CN111724594A

CN111724594A - Safety early warning method and device

Info

Publication number: CN111724594A
Application number: CN202010541230.4A
Authority: CN
Inventors: 王雷雷; 王华伟; 孙振龙; 王玉波; 李贺; 孔涛; 段善磊
Original assignee: Hisense TransTech Co Ltd
Current assignee: Hisense TransTech Co Ltd
Priority date: 2020-06-15
Filing date: 2020-06-15
Publication date: 2020-09-29

Abstract

The application discloses a safety early warning method and a safety early warning device, which are used for improving road traffic safety and road traffic efficiency. The method comprises the following steps: determining driving related data of passing vehicles in each lane according to the detection data of the radar detector; determining the deceleration required by the vehicle to stop or reach the stop line when the vehicle decelerates in front of the stop line of the entrance way, and predicting whether the vehicle on the entrance way can stop in front of the stop line of the entrance way or the deceleration exceeds the stop line in the remaining duration of the red light phase according to the preset maximum deceleration; determining the deceleration required by the vehicle to stop in front of the stop line of the entrance lane and the acceleration required by the vehicle to reach the stop line in an accelerating way according to the driving related data, and predicting whether the vehicle can stop or surpass the stop line of the entrance lane in the residual duration of the green light phase according to the preset maximum deceleration and the preset maximum acceleration; and performing risk early warning when the risk is determined to exist according to the prediction result.

Description

Safety early warning method and device

Technical Field

The application relates to the technical field of traffic, in particular to a safety early warning method and device.

Background

In recent years, the road traffic business of China is rapidly developed, but the number of deaths caused by traffic accidents is always high every year, and the consequences are very serious. In many traffic accidents, most are associated with vehicles running red light. The problem that the vehicle runs the red light is difficult to be radically treated in many cities, and the reason that the vehicle runs the red light at the intersection is that whether the vehicle can stop before a stop line can not be subjectively judged by a driver according to the distance between the vehicle and the stop line and the remaining time of the color of a signal lamp, so that the phenomenon that the driver wants to accelerate the running of the yellow light but mistakenly runs the red light or the vehicle cannot brake before the stop line often occurs, and the vehicle is easy to have traffic accidents with motor vehicles and pedestrians starting in the conflicting directions.

At present, an electronic police is arranged at an intersection to carry out illegal snapshot aiming at the red light running of a vehicle, but the method only has a warning effect and cannot fundamentally stop the red light running. Meanwhile, aiming at the problem of road safety, technical schemes such as vehicle-road cooperation and wireless communication technology are correspondingly proposed and rapidly developed, but at present, a large amount of foundations and technical investment are required to be invested in road sides and vehicle ends, multiple fields are coordinated, and popularization cannot be achieved in a short period.

Disclosure of Invention

The application aims to provide a safety early warning method and a safety early warning device, so that drivers can identify and early warn potential red light running risks, and road traffic safety and road traffic efficiency are improved.

According to an aspect of an exemplary embodiment, there is provided a safety precaution method, the method including:

determining driving related data of passing vehicles in each lane according to the detection data of the radar detector;

determining the deceleration required by the vehicle to stop or decelerate to reach the stop line in front of the stop line of the entrance way according to the driving related data, and predicting whether the vehicle on the entrance way can stop in front of the stop line of the entrance way or decelerate to exceed the stop line in the residual duration of the red light phase according to the preset maximum deceleration;

determining the deceleration required by the vehicle to stop in front of the stop line of the entrance lane and the acceleration required by the vehicle to reach the stop line in an accelerated manner according to the driving related data, and predicting whether the vehicle on the entrance lane can stop in front of the stop line of the entrance lane or surpass the stop line of the entrance lane within the residual time of the green light phase according to the preset maximum deceleration and the preset maximum acceleration;

and performing risk early warning when the risk is determined to exist according to the prediction result.

The beneficial effects produced by the embodiment are as follows: this embodiment is through setting up the relevant data that radar detector detected each lane vehicle of passing at the crossing to and the maximum acceleration of predetermineeing and minimum acceleration predict whether each vehicle has the risk of making a dash across the red light, and carry out the early warning after confirming to have the risk of making a dash across the red light, make navigating mate can discern and the early warning the potential risk of making a dash across the red light, promote road traffic safety and road efficiency of passing through.

In some exemplary embodiments, further comprising:

determining the time required for the vehicle to reach the stop line according to the current speed according to the driving related data;

and determining that the required time is not less than the residual time of the red light/green light of each phase, determining that risk early warning is not needed, otherwise determining the prediction result, and performing risk early warning when the risk exists according to the prediction result.

The beneficial effects produced by the embodiment are as follows: the time required by the vehicle to reach the stop line is compared with the remaining time of the red light phase/the green light phase, whether the red light running prediction is needed or not is determined, corresponding processing is carried out when the red light running prediction is determined to be needed, processor resources can be saved, and the processor can better monitor and process the vehicle with the risk of running the red light.

In some exemplary embodiments, determining a deceleration required for the vehicle to stop in front of or decelerate to a stop line of an entrance lane, and predicting whether the vehicle on the entrance lane can stop in front of the stop line of the entrance lane or decelerate to the stop line within a remaining period of the red light phase based on a preset maximum deceleration comprises:

determining the braking time required by the vehicle to stop in front of the stop line of the entrance way according to the driving related data and the preset maximum deceleration;

judging whether the braking time is less than the remaining time of the red light phase, and predicting whether the vehicle on the entrance way can stop in front of the stop line of the entrance way within the remaining time of the red light phase according to the determined deceleration required by the vehicle to stop in front of the stop line of the entrance way and the preset maximum deceleration;

and judging whether the braking time is not less than the residual time of the red light phase, and predicting whether the vehicle on the entrance way can decelerate and exceed the stop line within the residual time of the red light phase according to the determined deceleration required by the vehicle to reach the stop line during deceleration and the preset maximum deceleration.

The beneficial effects produced by the embodiment are as follows: when the red light running prediction is carried out in the red light phase, the type of the red light running risk existing in the current vehicle can be determined according to the comparison between the braking time required for stopping the vehicle before the stop line of the entrance lane and the residual time of the red light, so that the processor can carry out corresponding calculation, and the accuracy of the red light running prediction is effectively improved.

In some exemplary embodiments, the early warning when the risk is determined to exist according to the prediction result comprises at least one of the following steps:

when the deceleration required by the vehicle to stop in front of the stop line of the entrance lane is determined to be larger than the maximum preset deceleration, predicting that the vehicle on the entrance lane cannot stop in front of the stop line of the entrance lane within the residual duration of the red light phase, and carrying out risk early warning;

when the deceleration required by the vehicle to reach the stop line in the deceleration of the entrance road is determined to be larger than the maximum preset deceleration, predicting that the deceleration exceeds the stop line in the remaining duration of the red light phase of the vehicle on the entrance road, and carrying out risk early warning;

and when the deceleration required by the vehicle to stop in front of the stop line of the entrance lane is determined to be larger than the maximum preset deceleration and the acceleration required by the vehicle to exceed the stop line is determined to be larger than the maximum preset acceleration, predicting that the vehicle on the entrance lane cannot stop in front of the stop line of the entrance lane and cannot accelerate to exceed the stop line in the remaining time of the green light phase, and carrying out risk early warning.

The beneficial effects produced by the embodiment are as follows: the method and the device have the advantages that corresponding judgment is carried out on different types of red light running risks, the required acceleration or deceleration is calculated and compared with the preset maximum acceleration and maximum deceleration, whether the red light running risk exists or not is determined, and the accuracy of red light running prediction can be effectively improved.

In some exemplary embodiments, determining a deceleration required for the vehicle to stop in front of the approach lane stop line based on the travel-related data includes:

determining the deceleration required by the vehicle to stop in front of the entrance way stop line according to the initial speed of the vehicle and the distance between the vehicle and the entrance way stop line.

The beneficial effects produced by the embodiment are as follows: after the category of the risk of running the red light is determined, the corresponding acceleration is calculated through the method provided by the embodiment of the application so as to predict the risk of running the red light.

In some exemplary embodiments, determining, from the travel-related data, a deceleration required for deceleration of the vehicle to reach a stop-line, or an acceleration required for acceleration of the vehicle to reach the stop-line, includes:

determining the deceleration required by the vehicle to reach a stop line when the vehicle decelerates according to the initial speed of the vehicle, the remaining duration of the red light phase and the distance between the vehicle and the stop line at the entrance lane;

and determining the acceleration required by the vehicle to accelerate to the stop line according to the initial speed of the vehicle, the residual time of the green light phase and the distance between the vehicle and the stop line at the entrance lane.

According to another aspect of the exemplary embodiments, there is provided a safety precaution device, including:

an input-output unit configured to receive detection data of the radar detector and output a prediction result;

a processor connected with the input-output unit and configured to:

In some exemplary embodiments, the processor is configured to:

According to a further aspect of the exemplary embodiments, there is provided a computer storage medium having stored therein computer program instructions, which when run on a computer, cause the computer to execute the security pre-warning method as described above.

Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an apparatus according to an embodiment of the present disclosure;

fig. 2 is a schematic diagram of a safety precaution system according to an embodiment of the present disclosure;

fig. 3 is a schematic view of an application scenario of a security early warning method according to an embodiment of the present application;

FIG. 4 is a schematic diagram of an application of principles according to one embodiment of the present application;

fig. 5 is a schematic flow chart of a safety precaution method according to an embodiment of the present application;

fig. 6 is a schematic flow chart of a safety precaution method according to an embodiment of the present application;

FIG. 7 is a flowchart illustrating a method for predicting red light running during the end of a red light according to one embodiment of the present disclosure;

FIG. 8 is a flowchart illustrating a method for predicting red light running during the end of a green light period according to one embodiment of the present disclosure;

fig. 9 is a schematic diagram of a safety precaution device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. The embodiments described are some, but not all embodiments of the present application. 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.

Also, in the description of the embodiments of the present application, "/" indicates an inclusive meaning unless otherwise specified, for example, a/B may indicate a or B; "and/or" in the text is only an association relationship describing an associated object, and means that three relationships may exist, for example, a and/or B may mean: three cases of a alone, a and B both, and B alone exist, and in addition, "a plurality" means two or more than two in the description of the embodiments of the present application.

In the following, the terms "first", "second", "third" and "fourth" are used for descriptive purposes only and are not to be construed as implying or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", "third", "fourth" may explicitly or implicitly include one or more of the features, and in the description of embodiments of the application, unless stated otherwise, "plurality" means two or more.

Fig. 1 shows a schematic structural diagram of the apparatus 100.

The embodiment will be specifically described below by taking the apparatus 100 as an example. It should be understood that the apparatus 100 shown in fig. 1 is merely an example, and that the apparatus 100 may have more or fewer components than shown in fig. 1, may combine two or more components, or may have a different configuration of components. The various components shown in the figures may be implemented in hardware, software, or a combination of hardware and software, including one or more signal processing and/or application specific integrated circuits.

A block diagram of a hardware configuration of an apparatus 100 according to an exemplary embodiment is exemplarily shown in fig. 1.

As shown in fig. 1, the apparatus 100 may comprise, for example: RF (radio frequency) circuit 110, memory 120, display unit 130, camera 140, sensor 150, audio circuit 160, Wireless Fidelity (Wi-Fi) module 170, processor 180, bluetooth module 181, and power supply 190. In the embodiment of the present application, the input/output unit may be at least one of the audio circuit 160, the bluetooth module 181, the Wi-Fi module 170, and the camera 140.

The RF circuit 110 may be used for receiving and transmitting signals during the transmission and reception of information or a call. Typically, the RF circuitry includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, and the like.

The memory 120 may be used to store software programs and data. The processor 180 executes various functions of the apparatus 100 and data processing by executing software programs or data stored in the memory 120. The memory 120 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 memory 120 stores an operating system that enables the apparatus 100 to operate. The memory 120 may store an operating system and various application programs, and may also store codes for performing the method for processing device data according to the embodiment of the present application.

The display unit 130 may be used to display input numbers or characters or image information and generate signal inputs related to user settings and function control of the apparatus 100, and specifically, the display unit 130 may include a touch screen 131 disposed on the front of the apparatus 100 and may collect touch operations of a user thereon or nearby, such as clicking a button, dragging a scroll box, and the like, for example.

The display unit 130 may also be used to display the outputted numbers or characters or image information, for example. In particular, the display unit 130 may include a display screen 132 disposed on the front of the device 100. The display screen 132 may be configured in the form of a liquid crystal display, a light emitting diode, or the like, for example. The display unit 130 may be used to display the interfaces of the various embodiments described in this application.

The touch screen 131 may cover the display screen 132, or the touch screen 131 and the display screen 132 may be integrated to implement the input and output functions of the apparatus 100, and after the integration, the touch screen may be referred to as a touch display screen for short. In the present application, the display unit 130 may display the application programs and the corresponding operation steps.

As an input-output device, the camera 140 may be used to capture still images or video, for example. The object generates an optical image through the lens and projects the optical image to the photosensitive element. The photosensitive element may be a Charge Coupled Device (CCD) or a complementary metal-oxide-semiconductor (CMOS) phototransistor. The light sensing elements convert the light signals into electrical signals which are then passed to the processor 180 for conversion into digital image signals. The audio circuit 160, the bluetooth module 181, the Wi-Fi module 170, etc., may, for example, interact with other devices (e.g., medical instruments or other components of the apparatus) to receive or output medical images to the other devices.

The device 100 may further comprise at least one sensor 150, such as an acceleration sensor 151, a distance sensor 152, a fingerprint sensor 153, a radar sensor 154. The device 100 may also be configured with other sensors such as gyroscopes, barometers, hygrometers, thermometers, infrared sensors, light sensors, motion sensors, and the like.

Audio circuitry 160, speaker 161, microphone 162 may provide an audio interface between a user and device 100. The audio circuit 160 may transmit the electrical signal converted from the received audio data to the speaker 161, and convert the electrical signal into a sound signal for output by the speaker 161. The device 100 may also be configured with a volume button for adjusting the volume of the sound signal. On the other hand, the microphone 162 converts the collected sound signals into electrical signals, converts the electrical signals into audio data after being received by the audio circuit 160, and outputs the audio data to the RF circuit 110 to be transmitted to, for example, another device, or outputs the audio data to the memory 120 for further processing. In this application, the microphone 162 may capture the voice of the user.

Wi-Fi is a short-range wireless transmission technology, and device 100 can provide wireless broadband Internet access to users through Wi-Fi module 170.

The processor 180 is a control center of the apparatus 100, connects various parts of the entire apparatus using various interfaces and lines, and performs various functions of the apparatus 100 and processes data by running or executing software programs stored in the memory 120 and calling data stored in the memory 120.

In some embodiments, processor 180 may include one or more processing units; the processor 180 may also integrate an application processor, which mainly handles operating systems, user interfaces, applications, etc., and a baseband processor, which mainly handles wireless communications. It will be appreciated that the baseband processor described above may not be integrated into the processor 180. In the present application, the processor 180 may run an operating system, an application program, a user interface display, and a touch response, and the processing method described in the embodiments of the present application. In addition, the processor 180 is coupled with the input-output unit and the display unit.

And the bluetooth module 181 is configured to perform information interaction with other bluetooth devices having a bluetooth module through a bluetooth protocol. For example, the apparatus 100 may establish a bluetooth connection with a device also having a bluetooth module through the bluetooth module 181, thereby performing data interaction.

The device 100 also includes a power source 190 (such as a battery) to power the various components. The power supply may be logically connected to the processor 180 through a power management system to manage charging, discharging, power consumption, etc. through the power management system. The device 100 may also be configured with power buttons for powering the device on and off.

As mentioned above, the conventional method for regulating the red light running of the vehicle is to arrange an electronic police at the intersection for illegal snapshot, but the method only has a warning effect and cannot fundamentally stop the red light running. Meanwhile, aiming at the problem of road safety, technical schemes such as vehicle-road cooperation and wireless communication technology are correspondingly proposed and rapidly developed, but at present, a large amount of foundations and technical investment are required to be invested for road sides and vehicle ends, and a plurality of fields are coordinated, so that the road-road cooperation and the vehicle-end cooperation cannot be popularized in a short period, and the problem of red light running is not only a road standard problem, if a vehicle on the current phase runs the red light, the vehicle is easy to collide with a vehicle or a pedestrian started in a conflict phase, so that traffic accidents and other risk events are caused, and various methods and equipment are used for solving the problems in the prior art, and the method specifically comprises the following steps:

1) equipment for detecting vehicles running red light in advance at intersection

The apparatus detects a running speed signal and a road surface condition signal of a vehicle passing on a lane by a lane sensor installed on the lane; controlling the switching of traffic signal lamps through an intersection annunciator; the system is mainly explained by the technology that the system consists of the intersection annunciator, the red light running pre-detector and the lane sensor, the lane sensor fixed at the position of 10-20 meters of a stop line is used for obtaining the position information and the passing speed of each vehicle, and the early warning grading value is calculated by combining the phase red light, the road friction coefficient, the comparison actual informing quantity and the actual red light running sample quantity of an electronic police. However, the inventor finds that the method uses a lane sensor only fixed in position, and calculates the early warning value according to the road friction coefficient and the history data of red light running of the actual electronic police, so that the real-time speed and position of the vehicle between the fixed position and the parking space cannot be detected in real time, the probability of red light running is judged according to the history data, and the detection accuracy is not high.

2) Active safety early warning device based on vehicle-road cooperation and 4G network

The device includes: the roadside signal integration processing module is used for receiving the information of the traffic signal lamp module, integrating the information received by the roadside 4G module and processing the information; the roadside 4G module is used for receiving the information of the roadside signal integration processing module and broadcasting the information and the internally stored GPS longitude and latitude coordinate information of the center position of the intersection; the vehicle-mounted 4G module is communicated with the roadside 4G module; the vehicle-mounted GPS module is used for measuring the position information of the vehicle and sending the position information to the vehicle-mounted controller module; and the vehicle-mounted controller module is used for controlling the display information of the vehicle-mounted 4G module and the HMI module, calculating the time when the current vehicle reaches the intersection and the time difference between the current vehicle and the detected target vehicle when the current vehicle and the detected target vehicle respectively reach the intersection, judging whether an alarm threshold value is reached, and if the alarm threshold value is reached, alarming by running a red light and/or alarming by collision. The method mainly explains that the system consists of road side equipment and vehicle-mounted equipment, the GPS technology is used for obtaining the position information and the real-time speed of each vehicle, the 4G technology is used for carrying out communication among the equipment, and red light running early warning and collision early warning are carried out by calculating the time that the vehicle reaches a stop line at a constant speed and comparing the residual time of signals. However, the inventor researches and discovers that in the method, a vehicle-mounted module needs to be additionally arranged on each motor vehicle, and a road side and vehicle 4G communication network also needs to be built. The real-time accuracy requirement of the communication between the vehicle-mounted module and the road side module on 4G wireless communication and GPS is high, the investment cost is high, and the application popularization difficulty is high.

In view of this, the application provides a safety early warning method, which includes that a radar detector is arranged at an intersection to detect relevant data of passing vehicles in each lane, and a preset maximum acceleration and a preset minimum acceleration are used to predict whether each vehicle has a risk of running a red light, and early warning is performed after the risk of running the red light is determined, so that a driver can identify and early warn the potential risk of running the red light, and the road traffic safety and the road passing efficiency are improved.

Fig. 2 exemplarily shows a safety precaution system provided by an embodiment of the present invention, and this portion may be implemented by a portion of modules or functional components of the apparatus shown in fig. 1, and the following description will be made only for main components, and other components, such as a memory, a controller, a control circuit, etc., will not be repeated here.

As shown in fig. 2, the safety precaution system may include a radar detector 210 for providing detection data to the input and output unit, a processor 220 for processing the detection data to predict whether the vehicle runs red light, a display 230 for precautionary warning about the result of the predicted vehicle running red light, and a server 240 for data interaction with the processor.

A radar detector 210, which may be configured to collect vehicle information of all lanes within a certain range from the stop line of the entrance lane in real time, optionally, the vehicle information includes, but is not limited to, the number of lanes where the vehicle is located, the instantaneous speed, the distance from the stop line, the vehicle type, and the like; in the embodiment of the application, but not limited to, a multi-target radar detector can be adopted, the multi-target radar detector is installed on a signal lamp pole or a street lamp pole for detection, and a forward installation mode is adopted; in the embodiment of the application, at least one multi-target radar detector is arranged on each entrance way of the intersection, and the multi-target radar detectors in the intersection are in networking communication with the processor in a master-slave unit networking mode through network cables or 485 cables.

The processor 220 may be configured to process the acquired detection data to predict whether each vehicle runs a red light risk, and the processor serves as a data processing center, an early warning algorithm center, and a signal control center of the safety early warning system, where optionally, the processor in this embodiment of the present application may be a signal controller, and may also be a device connected to the signal controller for communication.

The display 230 may be configured to receive a result that the processor predicts that each vehicle has a risk of running red light, and display an early warning on the display, where the display and the processor communicate with each other by wire or wirelessly, optionally, the display in this embodiment of the application may be but is not limited to a bar screen, which may be a bar screen display installed at an intersection, or a flashing device such as a road stud, or an early warning prompting device additionally installed on the vehicle, and when the processor predicts that there is a risk of running red light in a certain entrance direction, the display issues early warning information of running red light through a prompting device such as a bar screen in a direction that conflicts with the entrance, so as to remind each vehicle of avoiding the vehicle running red light, thereby reducing the risk caused by running red light.

The server 240 may be configured to perform data interaction with the processor, including uploading detection data of the radar detector, downloading traffic signal schemes at intersections, and risk early warning information, and in this embodiment, the server may also be a signal center platform.

Optionally, the system further includes a signal lamp group 250 and a countdown board 260, configured to display each phase lamp color and countdown time according to an instruction of the processor, so as to direct the passing of the motor vehicles and pedestrians, as shown in fig. 3, which is a schematic view of an application scenario of the safety warning method provided in the embodiment of the present application.

Fig. 4 is a schematic diagram of an application of the principles of the present application, which includes a data acquisition module 410, a phase control module 420, a prediction module 430, and an early warning module 440.

The data acquisition module 410 is used for acquiring the driving related data of the passing vehicles in each corresponding lane detected by the radar detector; the phase control module 420 is used for controlling the signal lamp group and the countdown board to display the lamp color according to the preset phase lamp color of the intersection and the corresponding time; the prediction module 430 is configured to receive the driving related data of the passing vehicles in each lane sent by the data acquisition module, receive the phase light color and the corresponding time sent by the phase control module, determine, according to the driving related data, a deceleration required for the vehicle to stop or decelerate before the stop line of the entrance lane, and predict, according to a preset maximum deceleration, whether the vehicle on the entrance lane can stop before the stop line of the entrance lane or decelerate beyond the stop line within the remaining duration of the red light phase; determining the deceleration required by the vehicle to stop in front of the stop line of the entrance lane and the acceleration required by the vehicle to reach the stop line in an accelerating way according to the driving related data, and predicting whether the vehicle on the entrance lane can stop in front of the stop line of the entrance lane or surpass the stop line of the entrance lane within the residual time of the green light phase according to the preset maximum deceleration and the preset maximum acceleration; to predict whether there is a risk of running red light; the early warning module 440 is configured to perform risk early warning according to a result of whether there is a risk of running a red light sent by the receiving and predicting module, and specifically perform early warning display on vehicles and pedestrians in each direction by controlling the display, so as to avoid occurrence of a traffic accident caused by running a red light.

The prediction module 430 further comprises a light color judgment module 4301, an acceleration calculation and comparison module 4302, a deceleration calculation and comparison module 4303, a risk prediction module 4304, a vehicle illegal recording module 4305 and the like;

the light color judgment module 4301 is configured to determine whether the remaining time duration of the red light/green light in each phase is less than a set threshold, specifically determine, according to the driving related data, time required for the vehicle to reach the stop line according to the current speed, determine that risk early warning is not needed when the time required for determining is less than the remaining time duration of the red light/green light in each phase, otherwise determine a prediction result, and perform risk early warning when a risk is determined according to the prediction result.

And the acceleration calculating and comparing module 4302 is used for determining the acceleration required by the vehicle to reach the stop line when the vehicle accelerates in the entrance lane according to the driving related data, and predicting whether the vehicle on the entrance lane can exceed the stop line of the entrance lane within the remaining duration of the green light phase according to the preset maximum acceleration.

A deceleration calculating and comparing module 4303, configured to determine, according to the driving related data, a deceleration required for the vehicle to stop or decelerate to reach a stop line before the stop line of the entrance lane, and predict, according to a preset maximum deceleration, whether the vehicle on the entrance lane can stop before the stop line of the entrance lane or decelerate more than the stop line within a remaining duration of the red light phase;

according to the driving related data, the deceleration required by the vehicle to stop in front of the stop line of the entrance way is determined, and whether the vehicle on the entrance way can stop in front of the stop line of the entrance way within the residual time length of the green lamp phase is predicted according to the preset maximum deceleration.

The risk prediction module 4304 is configured to perform early warning when determining that a risk exists according to a prediction result, and includes at least one of the following steps:

And the vehicle illegal recording module 4305 is used for capturing and recording illegal vehicles and storing vehicle illegal records.

Optionally, the risk prediction module 4304 is further configured to determine a deceleration required for the vehicle to stop in front of the stop line of the entrance lane or to reach the stop line by decelerating, and predict whether the vehicle on the entrance lane can stop in front of the stop line of the entrance lane or not within the remaining duration of the red light phase or reach the stop line by decelerating according to a preset maximum deceleration, and includes:

judging whether the braking time is less than the remaining time of the red light phase, and predicting whether the vehicle on the entrance way can stop in front of the stop line of the entrance way within the remaining time of the red light phase according to the determined deceleration required by the vehicle to reach the stop line and the preset maximum deceleration;

and judging whether the braking time is not less than the remaining time of the red light phase, and predicting whether the deceleration of the vehicle on the entrance way exceeds the stop line within the remaining time of the red light phase according to the determined deceleration required by the vehicle to stop in front of the entrance way stop line and the preset maximum deceleration.

Deceleration calculation and comparison module 4303, further configured to:

And determining the deceleration required by the vehicle to reach the stop line when the vehicle decelerates according to the initial speed of the vehicle, the remaining time length of the red light phase and the distance between the vehicle and the stop line at the entrance way.

An acceleration calculation and comparison unit 4302, further configured to:

It should be understood that the technical solutions defined in the embodiments of the present application are only exemplary illustrations of the safety precaution method and are not limited in any way. The technical means shown in the present application will be described in detail below with reference to specific examples. It should be noted that the following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

Fig. 5 is a flowchart illustrating a safety precaution method according to an embodiment of the present application. The method may be implemented by the processor 220 and its functional modules shown in fig. 2, and as shown in fig. 5, includes:

step S501, determining driving related data of passing vehicles in each lane according to detection data of a radar detector;

alternatively, the inventor researches and discovers that the red light running of the vehicle at the intersection mainly occurs in two periods of the end of the green light and the end of the red light, and through big data analysis, the vehicle has different driving behaviors in the two periods:

1) end period of red light

During the end of the red light, when the vehicle can brake in the remaining red light time, and the brake position does not exceed the stop line, the vehicle does not run the risk of the red light. In addition to this, the vehicle does not brake to zero speed during the end of the red light, but delays the arrival of the stop line by means of a suitable deceleration, the vehicle likewise having no risk of running a red light when passing the stop line at the beginning of a green light. Therefore, both cases should be considered together during the end of the red light.

2) End period of green light

During the end period of the green light, the vehicle may pass through the stop line before the red light starts by means of acceleration, and there is no risk of the vehicle running the red light, besides, the vehicle may stop before the stop line before the red light starts by means of deceleration and braking, and there is no risk of the vehicle running the red light at this time, therefore, both cases should be considered together during the end period of the green light, and optionally, in this embodiment, the end period of the green light includes a green light flashing period and a yellow light period.

Optionally, in the embodiment of the present application, when the remaining time of the red light or the remaining time of the green light of each phase is less than a set threshold, the radar detector is started to perform data detection, and according to the detection data of the radar detector, the driving related data of vehicles passing through each lane are determined, specifically, the radar detector is set to detect the driving related data of all vehicles passing through all entrances and all lanes within a certain range from the stop line, including but not limited to the number of lanes where the vehicles are located, the instantaneous speed, the distance from the stop line, the vehicle type, and other vehicle information, where the certain range is a range set by a person skilled in the art according to actual needs, and in the embodiment of the present application, the certain range is set to 150 meters; the set threshold is also a time set by a person skilled in the art according to actual needs, and is not limited herein.

As another optional implementation manner, data detection may be performed in real time by the radar detector in the whole phase time, and the driving related data of the passing vehicle in each lane may be determined according to the detection data of the radar detector, where the driving related data detected by the radar detector is as described above, and is not described herein again. Because all moments in the red light phase position all probably have the risk of making a dash across the red light, and the green light phase position only has the risk of making a dash across the red light in the time at green light end, therefore set up all moments in the red light phase position and all carry out data detection through the radar monitor in real time in the embodiment behind this application, when the remaining time of green light is less than the settlement threshold value, carry out data detection in real time through the radar detector.

Before the red light running prediction is carried out, whether the red light running prediction is needed or not can be determined according to the running related data of the passing vehicle and the red light remaining time or the green light remaining time of the current phase, and optionally, the time required for the vehicle to reach a stop line according to the current speed is determined according to the running related data; judging the needed time is not less than the remaining time of the red light/green light of each phase, determining that no risk early warning is needed, otherwise determining a prediction result, and determining that the risk early warning exists according to the prediction result, for example, determining that the time needed by the vehicle to reach the stop line according to the current speed is 5 seconds according to the driving related data, if the remaining time of the red light of the current phase is 3 seconds, predicting that the vehicle can reach the stop line after the light color of the current phase is converted, converting the light color of the current phase from the red light to the green light, enabling the vehicle to directly pass through the stop line without the risk of red light running, without red light running prediction, if the remaining time of the green light of the current phase is 3 seconds, predicting that the current phase of the vehicle has converted light color before reaching the stop line, and converting the light color of the current phase from the yellow light to the red light, the vehicle stops in front of the stop line, and the risk of running red light is avoided; otherwise, the red light running prediction is needed.

Step S502, determining the deceleration required by the vehicle to stop or decelerate to reach the stop line in front of the stop line of the entrance lane according to the driving related data, and predicting whether the vehicle on the entrance lane can stop in front of the stop line of the entrance lane or the deceleration exceeds the stop line within the residual duration of the red light phase according to the preset maximum deceleration;

when it is determined that the time required for the vehicle to reach the stop-line at the current speed is less than the red remaining time for each phase, there may be situations for the vehicle at this time, including:

1) direct braking of vehicle to zero during the end of red light

When a parked vehicle exists in front of a lane where the vehicle is located, the current vehicle also needs to be braked to zero for parking, at the moment, the risk that the vehicle runs the red light is low, when no parked vehicle exists in front of the lane where the vehicle is located, if the vehicle meets the condition that the vehicle can park in the red light remaining time and the parking point does not exceed the parking line, the vehicle is considered not to have the risk of running the red light, correspondingly, if no parked vehicle exists in front of the vehicle but the vehicle cannot park in front of the parking line in the red light remaining time or the vehicle can park but the parking point exceeds the parking line, the vehicle has the risk of running the red light;

2) the vehicle passing through the stop line after the vehicle is decelerated to the light color conversion during the tail period of the red light

The vehicle can not brake to speed zero during the tail of the red light, but can pass through the stop line after the green light starts after reaching the stop line in a proper speed reduction delay mode, and when the vehicle cannot pass through the stop line after the green light starts, the vehicle has the risk of running the red light. Otherwise, the vehicle is considered not to have the risk of running the red light;

alternatively, when the red light running prediction is performed during the end of the red light, vehicles with parked vehicles (with a speed of 0) in front of the lane at the current time can be excluded, the possibility that the vehicles run the red light is very small, and the risk of running the red light of the vehicles at the next time is continuously predicted.

Alternatively, the embodiment of the present application determines the possible behavior of the vehicle running the red light during the end of the red light, and as an optional implementation, determines the braking time required for the vehicle to stop before the stopping line of the entrance lane according to the driving-related data and the preset maximum deceleration, in the embodiment of the present application, the preset maximum deceleration is the deceleration required for the actual vehicle to stop by the big data analysis, and the preset maximum acceleration is the acceleration required for the actual vehicle to accelerate by the big data analysis, wherein the preset maximum acceleration and the maximum deceleration can be understood to be obtained by comprehensively considering factors such as different road surface friction, weather, different vehicle types, different driving behaviors, different accelerator and braking force and the like according to the analysis of the accelerator and brake stepping behaviors of many vehicles at the intersection, most vehicles do not experience more than the predetermined maximum acceleration when they are stepping on the accelerator, and most vehicles do not experience more than the predetermined maximum deceleration when they are stepping on the brake.

Alternatively, the instantaneous speed of the vehicle may be determined from the travel-related data, and the braking time required for the vehicle to stop before the entrance lane stop line may be determined from the ratio of the instantaneous speed of the vehicle to the preset maximum deceleration, specifically, the method of determining the possible red light running behavior from the result of comparing the remaining time period during which the braking time is less than the red light phase is as follows:

1) judging whether the braking time is less than the remaining time of the red light phase, and predicting whether the vehicle on the entrance way can stop in front of the stop line of the entrance way within the remaining time of the red light phase according to the determined deceleration required by the vehicle to reach the stop line and the preset maximum deceleration;

when the vehicle generally needs to be braked to the speed zero for queuing waiting by judging that the braking time is less than the remaining time of the red light phase, whether the vehicle on the entrance road can stop before the stop line of the entrance road within the remaining time of the red light phase is predicted according to the determined deceleration of the vehicle to the stop line and the preset maximum deceleration so as to judge whether the vehicle is at risk of running the red light currently.

2) Judging whether the braking time is not less than the remaining time of the red light phase, and predicting whether the deceleration of the vehicle on the entrance way exceeds the stop line within the remaining time of the red light phase according to the determined deceleration required by the vehicle to stop in front of the stop line of the entrance way and the preset maximum deceleration;

when the braking time is judged to be not less than the remaining time of the red light phase, the vehicle generally only needs to decelerate properly at the moment, the vehicle can pass through the stop line after the green light starts after the stop line is reached, and whether the vehicle on the entrance road can decelerate beyond the stop line within the remaining time of the red light phase or not is predicted according to the determined deceleration required by the vehicle before the stop line of the entrance road and the preset maximum deceleration so as to predict whether the vehicle runs the risk of red light.

Optionally, after determining a possible red light running behavior, determining how to calculate a deceleration according to the corresponding red light running behavior, and predicting whether the vehicle is at risk of running the red light according to a comparison result between the corresponding deceleration and a preset maximum deceleration as follows:

1) when the deceleration required by the vehicle to stop in front of the stop line of the entrance lane is determined to be larger than the maximum preset deceleration, predicting that the vehicle on the entrance lane cannot stop in front of the stop line of the entrance lane within the residual duration of the red light phase, and carrying out risk early warning;

at this time, the deceleration required for stopping the vehicle in front of the entrance way stop line is determined according to the initial speed of the vehicle and the distance between the vehicle and the entrance way stop line, and the specific formula is as follows:

where V is the initial speed of the current vehicle determined from the driving-related data, d_stopA1 is the deceleration required for the vehicle to stop before the stop line during the end of the red light for the current distance of the vehicle from the stop line.

2) When the deceleration required by the vehicle to reach the stop line in the deceleration of the entrance road is determined to be larger than the maximum preset deceleration, predicting that the deceleration exceeds the stop line in the remaining duration of the red light phase of the vehicle on the entrance road, and carrying out risk early warning;

at the moment, according to the initial speed of the vehicle, the remaining time length of the red light phase and the distance between the vehicle and the stop line of the entrance way, the deceleration required by the vehicle to reach the stop line after the deceleration is determined, and the specific formula is as follows:

where V is the initial speed of the current vehicle determined from the driving-related data, d_stopDistance of the current vehicle from the stop line, t_redFor the remaining duration of the red phase, a2 is the decrement required to slow the vehicle to a stop line during the end of the red phaseSpeed.

Step S503, determining the deceleration required by the vehicle to stop in front of the stop line of the entrance lane and the acceleration required by the vehicle to reach the stop line in the accelerated manner according to the driving related data, and predicting whether the vehicle on the entrance lane can stop in front of the stop line of the entrance lane or surpass the stop line of the entrance lane within the residual time of the green light phase according to the preset maximum deceleration and the preset maximum acceleration;

when it is determined that the time required for the vehicle to reach the stop-line at the current speed is less than the green remaining time for each phase, then there may be situations for the vehicle, including:

1) during the end of the green light, the vehicle accelerates through the stop line before the red light begins

When no vehicle stops in front of the lane where the vehicle is located, if the vehicle meets the condition that the vehicle can accelerate to pass through a stop line before the red light starts within the remaining green-flashing yellow light time, the vehicle is considered not to have the risk of running the red light. Conversely, if the vehicle fails to accelerate past the stop line before the red light begins within the remaining green flashing yellow time, the vehicle has a risk of running the red light;

2) during the end of the green light, the vehicle is decelerated to stop before the stop line

The vehicle can stop before the red light starts in a deceleration mode and before the stop line, when no vehicle stops in front of the lane where the vehicle is located, if the vehicle can stop in the remaining green-flashing yellow light time and the stop point does not exceed the stop line condition, the vehicle is considered not to have the risk of running the red light. Conversely, if there is no parked vehicle in front of the vehicle, but the vehicle cannot park before the stop line for the remaining green flashing yellow time or the vehicle can park but the parking spot exceeds the stop line, the vehicle has a risk of running a red light.

Alternatively, when the red light running prediction is performed during the end of the green light, vehicles with parked vehicles (with a speed of 0) in front of the lane at the current time can be excluded, the possibility that the vehicles run the red light is very small, and the risk of the vehicles running the red light is continuously predicted at the next time.

Optionally, after determining a possible red light running behavior according to the above situation, determining how to calculate deceleration and acceleration according to the corresponding red light running behavior, and predicting whether the vehicle runs the risk of red light according to a comparison result of the corresponding deceleration and the preset maximum deceleration and a comparison result of the corresponding acceleration and the preset maximum acceleration as follows:

determining that the deceleration required by the vehicle to stop in front of the stop line of the entrance lane is greater than the maximum preset deceleration, and when determining that the acceleration required by the vehicle to exceed the stop line is greater than the maximum preset acceleration, predicting that the vehicle on the entrance lane cannot stop in front of the stop line of the entrance lane within the residual time of the green light phase and cannot accelerate to exceed the stop line, and performing risk early warning;

specifically, the deceleration required for stopping the vehicle in front of the entrance way stop line is determined according to the initial speed of the vehicle and the distance between the vehicle and the entrance way stop line, and the specific formula is as follows:

where V is the initial speed of the vehicle and d_stopA3 is the deceleration required for the vehicle to stop in front of the approach stop line during the end of the green light, which is the distance of the vehicle from the approach stop line;

when the calculated deceleration required by the vehicle to stop in front of the entrance lane stop line is not greater than the preset maximum deceleration, it is determined that the vehicle can stop in front of the stop line before the red light starts, the risk of running the red light is low, and no early warning is needed, and when the deceleration required by the vehicle to stop in front of the entrance lane stop line is greater than the preset maximum deceleration, the vehicle cannot stop in front of the stop line before the red light starts, and whether the vehicle can exceed the stop line before the red light starts by accelerating at this time is calculated, specifically, the acceleration required by the vehicle to reach the stop line is determined according to the initial speed of the vehicle, the remaining time of the green light phase and the distance of the vehicle from the entrance lane stop line, and the specific formula is as follows:

where a4 is the acceleration required to accelerate the vehicle to a stop line, V is the initial speed of the vehicle, and t is_greenThe remaining duration of the green phase (in most cases, the remaining duration of the green flashing period and the yellow period), d_stopThe distance of the vehicle from the stop line in the approach lane.

And when the acceleration required by the vehicle to exceed the stop line is determined to be larger than the maximum preset acceleration, predicting that the vehicle on the entrance lane cannot stop in front of the stop line of the entrance lane in the residual time of the green light phase and cannot accelerate to exceed the stop line, and carrying out risk early warning.

And step S504, performing risk early warning when the risk is determined to exist according to the prediction result.

Optionally, a vehicle or a pedestrian having a conflict phase of the red light running risk phase may be prompted by a voice, specifically, "there is a vehicle red light running early warning and attention to avoiding" in the east to the first straight lane may be broadcasted, and the like, and the risk information may also be displayed by the mentioned display, which is not limited herein.

The safety early warning method provided by the embodiment of the application has obvious effects of improving the road traffic safety and the road traffic efficiency. Compared with the traditional illegal snapshot solution of the electronic police and the solution of vehicle-road cooperation of the vehicle-end and road test with additional sensor detection equipment, wireless communication modules and the like, which pay attention to the vehicle-end, the electronic police has the advantages of easy application and popularization, low investment cost, obvious technical advantages and the like. The multi-target radar detection vehicle accuracy technology advantage is combined, the processor conducts red light running risk early warning judgment according to the phase light color information, and red light running identification and early warning can be conducted well.

First, as shown in fig. 6, how to confirm that risk early warning needs to be performed is specifically described;

step S601, determining that the current phase is a green light phase (excluding green light flashing time and yellow light time), if no risk early warning is needed, otherwise executing step S602;

step S602, determining that the current phase is a red light phase, if so, determining driving related data of passing vehicles in each lane according to detection data of a radar detector, and if not, executing step S604;

step S603, determining whether the time required for the vehicle to reach the stop line according to the current speed is not less than the remaining duration of the red light of each phase according to the driving related data, if so, determining that risk early warning is not required, otherwise, executing step S606;

step S604, determining that the current phase is a green light flashing phase or a yellow light phase, and if the current phase is the green light flashing phase or the yellow light flashing phase, determining driving related data of passing vehicles in each lane according to detection data of a radar detector;

step S605, determining whether the time required by the vehicle to reach the stop line according to the current speed is not less than the remaining duration (including green light flashing time and yellow light time) of the green light of each phase according to the driving related data, if so, determining that no risk early warning is needed, otherwise, executing step S606;

step S606, determining whether the risk of running the red light exists according to the driving related data and the preset maximum deceleration and/or the maximum acceleration, if so, executing step S607, otherwise, not needing to carry out risk early warning;

and step S607, performing risk early warning when determining that the risk exists according to the prediction result.

As shown in fig. 7, how the red light running prediction is performed during the end of the red light is specifically described.

Step S701, determining the distance between a passing vehicle in each lane and a stop line and the initial speed according to real-time detection data of a radar detector;

step S702, excluding vehicles with parking vehicles in front of the lane;

step S703, determining the braking time required for the vehicle to stop in front of the stop line of the entrance way according to the driving related data and the preset maximum deceleration;

step S704, judging whether the braking time is less than the remaining duration of the red light phase, if so, executing step S705, otherwise, executing step S707;

step S705, determining the deceleration required by the vehicle to stop in front of the stop line of the entrance way according to the initial speed of the vehicle and the distance between the vehicle and the stop line of the entrance way;

step S706, when determining that the deceleration required by the vehicle to stop in front of the stop line of the entrance way is greater than the maximum preset deceleration, predicting that the vehicle on the entrance way cannot stop in front of the stop line of the entrance way within the residual time length of the red light phase, and executing step S709;

step S707, determining the deceleration required by the vehicle to reach the stop line after the vehicle decelerates according to the initial speed of the vehicle, the remaining duration of the red light phase and the distance between the vehicle and the stop line at the entrance way;

step S708, when determining that the deceleration required by the vehicle to reach the stop line in the deceleration of the entrance way is greater than the maximum preset deceleration, predicting that the deceleration exceeds the stop line in the remaining duration of the red light phase of the vehicle on the entrance way, and executing step S709;

and step S709, carrying out risk early warning through a display and other prompting devices.

As shown in fig. 8, how to predict red light running during the end of green light is specifically described;

step S801, determining the distance between the passing vehicle in each lane and a stop line and the initial speed according to the real-time detection data of the radar detector;

step S802, excluding vehicles with parking vehicles in front of the lane;

step S803, determining the deceleration required by the vehicle to stop in front of the entrance way stop line according to the initial speed of the vehicle and the distance between the vehicle and the entrance way stop line;

step S804, when determining whether the deceleration required by the vehicle to stop in front of the entrance way stop line is not larger than the maximum preset deceleration, if the deceleration is not larger than the maximum preset deceleration, performing early warning, otherwise, performing step S805;

step S805, determining the acceleration required by the vehicle to reach the stop line when the vehicle accelerates according to the initial speed of the vehicle, the remaining duration of the green light phase and the distance between the vehicle and the stop line at the entrance lane;

step 806, when determining whether the acceleration required by the vehicle to exceed the stop line is not greater than the maximum preset acceleration, if no early warning is required, otherwise predicting that the vehicle on the entrance lane cannot stop before the stop line of the entrance lane within the remaining time of the green light phase and cannot accelerate to exceed the stop line, and executing step 807;

and step S807, carrying out risk early warning by a display and other prompting devices.

Based on the same concept, as shown in fig. 9, the present application further provides a safety precaution device 900, which includes:

an input-output unit 910 configured to receive detection data of the radar detector and output a prediction result;

a processor 920, connected to the input/output unit, configured to:

when the remaining duration of the red light/green light of each phase is less than a set threshold, determining driving related data of passing vehicles in each lane according to the detection data of the radar detector;

Optionally, the processor is configured to:

Optionally, determining, from the travel-related data, a deceleration required for the vehicle to decelerate to reach the stop-line, or an acceleration required for the vehicle to accelerate to reach the stop-line, includes:

Details of the above-mentioned apparatus and its function implementation can be found in the above description in conjunction with fig. 1-8, and are not repeated herein.

In some possible implementations, various aspects of the methods provided by the embodiments of the present application may also be implemented in the form of a program product including program code for causing a computer device to perform the steps of the methods for data processing according to various exemplary implementations of the present application described in the present specification when the program code runs on the computer device.

The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

A program product for executing data processing according to an embodiment of the present application may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a server apparatus. However, the program product of the present application is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain or store a program for use by or in connection with an information delivery, apparatus, or device.

A readable signal medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the periodic network action system, apparatus, or device.

Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Program code for carrying out operations of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device.

The method for executing data processing in the embodiment of the application further provides a storage medium readable by the computing device, namely, the content is not lost after power failure. The storage medium stores therein a software program comprising program code which, when executed on a computing device, when read and executed by one or more processors, implements any of the above data processing aspects of the embodiments of the present application.

The present application is described above with reference to block diagrams and/or flowchart illustrations of methods, apparatus (systems) and/or computer program products according to embodiments of the application. It will be understood that one block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, and/or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer and/or other programmable data processing apparatus, create means for implementing the functions/acts specified in the block diagrams and/or flowchart block or blocks.

Accordingly, the subject application may also be embodied in hardware and/or in software (including firmware, resident software, micro-code, etc.). Furthermore, the present application may take the form of a computer program product on a computer-usable or computer-readable storage medium having computer-usable or computer-readable program code embodied in the medium for use by or in connection with an instruction execution system. In the context of this application, a computer-usable or computer-readable medium may be any medium that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.

Although the present application has been described in conjunction with specific features and embodiments thereof, it will be evident that various modifications and combinations can be made thereto without departing from the spirit and scope of the application. Accordingly, the specification and figures are merely exemplary of the present application as defined in the appended claims and are intended to cover any and all modifications, variations, combinations, or equivalents within the scope of the present application.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include such modifications and variations.

Claims

1. A safety precaution method, the method comprising:

2. The method of claim 1, further comprising:

3. The method of claim 1, wherein determining the deceleration required for the vehicle to stop in front of or decelerate to a stop-line in the entrance lane, and predicting whether the vehicle on the entrance lane can stop in front of the stop-line in the entrance lane or decelerate to the stop-line in the remaining duration of the red light phase based on a preset maximum deceleration comprises:

4. The method of claim 1, wherein the pre-warning when a risk is determined to exist based on the prediction result comprises at least one of:

5. The method of claim 1, wherein determining a deceleration required for the vehicle to stop before the approach stop line based on the travel related data comprises:

6. The method of claim 1, wherein determining, from the travel-related data, a deceleration required for vehicle deceleration to reach a stop-line, or an acceleration required for vehicle acceleration to reach a stop-line, comprises:

7. A safety precaution device, comprising:

a processor connected with the input-output unit and configured to:

8. The apparatus of claim 7, wherein the processor is configured to:

9. The apparatus of claim 7, wherein the processor is configured to:

10. The apparatus of claim 7, wherein the processor is configured to:

11. The apparatus of claim 7, wherein the processor is configured to:

12. The apparatus of claim 7, wherein determining, from the travel-related data, a deceleration required for deceleration of the vehicle to reach a stop-line, or an acceleration required for acceleration of the vehicle to reach the stop-line, comprises:

13. A computer-readable storage medium having stored thereon computer-executable instructions for causing a computer to perform the method of any one of claims 1 to 6.