CN112116809A - Non-line-of-sight vehicle anti-collision method and device based on V2X technology - Google Patents
Non-line-of-sight vehicle anti-collision method and device based on V2X technology Download PDFInfo
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Abstract
The embodiment of the invention provides a non-line-of-sight vehicle anti-collision method and device based on a V2X technology, wherein the method comprises the following steps: communicating with surrounding objects based on a vehicle-to-outside V2X technology, acquiring motion information of a target object and acquiring motion information of a vehicle; calculating collision time distribution based on the motion information of the target object and the motion information of the vehicle, and calculating the collision risk probability of the target object and the vehicle based on the collision time distribution and in combination with the current actual scene; and evaluating whether the driver needs to be warned according to the collision risk probability. The embodiment of the invention is based on the V2X technology, calculates the collision time distribution by using the obtained motion information, calculates the collision risk probability by combining the actual road condition and carries out early warning on the driver, thereby realizing reasonable and reliable collision risk prediction under the condition of non-line-of-sight.
Description
Technical Field
The invention relates to the technical field of traffic internet, in particular to a non-line-of-sight vehicle anti-collision method and device based on a V2X technology.
Background
The continuous development of technologies such as internet of things, big data, cloud computing and artificial intelligence, and intelligent driving and car networking technologies also become a new development trend. At present, at intersections and high-speed intersections without traffic lights, when vehicles run on different roads, the risk of collision is high, and the collision risk coefficient can be increased in severe environments.
In the related art, a vehicle anti-collision algorithm usually uses a sensor such as a vehicle front radar to acquire the speed information of a vehicle ahead, and basically only can detect vehicles in the same direction, and the existing algorithm is basically not applicable under the conditions of intersection and non-line-of-sight.
Therefore, it is desirable to provide a collision avoidance method for a vehicle that can be applied to intersections and non-line-of-sight situations.
Disclosure of Invention
The embodiment of the invention provides a non-line-of-sight vehicle anti-collision method and device based on a V2X technology, which are used for solving the defect that a vehicle anti-collision algorithm in the prior art can only detect vehicles in the same direction and basically cannot be applied to intersections and non-line-of-sight conditions, and realizing collision risk prediction under the non-line-of-sight condition.
The embodiment of the invention provides a non-line-of-sight vehicle anti-collision method based on a V2X technology, which comprises the following steps:
communicating with surrounding objects based on a vehicle-to-outside V2X technology, acquiring motion information of a target object and acquiring motion information of a vehicle;
calculating collision time distribution based on the motion information of the target object and the motion information of the vehicle, and calculating the collision risk probability of the target object and the vehicle based on the collision time distribution and in combination with the current actual scene;
and evaluating whether the driver needs to be warned according to the collision risk probability.
According to the non-line-of-sight vehicle anti-collision method based on the V2X technology, provided by one embodiment of the invention, the motion information of the target object comprises: the type of the target object, the speed of the target object, the coordinates of the target object, and the traveling direction of the target object, and the motion information of the vehicle includes: the type of vehicle, the speed of the vehicle, the coordinates of the vehicle, and the direction of travel of the vehicle.
According to the non-line-of-sight vehicle anti-collision method based on the V2X technology provided by an embodiment of the present invention, the collision time distribution is calculated based on the motion information of the target object and the motion information of the vehicle, and the collision risk probability of the target object and the vehicle is calculated based on the collision time distribution and in combination with the current actual scene, specifically:
constructing a speed distribution function of the vehicle according to the speed of the vehicle, and constructing a speed distribution function of the target object according to the speed of the target object;
determining a traveling route of a vehicle according to a traveling direction of the vehicle and coordinates of the vehicle, determining a traveling route of a target object according to the traveling direction of the target object and the coordinates of the target object, determining an intersection point according to the traveling route of the vehicle and the traveling route of the target object, and acquiring coordinates of the intersection point;
calculating the traveling distance of the vehicle according to the coordinates of the vehicle and the coordinates of the intersection point, and obtaining a time distribution function of the vehicle reaching the intersection according to the traveling distance of the vehicle and the speed distribution function of the vehicle;
calculating the traveling distance of a target object according to the coordinates of the target object and the coordinates of the intersection, and obtaining a time distribution function of the target object reaching the intersection according to the traveling distance of the target object and the speed distribution function of the target object;
and obtaining a collision time probability density function according to the product of the time distribution function of the vehicle reaching the intersection and the time distribution function of the target object reaching the intersection, and calculating the collision risk probability of the target object and the vehicle by combining a membership function constructed according to the current actual scene.
According to the non-line-of-sight vehicle anti-collision method based on the V2X technology, the membership function constructed according to the current actual scene comprises a membership function corresponding to road surface wet and slippery and a membership function corresponding to air visibility.
The embodiment of the invention also provides a non-line-of-sight vehicle anti-collision device based on the V2X technology, which comprises the following components:
the motion information acquisition module is used for communicating with surrounding objects based on a vehicle-to-outside V2X technology, acquiring motion information of a target object and acquiring motion information of a vehicle;
the collision risk calculation module is used for calculating collision time distribution based on the motion information of the target object and the motion information of the vehicle, and calculating the collision risk probability of the target object and the vehicle based on the collision time distribution and in combination with the current actual scene;
and the risk evaluation module is used for evaluating whether the driver needs to be warned according to the collision risk probability.
According to the non-line-of-sight vehicle anti-collision device based on the V2X technology, provided by one embodiment of the invention, the motion information of the target object comprises: the type of the target object, the speed of the target object, the coordinates of the target object, and the traveling direction of the target object, and the motion information of the vehicle includes: the type of vehicle, the speed of the vehicle, the coordinates of the vehicle, and the direction of travel of the vehicle.
According to the non-line-of-sight vehicle anti-collision device based on the V2X technology provided in one embodiment of the present invention, the collision risk calculation module is specifically configured to:
constructing a speed distribution function of the vehicle according to the speed of the vehicle, and constructing a speed distribution function of the target object according to the speed of the target object;
determining a traveling route of a vehicle according to a traveling direction of the vehicle and coordinates of the vehicle, determining a traveling route of a target object according to the traveling direction of the target object and the coordinates of the target object, determining an intersection point according to the traveling route of the vehicle and the traveling route of the target object, and acquiring coordinates of the intersection point;
calculating the traveling distance of the vehicle according to the coordinates of the vehicle and the coordinates of the intersection point, and obtaining a time distribution function of the vehicle reaching the intersection according to the traveling distance of the vehicle and the speed distribution function of the vehicle;
calculating the traveling distance of a target object according to the coordinates of the target object and the coordinates of the intersection, and obtaining a time distribution function of the target object reaching the intersection according to the traveling distance of the target object and the speed distribution function of the target object;
and obtaining a collision time probability density function according to the product of the time distribution function of the vehicle reaching the intersection and the time distribution function of the target object reaching the intersection, and calculating the collision risk probability of the target object and the vehicle by combining a membership function constructed according to the current actual scene.
According to the non-line-of-sight vehicle anti-collision device based on the V2X technology, the membership function constructed according to the current actual scene comprises a membership function corresponding to road surface wet and slippery and a membership function corresponding to air visibility.
Embodiments of the present invention further provide an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the program, the processor implements the steps of the non-line-of-sight vehicle anti-collision method based on the V2X technology as described in any one of the above.
Embodiments of the present invention also provide a non-transitory computer readable storage medium, on which a computer program is stored, the computer program, when executed by a processor, implementing the steps of the non-line-of-sight vehicle collision avoidance method based on the V2X technology as described in any one of the above.
According to the non-line-of-sight vehicle anti-collision method and device based on the V2X technology, the technology V2X is used for achieving detection outside the line of sight and exchanging information, the obtained information such as the vehicle speed is used for calculating collision places and collision time distribution, the collision risk probability is calculated by combining with the actual road condition, early warning is carried out on a driver, collision risk prediction can be carried out under the condition of non-line-of-sight, collision evaluation is carried out by combining with the actual road condition and the air visibility condition, and a reliable result is finally obtained.
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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 description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a non-line-of-sight vehicle collision avoidance method based on V2X technology according to an embodiment of the present invention;
fig. 2 is a schematic view of an actual application scenario under a non-line-of-sight condition according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a membership function corresponding to air visibility according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a non-line-of-sight vehicle collision prevention device based on the V2X technology according to an embodiment of the present invention;
fig. 5 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flow chart of a non-line-of-sight vehicle anti-collision method based on a V2X technology according to an embodiment of the present invention, and as shown in fig. 1, the embodiment of the present invention provides a non-line-of-sight vehicle anti-collision method based on a V2X technology, including:
in particular, V2X is a key technology of the Internet of vehicles, and aims to realize information interaction between the vehicles and the outside. V2X (Vehicle to X), which is a wireless information exchange technology for "Vehicle to outside", is a generic term for "Vehicle to Vehicle (V2V)" information exchange technology, and "Vehicle to infrastructure (V2I)" information exchange technology and the like.
Fig. 2 is a schematic view of an actual application scene under a non-line-of-sight condition according to an embodiment of the present invention, which is commonly seen in an intersection where a vehicle travels on one side and a vehicle arrives on the other side, but due to poor visibility of buildings and air, the vehicle arrives on the other side, and a certain collision risk exists.
In the technical context of the internet of vehicles, vehicles can exchange information with other objects around. When the vehicle travels to the intersection, it can be detected by the V2X technology whether there are other vehicles or pedestrians around, which in the present embodiment includes but is not limited to pedestrians, large vehicles, medium vehicles, small vehicles, bicycles, electric vehicles, etc.
And if other peripheral objects are detected, the detected other peripheral objects are used as target objects, mutual information exchange is carried out between the target objects and the target objects, and the motion information of the target objects is obtained.
In one embodiment, the motion information of the target object includes, but is not limited to, a type of the target object, a speed of the target object, coordinates of the target object, and a traveling direction of the target object.
The motion information of the vehicle includes, but is not limited to, the type of vehicle, the speed of the vehicle, and the traveling direction of the vehicle.
specifically, a speed distribution function of the vehicle is constructed according to the speed of the vehicle, and a speed distribution function of the target object is constructed according to the speed of the target object; determining a traveling route of a vehicle according to a traveling direction of the vehicle and coordinates of the vehicle, determining a traveling route of a target object according to the traveling direction of the target object and the coordinates of the target object, determining an intersection point according to the traveling route of the vehicle and the traveling route of the target object, and acquiring coordinates of the intersection point; calculating the traveling distance of the vehicle according to the coordinates of the vehicle and the coordinates of the intersection point, and obtaining a time distribution function of the vehicle reaching the intersection according to the traveling distance of the vehicle and the speed distribution function of the vehicle; calculating the traveling distance of a target object according to the coordinates of the target object and the coordinates of the intersection, and obtaining a time distribution function of the target object reaching the intersection according to the traveling distance of the target object and the speed distribution function of the target object; the method comprises the steps of obtaining a collision time probability density function according to the product of a time distribution function of a vehicle reaching the intersection and a time distribution function of a target object reaching the intersection, calculating the collision risk probability of the target object and the vehicle by combining a membership function constructed according to a current actual scene, such as a road surface wet and slippery condition and an air visibility condition, and calculating the collision risk probability of the target object and the vehicle.
And 102, evaluating whether a driver needs to be warned according to the collision risk probability.
And finally, performing collision risk assessment according to the calculated collision risk probability, for example, setting a collision risk threshold, if the calculated collision risk probability is greater than or equal to the collision risk threshold, the collision risk is high, the driver needs to be warned, and the driver needs to be warned through an external device.
According to the non-line-of-sight vehicle anti-collision method based on the V2X technology, detection outside the line of sight is achieved through the V2X technology, information exchange is conducted, the obtained information such as vehicle speed is used for calculating collision places and collision time distribution, the collision risk probability is calculated by combining with the actual road conditions, early warning is conducted on a driver, collision risk prediction can be conducted under the condition of non-line-of-sight, meanwhile collision assessment is conducted by combining with the actual road surface condition and the air visibility condition, and a reliable result is finally obtained.
Based on the content of the above embodiment, step 101 calculates a collision time distribution based on the motion information of the target object and the motion information of the vehicle, and calculates a collision risk probability between the target object and the vehicle based on the collision time distribution and in combination with the current actual scene, specifically:
constructing a speed distribution function of the vehicle according to the speed of the vehicle, and constructing a speed distribution function of the target object according to the speed of the target object;
determining a traveling route of a vehicle according to a traveling direction of the vehicle and coordinates of the vehicle, determining a traveling route of a target object according to the traveling direction of the target object and the coordinates of the target object, determining an intersection point according to the traveling route of the vehicle and the traveling route of the target object, and acquiring coordinates of the intersection point;
calculating the traveling distance of the vehicle according to the coordinates of the vehicle and the coordinates of the intersection point, and obtaining a time distribution function of the vehicle reaching the intersection according to the traveling distance of the vehicle and the speed distribution function of the vehicle;
calculating the traveling distance of a target object according to the coordinates of the target object and the coordinates of the intersection, and obtaining a time distribution function of the target object reaching the intersection according to the traveling distance of the target object and the speed distribution function of the target object;
and obtaining a collision time probability density function according to the product of the time distribution function of the vehicle reaching the intersection and the time distribution function of the target object reaching the intersection, and calculating the collision risk probability of the target object and the vehicle by combining a membership function constructed according to the current actual scene.
Specifically, first, a speed distribution function of the vehicle is constructed according to the speed of the vehicle, and a speed distribution function of the target object is constructed according to the speed of the target object;
wherein the velocity distribution function is v-N (mu, sigma)2) Satisfy the following requirementsGaussian distribution, where μ is velocity and σ is the standard deviation of large data statistics.
Then, a traveling route of the vehicle is determined based on the traveling direction of the vehicle and the coordinates of the vehicle acquired by the V2X sensor, a traveling route of the target object is determined based on the traveling direction of the target object and the coordinates of the target object acquired by the V2X sensor, an intersection, which is an intersection point, of the traveling route of the vehicle and the traveling route of the target object is determined, and coordinates of the intersection point are acquired.
Further, calculating the traveling distance of the vehicle according to the coordinates of the vehicle and the coordinates of the intersection, and obtaining a time distribution function of the vehicle reaching the intersection according to the traveling distance of the vehicle and the speed distribution function of the vehicle; and calculating the travel distance of the target object according to the coordinates of the target object and the coordinates of the intersection, and obtaining a time distribution function of the target object reaching the intersection according to the travel distance of the target object and the speed distribution function of the target object.
Finally, obtaining a collision time probability density function through the product of the time distribution function of the vehicle reaching the intersection and the time distribution function of the target object reaching the intersection, and calculating the collision risk probability of the target object and the vehicle according to a membership function constructed by the current actual scene;
the collision risk probability calculation formula is f ═ k × f (ttc), where f (ttc) is a collision time probability density function, k represents a risk coefficient in an actual scene, and can be described by a membership function.
Further, the membership function constructed according to the current actual scene comprises a membership function corresponding to road surface wet and slippery and a membership function corresponding to air visibility.
Fig. 3 is a schematic diagram of membership functions corresponding to air visibility according to an embodiment of the present invention. Defining the visibility of more than 500 meters in fog and haze weather as the fog with good condition; visibility is over 200 meters, and the fog is heavy fog with general conditions; visibility is less than 200m, the fog is thick fog, and driving conditions are poor. The membership function is:
wherein x represents the distance of visibility, and if the danger coefficient k is negatively correlated with the friction coefficient of the vehicle, when the visibility is less than 200m, the friction coefficient is 0.1, and the danger coefficient is highest; li (x) denotes a small car application scenario; mi (x) represents a medium vehicle application scene; hi (x) denotes a large vehicle applicable scene.
The non-line-of-sight vehicle anti-collision method based on the V2X technology provided by the embodiment of the invention is combined with an actual scene to perform collision assessment, and has the characteristics of high reliability, wide application range and reliability.
The following describes a non-line-of-sight vehicle collision avoidance device based on the V2X technology provided by an embodiment of the present invention, and the below-described non-line-of-sight vehicle collision avoidance device based on the V2X technology and the above-described non-line-of-sight vehicle collision avoidance method based on the V2X technology may be referred to in correspondence with each other.
Fig. 4 is a schematic structural diagram of a non-line-of-sight vehicle collision avoidance device based on the V2X technology, as shown in fig. 4, including: a motion information acquisition module 410, a collision risk calculation module 420, and a risk assessment module 430, wherein,
the motion information acquiring module 410 is used for communicating with surrounding objects based on the vehicle-to-outside V2X technology, acquiring motion information of a target object and acquiring motion information of a vehicle;
a collision risk calculation module 420, configured to calculate a collision time distribution based on the motion information of the target object and the motion information of the vehicle, and calculate a collision risk probability between the target object and the vehicle based on the collision time distribution and in combination with a current actual scene;
and the risk evaluation module 430 is used for evaluating whether the driver needs to be warned according to the collision risk probability.
The non-line-of-sight vehicle anti-collision device based on the V2X technology provided in the embodiment of the present invention is used to implement the non-line-of-sight vehicle anti-collision method based on the V2X technology, and therefore, the description in the foregoing method embodiment may be used to understand each functional module in the embodiment of the present invention, and is not repeated here.
Based on the content of the above embodiment, the motion information of the target object includes: the motion information of the target object includes: the type of the target object, the speed of the target object, the coordinates of the target object, and the traveling direction of the target object, and the motion information of the vehicle includes: the type of vehicle, the speed of the vehicle, the coordinates of the vehicle, and the direction of travel of the vehicle.
Based on the content of the foregoing embodiment, the collision risk calculation module is specifically configured to:
constructing a speed distribution function of the vehicle according to the speed of the vehicle, and constructing a speed distribution function of the target object according to the speed of the target object;
determining a traveling route of a vehicle according to a traveling direction of the vehicle and coordinates of the vehicle, determining a traveling route of a target object according to the traveling direction of the target object and the coordinates of the target object, determining an intersection point according to the traveling route of the vehicle and the traveling route of the target object, and acquiring coordinates of the intersection point;
calculating the traveling distance of the vehicle according to the coordinates of the vehicle and the coordinates of the intersection point, and obtaining a time distribution function of the vehicle reaching the intersection according to the traveling distance of the vehicle and the speed distribution function of the vehicle;
calculating the traveling distance of a target object according to the coordinates of the target object and the coordinates of the intersection, and obtaining a time distribution function of the target object reaching the intersection according to the traveling distance of the target object and the speed distribution function of the target object;
and obtaining a collision time probability density function according to the product of the time distribution function of the vehicle reaching the intersection and the time distribution function of the target object reaching the intersection, and calculating the collision risk probability of the target object and the vehicle by combining a membership function constructed according to the current actual scene.
Based on the content of the above embodiment, the membership function constructed according to the current actual scene includes a membership function corresponding to road surface wet and slippery and a membership function corresponding to air visibility.
According to the non-line-of-sight vehicle anti-collision device based on the V2X technology, detection outside the line-of-sight is achieved through the V2X technology, information exchange is conducted, the obtained information such as vehicle speed is used for calculating collision places and collision time distribution, the collision risk probability is calculated by combining with the actual road conditions, early warning is conducted on a driver, collision risk prediction can be conducted under the condition of non-line-of-sight, meanwhile collision assessment is conducted by combining with the actual road surface condition and the air visibility condition, and a reliable result is finally obtained.
Fig. 5 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 5: a processor (processor)510, a communication Interface (Communications Interface)520, a memory (memory)530 and a communication bus 540, wherein the processor 510, the communication Interface 520 and the memory 530 communicate with each other via the communication bus 540. Processor 510 may invoke logic instructions in memory 530 to perform a non-line-of-sight vehicle collision avoidance method based on V2X technology, the method comprising: communicating with surrounding objects based on a vehicle-to-outside V2X technology, acquiring motion information of a target object and acquiring motion information of a vehicle; calculating collision time distribution based on the motion information of the target object and the motion information of the vehicle, and calculating the collision risk probability of the target object and the vehicle based on the collision time distribution and in combination with the current actual scene; and evaluating whether the driver needs to be warned according to the collision risk probability.
Furthermore, the logic instructions in the memory 530 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, an embodiment of the present invention further provides a computer program product, where the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, where the computer program includes program instructions, and when the program instructions are executed by a computer, the computer is capable of executing the non-line-of-sight vehicle collision avoidance method based on the V2X technology, where the method includes: communicating with surrounding objects based on a vehicle-to-outside V2X technology, acquiring motion information of a target object and acquiring motion information of a vehicle; calculating collision time distribution based on the motion information of the target object and the motion information of the vehicle, and calculating the collision risk probability of the target object and the vehicle based on the collision time distribution and in combination with the current actual scene; and evaluating whether the driver needs to be warned according to the collision risk probability.
In yet another aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented by a processor to execute the non-line-of-sight vehicle collision avoidance method based on the V2X technology provided in the foregoing embodiments, where the method includes: communicating with surrounding objects based on a vehicle-to-outside V2X technology, acquiring motion information of a target object and acquiring motion information of a vehicle; calculating collision time distribution based on the motion information of the target object and the motion information of the vehicle, and calculating the collision risk probability of the target object and the vehicle based on the collision time distribution and in combination with the current actual scene; and evaluating whether the driver needs to be warned according to the collision risk probability.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A non-line-of-sight vehicle anti-collision method based on V2X technology is characterized by comprising the following steps:
communicating with surrounding objects based on a vehicle-to-outside V2X technology, acquiring motion information of a target object and acquiring motion information of a vehicle;
calculating collision time distribution based on the motion information of the target object and the motion information of the vehicle, and calculating the collision risk probability of the target object and the vehicle based on the collision time distribution and in combination with the current actual scene;
and evaluating whether the driver needs to be warned according to the collision risk probability.
2. The non-line-of-sight vehicle collision avoidance method based on V2X technology of claim 1, the motion information of the target object comprising: the type of the target object, the speed of the target object, the coordinates of the target object, and the traveling direction of the target object, and the motion information of the vehicle includes: the type of vehicle, the speed of the vehicle, the coordinates of the vehicle, and the direction of travel of the vehicle.
3. The non-line-of-sight vehicle collision avoidance method based on the V2X technology of claim 2, wherein the collision time distribution is calculated based on the motion information of the target object and the motion information of the vehicle, and the probability of collision risk of the target object with the vehicle is calculated based on the collision time distribution in combination with the current actual scene, specifically:
constructing a speed distribution function of the vehicle according to the speed of the vehicle, and constructing a speed distribution function of the target object according to the speed of the target object;
determining a traveling route of a vehicle according to a traveling direction of the vehicle and coordinates of the vehicle, determining a traveling route of a target object according to the traveling direction of the target object and the coordinates of the target object, determining an intersection point according to the traveling route of the vehicle and the traveling route of the target object, and acquiring coordinates of the intersection point;
calculating the traveling distance of the vehicle according to the coordinates of the vehicle and the coordinates of the intersection point, and obtaining a time distribution function of the vehicle reaching the intersection according to the traveling distance of the vehicle and the speed distribution function of the vehicle;
calculating the traveling distance of a target object according to the coordinates of the target object and the coordinates of the intersection, and obtaining a time distribution function of the target object reaching the intersection according to the traveling distance of the target object and the speed distribution function of the target object;
and obtaining a collision time probability density function according to the product of the time distribution function of the vehicle reaching the intersection and the time distribution function of the target object reaching the intersection, and calculating the collision risk probability of the target object and the vehicle by combining a membership function constructed according to the current actual scene.
4. The V2X-technology-based non-line-of-sight vehicle anti-collision method according to claim 3, wherein the membership function constructed according to the current actual scene comprises a membership function corresponding to road surface wet and slippery and a membership function corresponding to air visibility.
5. A non-line-of-sight vehicle collision prevention device based on V2X technology is characterized by comprising:
the motion information acquisition module is used for communicating with surrounding objects based on a vehicle-to-outside V2X technology, acquiring motion information of a target object and acquiring motion information of a vehicle;
the collision risk calculation module is used for calculating collision time distribution based on the motion information of the target object and the motion information of the vehicle, and calculating the collision risk probability of the target object and the vehicle based on the collision time distribution and in combination with the current actual scene;
and the risk evaluation module is used for evaluating whether the driver needs to be warned according to the collision risk probability.
6. The V2X-technology-based non-line-of-sight vehicle collision avoidance device of claim 5, the target object motion information comprising: the type of the target object, the speed of the target object, the coordinates of the target object, and the traveling direction of the target object, and the motion information of the vehicle includes: the type of vehicle, the speed of the vehicle, the coordinates of the vehicle, and the direction of travel of the vehicle.
7. The V2X-technology-based non-line-of-sight vehicle collision avoidance device of claim 6, wherein the collision risk calculation module is specifically configured to:
constructing a speed distribution function of the vehicle according to the speed of the vehicle, and constructing a speed distribution function of the target object according to the speed of the target object;
determining a traveling route of a vehicle according to a traveling direction of the vehicle and coordinates of the vehicle, determining a traveling route of a target object according to the traveling direction of the target object and the coordinates of the target object, determining an intersection point according to the traveling route of the vehicle and the traveling route of the target object, and acquiring coordinates of the intersection point;
calculating the traveling distance of the vehicle according to the coordinates of the vehicle and the coordinates of the intersection point, and obtaining a time distribution function of the vehicle reaching the intersection according to the traveling distance of the vehicle and the speed distribution function of the vehicle;
calculating the traveling distance of a target object according to the coordinates of the target object and the coordinates of the intersection, and obtaining a time distribution function of the target object reaching the intersection according to the traveling distance of the target object and the speed distribution function of the target object;
and obtaining a collision time probability density function according to the product of the time distribution function of the vehicle reaching the intersection and the time distribution function of the target object reaching the intersection, and calculating the collision risk probability of the target object and the vehicle by combining a membership function constructed according to the current actual scene.
8. The V2X-technology-based non-line-of-sight vehicle collision avoidance device according to claim 7, wherein the membership function constructed according to the current actual scene comprises a membership function corresponding to road surface wet and slippery and a membership function corresponding to air visibility.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the non-line-of-sight vehicle collision avoidance method based on V2X technology of any one of claims 1 to 4.
10. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the steps of the non-line-of-sight vehicle collision avoidance method based on V2X technology of any one of claims 1 to 4.
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