a predetermined collision point is greater than a preset intersection reaching time threshold value;
the second filtering module is used for filtering the first far vehicle to be filtered, which reaches the collision point and is longer than the preset intersection collision time threshold value, from the far vehicle set when the time of the vehicle reaching the collision point is not longer than the preset intersection collision time threshold value;
the third filtering module is used for filtering the first far vehicle to be filtered, which has a time difference with the time when the vehicle reaches the collision point larger than a preset time difference threshold value, from the far vehicle set;
and the early warning module is used for carrying out collision early warning on the vehicle based on the remote vehicles in the remote vehicle set filtered by the vehicle filtering device.
9. A computer-readable storage medium having stored therein instructions which, when run on a terminal device, cause the terminal device to implement the method of any one of claims 1-7.
10. An apparatus, comprising: memory, a processor, and a computer program stored on the memory and executable on the processor, when executing the computer program, implementing the method of any of claims 1-7.
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