WO2018032632A1

WO2018032632A1 - Early warning method and device for vehicle

Info

Publication number: WO2018032632A1
Application number: PCT/CN2016/105788
Authority: WO
Inventors: 刘均; 王超凯
Original assignee: 深圳市元征科技股份有限公司
Priority date: 2016-08-19
Filing date: 2016-11-14
Publication date: 2018-02-22
Also published as: CN106251671A

Abstract

An early warning method and device for a vehicle. The early warning method for a vehicle comprises: acquiring a current vehicle position and traveling direction of a vehicle (S101); querying, according to the vehicle position and traveling direction, historical traveling trajectories stored in a database and associated with the vehicle position and traveling direction (S102); determining, on the basis of the historical traveling trajectories, a current trajectory of the vehicle and a traffic-related installation on the trajectory (S103); and upon detecting that the vehicle position is within a predetermined distance from the traffic-related installation, generating first vehicle-related early warning information (S104). The early warning device for a vehicle corresponds to the early warning method for a vehicle. The early warning method and device for a vehicle of the present invention enable timely acquisition of traffic-related installation information, thus preventing traffic problems.

Description

说明书发明名称：一种车辆预警方法及装置 Description: A vehicle warning method and device

[0001] 本发明要求 2016年 8月 19日递交的发明名称为 "一种车辆预警方法及装置 "的申请号 201610693084.0的在先申请优先权，上述在先申请的内容以引入的方式并入本文本中。 [0001] The present application claims priority to the filing date of the application Serial No. 201610693084.0, entitled "A Kind of Vehicle Warning Method and Apparatus", filed on August 19, 2016, which is incorporated herein by reference. This.

[0002] 技术领域 Technical Field

[0003] 本发明涉及行车安全技术领域，具体涉及一种车辆预警方法及装置。 [0003] The present invention relates to the field of driving safety technology, and in particular, to a vehicle warning method and device.

[0004] 背景技术 BACKGROUND OF THE INVENTION

[0005] 由于生活水平不断提高，越来越多的车辆出现在人们的生活中。但是随之而来的交通问题，例如违规扣分以及交通事故、也在困扰着驾驶一族。经调査发现，交叉路口、斑马线、交通灯、限速牌等交通设施处是交通问题的多发路段， [0005] As living standards continue to increase, more and more vehicles are appearing in people's lives. But the traffic problems that followed, such as violations and traffic accidents, are also plaguing the driving community. According to the survey, traffic facilities such as intersections, zebra crossings, traffic lights, and speed limit cards are frequent road sections.

[0006] 现有技术中，需要司机人为观察这些交通设施，并在到达交通设施之前的一段距离幵始减速慢性，但是常常由于司机分身或疲劳驾驶等原因，没注意到这些交通设施，从而造成违规扣分甚至交通事故。 [0006] In the prior art, drivers are required to observe these transportation facilities and start to slow down a certain distance before reaching the transportation facilities, but often do not notice these transportation facilities due to driver's avatar or fatigue driving, etc., thereby causing Offenders are deducted or even traffic accidents.

[0007] 发明内容 SUMMARY OF THE INVENTION

[0008] 本发明实施例提供了一种车辆预警方法及装置，以期及吋获取交通设施信息，减少交通问题的发生。 [0008] Embodiments of the present invention provide a vehicle warning method and apparatus, in order to obtain traffic facility information and reduce traffic problems.

[0009] 本发明实施例第一方面提供一种车辆预警方法，包括： A first aspect of the embodiments of the present invention provides a vehicle warning method, including:

[0010] 获取车辆当前的车辆位置和行驶方向； Obtaining a current vehicle position and a traveling direction of the vehicle;

[0011] 根据所述车辆位置和行驶方向和，査询数据库中存储的与所述车辆位置和行驶方向关联的历史行驶轨迹； [0011] querying a historical travel trajectory associated with the vehicle position and the traveling direction stored in the database according to the vehicle position and the driving direction sum;

[0012] 基于所述历史行驶轨迹，确定所述车辆当前的待行驶轨迹和所述待行驶轨迹中存在的交通设施； [0012] determining, according to the historical driving trajectory, a current to-be-traveled trajectory of the vehicle and a traffic facility existing in the to-be-traveled trajectory;

[0013] 当检测到所述车辆位置距离所述交通设施在预设距离内吋，生成车辆预警信息 [0013] generating vehicle warning information when detecting that the vehicle location is within a preset distance from the transportation facility

[0014] 结合第一方面，在一些可能的实现方式中，所述交通设施包括以下至少一种设施：交叉路口、交通灯、汇入车道、限速牌及斑马线。 [0015] 结合第一方面，在一些可能的实现方式中，所述确定所述待行驶轨迹中存在的交通设施，包括： [0014] With reference to the first aspect, in some possible implementations, the transportation facility includes at least one of the following: an intersection, a traffic light, an entrance lane, a speed limit card, and a zebra crossing. [0015] With reference to the first aspect, in some possible implementations, the determining the traffic facilities existing in the to-be-traveled track includes:

[0016] 向与所述车辆建立通信连接的服务器发送用于査询交通设施的査询指令，所述査询指令携带所述车辆的待行驶轨迹； [0016] transmitting, by a server establishing a communication connection with the vehicle, a query instruction for querying a traffic facility, the query instruction carrying a to-be-traveled track of the vehicle;

[0017] 接收所述服务器响应所述査询指令生成的所述车辆的待行驶轨迹上的交通设施Receiving a traffic facility on the to-be-traveled trajectory of the vehicle generated by the server in response to the query instruction

；或 ; or

[0018] 根据所述待行驶轨迹，査询所述车辆的数据库，获取所述车辆的待行驶轨迹中存在的交通设施。 [0018] querying the database of the vehicle according to the to-be-traveled trajectory, and acquiring a traffic facility existing in the to-be-traveled trajectory of the vehicle.

[0019] 结合第一方面，在一些可能的实现方式中，所述方法还包括： [0019] In combination with the first aspect, in some possible implementations, the method further includes:

[0020] 获取所述车辆的行驶速度以及车辆状态信息的获取吋间，其中，所述车辆状态信息包括所述车辆位置、行驶方向以及行驶速度； [0020] acquiring an travel speed of the vehicle and an acquisition time of the vehicle state information, where the vehicle state information includes the vehicle position, a traveling direction, and a traveling speed;

[0021] 所述确定所述车辆当前的待行驶轨迹之后，所述方法还包括： [0021] After the determining the current to-be-traveled trajectory of the vehicle, the method further includes:

[0022] 获取与所述车辆进行通信连接的其它车辆当前的车辆位置、行驶方向、行驶速度、车辆状态信息的获取吋间以及待行驶轨迹； [0022] acquiring a current vehicle position, a traveling direction, a driving speed, an acquisition time of the vehicle state information, and a to-be-traveled trajectory of other vehicles in communication connection with the vehicle;

[0023] 基于所述车辆的车辆位置、行驶方向、行驶速度、所述车辆位置、行驶方向、行驶速度的车辆状态信息的获取吋间以及待行驶轨迹以及与所述车辆进行通信连接的其它车辆当前的车辆位置、行驶方向、行驶速度以及待行驶轨迹，对所述车辆与所述其它车辆中的待行驶轨迹一致的车辆的碰撞几率进行判断； [0023] an acquisition time and a to-be-traveled trajectory of vehicle state information based on a vehicle position, a traveling direction, a traveling speed, a vehicle position, a traveling direction, a traveling speed of the vehicle, and other vehicles communicatively connected to the vehicle Determining, by the current vehicle position, the driving direction, the traveling speed, and the to-be-traveled trajectory, a collision probability of the vehicle in which the vehicle is consistent with the to-be-traveled trajectory in the other vehicle;

[0024] 在判断出所述车辆与待行驶轨迹一致的车辆的碰撞几率大于或等于预设阈值吋 [0024] determining that the collision probability of the vehicle consistent with the to-be-traveled trajectory is greater than or equal to a preset threshold 吋

，生成第二车辆预警信息。 , generating second vehicle warning information.

[0025] 结合第一方面，在一些可能的实现方式中，所述确定所述车辆当前的待行驶轨迹之后，所述方法还包括： [0025] With reference to the first aspect, in some possible implementations, after the determining the current to-be-traveled track of the vehicle, the method further includes:

[0026] 生成与所述待行驶轨迹对应的导航路径行驶目的地。 [0026] generating a navigation path travel destination corresponding to the to-be-traveled track.

[0027] 本发明实施例第二方面提供一种车辆预警装置，包括： [0027] A second aspect of the embodiments of the present invention provides a vehicle warning device, including:

[0028] 获取单元，用于获取车辆当前的车辆位置和行驶方向； [0028] an acquiring unit, configured to acquire a current vehicle position and a driving direction of the vehicle;

[0029] 査询单元，用于根据所述车辆位置和行驶方向，査询数据库中存储的与所述车辆位置、行驶方向和关联的历史行驶轨迹； [0029] a query unit, configured to query, according to the vehicle location and the driving direction, a historical driving track stored in the database and the vehicle position, the traveling direction, and the associated historical driving track;

[0030] 确定单元，用于基于所述历史行驶轨迹，确定所述车辆当前的待行驶轨迹和所述待行驶轨迹中存在的交通设施； [0030] a determining unit, configured to determine a current trajectory and a to-be-traveled vehicle of the vehicle based on the historical driving trajectory Describe the traffic facilities present in the trajectory;

[0031] 预警单元，用于当检测到所述车辆位置距离所述交通设施在预设距离内吋，生成第一车辆预警信息。 [0031] an early warning unit, configured to generate first vehicle warning information when detecting that the vehicle location is within a preset distance from the transportation facility.

[0032] 结合第二方面，在一些可能的实现方式中，所述交通设施包括以下至少一种设施：交叉路口、交通灯、汇入车道、限速牌及斑马线。 [0032] In conjunction with the second aspect, in some possible implementations, the transportation facility includes at least one of the following: an intersection, a traffic light, an entrance lane, a speed limit card, and a zebra crossing.

[0033] 结合第二方面，在一些可能的实现方式中，所述确定单元，具体用于向与所述车辆建立通信连接的服务器发送用于査询交通设施的査询指令，所述査询指令携带所述车辆的待行驶轨迹；接收所述服务器响应所述査询指令生成的所述车辆的待行驶轨迹上的交通设施；或 [0033] With reference to the second aspect, in some possible implementations, the determining unit is specifically configured to send, by using a server that establishes a communication connection with the vehicle, a query instruction for querying a traffic facility, where the query Commanding to carry a to-be-traveled trajectory of the vehicle; receiving a traffic facility on the to-be-traveled trajectory of the vehicle generated by the server in response to the query command; or

[0034] 所述确定单元，具体用于根据所述待行驶轨迹，査询所述车辆的数据库，获取所述车辆的待行驶轨迹中存在的交通设施。 [0034] The determining unit is specifically configured to query a database of the vehicle according to the to-be-traveled trajectory, and acquire a traffic facility existing in a to-be-traveled trajectory of the vehicle.

[0035] 结合第二方面，在一些可能的实现方式中，所述获取单元，还用于获取所述车辆的行驶速度； [0035] With reference to the second aspect, in some possible implementations, the acquiring unit is further configured to acquire a traveling speed of the vehicle;

[0036] 所述获取单元，还用于获取与所述车辆进行通信连接的其它车辆当前的车辆位置、行驶方向、行驶速度以及所述车辆位置、行驶方向以及行驶速度的车辆状态信息的获取吋间以及待行驶轨迹； [0036] The acquiring unit is further configured to acquire, for acquiring, current vehicle position, driving direction, traveling speed, and vehicle state information of the vehicle position, the traveling direction, and the traveling speed of other vehicles that are in communication connection with the vehicle. And the trajectory to be traveled;

[0037] 所述预警单元在所述确定单元确定所述车辆当前的待行驶轨迹之后，还用于基于所述车辆的车辆位置、行驶方向、行驶速度、车辆状态信息的获取吋间以及待行驶轨迹以及与所述车辆进行通信连接的其它车辆当前的车辆位置、行驶方向、行驶速度、车辆状态信息的获取吋间以及待行驶轨迹，对所述车辆与所述其它车辆中的待行驶轨迹一致的车辆的碰撞几率进行判断；在判断出所述车辆与待行驶轨迹一致的车辆的碰撞几率大于或等于预设阈值吋，生成第二车辆预警信息结合第二方面，在一些可能的实现方式中，所述装置还包括： [0037] after the determining unit determines the current to-be-traveled trajectory of the vehicle, the warning unit is further configured to acquire the daytime and the to-be-dried based on the vehicle position, the traveling direction, the traveling speed, the vehicle state information of the vehicle, The trajectory and the current vehicle position, the traveling direction, the traveling speed, the acquisition time of the vehicle state information, and the to-be-traveled trajectory of the other vehicles communicatively connected to the vehicle are consistent with the to-be-traveled trajectory of the vehicle and the other vehicles Judging the collision probability of the vehicle; determining that the collision probability of the vehicle that is consistent with the to-be-traveled trajectory is greater than or equal to a preset threshold 吋, generating the second vehicle warning information in combination with the second aspect, in some possible implementation manners The device further includes:

[0038] 导航单元，在确定单元用于确定所述车辆当前的待行驶轨迹之后，用于生成与所述待行驶轨迹对应的导航路径。 [0038] The navigation unit is configured to generate a navigation path corresponding to the to-be-traveled track after the determining unit is configured to determine a current to-be-traveled track of the vehicle.

[0039] 本发明实施例第三方面提供一种车辆预警装置，包括： [0039] A third aspect of the embodiments of the present invention provides a vehicle warning device, including:

[0040] 处理器、接收器、存储器、发送器和通信总线，其中，所述通信总线用于实现所述处理器、所述接收器、所述存储器和所述发送器两两之间的连接通信； [0041] 所述存储器中存储有程序代码； [0040] a processor, a receiver, a memory, a transmitter, and a communication bus, wherein the communication bus is configured to implement a connection between the processor, the receiver, the memory, and the transmitter Communication [0041] storing the program code in the memory;

[0042] 所述处理器可通过所述通信总线，调用所述存储器中存储的代码以执行如本发明实施例第一方面任一方法中的部分或全部步骤。 [0042] The processor may, by means of the communication bus, invoke code stored in the memory to perform some or all of the steps of any of the first aspects of the embodiments of the present invention.

[0043] 可以看出，本发明实施例技术方案中，车辆获取车辆当前的车辆位置、行驶方向，并根据车辆位置、行驶方向，査询数据库中存储的与车辆位置、行驶方向关联的历史行驶轨迹，基于历史行驶轨迹，确定车辆当前的待行驶轨迹和待行驶轨迹中存在的交通设施；当检测到车辆位置距离交通设施在预设距离内吋，生成车辆预警信息，可见，车辆基于当前的车辆位置、行驶方向预先确定待行驶轨迹，从而可以及吋获取待行驶轨迹上的交通设施信息，进而减少交通问题的发生。 [0043] It can be seen that, in the technical solution of the embodiment of the present invention, the vehicle acquires the current vehicle position and the traveling direction of the vehicle, and according to the vehicle position and the driving direction, the historical driving associated with the vehicle position and the traveling direction stored in the database is queried. The trajectory, based on the historical driving trajectory, determines the current trajectory of the vehicle and the traffic facilities existing in the trajectory to be traveled; when detecting that the vehicle position is within a preset distance from the traffic facility, generating vehicle warning information, it can be seen that the vehicle is based on the current The vehicle position and the driving direction predetermine the to-be-traveled trajectory, so that the traffic facility information on the trajectory to be traveled can be acquired, thereby reducing the occurrence of traffic problems.

[0044] 附图说明 BRIEF DESCRIPTION OF THE DRAWINGS

[0045] 为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。 [0045] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art description will be briefly described below, and obviously, in the following description The drawings are some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative work.

[0046] 图 1是本发明第一实施例提供的一种车辆预警方法的流程示意图； 1 is a schematic flow chart of a method for warning a vehicle according to a first embodiment of the present invention;

[0047] 图 2是本发明第二实施例提供的一种车辆预警方法的流程示意图； 2 is a schematic flow chart of a method for warning a vehicle according to a second embodiment of the present invention;

[0048] 图 3是本发明第三实施例提供的一种车辆预警方法的流程示意图； 3 is a schematic flow chart of a method for warning a vehicle according to a third embodiment of the present invention;

[0049] 图 4是本发明第四实施例提供的一种车辆预警装置的结构示意图； 4 is a schematic structural diagram of a vehicle early warning device according to a fourth embodiment of the present invention;

[0050] 图 5是本发明第五实施例提供的一种车辆预警装置的结构示意图。 5 is a schematic structural diagram of a vehicle early warning device according to a fifth embodiment of the present invention.

[0051] 具体实施方式 DETAILED DESCRIPTION

[0052] 为了使本技术领域的人员更好地理解本发明方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。 The technical solutions in the embodiments of the present invention will be clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. The embodiments are a part of the embodiments of the invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

[0053] 本发明的说明书和权利要求书及上述附图中的术语"第一"、 "第二"、 "第三"、 " 第四"等是用于区别不同对象，而不是用于描述特定顺序。此外， "包括 "和"具有 "以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、 ***、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其他步骤或单元。 [0053] The terms "first", "second", "third", "fourth" and the like in the specification and claims of the present invention and the above drawings are used to distinguish different objects, and are not used for description. Specific order. In addition, "include" and "have " and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that comprises a series of steps or units is not limited to the listed steps or units, but optionally includes Steps or units not listed, or alternatively other steps or units inherent to such processes, methods, products or devices.

[0054] 在本文中提及 "实施例"意味着，结合实施例描述的特定特征、结构或特性可以包含在本发明的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。 References to "embodiments" herein mean that a particular feature, structure, or characteristic described in connection with the embodiments can be included in at least one embodiment of the invention. The appearances of the phrases in various places in the specification are not necessarily referring to the same embodiments, and are not exclusive or alternative embodiments that are mutually exclusive. Those skilled in the art will understand and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0055] 可以理解的，本发明实施例中的车辆预警方法可以应用于车载设备 OBU当中，上述 OBU包括但不限于车机导航音响、车载后视镜、行车记录仪以及先进驾驶辅助*** (Advanced Driver Assistant System, ADAS) 等等。 [0055] It can be understood that the vehicle warning method in the embodiment of the present invention can be applied to an in-vehicle device OBU, including but not limited to a car navigation sound, a vehicle rearview mirror, a driving recorder, and an advanced driving assistance system (Advanced). Driver Assistant System, ADAS) and more.

[0056] 请参阅图 1，图 1是本发明第一实施例提供的一种车辆预警方法的流程示意图，如图 1所示，本发明实施例中的车辆预警方法包括以下步骤： 1 is a schematic flowchart of a vehicle early warning method according to a first embodiment of the present invention. As shown in FIG. 1, the vehicle early warning method in the embodiment of the present invention includes the following steps:

[0057] S101、车辆获取车辆当前的车辆位置和行驶方向。 [0057] S101. The vehicle acquires a current vehicle position and a traveling direction of the vehicle.

[0058] 可以理解的，车辆通过三轴加速度传感器、陀螺仪、 GPS传感器等装置获取车辆当前的车辆位置、行驶方向。 [0058] It can be understood that the vehicle acquires the current vehicle position and traveling direction of the vehicle through a device such as a three-axis acceleration sensor, a gyroscope, a GPS sensor or the like.

[0059] S102、车辆根据所述车辆位置和行驶方向，査询数据库中存储的与所述车辆位置、行驶方向和关联的历史行驶轨迹。 [0059] S102. The vehicle queries the historical travel track associated with the vehicle location, the traveling direction, and the associated stored in the database according to the vehicle location and the traveling direction.

[0060] 其中，所述历史行驶轨迹可以存储与所述车辆自身的数据库中，也可以存储于与所述车辆建立通信连接的服务器中。所述历史行驶轨迹可以是所述车辆的历史行驶轨迹，可以是与所述车辆位置、行驶方向和关联的所有车辆（包括所述车辆以及除所述车辆以外的其他车辆）的历史行驶轨迹。 [0060] wherein the historical driving track may be stored in a database of the vehicle itself, or may be stored in a server that establishes a communication connection with the vehicle. The historical travel trajectory may be a historical travel trajectory of the vehicle, and may be a historical travel trajectory of all vehicles associated with the vehicle position, travel direction, and associated vehicles, including the vehicle and other vehicles than the vehicle.

[0061] S103、车辆基于所述历史行驶轨迹，确定所述车辆当前的待行驶轨迹和所述待行驶轨迹中存在的交通设施。 [0061] S103. The vehicle determines, according to the historical driving trajectory, a current to-be-traveled trajectory of the vehicle and a traffic facility existing in the to-be-traveled trajectory.

[0062] 其中，所述交通设施包括以下至少一种设施：交叉路口、交通灯、汇入车道、限速牌及斑马线。 [0062] wherein the transportation facility comprises at least one of the following: an intersection, a traffic light, an entrance lane, a speed limit card, and a zebra crossing.

[0063] 其中，所述车辆向与所述车辆建立通信连接的服务器发送用于査询交通设施的査询指令，所述査询指令携带所述车辆的待行驶轨迹，并接收所述服务器响应所述査询指令生成的所述车辆的待行驶轨迹上的交通设施； [0063] wherein the vehicle sends a server for establishing a communication connection with the vehicle for inquiring about a transportation facility Querying instructions, the query command carries a to-be-traveled trajectory of the vehicle, and receives a traffic facility on the to-be-traveled trajectory of the vehicle generated by the server in response to the query instruction;

[0064] 或，所述车辆根据所述待行驶轨迹，査询所述车辆自身的数据库，获取所述车辆的待行驶轨迹中存在的交通设施。 [0064] Alternatively, the vehicle queries the database of the vehicle itself according to the to-be-traveled trajectory, and acquires a traffic facility existing in the to-be-traveled trajectory of the vehicle.

[0065] S104、车辆当检测到所述车辆位置距离所述交通设施在预设距离内吋，生成车辆预警信息。 [0065] S104. The vehicle generates the vehicle warning information when detecting that the vehicle location is within a preset distance from the transportation facility.

[0066] 可选的，在本发明一些实施例中，所述车辆还可以执行以下操作： [0066] Optionally, in some embodiments of the present invention, the vehicle may also perform the following operations:

[0067] 获取所述车辆的行驶速度； Obtaining a traveling speed of the vehicle;

[0068] 获取与所述车辆进行通信连接的其它车辆当前的车辆位置、行驶方向、行驶速度以及待行驶轨迹； Acquiring a current vehicle position, a traveling direction, a traveling speed, and a to-be-traveled trajectory of other vehicles in communication connection with the vehicle;

[0069] 所述车辆确定所述车辆当前的待行驶轨迹之后，还可以执行以下操作： [0069] After the vehicle determines the current to-be-traveled trajectory of the vehicle, the following operations may also be performed:

[0070] 基于所述车辆的车辆位置、行驶方向、行驶速度以及待行驶轨迹以及与所述车辆进行通信连接的其它车辆当前的车辆位置、行驶方向、行驶速度以及待行驶轨迹，对所述车辆与所述其它车辆中的待行驶轨迹一致的车辆的碰撞几率进行判断； [0070] based on the vehicle position, the traveling direction, the traveling speed, the to-be-traveled trajectory of the vehicle, and the current vehicle position, the traveling direction, the traveling speed, and the to-be-traveled trajectory of other vehicles in communication connection with the vehicle Judging the collision probability of the vehicle consistent with the to-be-traveled trajectory in the other vehicles;

[0071] 在判断出所述车辆与待行驶轨迹一致的车辆的碰撞几率大于或等于预设阈值吋 [0071] determining that the collision probability of the vehicle consistent with the to-be-traveled trajectory is greater than or equal to a preset threshold 吋

[0072] 可选的，在本发明一些实施例中，所述车辆确定所述车辆当前的待行驶轨迹之后，还可以执行以操作： [0072] Optionally, in some embodiments of the present invention, after the vehicle determines the current to-be-traveled track of the vehicle, the vehicle may also perform:

[0073] 所述车辆生成与所述待行驶轨迹对应的导航路径。 [0073] The vehicle generates a navigation path corresponding to the to-be-traveled track.

[0074] 可以看出，本发明实施例技术方案中，车辆获取车辆当前的车辆位置、行驶方向，并根据车辆位置、行驶方向，査询数据库中存储的与车辆位置、行驶方向关联的历史行驶轨迹，基于历史行驶轨迹，确定车辆当前的待行驶轨迹和待行驶轨迹中存在的交通设施，当检测到车辆位置距离交通设施在预设距离内吋，生成车辆预警信息，可见，车辆基于当前的车辆位置、行驶方向和预先确定待行驶轨迹，可以及吋获取待行驶轨迹上的交通设施信息，进而减少交通问题的发生。 [0074] It can be seen that, in the technical solution of the embodiment of the present invention, the vehicle acquires the current vehicle position and the traveling direction of the vehicle, and according to the vehicle position and the driving direction, the historical driving associated with the vehicle position and the traveling direction stored in the database is queried. The trajectory, based on the historical driving trajectory, determines the current trajectory of the vehicle to be traveled and the traffic facilities existing in the trajectory to be traveled, and when detecting that the vehicle position is within a preset distance from the traffic facility, generating vehicle warning information, it can be seen that the vehicle is based on the current The position of the vehicle, the direction of travel and the predetermined trajectory to be traveled, and the information on the traffic facilities on the trajectory to be traveled can be obtained, thereby reducing the occurrence of traffic problems.

[0075] 请参阅图 2，图 2是本发明第二实施例提供的一种车辆预警方法的流程示意图，如图 2所示，本发明实施例中的车辆预警方法包括以下步骤： [0075] Please refer to FIG. 2, which is a schematic flowchart of a method for warning a vehicle according to a second embodiment of the present invention. As shown in FIG. 2, the vehicle warning method in the embodiment of the present invention includes the following steps:

[0076] S201、车辆获取车辆当前的车辆位置、行驶方向、车辆的行驶速度以及车辆状态信息的获取吋间，其中，所述车辆状态信息包括所述车辆位置、行驶方向以及行驶速度。 [0076] S201. The vehicle acquires a current vehicle position, a traveling direction, a traveling speed of the vehicle, and an acquisition time of the vehicle state information, where the vehicle state information includes the vehicle position, the traveling direction, and the traveling speed.

[0077] S202、车辆根据所述车辆位置、行驶方向，査询数据库中存储的与所述车辆位置、行驶方向关联的历史行驶轨迹。 [0077] S202. The vehicle queries the historical travel track associated with the vehicle position and the traveling direction stored in the database according to the vehicle position and the traveling direction.

[0078] S203、车辆基于所述历史行驶轨迹，确定所述车辆当前的待行驶轨迹。 [0078] S203. The vehicle determines a current to-be-traveled trajectory of the vehicle based on the historical driving trajectory.

[0079] 其中，所述确定所述待行驶轨迹中存在的交通设施的具体实现方式可以是 [0079] wherein the specific implementation manner of determining the traffic facility existing in the to-be-traveled track may be

[0080] 向与所述车辆建立通信连接的服务器发送用于査询交通设施的査询指令，所述査询指令携带所述车辆的待行驶轨迹；接收所述服务器响应所述査询指令生成的所述车辆的待行驶轨迹上的交通设施； [0080] transmitting, by a server establishing a communication connection with the vehicle, a query instruction for querying a traffic facility, the query instruction carrying a to-be-traveled track of the vehicle; receiving the server to generate the response in response to the query a traffic facility on the trajectory of the vehicle to be traveled;

[0081] 或，根据所述待行驶轨迹，査询所述车辆的数据库，获取所述车辆的待行驶轨迹中存在的交通设施。 [0081] Alternatively, according to the to-be-traveled trajectory, query a database of the vehicle to acquire a traffic facility existing in the to-be-traveled track of the vehicle.

[0082] S204、车辆获取与所述车辆进行通信连接的其它车辆当前的车辆位置、行驶方向、行驶速度、车辆状态信息的获取吋间以及待行驶轨迹。 [0082] S204. The vehicle acquires a current vehicle position, a driving direction, a traveling speed, an acquisition time of the vehicle state information, and a to-be-traveled trajectory of other vehicles that are in communication connection with the vehicle.

[0083] 其中，车辆与的其它车辆可以基于专用短程通信 (DSRC)建立通信连接， DSRC 是由类似 FCC和 ISO的机构设立的标准，有吋候它会被描述成 WiFi网络，因为 DS RC可能使用到的一个频率是 5.9GHz，这也是 WiFi使用的频率。不过更准确地说， DSRC是类 WiFi网络，它的覆盖范围最高可以达到 IKm以上，在实际应用中在 400m范围内有很好的性能。 [0083] Wherein, the vehicle and other vehicles can establish a communication connection based on a dedicated short-range communication (DSRC), which is a standard set up by an institution like FCC and ISO, and sometimes it will be described as a WiFi network, because the DS RC may One frequency used is 5.9 GHz, which is also the frequency used by WiFi. More precisely, DSRC is a WiFi-like network with a coverage of up to IKm and a good performance in the 400m range.

[0084] 车辆也可以基于基站与其它车辆进行通信，基于基站的通信方式可以使得车辆获取到与所述车辆距离超过 1000m的其他车辆的信息，同吋基于基站的通信，可以使得车辆将信息通过基站发送至后台服务器，方便后台服务器对各个车辆的信息进行管理。 [0084] The vehicle may also communicate with other vehicles based on the base station, and the base station-based communication manner may enable the vehicle to acquire information of other vehicles that are more than 1000 m away from the vehicle, and based on the communication of the base station, the vehicle may pass the information. The base station sends to the background server, which facilitates the background server to manage the information of each vehicle.

[0085] S205、所述车辆基于所述车辆的车辆位置、行驶方向、行驶速度、车辆状态信息的获取吋间以及待行驶轨迹以及与所述车辆进行通信连接的其它车辆当前的车辆位置、行驶方向、行驶速度、车辆状态信息的获取吋间以及待行驶轨迹，对所述车辆与所述其它车辆中的待行驶轨迹一致的车辆的碰撞几率进行判断。 [0086] S206、所述车辆在判断出所述车辆与待行驶轨迹一致的车辆的碰撞几率大于或等于预设阈值吋，生成第二车辆预警信息。 [0085] S205. The vehicle is based on a vehicle position, a traveling direction, a traveling speed, an acquisition time of the vehicle state information, a to-be-traveled trajectory, and a current vehicle position of the other vehicle communicatively connected to the vehicle, and driving. The direction, the traveling speed, the acquisition time of the vehicle state information, and the to-be-traveled trajectory determine the collision probability of the vehicle in which the vehicle is consistent with the to-be-traveled trajectory in the other vehicle. [0086] S206. The vehicle generates second vehicle warning information after determining that the collision probability of the vehicle that is consistent with the to-be-traveled trajectory is greater than or equal to a preset threshold.

[0087] 具体地，本预警方法主要是针对车辆对车辆（Vehicle-to- vehicle, V2V) 的预警，本地车辆通过 OBU获取行驶车辆状态信息（吋间，车辆位置、行驶方向和、车辆的行驶速度），进行本地存储，数据提取，再通过 OBU处理单元进行基于 LPH (latest path history) 算法的实吋预测待行驶轨迹，再结合无线通讯渠道或者基站获取周围车辆实吋状态（吋间，车辆位置、行驶方向和车辆的行驶速度），综合运算评估碰撞风险，进行风险等级分类，并进行报警。 [0087] Specifically, the warning method is mainly for an early warning of a vehicle-to-vehicle (V2V), and the local vehicle acquires driving vehicle state information through the OBU (daytime, vehicle position, driving direction, and vehicle driving). Speed), perform local storage, data extraction, and then use the LBU (latest path history) algorithm to predict the trajectory to be traveled through the OBU processing unit, and then combine the wireless communication channel or the base station to obtain the actual state of the surrounding vehicle (daytime, vehicle) Position, driving direction and vehicle speed), comprehensive calculation to assess collision risk, classification of risk levels, and alarm.

[0088] 可以看出，本发明实施例技术方案中，车辆获取车辆当前的车辆位置、行驶方向，并根据车辆位置、行驶方向，査询数据库中存储的与车辆位置、行驶方向关联的历史行驶轨迹，基于历史行驶轨迹，确定车辆当前的待行驶轨迹和待行驶轨迹中存在的交通设施，当检测到车辆位置距离交通设施在预设距离内吋，生成车辆预警信息，可见，车辆基于当前的车辆位置、行驶方向和预先确定待行驶轨迹，可以及吋获取待行驶轨迹上的交通设施信息，进而减少交通问题的发生。 [0088] It can be seen that, in the technical solution of the embodiment of the present invention, the vehicle acquires the current vehicle position and the traveling direction of the vehicle, and according to the vehicle position and the driving direction, queries the historical driving associated with the vehicle position and the driving direction stored in the database. The trajectory, based on the historical driving trajectory, determines the current trajectory of the vehicle to be traveled and the traffic facilities existing in the trajectory to be traveled, and when detecting that the vehicle position is within a preset distance from the traffic facility, generating vehicle warning information, it can be seen that the vehicle is based on the current The position of the vehicle, the direction of travel and the predetermined trajectory to be traveled, and the information on the traffic facilities on the trajectory to be traveled can be obtained, thereby reducing the occurrence of traffic problems.

[0089] 请参阅图 3，图 3是本发明第三实施例提供的一种车辆预警方法的流程示意图，如图 3所示，本发明实施例中的车辆预警方法包括以下步骤： Referring to FIG. 3, FIG. 3 is a schematic flowchart of a vehicle warning method according to a third embodiment of the present invention. As shown in FIG. 3, the vehicle warning method in the embodiment of the present invention includes the following steps:

[0090] S301、车辆获取车辆当前的车辆位置、行驶方向。 [0090] S301. The vehicle acquires a current vehicle position and a traveling direction of the vehicle.

[0091] S302、车辆根据所述车辆位置、行驶方向，査询数据库中存储的与所述车辆位置、行驶方向关联的历史行驶轨迹。 [0091] S302. The vehicle queries the historical travel track associated with the vehicle position and the traveling direction stored in the database according to the vehicle position and the traveling direction.

[0092] S303、车辆基于所述历史行驶轨迹，确定所述车辆当前的待行驶轨迹。 [0092] S303. The vehicle determines a current to-be-traveled trajectory of the vehicle based on the historical driving trajectory.

[0093] S304、车辆生成与所述待行驶轨迹对应的导航路径。 [0093] S304. The vehicle generates a navigation path corresponding to the to-be-traveled track.

[0094] 可以看出，本发明实施例技术方案中，车辆获取车辆当前的车辆位置、行驶方向，并根据车辆位置、行驶方向，査询数据库中存储的与车辆位置、行驶方向关联的历史行驶轨迹，基于历史行驶轨迹，确定车辆当前的待行驶轨迹和待行驶轨迹中存在的交通设施，当检测到车辆位置距离交通设施在预设距离内吋，生成车辆预警信息，可见，车辆基于当前的车辆位置、行驶方向和预先确定待行驶轨迹，可以及吋获取待行驶轨迹上的交通设施信息，进而减少交通问题的发生。 [0094] It can be seen that, in the technical solution of the embodiment of the present invention, the vehicle acquires the current vehicle position and the traveling direction of the vehicle, and according to the vehicle position and the driving direction, the historical driving associated with the vehicle position and the driving direction stored in the database is queried. The trajectory, based on the historical driving trajectory, determines the current trajectory of the vehicle to be traveled and the traffic facilities existing in the trajectory to be traveled, and when detecting that the vehicle position is within a preset distance from the traffic facility, generating vehicle warning information, it can be seen that the vehicle is based on the current Vehicle position, driving direction and predetermined trajectory to be traveled, and can obtain information on traffic facilities on the trajectory to be traversed, thereby reducing traffic problems. Happened.

[0095] 下面为本发明装置实施例，本发明装置实施例用于执行本发明方法实施例一至三实现的方法，为了便于说明，仅示出了与本发明实施例相关的部分，具体技术细节未揭示的，请参照本发明实施例一至实施例三。 The following is a device embodiment of the present invention. The device embodiment of the present invention is used to perform the method for implementing the first to third embodiments of the present invention. For the convenience of description, only parts related to the embodiment of the present invention are shown, and the specific technical details are shown. For unexplained, please refer to Embodiment 1 to Embodiment 3 of the present invention.

[0096] 请参阅图 4，图 4是本发明第四实施例提供的一种车辆预警装置的结构示意图，如图 4所示，本发明实施例中的车辆预警装置包括以下单元： [0096] Please refer to FIG. 4. FIG. 4 is a schematic structural diagram of a vehicle early warning device according to a fourth embodiment of the present invention. As shown in FIG. 4, the vehicle early warning device in the embodiment of the present invention includes the following units:

[0097] 获取单元 401，用于获取车辆当前的车辆位置、行驶方向； [0097] an obtaining unit 401, configured to acquire a current vehicle position and a driving direction of the vehicle;

[0098] 査询单元 402，用于根据所述车辆位置、行驶方向，査询数据库中存储的与所述车辆位置、行驶方向关联的历史行驶轨迹； [0098] the query unit 402 is configured to query, according to the vehicle position and the driving direction, a historical driving track associated with the vehicle position and the traveling direction stored in the database;

[0099] 确定单元 403，用于基于所述历史行驶轨迹，确定所述车辆当前的待行驶轨迹和所述待行驶轨迹中存在的交通设施； [0099] a determining unit 403, configured to determine, according to the historical driving trajectory, a current to-be-traveled trajectory of the vehicle and a traffic facility existing in the to-be-traveled trajectory;

[0100] 预警单元 404，用于当检测到所述车辆位置距离所述交通设施在预设距离内吋[0100] an early warning unit 404, configured to: when detecting that the vehicle location is within a preset distance from the transportation facility

，生成车辆预警信息。 , generate vehicle warning information.

[0101] 可选的，所述交通设施包括以下至少一种设施：交叉路口、交通灯、汇入车道 [0101] Optionally, the transportation facility includes at least one of the following facilities: an intersection, a traffic light, and an inbound lane

、限速牌及斑马线。 , speed limit cards and zebra crossings.

[0102] 可选的，所述确定单元 403，具体用于向与所述车辆建立通信连接的服务器发送用于査询交通设施的査询指令，所述査询指令携带所述车辆的待行驶轨迹；接收所述服务器响应所述査询指令生成的所述车辆的待行驶轨迹上的交通设施；或，所述确定单元 403，具体用于根据所述待行驶轨迹，査询所述车辆的数据库，获取所述车辆的待行驶轨迹中存在的交通设施。 [0102] Optionally, the determining unit 403 is specifically configured to send, by a server that establishes a communication connection with the vehicle, a query instruction for querying a traffic facility, where the query instruction carries the to-be-traveled vehicle a trajectory; receiving a traffic facility on the to-be-traveled trajectory of the vehicle generated by the server in response to the query instruction; or the determining unit 403 is specifically configured to query the vehicle according to the to-be-traveled trajectory a database that acquires traffic facilities present in the to-be-traveled track of the vehicle.

[0103] 可选的，所述获取单元 401，还用于获取所述车辆的行驶速度； [0103] Optionally, the acquiring unit 401 is further configured to acquire a traveling speed of the vehicle;

[0104] 所述获取单元 401，还用于获取所述车辆的行驶速度以及车辆状态信息的获取吋间，其中，所述车辆状态信息包括所述车辆位置、行驶方向以及行驶速度； [0104] The acquiring unit 401 is further configured to acquire the traveling speed of the vehicle and the acquiring time of the vehicle state information, where the vehicle state information includes the vehicle position, the traveling direction, and the traveling speed;

[0105] 所述预警单元 404，所述确定单元 403确定所述车辆当前的待行驶轨迹之后，还用于获取与所述车辆进行通信连接的其它车辆当前的车辆位置、行驶方向、行驶速度、车辆状态信息的获取吋间以及待行驶轨迹；基于所述车辆的车辆位置、行驶方向、行驶速度、车辆状态信息的获取吋间以及待行驶轨迹以及与所述车辆进行通信连接的其它车辆当前的车辆位置、行驶方向、行驶速度、车辆状态信息的获取吋间以及待行驶轨迹，对所述车辆与所述其它车辆中的待行驶轨迹一致的车辆的碰撞几率进行判断；在判断出所述车辆与待行驶轨迹一致的车辆的碰撞几率大于或等于预设阈值吋，生成第二车辆预警信息。 [0105] the warning unit 404, after determining the current to-be-traveled trajectory of the vehicle, the determining unit 403 is further configured to acquire the current vehicle position, the traveling direction, the traveling speed, and other driving directions of other vehicles that are in communication connection with the vehicle. Acquisition of vehicle state information and trajectory to be traveled; based on vehicle location, direction of travel, travel speed, acquisition time of vehicle state information, and trajectory to be traveled, and other vehicles currently in communication with the vehicle Vehicle position, driving direction, driving speed, vehicle shape Judging the probability of collision of the vehicle with the to-be-traveled trajectory of the other vehicle, and determining the collision probability of the vehicle that is consistent with the to-be-traveled trajectory The second vehicle warning information is generated when the preset threshold is greater than or equal to 预设.

[0106] 可选的，所述装置还包括： [0106] Optionally, the device further includes:

[0107] 导航单元 405，在确定单元用于确定所述车辆当前的待行驶轨迹之后，用于生成与所述待行驶轨迹对应的导航路径。 [0107] The navigation unit 405 is configured to generate a navigation path corresponding to the to-be-traveled track after the determining unit is configured to determine the current to-be-traveled track of the vehicle.

[0108] 具体的，上述各个单元的具体实现可参考图 1至图 3对应实施例中相关步骤的描述，在此不赘述。 For specific implementations of the foregoing various units, reference may be made to the description of related steps in the corresponding embodiments in FIG. 1 to FIG. 3, and details are not described herein.

[0109] 可以看出，本发明实施例技术方案中，车辆获取车辆当前的车辆位置、行驶方向，并根据车辆位置、行驶方向，査询数据库中存储的与车辆位置、行驶方向关联的历史行驶轨迹，基于历史行驶轨迹，确定车辆当前的待行驶轨迹和待行驶轨迹中存在的交通设施，当检测到车辆位置距离交通设施在预设距离内吋，生成车辆预警信息，可见，车辆基于当前的车辆位置、行驶方向和预先确定待行驶轨迹，可以及吋获取待行驶轨迹上的交通设施信息，进而减少交通问题的发生。 [0109] It can be seen that, in the technical solution of the embodiment of the present invention, the vehicle acquires the current vehicle position and the traveling direction of the vehicle, and according to the vehicle position and the driving direction, queries the historical driving associated with the vehicle position and the traveling direction stored in the database. The trajectory, based on the historical driving trajectory, determines the current trajectory of the vehicle to be traveled and the traffic facilities existing in the trajectory to be traveled, and when detecting that the vehicle position is within a preset distance from the traffic facility, generating vehicle warning information, it can be seen that the vehicle is based on the current The position of the vehicle, the direction of travel and the predetermined trajectory to be traveled, and the information on the traffic facilities on the trajectory to be traveled can be obtained, thereby reducing the occurrence of traffic problems.

[0110] 请参考图 5，图 5是本发明第五实施例提供的一种车辆预警装置的结构示意图。 Please refer to FIG. 5. FIG. 5 is a schematic structural diagram of a vehicle early warning device according to a fifth embodiment of the present invention.

如图 5所示，本发明实施例中的车辆预警装置包括：至少一个处理器 501，例如 C PU，至少一个接收器 503，至少一个存储器 504，至少一个发送器 505，至少一个通信总线 502。其中，通信总线 502用于实现这些组件之间的连接通信。其中，本发明实施例中装置的接收器 503和发送器 505可以是有线发送端口，也可以为无线设备，例如包括天线装置，用于与其他节点设备进行信令或数据的通信。存储器 504可以是高速 RAM存储器，也可以是非不稳定的存储器（non- volatile memory) ，例如至少一个磁盘存储器。存储器 504可选的还可以是至少一个位于远离前述处理器 501的存储装置。存储器 504中存储一组程序代码，且所述处理器 501可通过通信总线 502，调用存储器 504中存储的代码以执行相关的功能。 As shown in FIG. 5, the vehicle early warning apparatus in the embodiment of the present invention includes: at least one processor 501, such as a CPU, at least one receiver 503, at least one memory 504, at least one transmitter 505, and at least one communication bus 502. Among them, the communication bus 502 is used to implement connection communication between these components. The receiver 503 and the transmitter 505 of the device in the embodiment of the present invention may be wired transmission ports, or may be wireless devices, for example, including antenna devices, for performing signaling or data communication with other node devices. The memory 504 may be a high speed RAM memory or a non-volatile memory such as at least one disk memory. The memory 504 can optionally also be at least one storage device located remotely from the aforementioned processor 501. A set of program codes is stored in memory 504, and said processor 501 can call the code stored in memory 504 via communication bus 502 to perform the associated functions.

[0111] 所述处理器 501，用于获取车辆当前的车辆位置、行驶方向；根据所述车辆位置、行驶方向，査询数据库中存储的与所述车辆位置、行驶方向关联的历史行驶轨迹；基于所述历史行驶轨迹，确定所述车辆当前的待行驶轨迹和所述待行驶轨迹中存在的交通设施；当检测到所述车辆位置距离所述交通设施在预设距离内吋，生成车辆预警信息。 [0111] The processor 501 is configured to acquire a current vehicle position and a traveling direction of the vehicle, and query a historical driving track associated with the vehicle position and the traveling direction stored in the database according to the vehicle position and the driving direction; Determining a current to-be-traveled trajectory of the vehicle and the to-going based on the historical driving trajectory a traffic facility existing in the trajectory; generating vehicle warning information when it is detected that the vehicle location is within a preset distance from the transportation facility.

[0112] 可选的，所述交通设施包括以下至少一种设施：交叉路口、交通灯、汇入车道、限速牌及斑马线。 [0112] Optionally, the traffic facility includes at least one of the following: an intersection, a traffic light, a remittance lane, a speed limit card, and a zebra crossing.

[0113] 可选的，所述处理器 501，在用于确定所述待行驶轨迹中存在的交通设施吋，具体用于向与所述车辆建立通信连接的服务器发送用于査询交通设施的査询指令，所述査询指令携带所述车辆的待行驶轨迹；接收所述服务器响应所述査询指令生成的所述车辆的待行驶轨迹上的交通设施；或根据所述待行驶轨迹，査询所述车辆的数据库，获取所述车辆的待行驶轨迹中存在的交通设施。 [0113] Optionally, the processor 501 is configured to determine, by using a traffic facility that exists in the to-be-traveled track, to send a communication facility for querying a traffic facility to a server that establishes a communication connection with the vehicle. Querying instructions, the query instruction carries a to-be-traveled trajectory of the vehicle; receiving a traffic facility on the to-be-traveled trajectory of the vehicle generated by the server in response to the query instruction; or according to the to-be-traveled trajectory, Querying a database of the vehicle to obtain a traffic facility existing in the to-be-traveled trajectory of the vehicle.

[0114] 可选的，所述处理器 501，还可以用于获取所述车辆的行驶速度； [0114] Optionally, the processor 501 is further configured to acquire a traveling speed of the vehicle;

[0115] 所述处理器 501，在用于确定所述车辆当前的待行驶轨迹之后，还可以用于获取与所述车辆进行通信连接的其它车辆当前的车辆位置、行驶方向、行驶速度、车辆状态信息的获取吋间以及待行驶轨迹；基于所述车辆的车辆位置、行驶方向、行驶速度、车辆状态信息的获取吋间以及待行驶轨迹以及与所述车辆进行通信连接的其它车辆当前的车辆位置、行驶方向、行驶速度、车辆状态信息的获取吋间以及待行驶轨迹，对所述车辆与所述其它车辆中的待行驶轨迹一致的车辆的碰撞几率进行判断；在判断出所述车辆与待行驶轨迹一致的车辆的碰撞几率大于或等于预设阈值吋，生成第二车辆预警信息。 [0115] The processor 501 may be further configured to acquire a current vehicle position, a driving direction, a traveling speed, and a vehicle of another vehicle that is in communication connection with the vehicle after determining the current to-be-traveled trajectory of the vehicle. The acquisition of the status information and the to-be-traveled trajectory; the vehicle position based on the vehicle, the direction of travel, the speed of travel, the acquisition time of the vehicle status information, and the trajectory to be traveled, and the current vehicle of other vehicles in communication with the vehicle Position, driving direction, traveling speed, acquisition time of vehicle state information, and to-be-traveled trajectory, determining a collision probability of the vehicle in which the vehicle is consistent with a to-be-traveled trajectory in the other vehicle; determining the vehicle and The second vehicle warning information is generated when the collision probability of the vehicle whose driving trajectory is consistent is greater than or equal to the preset threshold 吋.

[0116] 可选的，所述处理器 501，在用于确定所述车辆当前的待行驶轨迹之后，还可以用于生成与所述待行驶轨迹对应的导航路径。 [0116] Optionally, the processor 501 is further configured to generate a navigation path corresponding to the to-be-traveled track after determining the current to-be-traveled track of the vehicle.

[0117] 具体的，上述各个单元的具体实现可参考图 1至图 3对应实施例中相关步骤的描述，在此不赘述。 [0117] Specifically, the specific implementation of each unit may refer to the description of related steps in the corresponding embodiments in FIG. 1 to FIG. 3, and details are not described herein.

[0118] 可以看出，本发明实施例技术方案中，车辆获取车辆当前的车辆位置、行驶方向，并根据车辆位置、行驶方向，査询数据库中存储的与车辆位置、行驶方向关联的历史行驶轨迹，基于历史行驶轨迹，确定车辆当前的待行驶轨迹和待行驶轨迹中存在的交通设施，当检测到车辆位置距离交通设施在预设距离内吋，生成车辆预警信息，可见，车辆基于当前的车辆位置、行驶方向和预先确定待行驶轨迹，可以及吋获取待行驶轨迹上的交通设施信息，进而减少交通问题的发生。 [0118] It can be seen that, in the technical solution of the embodiment of the present invention, the vehicle acquires the current vehicle position and the traveling direction of the vehicle, and according to the vehicle position and the driving direction, the historical driving associated with the vehicle position and the driving direction stored in the database is queried. The trajectory, based on the historical driving trajectory, determines the current trajectory of the vehicle to be traveled and the traffic facilities existing in the trajectory to be traveled, and when detecting that the vehicle position is within a preset distance from the traffic facility, generating vehicle warning information, it can be seen that the vehicle is based on the current Vehicle position, driving direction and predetermined trajectory to be traveled, and can obtain information on traffic facilities on the trajectory to be traversed, thereby reducing traffic problems. Happened.

[0119] 本发明实施例还提供一种计算机存储介质，其中，该计算机存储介质可存储有程序，该程序执行吋包括上述方法实施例中记载的任何一种服务进程的监控方法的部分或全部步骤。 [0119] The embodiment of the present invention further provides a computer storage medium, wherein the computer storage medium may store a program that executes some or all of the monitoring methods of any one of the service processes described in the foregoing method embodiments. step.

[0120] 需要说明的是，对于前述的各方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本发明并不受所描述的动作顺序的限制，因为依据本发明，某些步骤可以采用其他顺序或者同吋进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和单元并不一定是本发明所必须的。 [0120] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should know that the present invention is not subject to the described action sequence. The limitation is that, in accordance with the present invention, certain steps may be performed in other orders or in the same manner. In the following, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions and units involved are not necessarily required by the present invention.

[0121] 本发明实施例的方法的步骤顺序可以根据实际需要进行调整、合并或刪减。本发明实施例的终端的单元可以根据实际需要进行整合、进一步划分或刪减。 The sequence of steps of the method of the embodiment of the present invention may be adjusted, merged, or deleted according to actual needs. The unit of the terminal in the embodiment of the present invention may be integrated, further divided or deleted according to actual needs.

[0122] 在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。 [0122] In the foregoing embodiments, the descriptions of the various embodiments are different, and the parts that are not detailed in an embodiment may refer to related descriptions of other embodiments.

[0123] 在本申请所提供的几个实施例中，应该理解到，所揭露的装置，可通过其它的方式实现。例如，以上所描述的装置实施例是示意性的，例如所述单元的划分，为一种逻辑功能划分，实际实现吋可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性或其它的形式。 [0123] In the several embodiments provided by the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the device embodiments described above are schematic, for example, the division of the units, for a logical function division, the actual implementation may have another division manner, for example, multiple units or components may be combined or may be integrated into Another system, or some features can be ignored, or not executed. In addition, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be electrical or otherwise.

[0124] 所述作为分离部件说明的单元可以是或者也可以不是物理上分幵的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。 [0124] The unit described as a separate component may or may not be physically distributed, and the component displayed as a unit may or may not be a physical unit, that is, may be located in one place, or may be distributed to multiple On the network unit. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

[0125] 另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。 [0125] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0126] 所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用吋，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备（可为个人计算机、服务器或者网络设备等）执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括： U盘、只读存储器（ROM, Read-Only [0126] The integrated unit is implemented in the form of a software functional unit and sold or used as a standalone product 吋, can be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may contribute to the prior art or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium. A number of instructions are included to cause a computer device (which may be a personal computer, server or network device, etc.) to perform all or part of the steps of the methods of the various embodiments of the present invention. The foregoing storage medium includes: a USB flash drive, a read only memory (ROM, Read-Only)

Memory) 、随机存取存储器 (RAM, Random Access Memory) 、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。 Memory, Random Access Memory (RAM), removable hard disk, disk or optical disk, and other media that can store program code.

[0127] 本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质可以包括：闪存盘、只读存储器（英文： Read-Only Memory，简称： ROM) 、随机存取器（英文： Random Access Memory , 简称： RAM) 、磁盘或光盘等。 [0127] Those skilled in the art can understand that all or part of the various methods of the above embodiments can be completed by a program to instruct related hardware, and the program can be stored in a computer readable storage medium, the storage medium. It can include: flash drive, read-only memory (English: Read-Only Memory, ROM for short), random access memory (English: Random Access Memory, RAM for short), disk or CD.

[0128] 以上对本发明实施例所提供的一种车辆预警方法及装置进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同吋，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。 [0128] The vehicle warning method and apparatus provided by the embodiments of the present invention are described in detail. The principles and implementation manners of the present invention are described in the following. The description of the above embodiments is only for helping. The method of the present invention and its core idea are understood; at the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific embodiments and application scopes. It should not be construed as limiting the invention.

技术问题 technical problem

问题的解决方案 Problem solution

发明的有益效果 Advantageous effects of the invention

Claims

权利要求书 Claim

[权利要求 1] 一种车辆预警方法，其特征在于，包括： [Claim 1] A vehicle warning method, comprising:

获取车辆当前的车辆位置和行驶方向； Obtaining the current vehicle position and direction of travel of the vehicle;

根据所述车辆位置和行驶方向，査询数据库中存储的与所述车辆位置和行驶方向关联的历史行驶轨迹； Determining, according to the vehicle position and the traveling direction, a historical travel trajectory associated with the vehicle position and the traveling direction stored in the database;

基于所述历史行驶轨迹，确定所述车辆当前的待行驶轨迹和所述待行驶轨迹中存在的交通设施； Determining, according to the historical driving trajectory, a current to-be-traveled trajectory of the vehicle and a traffic facility existing in the to-go trajectory;

当检测到所述车辆位置距离所述交通设施在预设距离内吋，生成第一车辆预警信息。 The first vehicle warning information is generated when it is detected that the vehicle location is within a preset distance from the transportation facility.

[权利要求 2] 如权利要求 1所述的方法，其特征在于，所述交通设施包括以下至少一种设施：交叉路口、交通灯、汇入车道、限速牌及斑马线。 [Claim 2] The method according to claim 1, wherein the traffic facility comprises at least one of the following: an intersection, a traffic light, an entrance lane, a speed limit card, and a zebra crossing.

[权利要求 3] 如权利要求 1所述的方法，其特征在于，所述确定所述待行驶轨迹中存在的交通设施，包括： [Claim 3] The method according to claim 1, wherein the determining the traffic facilities existing in the to-be-traveled track includes:

向与所述车辆建立通信连接的服务器发送用于査询交通设施的査询指令，所述査询指令携带所述车辆的待行驶轨迹；接收所述服务器响应所述査询指令生成的所述车辆的待行驶轨迹上的交通设施；或，根据所述待行驶轨迹，査询所述车辆的数据库，获取所述车辆的待行驶轨迹中存在的交通设施。 Sending a query instruction for querying a traffic facility to a server establishing a communication connection with the vehicle, the query command carrying a to-be-traveled trajectory of the vehicle; receiving the server generated in response to the query instruction a traffic facility on the trajectory of the vehicle to be traveled; or, according to the trajectory to be traveled, query a database of the vehicle to obtain a traffic facility existing in the trajectory of the vehicle to be traveled.

[权利要求 4] 如权利要求 1所述的方法，其特征在于，所述方法还包括： [Claim 4] The method according to claim 1, wherein the method further comprises:

获取所述车辆的行驶速度以及车辆状态信息的获取吋间，其中，所述车辆状态信息包括所述车辆位置、行驶方向以及行驶速度；所述确定所述车辆当前的待行驶轨迹之后，所述方法还包括：获取与所述车辆进行通信连接的其它车辆当前的车辆位置、行驶方向 Obtaining a travel speed of the vehicle and an acquisition time of the vehicle state information, where the vehicle state information includes the vehicle position, a traveling direction, and a traveling speed; after determining the current to-be-traveled trajectory of the vehicle, The method also includes: obtaining a current vehicle location, a direction of travel of other vehicles in communication with the vehicle

、行驶速度、车辆状态信息的获取吋间以及待行驶轨迹； , the speed of travel, the acquisition of vehicle status information, and the trajectory to be traveled;

基于所述车辆的车辆位置、行驶方向、行驶速度、车辆状态信息的获取吋间以及待行驶轨迹以及与所述车辆进行通信连接的其它车辆当前的车辆位置、行驶方向、行驶速度、车辆状态信息的获取吋间以及待行驶轨迹，对所述车辆与所述其它车辆中的待行驶轨迹一致的车辆的碰撞几率进行判断； Based on the vehicle position, driving direction, traveling speed, and vehicle status information of the vehicle Taking the vehicle and the to-be-traveled trajectory and the current vehicle position, the traveling direction, the traveling speed, the acquisition time of the vehicle state information, and the to-be-traveled trajectory of other vehicles communicatively connected to the vehicle, to the vehicle and the other vehicle Judging the probability of collision of vehicles in which the trajectories to be traversed are consistent;

在判断出所述车辆与待行驶轨迹一致的车辆的碰撞几率大于或等于预设阈值吋，生成第二车辆预警信息。 The second vehicle warning information is generated after determining that the collision probability of the vehicle that is consistent with the to-be-traveled trajectory is greater than or equal to a preset threshold 吋.

[权利要求 5] 如权利要求 1至 4任一项所述的方法，其特征在于，所述确定所述车辆当前的待行驶轨迹之后，所述方法还包括： [Claim 5] The method according to any one of claims 1 to 4, wherein, after the determining the current to-be-traveled trajectory of the vehicle, the method further comprises:

生成与所述待行驶轨迹对应的导航路径。 A navigation path corresponding to the to-be-traveled track is generated.

[权利要求 6] —种车辆预警装置，其特征在于，包括： [Claim 6] A vehicle warning device, comprising:

获取单元，用于获取车辆当前的车辆位置和行驶方向； An acquiring unit, configured to acquire a current vehicle position and a driving direction of the vehicle;

査询单元，用于根据所述车辆位置和行驶方向，査询数据库中存储的与所述车辆位置和行驶方向关联的历史行驶轨迹；确定单元，用于基于所述历史行驶轨迹，确定所述车辆当前的待行驶轨迹和所述待行驶轨迹中存在的交通设施； a query unit, configured to query, according to the vehicle position and the driving direction, a historical driving track associated with the vehicle position and the traveling direction stored in the database; and a determining unit, configured to determine the said driving track based on the historical driving track a current trajectory of the vehicle to be traveled and a traffic facility present in the trajectory to be traveled;

预警单元，用于当检测到所述车辆位置距离所述交通设施在预设距离内吋，生成第一车辆预警信息。 And an early warning unit, configured to generate first vehicle warning information when detecting that the vehicle location is within a preset distance from the transportation facility.

[权利要求 7] 如权利要求 6所述的装置，其特征在于，所述交通设施包括以下至少一种设施：交叉路口、交通灯、汇入车道、限速牌及斑马线。 [Clave 7] The apparatus according to claim 6, wherein the traffic facility comprises at least one of the following: an intersection, a traffic light, an entrance lane, a speed limit card, and a zebra crossing.

[权利要求 8] 如权利要求 6所述的装置，其特征在于， [Claim 8] The apparatus according to claim 6, wherein

所述确定单元，具体用于向与所述车辆建立通信连接的服务器发送用于査询交通设施的査询指令，所述査询指令携带所述车辆的待行驶轨迹；接收所述服务器响应所述査询指令生成的所述车辆的待行驶轨迹上的交通设施；或，所述确定单元，具体用于根据所述待行驶轨迹，査询所述车辆的数据库，获取所述车辆的待行驶轨迹中存在的交通设施。 The determining unit is specifically configured to send a query instruction for querying a traffic facility to a server that establishes a communication connection with the vehicle, where the query instruction carries a to-be-traveled track of the vehicle; and receives the server response a traffic facility on the to-be-traveled track of the vehicle generated by the query command; Or the determining unit is configured to query the database of the vehicle according to the to-be-traveled trajectory, and acquire a traffic facility existing in the to-be-traveled trajectory of the vehicle.

[权利要求 9] 如权利要求 6所述的装置，其特征在于， [Claim 9] The apparatus according to claim 6, wherein

所述获取单元，还用于获取所述车辆的行驶速度以及车辆状态信息的获取吋间，其中，所述车辆状态信息包括所述车辆位置、行驶方向以及行驶速度； The acquiring unit is further configured to acquire the traveling speed of the vehicle and the acquiring time of the vehicle state information, where the vehicle state information includes the vehicle position, the driving direction, and the traveling speed;

所述获取单元，还用于获取与所述车辆进行通信连接的其它车辆当前的车辆位置、行驶方向、行驶速度、车辆状态信息的获取吋间以及待行驶轨迹； The acquiring unit is further configured to acquire a current vehicle position, a traveling direction, a traveling speed, an acquisition time of the vehicle state information, and a to-be-traveled track of other vehicles that are in communication connection with the vehicle;

所述预警单元，在所述确定单元确定所述车辆当前的待行驶轨迹之后，还用于基于所述车辆的车辆位置、行驶方向、行驶速度、车辆状态信息的获取吋间以及待行驶轨迹以及与所述车辆进行通信连接的其它车辆当前的车辆位置、行驶方向、行驶速度、车辆状态信息的获取吋间以及待行驶轨迹，对所述车辆与所述其它车辆中的待行驶轨迹一致的车辆的碰撞几率进行判断；在判断出所述车辆与待行驶轨迹一致的车辆的碰撞几率大于或等于预设阈值吋，生成第二车辆预警信息。 The warning unit is further configured to, after the determining unit determines the current to-be-traveled trajectory of the vehicle, based on the vehicle position, the traveling direction, the traveling speed, the acquisition time of the vehicle state information, and the to-be-traveled trajectory of the vehicle, and The current vehicle position, the traveling direction, the traveling speed, the acquisition time of the vehicle state information, and the to-be-traveled trajectory of other vehicles in communication connection with the vehicle, and the vehicle in which the vehicle is consistent with the to-be-traveled trajectory in the other vehicle Judging the probability of collision; determining that the collision probability of the vehicle that is consistent with the to-be-traveled trajectory is greater than or equal to a preset threshold 吋, generating second vehicle warning information.

[权利要求 10] 如权利要求 6至 9任一项所述的装置，其特征在于，所述装置还包括：导航单元，在确定单元用于确定所述车辆当前的待行驶轨迹之后，用于生成与所述待行驶轨迹对应的导航路径行驶目的地。 [Claim 10] The device according to any one of claims 6 to 9, wherein the device further comprises: a navigation unit, after the determining unit is configured to determine a current to-be-traveled track of the vehicle, A navigation path travel destination corresponding to the to-be-traveled track is generated.

[权利要求 11] 一种车辆预警装置，其特征在于，包括： [Claim 11] A vehicle warning device, comprising:

处理器、接收器、存储器、发送器和通信总线，其中，所述通信总线用于实现所述处理器、所述接收器、所述存储器和所述发送器两两之间的连接通信； a processor, a receiver, a memory, a transmitter, and a communication bus, wherein the communication bus is configured to implement connection communication between the processor, the receiver, the memory, and the transmitter;

所述存储器中存储有程序代码； Program code is stored in the memory;

所述处理器可通过所述通信总线，调用所述存储器中存储的代码以执行如权利要求 1-5任一项所描述的方法。 The processor can invoke the code stored in the memory via the communication bus to perform the method as described in any one of claims 1-5.