CN113421460A - Anti-collision early warning method and device for working vehicle, vehicle-mounted terminal and storage medium - Google Patents
Anti-collision early warning method and device for working vehicle, vehicle-mounted terminal and storage medium Download PDFInfo
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Abstract
The application provides an anti-collision early warning method and device for a working vehicle, a vehicle-mounted terminal and a storage medium, and relates to the technical field of traffic management. The anti-collision early warning method for the working vehicle is applied to a vehicle-mounted terminal on a first working vehicle in a preset working area, and comprises the following steps: acquiring a position of a first work vehicle; determining a preset area range corresponding to the first working vehicle from a preset working area according to the position of the first working vehicle; calculating the distance between the first working vehicle and each second working vehicle in the preset area range; and judging whether the first working vehicle and each second working vehicle have collision avoidance risks or not according to the distance. The scheme of this application has reduced the calculation scope of vehicle when anticollision early warning, does not calculate to the vehicle outside the predetermined regional scope, has shortened holistic operating time for the arithmetic speed reduces the operation platform load, can accomplish the operation in shorter time, has strengthened the real-time of early warning, guarantee operating vehicle's safety.
Description
Technical Field
The invention relates to the technical field of traffic management, in particular to an anti-collision early warning method and device for a working vehicle, a vehicle-mounted terminal and a storage medium.
Background
With the continuous deepening of mechanization and industrialization degree, under various application scenes, the automation and intelligent development of the working vehicle are more and more emphasized, but although a user can make safety measures, the working environment of the working vehicle is complex, and the problem of driving blind areas of the vehicle is solved, so that terrible potential safety hazards are buried for drivers of the working vehicle.
The existing collision early warning for the working vehicles carries out spatial distance calculation according to the positions of the Beidou positioning terminals of the current vehicles and the positions of the Beidou positioning terminals of all other working vehicles, the calculation result is compared with a safety threshold value, and the early warning is sent out immediately when the calculation result is smaller than the safety threshold value. The calculation method has the advantages that the calculation times are large, the calculation amount is large, if N working vehicles exist in a working area, the calculation needs to be carried out for N-1 times, if each calculation is carried out for 5 milliseconds, 1000 vehicles need 5 seconds, however, for the working vehicles in operation, the calculation efficiency is far from the requirement of timeliness, the safety of the working area cannot be guaranteed, and great safety management hidden dangers exist.
Disclosure of Invention
The present invention aims to provide a method and an apparatus for performing an anti-collision warning on a working vehicle, a vehicle-mounted terminal, and a storage medium, so as to reduce the amount of calculation, enhance the timeliness of the anti-collision warning on the working vehicle, and ensure the safe operation of a working area.
In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:
in a first aspect, an embodiment of the present application provides an anti-collision early warning method for a work vehicle, which is applied to a vehicle-mounted terminal on a first work vehicle in a preset work area, and the method includes:
acquiring a position of a first work vehicle;
determining a preset area range corresponding to the first working vehicle from a preset working area according to the position of the first working vehicle;
calculating the distance between the first working vehicle and each second working vehicle in the preset area range;
and judging whether the first working vehicle and each second working vehicle have collision avoidance risks or not according to the distance.
Optionally, the preset operation area is divided into a plurality of unit grids in advance; according to the position of the first work vehicle, determining a preset area range corresponding to the first work vehicle from a preset work area, wherein the preset area range comprises the following steps:
determining a first grid of cells in which the first work vehicle is located from the plurality of grids of cells based on the position of the first work vehicle;
determining a first preset number of unit grids with the first unit grid as the center as a second unit grid, wherein the preset area range is as follows: an area covered by the first cell grid and the second cell grid.
Optionally, determining a first unit grid in which the first work vehicle is located from the plurality of unit grids according to the position of the first work vehicle includes:
and determining the grid position number corresponding to the area range of the first working vehicle as the position number of the first unit grid according to the position of the first working vehicle and the preset corresponding relation between the position number of each unit grid and the area range of each unit grid.
Optionally, determining that the preset number of unit grids with the first unit grid as the center is the second unit grid includes:
and determining the area surrounded by the first preset number of unit grids with the first unit grid as the center as a preset area range according to the position number of the first unit grid and the preset corresponding relation.
Optionally, the position number of each unit grid is a two-dimensional position number; determining a first preset number of unit grids with the first unit grid as a center as a second unit grid, including:
respectively determining a second preset number of unit grids which take the first unit grid as the center on each coordinate axis as a part of second unit grids according to the position numbers of the real-time unit grids; the first preset number is the sum of the second preset numbers on the two coordinate axes.
Optionally, before determining the first unit grid where the first work vehicle is located from the plurality of unit grids according to the position of the first work vehicle, the method further includes:
and carrying out grid division on the preset operation area to obtain a plurality of unit grids, wherein each unit grid is a rectangular area with preset side length.
Optionally, in any one of the above anti-collision warning methods for a work vehicle, the anti-collision warning method for a work vehicle, and the anti-collision warning method for a work vehicle include:
if the distance is smaller than or equal to the preset distance threshold value, determining that the first working vehicle and each second working vehicle have collision risks;
if the distance is larger than the preset distance threshold, judging whether the ray of the travelling direction of the first working vehicle is intersected with the ray of the travelling direction of each second working vehicle;
if the rays are intersected, determining that the first working vehicle and each second working vehicle have collision risks;
and if the rays do not intersect, determining that the first working vehicle and each second working vehicle do not have the collision risk.
In a second aspect, an embodiment of the present application further provides an anti-collision warning device for anti-collision warning of a working vehicle, including:
a positioning module for acquiring a position of a first work vehicle;
the analysis module is used for determining a preset area range corresponding to the first working vehicle from a preset working area according to the position of the first working vehicle;
the calculation module is used for calculating the distance between the first working vehicle and each second working vehicle in the preset area range;
and the judging module is used for judging whether the first working vehicle and each second working vehicle have collision risks or not according to the distance.
In a third aspect, an embodiment of the present application further provides a vehicle-mounted terminal, including a processor and a storage medium, where the storage medium stores machine-readable instructions executable by the processor, and when the vehicle-mounted terminal runs, the processor communicates data with the storage medium, and the processor executes the machine-readable instructions to perform the steps of the foregoing first aspect method.
In a fourth aspect, this embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the steps of the foregoing method in the first aspect.
The beneficial effect of this application is: according to the anti-collision early warning method for the working vehicle, the position of the first working vehicle can be obtained; determining a preset area range corresponding to the first working vehicle from the preset working area according to the position of the first working vehicle; calculating the distance between the first working vehicle and each second working vehicle in the preset area range; and judging whether the first working vehicle and each second working vehicle have collision avoidance risks or not according to the distance. According to the method, the preset area range corresponding to the first working vehicle is determined from the preset working area according to the position of the first working vehicle, the area range for collision early warning is reduced, the distance between the first working vehicle and each second working vehicle in the preset area range only needs to be calculated, the vehicles outside the preset area range are not calculated, whether collision risks exist or not is judged according to the distance, the calculated amount in the collision early warning calculation process is reduced, the waste of calculation resources caused by the calculation of the distance of the working vehicles at longer distances is avoided, the overall calculation time is shortened, the calculation speed is increased, the load of a calculation platform is reduced, the calculation can be completed in shorter time, the real-time performance of early warning is enhanced, and the safety of the working vehicles is guaranteed.
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 will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a flowchart of an anti-collision warning method for a work vehicle according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of a preset operation area according to an embodiment of the present application;
FIG. 3 is a flow chart of a method of pre-warning for collision avoidance for a work vehicle according to yet another embodiment of the present disclosure;
fig. 4 is a schematic diagram of a preset operation area according to another embodiment of the present application;
FIG. 5 is a schematic diagram of a preset operation area according to yet another embodiment of the present application;
fig. 6 is a schematic diagram of a preset operation area according to yet another embodiment of the present application;
fig. 7 is a schematic diagram of a preset operation area according to yet another embodiment of the present application;
fig. 8 is a flowchart of an anti-collision warning method for a work vehicle according to yet another fourth embodiment of the present application;
fig. 9A is a schematic view of a preset operation area according to yet another embodiment of the present application;
FIG. 9B is a second schematic diagram of a preset operation area according to yet another embodiment of the present application;
fig. 9C is a third schematic view of a preset operation area according to yet another fourth embodiment of the present application;
fig. 10 is a schematic diagram of an anti-collision, pre-warning, anti-collision and pre-warning device for a work vehicle according to an embodiment of the present disclosure;
fig. 11 is a schematic diagram of a vehicle-mounted terminal according to an embodiment of the present application.
Legend: 10-a first work vehicle; 20-a second work vehicle; 30-a first grid of cells; 31-a second grid of cells; 51-a positioning module; 52-an analysis module; 53-a calculation module; 54-a judgment module; 61-a processor; 62-a storage medium; 100-a preset area range.
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 present application will be clearly and completely described below with reference to the drawings in the present application, and it is obvious that the described embodiments are only a part of the embodiments in the present application, and not all of the embodiments. The following detailed description of the present application, presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. In the description of the present application, "a plurality" means at least two, e.g., two, three, unless specifically limited otherwise.
The working vehicle collision avoidance early warning method, the working vehicle collision avoidance early warning device, the vehicle-mounted terminal and the storage medium provided by the application are exemplified by a plurality of examples as follows. Fig. 1 is a flowchart of a method for pre-warning collision avoidance for a work vehicle according to an embodiment of the present disclosure. Fig. 2 is a schematic diagram of a preset operation area according to an embodiment of the present application. Referring to fig. 1 and fig. 2, the method for pre-warning collision avoidance for a work vehicle is applied to a vehicle-mounted terminal on a first work vehicle 10 in a preset work area, where the vehicle-mounted terminal may be, for example, a tablet device, a vehicle scheduling monitoring terminal, a vehicle traveling recorder, and the like, and the application is not limited thereto.
The method comprises the following steps:
step 101: a position of a first work vehicle is acquired.
The first work vehicle is any one of work vehicles in a preset work area. The preset operation area can be any area with operation requirements, such as a mining area, a forest area, a pastoral area, a fishing area and the like. For example, if the predetermined work area is a mine, the first work vehicle may be a mine car, such as a mine truck; if the preset operation area is a forest area, the first operation vehicle can be a harvesting vehicle.
The working vehicles in the preset working area are the same type of working vehicle or different working vehicles, for example, if the preset working area is a mining area, the working vehicles may be mining area transport vehicles or mining area vehicles with other functions.
Each work vehicle in the preset work area has a Positioning device, and the Positioning device may be, for example, a BeiDou Navigation Satellite System (BeiDou Navigation Satellite System), a Global Positioning System (GPS), a glonass Satellite Navigation System (Global Navigation SATELLITE SYSTEM, GLONASS), a Galileo Satellite Navigation System (Galileo), or the like. For example, the positioning device may be a BeiDou Navigation Satellite System (BeiDou Navigation Satellite System), and the position of the first work vehicle may be obtained through positioning data acquired by the BeiDou Navigation Satellite System (BeiDou Navigation Satellite System) installed on the first work vehicle.
Step 102: and determining a preset area range corresponding to the first working vehicle from the preset working area according to the position of the first working vehicle.
In a possible implementation manner, the first work vehicle may be determined from the preset work area according to the position of the first work vehicle and a preset area range screening condition, and the area range having the area size satisfying the area range screening condition is the preset area range.
The preset area range screening condition may be determined according to various reasons such as a range of a preset work area, work content, a traveling state of a work vehicle in the preset work area, and the like.
In one example, the preset area range screening condition may be, for example, a distance value of the first work vehicle from a boundary of a preset area range. Taking a circular area as an example, the preset area range screening condition may be a meter from the first work vehicle to a boundary of a preset area range, that is, the area range screening condition defines that the preset area range is a circular area range with a radius a and the first work vehicle as a center.
In another example, the preset region range screening condition may be further: the distance values of the first work vehicle from a plurality of boundaries of a preset area range. Taking a rectangular area as an example, the preset area range screening condition may be that the boundary between the first work vehicle and the preset area range is a meter long and b meters wide, that is, the area range screening condition defines that the preset area range is a rectangular area range centered on the first work vehicle, a meter long and b meters wide.
In another example, the preset region range screening condition may be: the number of unit areas spaced from the boundary of the preset area range, the unit area where the first work vehicle is located. For example, the preset area range screening condition may be a unit area where the first work vehicle is located and a grid area where the preset number of the unit areas surrounding the first work vehicle is 8.
Step 103: the distance between the first work vehicle and each of the second work vehicles within the preset area range is calculated.
In the case of determining the preset area range, the positions of the second work vehicles in the preset area range are acquired, and the distance between the first work vehicle and each second work vehicle in the preset area range is calculated according to the position of the first work vehicle and the positions of the second work vehicles.
In a specific application example, as shown in fig. 2, a vehicle-mounted terminal on a first work vehicle 10 in a preset work area acquires a real-time position of the first work vehicle 10 through a beidou satellite navigation system; determining a preset area range 100 corresponding to the first work vehicle 10 according to the position of the first work vehicle 10 and the preset area range determined in the step 102; the distance between the first work vehicle 10 and each of the second work vehicles 20 within the preset area range 100 is calculated, the first work vehicle 10 calculates only the distance between the second work vehicle 20 within the preset area range 100, and no calculation is made for the second work vehicle 20 outside the preset area range 100. In the prior art, all the vehicles outside the preset area range 100 are calculated.
Step 104: from the distance, it is determined whether there is a risk of collision for the first work vehicle 10 and each second work vehicle 20.
In the specific implementation process, the distance can be compared with a preset distance threshold value, namely a safety distance threshold value, whether collision risks exist or not is judged according to a distance comparison result, and whether collision risks exist or not can be judged according to the distance comparison result and the traveling direction of the working vehicle.
According to the anti-collision early warning method for the working vehicle, the position of the first working vehicle can be obtained; determining a preset area range corresponding to the first working vehicle from the preset working area according to the position of the first working vehicle; calculating the distance between the first working vehicle and each second working vehicle in the preset area range; and judging whether the first working vehicle and each second working vehicle have collision avoidance risks or not according to the distance. According to the method, the preset area range corresponding to the first working vehicle is determined from the preset working area according to the position of the first working vehicle, the area range for collision early warning is reduced, the distance between the first working vehicle and each second working vehicle in the preset area range only needs to be calculated, the vehicles outside the preset area range are not calculated, whether collision risks exist or not is judged according to the distance, the calculated amount in the collision early warning calculation process is reduced, the waste of calculation resources caused by the calculation of the distance of the working vehicles at longer distances is avoided, the overall calculation time is shortened, the calculation speed is increased, the load of a calculation platform is reduced, the calculation can be completed in shorter time, the real-time performance of early warning is enhanced, and the safety of the working vehicles is guaranteed.
Optionally, on the basis of the work vehicle anti-collision warning method shown in fig. 1, an embodiment of the present application further provides a possible implementation example of the work vehicle anti-collision warning method. Fig. 3 is a flowchart of a method for pre-warning collision avoidance for a work vehicle according to yet another embodiment of the present application, and fig. 4 is a schematic diagram of a preset work area according to yet another embodiment of the present application, where the preset work area is divided into a plurality of unit grids in advance, as shown in fig. 3 and 4. The plurality of unit cells have the same size and shape. In addition, the division of the unit grid in the preset work area may be set according to the user requirement or the specific situation of the work environment, for example, the unit grid may be divided into a plurality of rectangular areas, or may be divided into other shapes and sizes, which is not limited in this application. Determining a preset area range corresponding to the first work vehicle from within the preset work area according to the position of the first work vehicle in the method 102 as described above may include:
step 201: a first grid of cells in which the first work vehicle is located is determined from the plurality of grids of cells based on the position of the first work vehicle.
The position of the first work vehicle may be compared with the coverage of each unit grid divided in the preset work area, and the unit grid where the first work vehicle is located is determined as the first unit grid.
Step 202: determining a first preset number of unit grids with the first unit grid as the center as a second unit grid, wherein the preset area range is as follows: an area covered by the first cell grid and the second cell grid.
The first preset number may be set by the user according to actual needs, in combination with the specific environment of the work area, the conditions of the work vehicle, and the like. For example, the first predetermined number may be 4, 6, 8, etc., and the specific value of the first predetermined number is not limited herein.
In a specific application example, as shown in fig. 4, a preset work area is divided into a plurality of unit grids, and a first unit grid 30 in which a first work vehicle 10 is located is determined from the plurality of unit grids according to the position of the first work vehicle 10 in the plurality of unit grids, for example, in fig. 4, the first unit grid 30 in which the first work vehicle 10 is located is a unit grid in a third row and a third column; next, determining a second unit grid 31 according to the first preset number; for example, if the first preset number is set to 8, the set second unit grid 31 is an area covered by diagonal lines, that is, the second, third, and fourth unit grids in the second row, the second, and fourth unit grids in the third row, and the second, third, and fourth unit grids in the fourth row; in this specific application example, the predetermined area range 100 is, as a whole: the first unit cell 30 and the second unit cell 31 cover an area.
By meshing the preset work area and setting the first unit grid 30 and the second unit grid 31 in which the first work vehicle 10 is located, the division of the preset area range 100 in the preset work area is simplified, and the calculation speed and accuracy can be further improved.
Optionally, on the basis of the work vehicle collision avoidance early warning method shown in fig. 3, an embodiment of the present application further provides a possible implementation example of the work vehicle collision avoidance early warning method, and fig. 5 is a schematic diagram of a preset work area provided in yet another embodiment of the present application, and as shown in fig. 5, determining a first unit grid 30 where a first work vehicle 10 is located from a plurality of unit grids according to a position of the first work vehicle 10 includes: the grid position number corresponding to the area range in which the first work vehicle 10 is located is determined to be the position number of the first unit grid 30, based on the position of the first work vehicle 10 and the preset correspondence between the position number of each unit grid and the area range of each unit grid.
It should be noted that the position numbers of each unit grid correspond to the area ranges of each unit grid one to one according to a preset corresponding relationship, that is, the area ranges of each unit grid have unique numbers, for example, consecutive numbers can be used for numbering, and the numbers are represented by arabic numbers; the number can also be numbered by hexadecimal, the number is represented by Arabic numerals and letters, and the number method and the number representation method are not limited in the application.
In a specific application example, as shown in fig. 5, the divided preset work areas are numbered with consecutive positive integers from 0, and the numbering follows from left to right and from top to bottom in order, so that the area range of each unit grid corresponds to the unique position number of each unit grid. According to the correspondence, the position number of the first unit cell 30 where the first work vehicle 10 is located is determined, and in the present embodiment, the position number of the first unit cell 30 is No. 12.
By establishing the one-to-one correspondence relationship between the area range of each unit grid and the position number of each unit grid, the digital management of the grid division of the preset operation area is realized, so that the management flow is more visual, and meanwhile, the method can reduce the operation amount and further improve the operation speed.
Optionally, on the basis of the work vehicle anti-collision warning method shown in fig. 5, an embodiment of the present application further provides a possible implementation example of the work vehicle anti-collision warning method, and fig. 6 is a schematic diagram of a preset work area provided in yet another embodiment of the present application, and as shown in fig. 6, determining a preset number of unit grids centering on a first unit grid 30 as a second unit grid 31 includes: according to the position number of the first unit grid 30 and the preset corresponding relationship, it is determined that the area surrounded by the first preset number of unit grids with the first unit grid 30 as the center is the preset area range 100.
It should be noted that the preset number of the second unit grids 31 may be any value within an achievable range, for example, 4, 6, 8, etc., which is not limited in the present application. Meanwhile, there may be different setting methods for the second unit grid 31 according to the setting of the preset number, for example, if the preset number of the second unit grid 31 is 4, then the area range covered by the four unit grids of 7, 11, 13, and 17 may be selected as the second unit grid 31; if the preset number is 6, then six unit grids of 6, 7, 8, 11, 13, and 17 may be selected as the area range of the second unit grid 31, and the first preset number is 7 in total of 6 second unit grids 31 plus the first unit grid 30; the present application does not limit the setting method of the second cell grid 31.
In a specific application example, as shown in fig. 6, in the application example, the preset number of the second unit grids 31 is 8, the position number of the first unit grid 30 is determined to be 12 according to the position number and the preset corresponding relationship of the first unit grid 30, the first preset number is 8 with the first unit grid 30 as the center, and the area range covered by the grids of the numbers 6, 7, 8, 11, 13, 16, 17, and 18 of the selected second unit grid 31 is the area range covered by the grids of the numbers 6, 7, 8, 11, 12, 13, 16, 17, and 18 in this application example, the preset area range 100 is the area range covered by the grids of the numbers 6, 7, 8, 11, 12, 13, 16, 17, and 18.
The preset area range 100 is determined according to the position numbers and the preset corresponding relation, the preset number and the preset range are flexibly set, the early warning method can adapt to various operation scenes, and the universality of the method is enhanced.
Optionally, on the basis of the work vehicle anti-collision warning method shown in fig. 5, an embodiment of the present application further provides a possible implementation example of the work vehicle anti-collision warning method, and fig. 7 is a schematic diagram of a preset work area provided in a further third embodiment of the present application, where, as shown in fig. 7, the position numbers of each unit grid are two-dimensional position numbers; determining a first preset number of unit grids centered on the first unit grid 30 as a second unit grid 31 includes: respectively determining a second preset number of unit grids which take the first unit grid 30 as the center on each coordinate axis as a part of second unit grids 31 according to the position numbers of the real-time unit grids; the first preset number is the sum of the second preset numbers on the two coordinate axes.
It should be noted that the origin position of the two-dimensional position number may be located at the upper left corner of the multiple unit grids, or may be located at the center of the multiple unit grids, which is not limited in the present application; it should be further noted that the labeling manner of each dimension may be uniform, for example, all numbers are numbered, or may be different, for example, one axis is numbered with a number, and the other axis is numbered with a letter, which is not limited in this application.
In a specific application example, as shown in fig. 7, in this application example, two-dimensional position numbering is performed on grid areas of a plurality of unit grids, in this application example, the unit grid at the upper left corner is taken as a coordinate origin, the unit grid extending horizontally to the right is set as an X axis, the unit grids thereon are numbered as X0, X1, X2 and X3 … … in sequence, the unit grid extending vertically downward is a Y axis, the unit grids thereon are numbered as Y0, Y1, Y2 and Y3 … … at one time, the position numbers of the first unit grid 30 are determined as (X2 and Y2) according to the position numbers of the first unit grid 30 and a preset corresponding relationship, the first preset number is 8 with the first unit grid 30 as a center, and the selected second unit grid 31 includes position numbers as: the preset area range 100 in this application example includes the range covered by the grids of (X1, Y1), (X1, Y2), (X1, Y2), (X2, Y1), (X2, Y3), (X3, Y1), (X3, Y2), and (X3, Y3), where the position number is: (X1, Y1), (X1, Y2), (X1, Y2), (X2, Y1), (X2, Y2), (X2, Y3), (X3, Y1), (X3, Y2), and (X3, Y3).
The number of the preset area range 100 can be obtained by simple calculation using the two-dimensional position number, and for example, when the number method of fig. 7 is used, by acquiring the position number (Xm, Xn) of the first work vehicle 10, the calculation method of the preset area range 100 can be set, for example, the grid numbers (Xm-1, Yn-1), (Xm, Yn-1, Yn), (Xm +1, Yn +1), (Xm +1, Yn-1) and the like are selected, that is, the second unit grid 31 is obtained by setting a general calculation method, so that the preset area range 100 is obtained, and the calculation speed is further increased.
Optionally, on the basis of the work vehicle collision avoidance early warning method shown in fig. 3, an example of a possible implementation of the work vehicle collision avoidance early warning method is further provided in the embodiment of the present application, where the first unit grid 30 where the first work vehicle 10 is located is determined from the plurality of unit grids according to the position of the first work vehicle 10, and the method further includes: and carrying out grid division on the preset operation area to obtain a plurality of unit grids, wherein each unit grid is a rectangular area with preset side length.
The preset side length of the unit grid may be set according to needs, for example, the preset side length may be set according to angles such as a size of the work vehicle, a scale of a preset work area, a work type of the work vehicle, and a running speed of the work vehicle, which is not limited in this application.
In a specific application example, a user may set each unit grid to be a square with a side length of 100 meters according to the size of the work vehicle and the running speed of the work vehicle, so as to implement grid division of a preset work area.
The preset operation area is divided into the rectangles with the preset side length, and because tight accumulation can be achieved among the rectangles, the problems that other types of polygons possibly have dividing gaps and cannot be tightly accumulated when the preset operation area is divided are avoided, and the problems that the area division of the operation vehicle possibly exists in the grid area divided by other types of polygons is uneven or the first unit grid 30 of the operation vehicle cannot be identified are avoided.
Optionally, on the basis of any of the above embodiments, an embodiment of the present application further provides a possible implementation example of a method for pre-warning for collision avoidance of a work vehicle, and fig. 8 is a flowchart of a method for pre-warning for collision avoidance of a work vehicle according to yet another fourth embodiment of the present application; fig. 9A is a schematic view of a preset operation area according to yet another embodiment of the present application; FIG. 9B is a second schematic diagram of a preset operation area according to yet another embodiment of the present application; fig. 9C is a third schematic view of a preset operation area according to yet another fourth embodiment of the present application; referring to fig. 8, 9A, 9B, and 9C, in any one of the above anti-collision warning methods for a work vehicle, determining whether there is a risk of collision between the first work vehicle and each of the second work vehicles according to the distance may include:
step 704: and judging whether the distance is smaller than or equal to a preset distance threshold value.
Step 705: and if the distance is smaller than or equal to the preset distance threshold value, determining that the first working vehicle and each second working vehicle have collision risks.
It should be noted that the preset distance threshold may be a fixed value set by the user according to actual needs, for example, 10 meters, 15 meters, 20 meters, and the like; it may be a variable value that changes constantly according to the traveling speed of the first work vehicle 10, for example, the faster the traveling speed of the first work vehicle 10 is, the smaller the preset distance threshold value thereof is; the preset distance threshold value can be flexibly set according to the specific structure of the working vehicle, for example, the preset distance threshold value is larger in the direction of realizing the blind area of the driver of the working vehicle, and the setting method and the setting value of the preset distance threshold value are not limited in the application.
Step 706: and if the distance is greater than a preset distance threshold value, judging whether the ray of the travelling direction of the first working vehicle is intersected with the ray of the travelling direction of each second working vehicle.
Before 706, the traveling directions of the first work vehicle 10 and each second work vehicle 20 in the preset area range 100 may be obtained by using positioning services provided by positioning systems such as a beidou satellite navigation system, a global positioning system, a glonass satellite navigation system, and a galileo satellite navigation system, or may be obtained by other positioning methods.
Step 707: and if the rays are intersected, determining that the first working vehicle and each second working vehicle have collision risks.
Step 708: and if the rays do not intersect, determining that the first working vehicle and each second working vehicle do not have the collision risk.
It should be noted that, if the on-board terminal on the first work vehicle 10 determines that there is a risk of collision between the first work vehicle 10 and any one of the second work vehicles, it sends an early warning signal to indicate that there is a risk of collision due to too close distance between the first work vehicle 10 and any one of the second work vehicles 20, and it is necessary to take corresponding measures, such as emergency braking or steering. The early warning signal can use a sound early warning mode, an indicating lamp early warning mode and the like, and the early warning mode is not limited in the application. In addition, the early warning signal can be a type of signal, and the specific signal content of the early warning signal is set according to different situations. For example, the first warning signal may be a warning signal, and the second warning signal may be a warning signal, and the warning signal is used when the distance is smaller than the preset distance threshold, and the warning signal is used when the distance is greater than the preset distance threshold but the traveling directions of the first work vehicle 10 and the second work vehicle 20 are opposite to each other.
In a specific application example, a user sets a preset distance threshold value to be 15 meters according to actual needs; the method comprises the steps that a vehicle-mounted terminal on a first working vehicle 10 in a preset working area acquires the position and the traveling direction of the first working vehicle 10 and the positions and the traveling directions of all second working vehicles 20 in a preset area range 100 by using a Beidou satellite navigation system, the distance between the first working vehicle 10 and all the second working vehicles 20 in the preset area range 100 is calculated, if the distance is smaller than or equal to a preset distance threshold value, as shown in fig. 9A, the distance between the first working vehicle 10 and all the second working vehicles 20 is smaller than 15 meters, the first working vehicle 10 and all the second working vehicles 20 have collision risks, and the vehicle-mounted terminal on the first working vehicle 10 sends an alarm prompt to the collision risks; as shown in fig. 9B, the distance between the first work vehicle 10 and the second work vehicle 20 is greater than 15 meters, but the first work vehicle 10 travels eastward, the second work vehicle 20 travels northerly, the first work vehicle 10 and the second work vehicle 20 travel in opposite directions, and the travel tracks of the two intersect, so there is also a risk of collision, and therefore the vehicle-mounted terminal on the first work vehicle 10 sends an early warning; as shown in fig. 9C, the distance between the first work vehicle 10 and the second work vehicle 20 is greater than 15 meters, the first work vehicle 10 travels eastward, the second work vehicle 20 travels westward, and the traveling directions of the first work vehicle 10 and the second work vehicle 20 are opposite, and the traveling trajectories of the first work vehicle 10 and the second work vehicle 20 do not intersect with each other, so there is no risk of collision, and therefore the vehicle-mounted terminal on the first work vehicle 10 does not present a prompt.
Whether collision risks exist or not is comprehensively judged according to the distance and the traveling direction of the first working vehicle 10 and each second working vehicle 20 in the preset area range 100, and the risks are judged more accurately.
The following describes a device, equipment, and a storage medium for performing the anti-collision, pre-warning, anti-collision, and pre-warning of the working vehicle provided by the present application, and specific implementation processes and technical effects thereof are described above and will not be described again below.
The embodiment of the present application further provides an anti-collision early warning and anti-collision early warning device for a working vehicle, fig. 10 is a schematic diagram of an anti-collision early warning and anti-collision early warning device for a working vehicle provided in an embodiment of the present application, as shown in fig. 10, including: a positioning module 51, an analysis module 52, a calculation module 53 and a judgment module 54;
the positioning module 51 is used to obtain the position of the first work vehicle 10;
the analysis module 52 is configured to determine a preset area range 100 corresponding to the first work vehicle 10 from a preset work area according to the position of the first work vehicle 10;
the calculation module 53 is configured to calculate a distance between the first work vehicle 10 and each of the second work vehicles 20 in the preset area range 100;
the determination module 54 is configured to determine whether there is a risk of collision for the first work vehicle 10 and each second work vehicle 20 based on the distance.
Optionally, the preset work area is divided into a plurality of unit grids in advance.
An analysis module 52, specifically configured to determine, from the plurality of unit grids, a first unit grid in which the first work vehicle is located according to the position of the first work vehicle; determining a first preset number of unit grids with the first unit grid as the center as a second unit grid, wherein the preset area range is as follows: an area covered by the first cell grid and the second cell grid.
Optionally, the analysis module 52 may be further specifically configured to determine, according to the position of the first work vehicle and a preset corresponding relationship between the position number of each unit grid and the area range of each unit grid, that the grid position number corresponding to the area range where the first work vehicle is located is the position number of the first unit grid.
Optionally, the analysis module 52 may be further specifically configured to determine, according to the position number of the first unit grid and the preset corresponding relationship, that the area surrounded by the first preset number of unit grids with the first unit grid as the center is the preset area range.
Optionally, the position number of each unit grid is a two-dimensional position number:
the analysis module 52 is further specifically configured to determine, according to the position numbers of the real-time unit grids, a second preset number of unit grids centered on the first unit grid on each coordinate axis as a part of second unit grids; the first preset number is the sum of the second preset numbers on the two coordinate axes.
Optionally, the analysis module 52 may be further specifically configured to perform mesh division on the preset operation area to obtain a plurality of unit meshes, where each unit mesh is a rectangular area with a preset side length.
Optionally, the determining module 54 may be specifically used in the following determining situations: if the distance is smaller than or equal to the preset distance threshold value, determining that the first working vehicle and each second working vehicle have collision risks; if the distance is larger than the preset distance threshold, judging whether the ray of the travelling direction of the first working vehicle is intersected with the ray of the travelling direction of each second working vehicle; if the rays are intersected, determining that the first working vehicle and each second working vehicle have collision risks; and if the rays do not intersect, determining that the first working vehicle and each second working vehicle do not have the collision risk.
The above-mentioned apparatus is used for executing the method provided by the foregoing embodiment, and the implementation principle and technical effect are similar, which are not described herein again.
These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 11 is a schematic diagram of a vehicle-mounted terminal according to an embodiment of the present application, as shown in fig. 11, the vehicle-mounted terminal includes a processor 61 and a storage medium 62, where the storage medium 62 stores machine-readable instructions executable by the processor 61, when the vehicle-mounted terminal is operated, the processor 61 communicates data with the storage medium 62, and the processor 61 executes the machine-readable instructions to perform the steps of the foregoing first aspect method.
The processor 61 may be a PLC, an embedded microprocessor, or the like, which is not limited in this application. The storage medium 62 may be a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like, which is not limited in this application.
The vehicle-mounted terminal can be flexibly installed on various working vehicles, anti-collision early warning of the vehicles is achieved, and in addition, the vehicle-mounted terminal can also achieve flexibility of upgrading and setting.
Optionally, on the basis of any of the foregoing embodiments, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the storage medium, and when the computer program is executed by a processor, the computer program performs the steps of the foregoing method according to the first aspect.
In the present application, the type of the computer-readable storage medium is not limited as long as the technical solution of the present application can be implemented.
The computer-readable storage medium is used for executing the method provided by the foregoing embodiments, and the implementation principle and technical effect thereof are similar, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of the unit is only one logical function division, and there may be other division ways when the actual implementation is realized.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. 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.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A working vehicle anti-collision early warning method is applied to a vehicle-mounted terminal on a first working vehicle in a preset working area, and comprises the following steps:
acquiring a position of the first work vehicle;
determining a preset area range corresponding to the first working vehicle from the preset working area according to the position of the first working vehicle;
calculating the distance between the first working vehicle and each second working vehicle in the preset area range;
and judging whether the first working vehicle and each second working vehicle have collision avoidance risks or not according to the distance.
2. The work vehicle collision avoidance warning method of claim 1, wherein the predetermined work area is pre-divided into a plurality of unit cells; determining a preset area range corresponding to the first work vehicle from the preset work area according to the position of the first work vehicle, wherein the preset area range comprises:
determining a first grid of cells in which the first work vehicle is located from the plurality of grids of cells based on the position of the first work vehicle;
determining a first preset number of unit grids with the first unit grid as a center as a second unit grid, wherein the preset area range is as follows: an area covered by the first cell grid and the second cell grid.
3. The work vehicle pre-crash warning method as recited in claim 2 wherein determining a first grid of cells in which the first work vehicle is located from the plurality of grids of cells based on the location of the first work vehicle comprises:
and determining the grid position number corresponding to the area range where the first working vehicle is located as the position number of the first unit grid according to the position of the first working vehicle and the preset corresponding relation between the position number of each unit grid and the area range of each unit grid.
4. The work vehicle collision avoidance warning method of claim 3, wherein the determining that the predetermined number of unit cells centered on the first unit cell is a second unit cell comprises:
and determining the area surrounded by the first preset number of unit grids with the first unit grid as the center as the preset area range according to the position number of the first unit grid and the preset corresponding relation.
5. The work vehicle collision avoidance warning method of claim 3 wherein the position number of each cell grid is a two-dimensional position number; the determining that the first preset number of unit grids with the first unit grid as the center is the second unit grid includes:
respectively determining a second preset number of unit grids which take the first unit grid as a center on each coordinate axis as a part of second unit grids according to the position numbers of the real-time unit grids; the first preset number is the sum of the second preset numbers on the two coordinate axes.
6. The work vehicle pre-crash warning method as recited in claim 2, wherein the determining a first grid cell from the plurality of grid cells in which the first work vehicle is located based on the location of the first work vehicle further comprises:
and carrying out grid division on the preset operation area to obtain a plurality of unit grids, wherein each unit grid is a rectangular area with preset side length.
7. The work vehicle anti-collision warning method according to any one of claims 1 to 6, wherein the determining whether the first work vehicle and each second work vehicle have a collision risk according to the distance includes:
if the distance is smaller than or equal to a preset distance threshold value, determining that the first working vehicle and each second working vehicle have a collision risk;
if the distance is larger than the preset distance threshold, judging whether the ray of the travelling direction of the first working vehicle is intersected with the ray of the travelling direction of each second working vehicle;
if the rays are intersected, determining that the first working vehicle and each second working vehicle have collision risks;
and if the rays do not intersect, determining that the first working vehicle and each second working vehicle do not have the risk of collision.
8. The utility model provides an operation vehicle anticollision early warning device which characterized in that includes:
a positioning module for acquiring a position of a first work vehicle;
the analysis module is used for determining a preset area range corresponding to the first working vehicle from the preset working area according to the position of the first working vehicle;
the calculation module is used for calculating the distance between the first working vehicle and each second working vehicle in the preset area range;
and the judging module is used for judging whether the first working vehicle and each second working vehicle have collision prevention risks or not according to the distance.
9. A vehicle terminal comprising a processor and a storage medium having stored thereon machine-readable instructions executable by the processor, the processor being in data communication with the storage medium when the vehicle terminal is operating, the processor executing the machine-readable instructions to perform the steps of the method of any one of claims 1-7.
10. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of pre-warning of collision avoidance for a work vehicle as set forth in any one of claims 1-7.
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