CN113963574B

CN113963574B - Traffic road participant collision early warning method and device and electronic equipment

Info

Publication number: CN113963574B
Application number: CN202111219062.8A
Authority: CN
Inventors: 王晓林; 冯毅; 蔡超
Original assignee: China United Network Communications Group Co Ltd
Current assignee: China United Network Communications Group Co Ltd
Priority date: 2021-10-20
Filing date: 2021-10-20
Publication date: 2022-12-13
Anticipated expiration: 2041-10-20
Also published as: CN113963574A

Abstract

The application provides a traffic road participant collision early warning method, a device and electronic equipment, wherein the method comprises the following steps: acquiring cooperative sensing information CAM corresponding to a current vehicle and a moving target in a preset range of the current vehicle; the CAM comprises current vehicle information, moving object information, a first time and a second time; searching current vehicle information corresponding to first time smaller than a first threshold value and at least one piece of moving target information corresponding to second time smaller than the first threshold value, and storing the current vehicle information and the at least one piece of moving target information; and aiming at the stored current vehicle information and each moving target information, calculating collision parameters corresponding to the current vehicle and the moving target by using a collision detection algorithm, carrying out priority ordering on multiple groups of calculated collision parameters according to a collision time threshold and a collision space threshold, and sending alarm messages according to the priority order. Therefore, the cost can be saved, the detection performance and the detection range are improved, the popularization is high, the early warning effect is good, and the safety requirement is met.

Description

Traffic road participant collision early warning method and device and electronic equipment

Technical Field

The application relates to the technical field of automobile anti-collision safety, in particular to a method and a device for early warning collision of traffic road participants and electronic equipment.

Background

With the rapid development of social economy, the number of motor vehicles is increased rapidly, and as the vehicles are influenced by factors such as traffic environment, weather and the like and the reaction capacity of drivers is limited in the driving process, traffic accidents are increased, so that the early warning problem of vehicle collision is more and more emphasized.

In the prior art, a Global Positioning System (GPS for short), a Micro-Electro-Mechanical System (MEMS for short) and an intelligent sensor of an automobile can be used to sense the environment around the automobile to perform collision warning; the smart phone can also be placed on the automobile, the time interval between the actual collision and the emergency dispatch is calculated by using the smart phone accelerometer, and further, the smart phone judges the time interval to determine whether the automobile is about to collide or not, and can send related messages to remind the user to avoid the collision.

However, the smart sensor is usually expensive, the early warning using the smart sensor is relatively poor in popularization, the sensing distance is short, and meanwhile, the smart sensor is easily interfered by factors such as severe weather and physical conditions, so that the detection performance and the detection range are affected.

Disclosure of Invention

The application provides a traffic road participant collision early warning method, a traffic road participant collision early warning device and electronic equipment, which can save cost, timely perform collision early warning on the traffic road participant, have good detection performance and detection range and high popularization, and can meet safety requirements.

In a first aspect, the present application provides a traffic road participant collision warning method, including:

acquiring cooperative sensing information CAM corresponding to a current vehicle and a moving target in a preset range of the current vehicle; the CAM comprises current vehicle information, moving object information, a first time and a second time; the first time is a time difference value between the receiving of the current vehicle information and the sending of the current vehicle information by the current vehicle; the second time is a time difference value between the receiving of the current moving target information and the sending of the current moving target information by the moving target;

searching current vehicle information corresponding to first time smaller than a first threshold value and at least one piece of moving target information corresponding to second time smaller than the first threshold value, and storing the current vehicle information and the at least one piece of moving target information;

aiming at the stored current vehicle information and each piece of moving target information, calculating a collision parameter corresponding to the current vehicle and the moving target by using a collision detection algorithm, wherein the collision parameter comprises a predicted collision distance and a predicted collision time;

and carrying out priority ordering on the multiple groups of calculated collision parameters according to the collision time threshold and the collision space threshold, and sending alarm messages according to the priority order.

Optionally, the current vehicle information includes position information, speed information, and azimuth information; the moving target information comprises position information, speed information and azimuth information of a moving target in a preset range of the current vehicle; the moving object comprises a vehicle and/or a pedestrian;

aiming at the stored current vehicle information and each moving target information, calculating a collision parameter corresponding to the current vehicle and the moving target by using a collision detection algorithm, wherein the collision parameter comprises the following steps:

determining a first position vector and a first speed vector of the current vehicle according to the stored position information, speed information and azimuth angle information of the current vehicle, and determining a second position vector and a second speed vector of each moving object according to the position information, speed information and azimuth angle information of each moving object;

calculating a first difference value of the first position vector and the second position vector and a second difference value of the first speed vector and the second speed vector, and calculating a ratio of the product to a square of the second difference value based on a product of the first difference value and the second difference value to obtain a predicted collision time;

and calculating to obtain the predicted collision distance by using the predicted collision time, the first difference and the second difference.

Optionally, the predicted collision distance is determined by the following formula:

wherein d denotes the expected collision distance,

a first position vector is represented which is,

a first velocity vector is represented that is,

a second position vector is represented that is representative of,

representing a secondary velocity vector and t representing the predicted time to collision.

Optionally, the prioritizing the multiple sets of calculated collision parameters according to the collision time threshold and the collision space threshold includes:

and when the predicted collision time is smaller than a collision time threshold value and the predicted collision distance is smaller than a collision space threshold value in the multiple groups of calculated collision parameters, carrying out priority ranking on the multiple groups of collision parameters.

Optionally, the prioritizing the multiple sets of collision parameters includes:

sorting the multiple groups of collision parameters from small to large according to the numerical values of the predicted collision time, and if two or more groups of collision parameters have the same predicted collision time, sorting the two or more groups of collision parameters from small to large according to the numerical values of the predicted collision distance, and determining the priorities corresponding to the multiple groups of collision parameters;

and sequencing the priorities corresponding to the multiple groups of collision parameters from high to low step by step.

Optionally, the sending the alarm message according to the priority order with priority higher than the alarm message corresponding to the low priority includes:

searching the traffic road participants corresponding to the high priority in the priorities corresponding to the multiple groups of collision parameters, and sending alarm messages to the traffic road participants;

and when the sending of the alarm message corresponding to the high priority is finished, sending the alarm messages corresponding to other priorities except the high priority in sequence.

Optionally, the frequency of receiving the CAM and the frequency of sending the alarm message are preset in advance, and the method further includes:

and searching the first threshold, the collision time threshold and the collision space threshold from a threshold lookup table, or acquiring the first threshold, the collision time threshold and the collision space threshold input by a user.

In a second aspect, the present application further provides a traffic road participant collision warning device, the device comprising:

the acquisition module is used for acquiring the cooperative sensing information CAM corresponding to the current vehicle and the moving target in the preset range of the current vehicle; the CAM comprises current vehicle information, moving object information, a first time and a second time; the first time is a time difference value between the receiving of the current vehicle information and the sending of the current vehicle information by the current vehicle; the second time is a time difference value between the receiving of the current moving target information and the sending of the current moving target information by the moving target;

the searching module is used for searching current vehicle information corresponding to a first time smaller than a first threshold value and at least one piece of moving target information corresponding to a second time smaller than the first threshold value, and storing the current vehicle information and the at least one piece of moving target information;

the calculation module is used for calculating collision parameters corresponding to the current vehicle and the moving target by using a collision detection algorithm according to the stored current vehicle information and each piece of moving target information, wherein the collision parameters comprise a predicted collision distance and a predicted collision time;

and the processing module is used for carrying out priority ordering on the multiple groups of calculated collision parameters according to the collision time threshold and the collision space threshold and sending the alarm messages according to the priority order.

In a third aspect, the present application further provides an electronic device, including: a processor, and a memory communicatively coupled to the processor; the memory stores computer-executable instructions; the processor executes computer-executable instructions stored by the memory to implement the method of any of the first aspects.

In a fourth aspect, the present application further provides a computer-readable storage medium, which stores computer-executable instructions, when executed by a processor, for implementing the collision warning method for traffic road participants according to any one of the first aspect.

In summary, the application provides a traffic road participant collision warning method, a traffic road participant collision warning device and electronic equipment, and the method can be used for warning a traffic road participant collision by acquiring a CAM corresponding to a current vehicle and a moving target in a preset range of the current vehicle; the CAM comprises current vehicle information, moving object information, a first time and a second time; further, by finding out the current vehicle information corresponding to the first time smaller than the first threshold and the at least one moving target information corresponding to the second time smaller than the first threshold, collision parameters corresponding to the current vehicle and the moving target are calculated by using a collision detection algorithm, the calculated multiple groups of collision parameters can be subjected to priority ordering according to the collision time threshold and the collision space threshold, and further, the alarm message is sent according to the priority order. Therefore, collision early warning can be carried out without needing too many devices installed on the automobile, the cost is saved, the early warning effect is good, the detection performance and the detection range are improved, the popularization is high, the current vehicle information and at least one moving target information which meet the conditions are searched for through setting a first threshold value to be calculated and judged, early warning can be timely carried out, and the safety requirement is met.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and, together with the description, serve to explain the principles of the application.

Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application;

fig. 2 is a schematic flow chart of a collision warning method for traffic road participants according to an embodiment of the present disclosure;

fig. 3 is a road scene diagram of a collision warning method for a traffic road participant according to an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of an analysis for determining a traffic road participant according to an embodiment of the present disclosure;

fig. 5 is a flowchart of a collision warning system for traffic road participants according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a collision warning device for traffic road participants according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings in which the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

In the embodiments of the present application, terms such as "first" and "second" are used to distinguish the same or similar items having substantially the same function and action. For example, the first device and the second device are only used for distinguishing different devices, and the sequence order thereof is not limited. Those skilled in the art will appreciate that the terms "first," "second," etc. do not denote any order or quantity, nor do the terms "first," "second," etc. denote any order or importance.

It is noted that, in the present application, words such as "exemplary" or "for example" are used to mean exemplary, illustrative, or descriptive. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present relevant concepts in a concrete fashion.

In this application, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or multiple.

Embodiments of the present application will be described below with reference to the accompanying drawings. Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application, and the traffic road participant collision warning method provided in the present application may be applied to the application scenario shown in fig. 1. The application scenario includes: a car 101, a base station 102, a server 103, a pedestrian 104, and a terminal device 105. The method comprises the steps that a moving automobile 101 and a pedestrian 104 are arranged on a road, the pedestrian 104 carries a terminal device 105, wherein the automobile 101 is provided with an automobile-mounted unit for C-V2I (Cellular Vehicle to Infrastructure) communication, the terminal device 105 is provided with a Cellular network, the automobile 101 and the terminal device 105 both send anti-sending cooperative perception Information (CAM) to a base station 102 periodically, further, the CAM sent by the automobile 101 and the terminal device 105 is transmitted to a server 103 for processing by the base station 102, the server 103 judges whether the automobile 101 and the pedestrian 104 are about to collide or not by using a collision detection algorithm based on the CAM sent by the automobile 101 and the terminal device 105, generates corresponding collision early warning Information, and sends the corresponding collision early warning Information to the automobile-mounted terminal of the automobile 101 and the terminal device carried by the pedestrian 104 for early warning.

Optionally, the Base Station may be a Base Station (BTS) and/or a Base Station Controller in Global System for Mobile communications (GSM) or Code Division Multiple Access (CDMA), may be a Base Station (NB) and/or a Radio Network Controller (RNC), may be a Base Station (NB) in Wideband Code Division Multiple Access (WCDMA), may be an evolved Node B (eNB or eNodeB) in Long Term Evolution (Long Term Evolution), or may be a relay Station or an Access point, or may be a Base Station (gbb) in a future 5G Network, and the like, and the present application is not limited thereto.

The terminal device may be a wireless terminal or a wired terminal. A wireless terminal may refer to a device providing voice and/or other traffic data connectivity to a user, a handheld device having wireless connectivity capabilities, or other processing device connected to a wireless modem. A wireless terminal, which may be a mobile terminal such as a mobile phone (or called a "cellular" phone) and a computer having a mobile terminal, for example, a portable, pocket, hand-held, or computer-embedded mobile device, may communicate with one or more core Network devices via a Radio Access Network (RAN), and may exchange languages and/or data with the RAN. For another example, the Wireless terminal may be a Personal Communication Service (PCS) phone, a cordless phone, a Session Initiation Protocol (SIP) phone, a Wireless Local Loop (WLL) station, a Personal Digital Assistant (PDA), and the like. A wireless Terminal may also be referred to as a system, a Subscriber Unit (Subscriber Unit), a Subscriber Station (Subscriber Station), a Mobile Station (Mobile), a Remote Station (Remote Station), a Remote Terminal (Remote Terminal), an Access Terminal (Access Terminal), a User Terminal (User Terminal), a User Agent (User Agent), and a User Device or User Equipment (User Equipment), which are not limited herein. Optionally, the terminal device may also be a smart watch, a smart bracelet, or the like.

It should be noted that there may be two server deployment manners, one may deploy an edge cloud within a preset range of a base station, that is, very close to the base station, and process the CAM in a multi-access edge computing (MEC) manner, and the other may deploy a center cloud outside the preset range of the base station, that is, far from the base station, and process the CAM in the center cloud manner, where the two deployment manners may exist simultaneously or may exist in any one deployment manner, which is not specifically limited in this embodiment of the present application.

In the prior art, the collision early warning can be carried out by sensing the environment around the automobile by using a GPS, an MEMS and an intelligent sensor of the automobile; the smart phone can also be placed on an automobile, the time interval between actual collision and emergency scheduling is calculated by using the accelerometer of the smart phone, and further, the smart phone judges and processes the time interval to determine whether the automobile is about to collide or not and can send related messages to remind a user of avoiding collision.

Therefore, the application provides a traffic road participant collision early warning method, which can be used for obtaining a CAM corresponding to a current vehicle and a moving target in a preset range of the current vehicle; the CAM comprises current vehicle information, moving object information, a first time and a second time; further, by finding out the current vehicle information corresponding to the first time smaller than the first threshold and the at least one moving target information corresponding to the second time smaller than the first threshold, collision parameters corresponding to the current vehicle and the moving target are calculated by using a collision detection algorithm, the calculated multiple groups of collision parameters can be subjected to priority ordering according to the collision time threshold and the collision space threshold, and further, the alarm message is sent according to the priority order. Therefore, collision early warning can be carried out without needing too many devices installed on the automobile, the cost is saved, the early warning effect is good, the detection performance and the detection range are improved, the popularization is high, the current vehicle information and at least one moving target information which meet the conditions are searched for through setting a first threshold value to be calculated and judged, early warning can be timely carried out, and the safety requirement is met.

Exemplarily, fig. 2 is a schematic flow diagram of a collision warning method for a traffic road participant according to an embodiment of the present disclosure, and as shown in fig. 2, the method according to the embodiment of the present disclosure includes:

s201, acquiring a current vehicle and cooperative sensing information CAM corresponding to a moving target in a preset range of the current vehicle; the CAM comprises current vehicle information, moving object information, a first time and a second time; the first time is a time difference value between the receiving of the current vehicle information and the sending of the current vehicle information by the current vehicle; and the second time is the time difference between the receiving of the current moving target information and the sending of the current moving target information by the moving target.

In this embodiment of the application, the preset range may refer to a set distance range area where there is a certain distance from the current vehicle and the collision risk is likely to occur, where the distance range is a circular area distributed around the current vehicle, for example, the preset range may be a range area with a radius of 10 meters around the current vehicle.

The current vehicle information may include position information, speed information, and azimuth information, and the moving object information may include position information, speed information, and azimuth information of vehicles and/or pedestrians within a preset range of the current vehicle.

The location information may refer to spatial distribution, and information of a place where the vehicle is located or occupied may be represented by latitude and longitude, or may be represented by a distance from a certain object and an azimuth angle with the certain object as a reference, which is not specifically limited in this embodiment of the present application, for example, the location information of the current vehicle is (41.1218 ° N,123.124 ° S), and the location information of a certain pedestrian is (41.1219 ° N,123.125 ° S).

The speed information may refer to an average speed of the object on a certain road section, which is a quotient obtained by dividing the length of the road section by the pure travel time of the object, and is used for analyzing the driving difficulty and the traffic capacity of the road section, for example, the speed information of the current vehicle is 13.89m/s, and the speed information of a certain pedestrian is 0.8m/s.

The azimuth information may refer to a horizontal angle between the object and a target direction line from a north direction line of a certain point, and is used for determining the azimuth of the object, indicating a target, and keeping a traveling direction.

It is understood that the first time is a time difference between receiving the current vehicle information and the current vehicle sending the current vehicle information, for example, the server receives the current vehicle information 120 mm at 8 am, 10 min 2s, and the current vehicle sends the current vehicle information 520 mm at 8 am, 10 min 2s, and the first time is 0.4s, and similarly, the second time is a time difference between receiving the current moving object information and the moving object sending the current moving object information, for example, the second time may be 0.9s.

For example, in the application scenario of fig. 1, the server 103 may obtain a CAM corresponding to the terminal device 105 carried by the automobile 101 and the pedestrian 104; the CAM corresponding to the automobile 101 may include information that the automobile 101 is at a (41.1218 ° N,123.124 ° S) position, the driving speed is 13.89m/S, and the like, and the time taken for receiving the information is 0.4S; the CAM corresponding to the terminal device 105 may include information of the pedestrian 104 at the (41.1219 ° N,123.125 ° S) position, the traveling speed 0.8m/S, and the like, and the time 0.9S taken to receive the information.

S202, searching current vehicle information corresponding to first time smaller than a first threshold value and at least one piece of moving object information corresponding to second time smaller than the first threshold value, and storing the current vehicle information and the at least one piece of moving object information.

In the embodiment of the present application, the first threshold may refer to a time threshold set for determining whether the current vehicle information and/or the moving object information received by the server is the latest, and may be set to 0.8s, for example.

For example, if there are a plurality of cars and a plurality of pedestrians traveling on a road, the server may obtain a CAM corresponding to any car, where the CAM includes current car information and first time 0.7s, and further obtain a CAM corresponding to 3 cars and 1 pedestrian around the car within a preset range, where the CAM includes moving target information corresponding to 3 cars and 1 pedestrian and second time 0.9s, 0.6s, 0.4s, 1s, where a pedestrian carries a terminal device of a cellular network, and the server may search for current car information corresponding to the first time less than 0.8s and at least one moving target information corresponding to the second time less than 0.8s, and store the current car information and the moving target information corresponding to 2 cars; in addition, the moving target information corresponding to 1 automobile and 1 pedestrian is discarded without being stored.

It can be understood that the server continuously acquires the CAM corresponding to the current vehicle and the moving target within the preset range of the current vehicle, and if the first time corresponding to the current vehicle and/or the second time corresponding to the moving target within the preset range of the current vehicle are not acquired to be less than the first threshold condition, the acquisition of the next round can be continued.

It should be noted that, if the first time or the second time is greater than the first threshold, it may be considered that the current vehicle information corresponding to the first time or the at least one piece of moving object information corresponding to the second time is old information, the server does not store the current vehicle information or the moving object information, because the server periodically obtains the current vehicle information and the moving object information, if a difference between the stored current vehicle information and moving object information at a certain time and the stored current vehicle information and moving object information at a next time exceeds the first threshold, the current vehicle information and moving object information at a certain time is discarded from the server, the current vehicle information and moving object information used are ensured to be the latest information, and the system efficiency is improved.

S203, aiming at the stored current vehicle information and each piece of moving target information, calculating a collision parameter corresponding to the current vehicle and the moving target by using a collision detection algorithm, wherein the collision parameter comprises a predicted collision distance and a predicted collision time.

In the embodiment of the present application, the predicted collision distance may refer to a minimum distance between the current vehicle and the moving object calculated using the collision detection algorithm, and the predicted collision time may refer to a time when the distance between the current vehicle and the moving object calculated using the collision detection algorithm is minimum.

For example, in the application scenario of fig. 1, the server 103 may calculate the expected collision distance and the expected collision time corresponding to the current vehicle 101 and the pedestrian 104 by using a collision detection algorithm with respect to the stored information about the current vehicle 101 and the information about the pedestrian 104 carrying the terminal device 105.

S204, carrying out priority ordering on the multiple groups of calculated collision parameters according to the collision time threshold and the collision space threshold, and sending alarm messages according to the priority order.

In the embodiment of the present application, the time-to-collision threshold may refer to an upper limit of the time-to-collision metric, that is, a time interval required for the current vehicle and any one of the moving targets within a preset range of the current vehicle to reach a minimum distance from each other. The larger the threshold is set, the more time may be less than the threshold, and the greater the possibility that the current vehicle and a moving object are considered to be at risk of collision.

The collision space threshold may refer to an upper limit of a distance at the time of collision, that is, a minimum distance between the current vehicle and any one of the moving objects within a preset range of the current vehicle. The larger the threshold is set, the more the distance smaller than the threshold is likely to be, and the greater the possibility that the current vehicle and a moving object are considered to be at risk of collision.

Illustratively, in order to ensure that the system works effectively and timely detects that the current vehicle collides with a moving target in a preset range of the current vehicle, the application researches undetected or delayed detected collision number and false alarm as correlation functions of a collision time threshold and a collision space threshold, and through a large amount of data analysis, the conclusion that: for a collision time threshold equal to or less than 3 seconds, the reliability of the application of the method for collision warning of traffic road participants is high in the case that the vehicle runs at a speed of 50km/h or about 50 km/h.

Sending the warning message no earlier than 3 seconds before the expected impact may avoid the occurrence of an accident, taking into account delays caused by different factors (e.g. processing time, human reaction, braking time). The time-to-collision threshold therefore takes at least 4 seconds. And continuously observing the collision space threshold after the collision time threshold is equal to 4s, and finding that if the collision space threshold is larger than 3m, the effectiveness of the method for early warning collision of the traffic road participants can be ensured, and the occurrence of collision can be detected in time. It was therefore concluded that: to achieve a reliable collision detection system, very low thresholds are needed to obtain few false positives.

It can be understood that the collision time threshold and the collision space threshold may be preset in advance by a system, and may also be an empirical value obtained through a large number of experiments, or may be modified manually.

In the embodiment of the application, the warning message is used to indicate that a current vehicle is about to collide with a certain moving target within a preset range, and a manner of sending the warning message is adopted, the embodiment of the application is not particularly limited, a message prompt box can be displayed on display screens of vehicle-mounted terminals of the current vehicle and the moving target, the message prompt box displays that collision with the moving target 1 is about to occur and prompt a user to avoid or brake in time, warning music or vibration can be sent to the vehicle-mounted terminal of the current vehicle to prompt the user to avoid or brake in time, and if the moving target is a pedestrian, similar operations are carried out on terminal equipment carried by the pedestrian.

Illustratively, if 5 groups of collision parameters are obtained through calculation of a collision detection algorithm, the server may perform priority ranking on the 5 groups of collision parameters according to a collision time threshold and a collision space threshold, and sequentially send alarm messages to the current vehicles corresponding to the 5 groups and moving targets within a preset range of the current vehicles according to a priority order, so as to prompt a user to avoid or brake in time.

It can be understood that if 1 set of collision parameters is obtained through calculation by the collision detection algorithm, priority sorting is not required, and an alarm message can be directly sent to the current vehicle corresponding to the set and the moving object within the preset range of the current vehicle.

Therefore, the traffic road participant collision early warning method provided by the application can perform collision early warning without needing excessive equipment installed on automobiles, saves cost, can perform early warning in time by setting the first threshold value to search current vehicle information and at least one moving target information meeting conditions for calculation and judgment, meets safety requirements, performs priority ranking on collision parameters calculated by using a collision detection algorithm, improves prediction accuracy, has a good early warning effect, greatly improves detection performance and detection range, and is high in popularization.

Fig. 3 is a road scene diagram of a traffic road participant collision warning method according to an embodiment of the present invention, as shown in fig. 3, the road scene diagram is an urban area (two vertical roads and one horizontal road), two crossroads, one sidewalk and three pedestrian crossings, where the two vertical roads and the one horizontal road are lanes, V1-V6 are running vehicles, each vehicle is equipped with an onboard unit for C-V2I communication, the CAM is emitted at a magnetic field strength of 400mt, the pedestrians are driven at P1-P2, each pedestrian is equipped with an intelligent terminal of a cellular network, and the CAM is emitted at a magnetic field strength of 500 mt. The method comprises the steps that vehicles and pedestrians moving in a road are connected to a network and use anti-collision application services, furthermore, a base station can obtain CAMs sent by V1-V6 and P1-P2 and transmit the CAMs to a cloud server to be processed, a detector installed on the cloud server can distinguish the CAMs sent by the pedestrians and the CAMs sent by the vehicles, when the cloud server receives the CAMs from the vehicles, the cloud server can search for the condition that the vehicles and the pedestrians are likely to collide, and conversely, when the CAM messages from the pedestrians are received, the analysis of the collision of the pedestrians and the pedestrians can be skipped. When the cloud server detects that a pair of entities is about to collide in the collision process, the cloud server warns the pair of entities by sending an alarm message.

In this embodiment, the position vector may refer to a directional line segment leading from a start position of a mass point to an end position of the mass point within a time interval, and the velocity vector may refer to a directional line segment numerically equal to a displacement of an object in a unit time, but the velocity vector has a direction, which is a direction in which the object moves, so that the position vector and the velocity vector are determined according to the position information, the velocity information and the azimuth information, and a moving direction of a moving object within a preset range of a current vehicle is further determined to determine whether a collision occurs.

wherein d denotes a predicted collision distance,

a first position vector is represented that is representative of,

a first velocity vector is represented that is,

a second position vector is represented that is representative of,

representing the second velocity vector and t representing the predicted time to collision.

Optionally, when the preset range is determined, the preset range may also be set through the change of the vehicle speed, the collision time threshold, and the collision space threshold, that is, the preset range is a range region that takes the current vehicle as a center of a circle and takes the radius as the maximum { speed x collision time threshold, collision space threshold }.

Illustratively, the collision detection algorithm, as a general trajectory-based algorithm, can be applied to any type of collision entity, i.e., for a vehicle-to-vehicle collision as well as for a vehicle-to-pedestrian collision, with part of the code for the collision detection algorithm being as follows:

wherein in row 1, a node assembly C (i.e., a moving object) with which the current vehicle is likely to collide may be initialized, i.e., the node assembly C is empty and the moving object with which there is no collision is present, and further, in row 2, the future position of the current vehicle at each future time (t) is evaluated

The position and speed of the current vehicle are respectively composed of two vectors

And

and (5) identification. Then, in line 3, for the position of a certain node b ∈ β, calculate each node b's position in each futureFuture position of time (row 4) and distance between such node and current vehicle

(line 5), the position and velocity of node b, are defined by two vectors

And

and (5) identification. In line 6, the distance is calculated

In line 7, t is added ^* Defined as the time value at which the distance between two entities is minimal. Further, t is ^* Is compared with a threshold t2ct (i.e., a time-to-collision threshold), if t ^* < 0, meaning that the distance between the vehicle and the moving object is farther and farther, the moving direction is opposite, no collision occurs, and if t ^* Above the threshold t2ct, the minimum distance will not be reached within t2ct of the current time. In both cases, no action needs to be taken (line 8). If t is ^* Between 0 and t2ct, then in line 11 the current vehicle and moving target are calculated at time t ^* Minimum distance d of ^* . The algorithm will d ^* Compared to a minimum threshold s2ct (i.e. collision space threshold): if d is ^* Less than s2ct, the moving object b is added to the set C waiting for prioritization, otherwise the algorithm jumps to the next iteration of the loop.

Therefore, the calculation accuracy and the practicability can be improved by using the collision detection algorithm to calculate the collision parameters corresponding to the current vehicle and the moving target.

In order to prove that the traffic road participant collision early warning method provided by the application has practicability, the application realizes the presentation of road data by simulating the generation rate of real vehicles and pedestrians. For example, fig. 4 is an analysis diagram of determining the participants of the traffic road provided by the embodiment of the present application, and on the basis of fig. 3, the maximum speed of the simulated vehicles is 13.89m/s (i.e. 50 km/h), and they travel along a straight line (i.e. there is no left turn or no right turn at the intersection); pedestrians traveled on pedestrian lanes at a maximum speed of 2m/s, crossing the road in three different places. Each generated vehicle is randomly assigned to six entry points at the edge of the map (the 6 vehicles are labeled V1-V6 as shown in fig. 3), while pedestrians are assigned to either end of the pedestrian lanes (P1 and P2). In particular, the vehicle arrival is modeled as a poisson process with parameter λ ν; similarly, the pedestrian arrival is modeled as a poisson process with parameter λ p, i.e., the vehicle generation rate is set to λ v and the pedestrian generation rate is set to λ p. The system is simulated with λ v set from 0-1.5, and accordingly, λ p takes one of five possible values: 0. 0.05, 0.10, 0.15, 0.20.

The following conclusions were drawn: in the case where there is no pedestrian (i.e., λ p = 0), the number of vehicles linearly increases with the generation rate with a λ v value between 0 and 1.2 (i.e., in a stable region). Further, as shown in fig. 4, when λ p =0.2 is selected, the system is simulated, and it can be seen that when the vehicle generation rate is 0.2-0.9, the trend of the average number of vehicles tends to be stable, and in this case, pedestrians exist, so the traffic road participant collision warning method provided by the application has practicability.

It will be appreciated that the following does not occur under this hypothetical simulation scenario: too many cars jam the intersection; the low-speed vehicles run in a long queue.

For example, in the road scene of fig. 3, taking the current vehicle corresponding to the first time smaller than the first threshold as V1 as an example, if the calculated predicted collision time corresponding to V1 and V2 is smaller than the collision time threshold and the predicted collision distance is smaller than the collision space threshold, the predicted collision time corresponding to V1 and V3 is smaller than the collision time threshold and the predicted collision distance is smaller than the collision space threshold, the predicted collision time corresponding to V1 and V4 is smaller than the collision time threshold and the predicted collision distance is smaller than the collision space threshold, and the predicted collision time corresponding to V1 and P1 is smaller than the collision time threshold and the predicted collision distance is smaller than the collision space threshold, the 4 sets of collision parameters need to be prioritized.

Therefore, the data obtained by calculation can be screened, the calculation efficiency and precision can be further improved, and the occurrence of error early warning is avoided.

sorting the multiple groups of collision parameters from small to large according to the numerical values of the predicted collision time, and if two or more groups of collision parameters have the same predicted collision time, sorting the two or more groups of collision parameters from small to large according to the numerical values of the predicted collision distances, and determining the priorities corresponding to the multiple groups of collision parameters;

Illustratively, in the road scene of fig. 3, taking the current vehicle corresponding to the first time smaller than the first threshold as V1 as an example, if the collision space threshold is 10m and the collision time threshold is 5s, the calculated predicted collision time corresponding to V1 and V2 is 4s and the predicted collision distance is 8m, the calculated predicted collision time corresponding to V1 and V2 is 4s and the predicted collision distance is 7m, the calculated predicted collision time corresponding to V1 and V4 is 3s and the calculated predicted collision distance is 6m, the calculated predicted collision time corresponding to V1 and V1 is 2s and the calculated predicted collision distance is 9m, further, the 4 sets of collision parameters are sorted from small to large according to the magnitude of the predicted collision time, are 2s (V1 and P1), 3s (V1 and V4), 4s (V1 and V3) are sorted from small to large according to the magnitude of the predicted collision time, are 2s (V1 and V4 s), are sorted from V1 and V2 (V1 and V3) and the calculated as the predicted collision time corresponding to V1 and the predicted collision distance can be sequentially sorted from small to V1 and V2, and the calculated as the calculated, and the calculated to the calculated first and the calculated as the second priority, and the fourth priority, and the calculated as the first priority.

Therefore, the level and the importance degree of the collision parameters can be determined in a priority ranking mode, and the processing rate and the early warning timeliness are improved.

For example, in the road scene in fig. 3, if it is determined that the priorities corresponding to the 4 sets of collision parameters are V1 and P1 (first priority), V1 and V4 (second priority), V1 and V3 (third priority), and V1 and V2 (fourth priority), respectively, the server finds that the traffic road participant corresponding to the high priority (i.e., the first priority) is V1 and P1, may send an alarm message to the traffic road participant, for example, send "will collide with P1 and please dodge in time" to prompt timely dodging or braking to the vehicle-mounted terminal of V1, send "will collide with V1 and please dodge in time" to the smartphone of P1 to prompt timely dodging, and send other alarms of V1 and V4 (second priority), V1 and V3 (third priority), V1 and V2 ((fourth priority)) messages in sequence after sending the messages.

It is to be understood that, the manner and content of sending the alarm message are not specifically limited in the embodiments of the present application, and may be as described above, or as mentioned in the foregoing embodiments.

Therefore, the alarm messages are sequentially sent according to the priority order, so that false alarm and false negative alarm can be avoided, and the safety requirement of a user is met.

In the embodiment of the application, when the frequency of transmitting the CAM by each traffic participant is 10Hz (the maximum frequency allowed under the ETSI standard), the condition that the server acquires the updated information can be met. If the car is traveling at a speed of 13.89m/s (i.e., 50 km/h) considering the case of a low frequency (e.g., 1 Hz), the maximum error on the server is 13.89m, which is large, and thus, the frequency of receiving the CAM needs to be preset in advance, and the frequency of setting to transmit the warning message needs to be different from the frequency of receiving the CAM to avoid interference, and thus, the frequency of transmitting the warning message is also preset in advance.

For example, the server may store a threshold lookup table in advance for invoking the first threshold, the collision time threshold and the collision space threshold when the traffic road participant collision warning method is used, and specifically, the threshold lookup table may be as shown in table 1:

table 1 threshold lookup table

The set time threshold value of collision between the motor vehicle and the motor vehicle is 10s, the time threshold value of collision between the motor vehicle and the pedestrian is 5s, the space threshold value of collision between the motor vehicle and the motor vehicle is 5m, the space threshold value of collision between the motor vehicle and the pedestrian is 2m, the first threshold value is 0.8s, the frequency of sending the CAM by the traffic participants is 10Hz, and the frequency of sending the alarm message is 1Hz.

Optionally, except that the server may store a threshold lookup table in advance for lookup, the first threshold, the collision time threshold and the collision space threshold may also be input by the user according to the present application, so that the method may be suitable for different scene needs, meet the scene needs, and improve the accuracy of the determination.

Therefore, the embodiment of the application does not specifically limit the specific modes and values for setting the first threshold, the collision time threshold and the collision space threshold, and can be searched in the threshold lookup table or manually modified, thereby improving the flexibility.

With reference to the foregoing embodiments, fig. 5 is a flowchart of a collision warning system for traffic road participants according to an embodiment of the present disclosure. As shown in fig. 5, taking road participants including cars and pedestrians as an example, the implementation method of the embodiment of the present application includes the following steps:

step A: and C, the terminal device and the vehicle carried by the pedestrian send the CAM to the server, the server receives the CAM and judges whether the current vehicle information and the moving object information are the latest, if so, the current vehicle information and the at least one piece of moving object information are stored (namely, the table is updated), and the step B is executed, and if not, the step B is omitted.

And B, step B: and a collision detector arranged in the server calculates collision parameters corresponding to the current vehicle and the moving target by using a collision detection algorithm, performs priority ordering on the calculated multiple groups of collision parameters, and sends alarm messages according to the priority order.

If the predicted collision time is larger than the collision time threshold value and the predicted collision distance is larger than the collision space threshold value in the multiple groups of calculated collision parameters, the operation of the collision detection algorithm can be quitted without priority sequencing.

Because the cooperative sensing information CAM corresponding to the moving target in the preset range of the current vehicle is periodically acquired, iteration (namely, iteration among entries of the table) is required to be performed all the time.

In the foregoing embodiment, the traffic road participant collision warning method provided in the embodiment of the present application is described, and in order to implement each function in the method provided in the embodiment of the present application, the electronic device serving as an execution subject may include a hardware structure and/or a software module, and implement each function in the form of a hardware structure, a software module, or a hardware structure and a software module. Whether any of the above-described functions is implemented as a hardware structure, a software module, or a hardware structure plus a software module depends upon the particular application and design constraints imposed on the technical solution.

For example, fig. 6 is a schematic structural diagram of a collision warning device for a traffic road participant according to an embodiment of the present disclosure, and as shown in fig. 6, the device includes: the system comprises an acquisition module 610, a search module 620, a calculation module 630 and a processing module 640, wherein the acquisition module 610 is used for acquiring the cooperative sensing information CAM corresponding to the current vehicle and a moving target in a preset range of the current vehicle; the CAM comprises current vehicle information, moving object information, a first time and a second time; the first time is a time difference value between the receiving of the current vehicle information and the sending of the current vehicle information by the current vehicle; the second time is a time difference value between the receiving of the current moving target information and the sending of the current moving target information by the moving target;

the searching module 620 is configured to search for current vehicle information corresponding to a first time that is less than a first threshold and at least one piece of moving object information corresponding to a second time that is less than the first threshold, and store the current vehicle information and the at least one piece of moving object information;

a calculating module 630, configured to calculate, by using a collision detection algorithm, collision parameters corresponding to the current vehicle and each moving target according to the stored current vehicle information and each moving target information, where the collision parameters include a predicted collision distance and a predicted collision time;

and the processing module 640 is configured to perform priority ordering on the multiple sets of calculated collision parameters according to the collision time threshold and the collision space threshold, and send the alarm messages according to the priority order.

the calculating module 630 is specifically configured to:

and calculating the predicted collision distance by using the predicted collision time, the first difference and the second difference.

wherein d denotes the expected collision distance,

a first position vector is represented that is representative of,

a first velocity vector is represented by a first velocity vector,

a second position vector is represented that is representative of,

Optionally, the processing module 640 includes a sorting unit and a sending unit;

the sorting unit is used for carrying out priority sorting on the multiple groups of collision parameters when the predicted collision time is smaller than a collision time threshold value and the predicted collision distance is smaller than a collision space threshold value in the multiple groups of collision parameters obtained through calculation.

Optionally, the sorting unit is specifically configured to:

Optionally, the alarm message corresponding to the high priority is prioritized over the alarm message corresponding to the low priority, and the sending unit is specifically configured to:

Optionally, the frequency of receiving the CAM and the frequency of sending the alert message are preset in advance, and the lookup module 620 is further configured to:

The concrete implementation principle and effect of the traffic road participant collision early warning device provided by the embodiment of the application can be referred to the corresponding relevant description and effect of the embodiment, and are not described in detail herein.

An embodiment of the present application further provides a schematic structural diagram of an electronic device, and fig. 7 is the schematic structural diagram of the electronic device provided in the embodiment of the present application, and as shown in fig. 7, the electronic device may include: a processor 702 and a memory 701 communicatively coupled to the processor; the memory 701 stores a computer program; the processor 702 executes the computer program stored in the memory 701, so that the processor 702 executes the method according to any of the embodiments.

The memory 701 and the processor 702 may be connected by a bus 703.

The embodiment of the present application further provides a computer-readable storage medium, where computer program execution instructions are stored in the computer-readable storage medium, and when the computer program execution instructions are executed by a processor, the computer program execution instructions are used to implement the collision warning method for a traffic road participant according to any one of the foregoing embodiments of the present application.

The embodiment of the application further provides a chip for running the instructions, and the chip is used for executing the collision warning method for the traffic road participants executed by the electronic equipment in any one of the embodiments of the application.

Embodiments of the present application further provide a computer program product, which includes a computer program, and when the computer program is executed by a processor, the method for collision warning of a traffic road participant performed by an electronic device according to any of the foregoing embodiments of the present application may be implemented.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of modules is merely a division of logical functions, and an actual implementation may have another division, for example, a plurality of modules 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 modules, and may be in an electrical, mechanical or other form.

Modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one position, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to implement the solution of the embodiment.

In addition, functional modules in the embodiments of the present application may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one unit. The unit formed by the modules can be realized in a hardware mode, and can also be realized in a mode of hardware and a software functional unit.

The integrated module implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) or a processor to execute some steps of the methods described in the embodiments of the present application.

It should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the methods disclosed in the incorporated application may be directly implemented by a hardware processor, or may be implemented by a combination of hardware and software modules in the processor.

The Memory may include a Random Access Memory (RAM), and may further include a Non-volatile Memory (NVM), such as at least one magnetic disk Memory, and may also be a usb disk, a removable hard disk, a read-only Memory, a magnetic disk or an optical disk.

The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.

The storage medium may be implemented by any type or combination of volatile and non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.

An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium may reside as discrete components in an electronic device or host device.

The above description is only a specific implementation of the embodiments of the present application, but the scope of the embodiments of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the embodiments of the present application should be covered by the scope of the embodiments of the present application. Therefore, the protection scope of the embodiments of the present application shall be subject to the protection scope of the claims.

Claims

1. A traffic road participant collision early warning method is characterized by comprising the following steps:

acquiring cooperative sensing information CAM corresponding to a current vehicle and a moving target in a preset range of the current vehicle; the CAM comprises current vehicle information, moving object information, a first time and a second time; the first time is a time difference value between the receiving of the current vehicle information and the sending of the current vehicle information by the current vehicle; the second time is a time difference value between the receiving of the current moving target information and the sending of the current moving target information by the moving target; the current vehicle information comprises position information, speed information and azimuth angle information; the moving target information comprises position information, speed information and azimuth information of a moving target in a preset range of the current vehicle;

calculating to obtain a predicted collision distance by using the predicted collision time, the first difference and the second difference;

and performing priority ordering on the multiple groups of calculated collision parameters according to the collision time threshold and the collision space threshold, and sending alarm messages according to the priority order.

2. The method of claim 1, wherein the predicted collision distance is determined by the formula:

wherein d is ^* The distance of the expected collision is indicated,

a first position vector is represented that is representative of,

a first velocity vector is represented that is,

a second position vector is represented that is representative of,

3. The method of claim 1, wherein prioritizing the computed sets of collision parameters according to a time-to-collision threshold and a space-to-collision threshold comprises:

4. The method of claim 3, wherein prioritizing the plurality of sets of collision parameters comprises:

5. The method of claim 1, wherein sending alert messages in order of priority over alert messages corresponding to a low priority comprises:

6. The method according to any of claims 1-5, wherein the frequency of receiving the CAM and the frequency of sending alert messages are preset in advance, the method further comprising:

7. A traffic lane participant collision warning device, the device comprising:

the acquisition module is used for acquiring the cooperative sensing information CAM corresponding to the current vehicle and the moving target in the preset range of the current vehicle; the CAM comprises current vehicle information, moving object information, a first time and a second time; the first time is a time difference value between the receiving of the current vehicle information and the sending of the current vehicle information by the current vehicle; the second time is a time difference value between the receiving of the current moving target information and the sending of the current moving target information by the moving target; the current vehicle information comprises position information, speed information and azimuth angle information; the moving target information comprises position information, speed information and azimuth information of a moving target in a preset range of the current vehicle;

the calculation module is used for calculating collision parameters corresponding to the current vehicle and each moving target by using a collision detection algorithm according to the stored current vehicle information and each moving target information, wherein the collision parameters comprise a predicted collision distance and a predicted collision time;

the processing module is used for carrying out priority ordering on the multiple groups of collision parameters obtained by calculation according to the collision time threshold and the collision space threshold and sending alarm messages according to the priority order;

the calculation module is specifically configured to:

8. An electronic device, comprising: a processor, and a memory communicatively coupled to the processor;

the memory stores computer execution instructions;

the processor executes computer-executable instructions stored by the memory to implement the method of any of claims 1-6.

9. A computer-readable storage medium storing computer-executable instructions for implementing the method of collision warning of traffic road participants as claimed in any one of claims 1-6 when executed by a processor.