CN113256962A - Vehicle safety early warning method and system - Google Patents
Vehicle safety early warning method and system Download PDFInfo
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- CN113256962A CN113256962A CN202010089921.5A CN202010089921A CN113256962A CN 113256962 A CN113256962 A CN 113256962A CN 202010089921 A CN202010089921 A CN 202010089921A CN 113256962 A CN113256962 A CN 113256962A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
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- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B29/00—Checking or monitoring of signalling or alarm systems; Prevention or correction of operating errors, e.g. preventing unauthorised operation
- G08B29/18—Prevention or correction of operating errors
- G08B29/185—Signal analysis techniques for reducing or preventing false alarms or for enhancing the reliability of the system
- G08B29/188—Data fusion; cooperative systems, e.g. voting among different detectors
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/048—Detecting movement of traffic to be counted or controlled with provision for compensation of environmental or other condition, e.g. snow, vehicle stopped at detector
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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Abstract
The application relates to a vehicle safety early warning method and a system, wherein the method comprises the following steps: the sensor module performs fusion based on the environmental information detected by the sensors to obtain a first fusion result, and transmits the first fusion result to the automatic driving module and the gateway; the automatic driving module carries out information processing on the first fusion result to obtain a second fusion result, and the second fusion result is transmitted to the gateway; the gateway transmits the first fusion result and the second fusion result to an on-board T-BOX; the first early warning module generates first early warning information based on the vehicle wireless communication technology; and the vehicle-mounted T-BOX fuses the first fusion result, the second fusion result and the first early warning information to generate target early warning information. The method and the device can enhance the reliability of the V2X early warning, eliminate false alarms, avoid repeated early warning and enhance the robustness of early warning information fusion.
Description
Technical Field
The application relates to the technical field of intelligent driving, in particular to a vehicle safety early warning method and system.
Background
V2X (Vehicle to outside information exchange) utilizes wireless communication technology to realize information interaction between a Vehicle and all entities that may affect the Vehicle, and aims to reduce accidents, alleviate traffic congestion, reduce environmental pollution, and provide other information services.
The V2X early warning is mainly based on wireless communication technology, and although the early warning of pedestrians, vehicles, obstacles and the like in the blind area of the vehicle sensor is greatly enhanced, some false alarms may be generated due to the absence of road information in some scenes. For example, in the case of no map information assistance, a vehicle travels on a certain road in a campus, the traveling direction of the vehicle is towards an external road, but the vehicle cannot travel outside the campus due to the obstacle such as a fence, but in the V2X intersection early warning mode, because a vehicle traveling back and forth exists outside the campus, the current vehicle generates an alarm for the intersection early warning, and the alarm generated meets the alarm criterion of V2X but does not meet the actual traffic condition, thereby causing a false alarm.
Disclosure of Invention
The technical problem to be solved by the application is to provide a vehicle safety early warning method and system, which can enhance the reliability of the V2X early warning, eliminate false alarms, avoid repeated early warning, and enhance the robustness of early warning information fusion.
In order to solve the technical problem, in one aspect, the present application provides a vehicle safety warning method, including:
the sensor module performs fusion based on the environmental information detected by the sensors to obtain a first fusion result, and transmits the first fusion result to the automatic driving module and the gateway;
the automatic driving module carries out information processing on the first fusion result to obtain a second fusion result, and the second fusion result is transmitted to the gateway;
the gateway transmits the first fusion result and the second fusion result to an on-board T-BOX;
the first early warning module generates first early warning information based on the vehicle wireless communication technology;
and the vehicle-mounted T-BOX fuses the first fusion result, the second fusion result and the first early warning information to generate target early warning information.
Further, the sensor module comprises a plurality of sensors and at least one sensor controller;
correspondingly, the sensor module performs fusion based on the environmental information detected by the plurality of sensors, and obtaining a first fusion result includes:
the sensor controller acquires environmental information detected by the sensors and fuses the environmental information detected by the sensors to obtain a first fusion result;
wherein the first fusion result comprises at least one item of fusion information, each item of fusion information comprising: a category of a target sensor, and environmental information detected by the target sensor.
Further, the automatic driving module performs information processing on the first fusion result to obtain a second fusion result, and the transmitting the second fusion result to the gateway includes:
the automatic driving module analyzes each item of fusion information in the first fusion result and determines the incidence relation among different types of sensors;
the automatic driving module generates a second fusion result based on the incidence relation among the sensors of different types and the environmental information detected by the sensors;
and the automatic driving module transmits the second fusion result to the gateway.
Further, the fusing the first fusion result, the second fusion result and the first warning information by the vehicle-mounted T-BOX, and generating target warning information includes:
the vehicle-mounted T-BOX judges whether the second fusion result is invalid;
when the second fusion result is invalid, the vehicle-mounted T-BOX fuses the first fusion result and the first early warning information through a preset algorithm to generate the target early warning information;
and when the second fusion result is valid, the vehicle-mounted T-BOX fuses the second fusion result and the first early warning information through a preset algorithm to generate the target early warning information.
Further, the method further comprises:
the gateway transmits the target early warning information to the information display module;
and the information display module displays the target early warning information.
In another aspect, the present application provides a vehicle safety precaution system, the system including:
the system comprises a sensor module, an automatic driving module, a gateway, a vehicle-mounted T-BOX and a first early warning module, wherein the sensor module is in communication connection with the automatic driving module, the automatic driving module is in communication connection with the gateway, the sensor module is in communication connection with the gateway, the gateway is in communication connection with the vehicle-mounted T-BOX, and the vehicle-mounted T-BOX is in communication connection with the first early warning module;
the sensor module is used for fusing environment information detected by a plurality of sensors to obtain a first fusion result, and transmitting the first fusion result to the automatic driving module and the gateway;
the automatic driving module is used for processing the information of the first fusion result to obtain a second fusion result and transmitting the second fusion result to the gateway;
the gateway is used for transmitting the first fusion result and the second fusion result to the vehicle-mounted T-BOX;
the first early warning module is used for generating first early warning information based on the vehicle wireless communication technology;
the vehicle-mounted T-BOX is used for fusing the first fusion result, the second fusion result and the first early warning information to generate target early warning information.
Further, the sensor module comprises a plurality of sensors and at least one sensor controller;
the sensor controller is used for acquiring the environmental information detected by the sensors and fusing the environmental information detected by the sensors to obtain a first fusion result;
wherein the first fusion result comprises at least one item of fusion information, each item of fusion information comprising: a category of a target sensor, and environmental information detected by the target sensor.
Further, the autopilot module includes:
the information analysis module is used for analyzing each item of fusion information in the first fusion result and determining the association relation among the sensors in different categories;
the second fusion result generation module is used for generating a second fusion result based on the incidence relation among the sensors of different types and the environment information detected by each sensor;
and the first transmission module is used for transmitting the second fusion result to the gateway.
Further, the onboard T-BOX comprises:
the judging module is used for judging whether the second fusion result is invalid or not;
the first fusion module is used for fusing the first fusion result and the first early warning information through a preset algorithm to generate the target early warning information when the second fusion result is invalid;
and the second fusion module is used for fusing the second fusion result and the first early warning information through a preset algorithm to generate the target early warning information when the second fusion result is valid.
Further, the system further comprises:
the information display module is connected with the gateway;
the gateway is also used for transmitting the target early warning information to the information display module;
the information display module is used for displaying the target early warning information.
The embodiment of the application has the following beneficial effects:
the method comprises the steps that a sensor module fuses based on environmental information detected by a plurality of sensors to obtain a first fusion result, and the first fusion result is transmitted to an automatic driving module and a gateway; the automatic driving module carries out information processing on the first fusion result to obtain a second fusion result, and the second fusion result is transmitted to the gateway; the gateway transmits the first fusion result and the second fusion result to an on-board T-BOX; the first early warning module generates first early warning information based on the vehicle wireless communication technology; and the vehicle-mounted T-BOX fuses the first fusion result, the second fusion result and the first early warning information to generate target early warning information. According to the method and the device, communication links between the sensor module and the gateway and between the automatic driving module and the gateway are established, so that a detection information fusion result and first early warning information are fused through the vehicle-mounted T-BOX, namely, the first early warning module is assisted to carry out early warning by adopting a sensor to sense an information processing result, the reliability of the V2X early warning module is enhanced, false alarms caused by insufficient road information in some special scenes are eliminated, and repeated early warning is avoided; and when the output information fails due to the fault of the automatic driving module, the first fusion result and the first early warning information based on the sensor module are fused to generate the fusion early warning information, so that the robustness of the fusion of the early warning information is enhanced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions and advantages of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application;
FIG. 2 is a flowchart of a vehicle safety warning method provided in an embodiment of the present application;
fig. 3 is a flowchart of an information processing method provided in an embodiment of the present application;
fig. 4 is a flowchart of a target warning information generation method provided in an embodiment of the present application;
FIG. 5 is a schematic diagram of a vehicle safety warning system according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram of an autopilot module provided by an embodiment of the present application;
FIG. 7 is a schematic diagram of a vehicle-mounted T-BOX provided by the embodiment of the application;
FIG. 8 is a first exemplary schematic diagram provided by an embodiment of the present application;
fig. 9 is a schematic diagram of a second example provided by an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, the present application will be further described in detail with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the present application and not all 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.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1, a schematic view of an application scenario of the embodiment of the present application is shown, where the scenario may include a first terminal 110 and a second terminal 120, where data communication between a vehicle and the second terminal 120 is enabled through the first terminal 110.
Specifically, the vehicle in the embodiment of the present specification is equipped with an automatic driving device and a V2X early warning device, the automatic driving device includes a sensor module and an automatic driving module, and the sensor module detects ambient environment information and transmits the ambient environment information to the automatic driving module; the automatic driving module realizes various automatic driving functions based on the detection information of the sensor and outputs a recognition result; the vehicle V2X early warning module realizes information interaction with the second terminal 120 through the first terminal 110 to generate vehicle safety early warning information.
The first terminal 110 in this embodiment of the application may be a vehicle-mounted terminal or another device having a communication function, the second terminal 120 may be a vehicle similarly equipped with a V2X early warning module, or may be a backend server, and the backend server may include a server operating independently, a distributed server, or a server cluster including a plurality of servers.
In view of the situation that in the prior art, when a vehicle safety warning is performed by using a V2X technology, in some special cases, a false alarm is generated due to insufficient road information or warning information is unreliable, an embodiment of the present application provides a vehicle safety warning method, please refer to fig. 2, where the method may include:
s210, the sensor module performs fusion based on the environment information detected by the sensors to obtain a first fusion result, and the first fusion result is transmitted to the automatic driving module and the gateway.
In this embodiment of the present application, the sensor module includes a plurality of sensors and at least one sensor controller, and accordingly, the sensor module performs fusion based on environmental information detected by the plurality of sensors, and obtaining a first fusion result includes:
the sensor controller acquires environmental information detected by the sensors and fuses the environmental information detected by the sensors to obtain a first fusion result; wherein the first fusion result comprises at least one item of fusion information, each item of fusion information comprising: a category of a target sensor, and environmental information detected by the target sensor.
In particular, since the types of sensors installed on vehicles are different and may be produced by different vendors, when merging based on environmental information detected by a plurality of sensors, merging may be performed by sensor categories, that is, merging information detected by the same type of sensor; sensors on, for example, a vehicle include: the information detected by the front-view camera and the information detected by the side angle radar are regarded as two items of fusion information, namely, the first fusion result can comprise the front-view camera and the detection information thereof, and the side angle radar and the detection information thereof.
S220, the automatic driving module carries out information processing on the first fusion result to obtain a second fusion result, and the second fusion result is transmitted to a gateway.
In this embodiment of the application, the second fusion result transmitted by the autopilot module to the gateway may be sensor detection information consistent with the first fusion result, or may be more accurate detection information generated by the autopilot module performing further analysis processing based on the first fusion result transmitted by the sensor module, and specifically, please refer to fig. 3, which shows an information processing method, where the method may include:
and S310, analyzing each item of fusion information in the first fusion result by the automatic driving module, and determining the association relation among different types of sensors.
S320, the automatic driving module generates a second fusion result based on the incidence relation among the sensors of different types and the environment information detected by the sensors.
S330, the automatic driving module transmits the second fusion result to the gateway.
Taking the two sensors of the front-view camera and the side angle radar in the step S210 as an example to continue to describe a specific generation process for generating the second fusion result, analyzing the front-view camera and the detection information thereof, and the side angle radar and the detection information thereof in the first fusion result, determining an association relationship between the front-view camera and the side angle radar, wherein the front-view camera can detect obstacle information in a first angle in front of the vehicle, the side angle radar can detect obstacle information in front of the vehicle and in a second angle in side of the vehicle, and whether the two detection angles are overlapped or not can be determined by analyzing the two different types of angle parameters; therefore, the information detected by the forward-looking camera can be the type of an obstacle in front of the vehicle (the type of the obstacle can be a pedestrian, a vehicle, a railing and the like), the information detected by the lateral angle radar can be the distance between the obstacle in front of the side of the vehicle and the vehicle, when the obstacle appears in the coincident angle of the obstacle and the vehicle, the type of the obstacle and the distance between the obstacle and the vehicle can be judged, and the judgment result can be regarded as the identification result of the automatic driving module, namely the second fusion result. The autopilot module may implement a corresponding autopilot function based on the second fusion result.
And S230, the gateway transmits the first fusion result and the second fusion result to a vehicle-mounted T-BOX.
S240, the first early warning module generates first early warning information based on the vehicle wireless communication technology.
The first early warning module in the embodiment of the application may specifically be a V2X early warning module, and is implemented based on a V2X technology, so that the vehicle can communicate with the vehicle, with the vehicle and with a base station, and with the base station, a series of traffic information such as real-time road conditions, road information, pedestrian information, and the like can be obtained, and thus, driving safety is improved, congestion is reduced, traffic efficiency is improved, and vehicle-mounted entertainment information is provided.
S250, the vehicle-mounted T-BOX fuses the first fusion result, the second fusion result and the first early warning information to generate target early warning information.
In an embodiment of the present application, the first warning module may be a module independent of the vehicle-mounted T-BOX or a module integrated in the vehicle-mounted T-BOX, and the vehicle-mounted T-BOX may be configured to implement fusion of warning information, and specifically, refer to fig. 4, which shows a target warning information generation method, where the method may include:
s410, the vehicle-mounted T-BOX judges whether the second fusion result is invalid or not.
S420, when the second fusion result is invalid, the vehicle-mounted T-BOX fuses the first fusion result and the first early warning information through a preset algorithm to generate the target early warning information.
And S430, when the second fusion result is valid, the vehicle-mounted T-BOX fuses the second fusion result and the first early warning information through a preset algorithm to generate the target early warning information.
In this embodiment of the application, a Kalman Filter (KF) or an information filtering (IMF) fusion algorithm may be used to fuse the second fusion result with the first warning information.
In the embodiment of the application, after the target early warning information is obtained, the gateway can also transmit the target early warning information to the information display module, and the information display module displays the target early warning information.
The method comprises the steps that a sensor module fuses based on environmental information detected by a plurality of sensors to obtain a first fusion result, and the first fusion result is transmitted to an automatic driving module and a gateway; the automatic driving module carries out information processing on the first fusion result to obtain a second fusion result, and the second fusion result is transmitted to the gateway; the gateway transmits the first fusion result and the second fusion result to an on-board T-BOX; the first early warning module generates first early warning information based on the vehicle wireless communication technology; and the vehicle-mounted T-BOX fuses the first fusion result, the second fusion result and the first early warning information to generate target early warning information. According to the method and the device, communication links between the sensor module and the gateway and between the automatic driving module and the gateway are established, so that a detection information fusion result and first early warning information are fused through the vehicle-mounted T-BOX, namely, the first early warning module is assisted to carry out early warning by adopting a sensor to sense an information processing result, the reliability of the V2X early warning module is enhanced, false alarms caused by insufficient road information in some special scenes are eliminated, and repeated early warning is avoided; and when the information output by the automatic driving module is invalid, the first fusion result based on the sensor module is fused with the first early warning information, so that the robustness of early warning information fusion is enhanced.
The embodiment of the present application further provides a vehicle safety early warning system, specifically please refer to fig. 5, the system may include:
a sensor module 510, an autopilot module 520, a gateway 530, an onboard T-BOX540, and a first early warning module 550, wherein the sensor module 510 is communicatively coupled to the autopilot module 520, the autopilot module 520 is communicatively coupled to the gateway 530, the sensor module 510 is communicatively coupled to the gateway 530, the gateway 530 is communicatively coupled to the onboard T-BOX540, and the onboard T-BOX540 is communicatively coupled to the first early warning module 550; in addition, it should be noted that the first warning module 550 in the embodiment of the present application may be independent of the vehicle-mounted T-BOX540, or may be integrated in the vehicle-mounted T-BOX540, and the embodiment is not particularly limited.
The sensor module 510 is configured to perform fusion based on environmental information detected by multiple sensors to obtain a first fusion result, and transmit the first fusion result to the autopilot module and the gateway;
the automatic driving module 520 is configured to perform information processing on the first fusion result to obtain a second fusion result, and transmit the second fusion result to the gateway;
the gateway 530 is configured to transmit the first fusion result and the second fusion result to the vehicle-mounted T-BOX;
the first warning module 550 is configured to generate first warning information based on an in-vehicle wireless communication technology;
the vehicle-mounted T-BOX540 is configured to fuse the first fusion result, the second fusion result, and the first warning information to generate target warning information.
Further, the sensor module 510 includes a plurality of sensors and at least one sensor controller;
the sensor controller is used for acquiring the environmental information detected by the sensors and fusing the environmental information detected by the sensors to obtain a first fusion result;
wherein the first fusion result comprises at least one item of fusion information, each item of fusion information comprising: a category of a target sensor, and environmental information detected by the target sensor.
Further, referring to fig. 6, the automatic driving module 520 includes:
an information analysis module 610, configured to analyze each item of fusion information in the first fusion result, and determine an association relationship between sensors of different categories;
a second fusion result generating module 620, configured to generate a second fusion result based on an association relationship between different types of sensors and environment information detected by each sensor;
a first transmission module 630, configured to transmit the second fusion result to the gateway.
Further, referring to fig. 7, the on-board T-BOX540 includes:
a determining module 710, configured to determine whether the second fusion result is invalid;
a first fusion module 720, configured to fuse the first fusion result and the first warning information through a preset algorithm to generate the target warning information when the second fusion result is invalid;
and a second fusion module 730, configured to fuse the second fusion result and the first warning information through a preset algorithm to generate the target warning information when the second fusion result is valid.
Further, the system further comprises:
an information display module 560, wherein the information display module 560 is connected to the gateway 530;
the gateway 530 is further configured to transmit the target early warning information to the information display module;
the information display module 560 is configured to display the target early warning information.
The vehicle safety early warning system provided by the embodiment can execute the method provided by any embodiment of the application, and has corresponding functional modules and beneficial effects for executing the method. Technical details not described in detail in the above embodiments may be referred to a method provided in any of the embodiments of the present application.
The following describes a specific implementation process of the present application with a specific example, where the sensor in the embodiment of the present application is an Advanced Driving Assistance System (ADAS) sensor, which may include a camera, a millimeter wave radar, a laser radar, an ultrasonic radar, and the like, and after being activated to acquire external information, a corresponding Electronic Control Unit (ECU) performs data processing such as image and point cloud, and then transmits a reliable target identification result to a V2X fusion module, and the V2X fusion module is mounted on a T-BOX module, and a standard V2X early warning result and a sensor identification result are fused with each other, so as to obtain an enhanced early warning result.
Specifically referring to fig. 8, taking two sensors as an example for description, based on the functions of the autopilot domain, the signal transmission gateway, the V2X module in the T-BOX, and HMI (Human Machine Interface) display, the signal transmission process may include:
1. the sensors identify the environment, and the ECU at the sensor end obtains a fused target list according to the sensing results of the sensors; the target list includes various categories of sensors and their detected environmental information.
2. The fusion result of the sensor end is transmitted into an automatic driving domain, and the automatic driving domain realizes various ADAS functions (such as adaptive cruise ACC and the like).
3. And transmitting the fusion result of the automatic driving domain transparent transmission to the gateway.
4. And transmitting the fusion result of the sensor end to the gateway.
And 5, transmitting the identification result of the ADAS and the fusion result of the sensor end into V2X-TBOX through a gateway, and realizing early warning fusion by a fusion module in the TBOX.
And 6, the fusion result of the ADAS sensor and the fusion result of the two links of the V2X early warning module are transmitted to the HMI through the gateway.
The above examples mainly illustrate the method of fusing the ADAS function of multiple sensors into the V2X pre-warning module, and in the current mainstream ADAS products, some of the fusion of multiple sensors is implemented at the sensor end (for example, the adaptive cruise ACC function depends on the sensing results of a forward-looking camera and a forward millimeter wave radar, and the fusion of the two sensors can also be performed in a separate module outside an autopilot domain). The two links 3 and 4 shown in fig. 8 jointly ensure that the sensor identification result can be transmitted to the V2X-TBOX, so that the purpose of enhancing the robustness of the ADAS-fused V2X early warning algorithm is achieved.
In the above example, the autonomous driving domain is referred to, and when the autonomous driving domain is not depended on, the direct connection mode may be adopted, and referring to fig. 9 in particular, the signal transmission process may include:
1. the sensors identify the environment, and the ECU at the sensor end obtains a fused target list according to the sensing results of the sensors; the target list includes various categories of sensors and their detected environmental information.
2. And transmitting the fusion result of the sensor end to the gateway.
3. The fusion result of the sensor end is transmitted into V2X-TBOX through a gateway, and the fusion module in the TBOX realizes early warning fusion.
And 4, the fusion result of the ADAS sensor and the fusion result of the two links of the V2X early warning module are transmitted to the HMI through the gateway.
Therefore, the direct mode does not need to depend on the function of the automatic driving domain, and even if the automatic driving domain controller fails, the V2X can be normally realized by combining the ADAS enhanced early warning function.
By virtue of the enhancement of the electronic structure, the V2X module can realize more accurate early warning, and particularly eliminate the occurrence of some false alarms. For example, in the case of no map information assistance, the vehicle travels on a certain road in the campus with the traveling direction facing the outside road, but the vehicle cannot travel outside the campus due to the presence of an obstacle such as a fence; however, in the intersection warning mode of V2X, the current vehicle generates a warning for the intersection warning because there are vehicles traveling back and forth outside the campus. The alarm generation completely accords with the alarm criterion of V2X, and cannot be eliminated through the single module optimization of V2X, but the rail information captured by the front-view camera of the ADAS module can judge that the possibility of intersection early warning cannot be generated in a certain area in front; such false alarms can thus be eliminated by means of the information obtained by the ADAS module.
Compared with the prior art that the ADAS sensor recognition result is not fused with the V2X early warning information, and a technical scheme that a communication link which intervenes in the V2X from an automatic driving domain is not reserved in the design of an electronic architecture, the method and the device have the advantages that a signal transmission link from the automatic driving domain to the V2X-TBOX is added, so that the ADAS sensor recognition result is fused with the V2X early warning information, false alarms caused by insufficient road information under certain special scenes can be eliminated, and the reliability of V2X early warning is enhanced; the early warning result based on the sensor fusion result and the early warning result of the V2X module are fused before being transmitted to the HMI, so that repeated early warning is avoided, and the user experience is improved; in addition, a signal transmission link from the sensor end to the V2X-TBOX is added, specifically, the signal transmission link from the target recognition processor of the sensor to the V2X early warning module is added, and the problem that the early warning effect of the fusion of the V2X and the ADAS is possibly influenced by the stability of the automatic driving area due to the fact that the fusion result of the sensor end needs to be transmitted from the automatic driving area is solved. The signal transmission link from the automatic driving domain to the V2X-TBOX and the signal transmission link from the sensor terminal to the V2X-TBOX complement each other, so that the robustness of the fusion ADAS information system of the V2X is enhanced when the automatic driving domain is unstable or the automatic driving domain fails to cause the fusion result of the automatic driving domain to be invalid.
The present specification provides method steps as described in the examples or flowcharts, but may include more or fewer steps based on routine or non-inventive labor. The steps and sequences recited in the embodiments are but one manner of performing the steps in a multitude of sequences and do not represent a unique order of performance. In the actual system or interrupted product execution, it may be performed sequentially or in parallel (e.g., in the context of parallel processors or multi-threaded processing) according to the embodiments or methods shown in the figures.
The configurations shown in the present embodiment are only partial configurations related to the present application, and do not constitute a limitation on the devices to which the present application is applied, and a specific device may include more or less components than those shown, or combine some components, or have an arrangement of different components. It should be understood that the methods, apparatuses, and the like disclosed in the embodiments may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, the division of the modules is merely a division of logical functions, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or unit modules.
Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A vehicle safety early warning method is characterized by comprising the following steps:
the sensor module performs fusion based on the environmental information detected by the sensors to obtain a first fusion result, and transmits the first fusion result to the automatic driving module and the gateway;
the automatic driving module carries out information processing on the first fusion result to obtain a second fusion result, and the second fusion result is transmitted to the gateway;
the gateway transmits the first fusion result and the second fusion result to an on-board T-BOX;
the first early warning module generates first early warning information based on the vehicle wireless communication technology;
and the vehicle-mounted T-BOX fuses the first fusion result, the second fusion result and the first early warning information to generate target early warning information.
2. The vehicle safety precaution method according to claim 1, wherein the sensor module includes a plurality of sensors and at least one sensor controller;
correspondingly, the sensor module performs fusion based on the environmental information detected by the plurality of sensors, and obtaining a first fusion result includes:
the sensor controller acquires environmental information detected by the sensors and fuses the environmental information detected by the sensors to obtain a first fusion result;
wherein the first fusion result comprises at least one item of fusion information, each item of fusion information comprising: a category of a target sensor, and environmental information detected by the target sensor.
3. The vehicle safety early warning method according to claim 1, wherein the automatic driving module performs information processing on the first fusion result to obtain a second fusion result, and the transmitting the second fusion result to the gateway comprises:
the automatic driving module analyzes each item of fusion information in the first fusion result and determines the incidence relation among different types of sensors;
the automatic driving module generates a second fusion result based on the incidence relation among the sensors of different types and the environmental information detected by the sensors;
and the automatic driving module transmits the second fusion result to the gateway.
4. The vehicle safety precaution method according to claim 3, wherein the vehicle-mounted T-BOX fuses the first fusion result, the second fusion result and the first precaution information, and generating target precaution information comprises:
the vehicle-mounted T-BOX judges whether the second fusion result is invalid;
when the second fusion result is invalid, the vehicle-mounted T-BOX fuses the first fusion result and the first early warning information through a preset algorithm to generate the target early warning information;
and when the second fusion result is valid, the vehicle-mounted T-BOX fuses the second fusion result and the first early warning information through a preset algorithm to generate the target early warning information.
5. The vehicle safety precaution method according to claim 1, further comprising:
the gateway transmits the target early warning information to the information display module;
and the information display module displays the target early warning information.
6.A vehicle safety warning system, the system comprising:
the system comprises a sensor module, an automatic driving module, a gateway, a vehicle-mounted T-BOX and a first early warning module, wherein the sensor module is in communication connection with the automatic driving module, the automatic driving module is in communication connection with the gateway, the sensor module is in communication connection with the gateway, the gateway is in communication connection with the vehicle-mounted T-BOX, and the vehicle-mounted T-BOX is in communication connection with the first early warning module;
the sensor module is used for fusing environment information detected by a plurality of sensors to obtain a first fusion result, and transmitting the first fusion result to the automatic driving module and the gateway;
the automatic driving module is used for processing the information of the first fusion result to obtain a second fusion result and transmitting the second fusion result to the gateway;
the gateway is used for transmitting the first fusion result and the second fusion result to the vehicle-mounted T-BOX;
the first early warning module is used for generating first early warning information based on the vehicle wireless communication technology;
the vehicle-mounted T-BOX is used for fusing the first fusion result, the second fusion result and the first early warning information to generate target early warning information.
7. The vehicle safety precaution system of claim 6, wherein the sensor module includes a plurality of sensors and at least one sensor controller;
the sensor controller is used for acquiring the environmental information detected by the sensors and fusing the environmental information detected by the sensors to obtain a first fusion result;
wherein the first fusion result comprises at least one item of fusion information, each item of fusion information comprising: a category of a target sensor, and environmental information detected by the target sensor.
8. The vehicle safety precaution system of claim 6, wherein the autopilot module includes:
the information analysis module is used for analyzing each item of fusion information in the first fusion result and determining the association relation among the sensors in different categories;
the second fusion result generation module is used for generating a second fusion result based on the incidence relation among the sensors of different types and the environment information detected by each sensor;
and the first transmission module is used for transmitting the second fusion result to the gateway.
9. The vehicle safety precaution system of claim 8, wherein the vehicle-mounted T-BOX comprises:
the judging module is used for judging whether the second fusion result is invalid or not;
the first fusion module is used for fusing the first fusion result and the first early warning information through a preset algorithm to generate the target early warning information when the second fusion result is invalid;
and the second fusion module is used for fusing the second fusion result and the first early warning information through a preset algorithm to generate the target early warning information when the second fusion result is valid.
10. The vehicle safety precaution system of claim 6, further comprising:
the information display module is connected with the gateway;
the gateway is also used for transmitting the target early warning information to the information display module;
the information display module is used for displaying the target early warning information.
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