CN112489495B - A vehicle early warning method, device, electronic equipment and storage medium - Google Patents

Abstract

The application provides a vehicle early warning method, a vehicle early warning device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring positioning equipment information, environment information, vehicle information and positioning information of each target vehicle in a target area; acquiring the position reliability information of each target vehicle according to the positioning equipment information and the environment information of each target vehicle; acquiring first vehicle information of each target vehicle according to the position reliability information, the vehicle information and the positioning information of each target vehicle; sending first whole vehicle information of each target vehicle in the target area to a current vehicle; acquiring azimuth information of all target vehicles relative to the current vehicle according to first whole vehicle information of all target vehicles in the target area and second whole vehicle information of the current vehicle; and carrying out early warning control on the current vehicle according to the azimuth information of all the target vehicles relative to the current vehicle. The method can effectively improve the accuracy of the early warning information, reduce misjudgment and improve the driving safety.

Description

A vehicle early warning method, device, electronic equipment and storage medium

technical field

The present application relates to the technical field of intelligent networked vehicles, in particular to a vehicle early warning method, device, electronic equipment and storage medium.

Background technique

The intelligent networked car is equipped with advanced on-board sensors, controllers, actuators and other devices, and integrates modern communication technology, which can realize intelligent information exchange and sharing between cars and X (people, cars, roads, clouds); it has complex environment perception, Functions such as intelligent decision-making and collaborative control can realize safe, efficient, comfortable and energy-saving driving, and finally realize a new generation of vehicles that can replace human operation.

For intelligent networked vehicles, the vehicle-to-everything (V2X) technology can share real-time driving status information with other vehicles and facilities, and can also generate predictive information through research and judgment algorithms. In the V2X early warning algorithm, it is first necessary for the vehicle to realize the location division and judgment of multiple distant vehicles. Based on the judgment of the position of the distant vehicle, the early warning and alarm are realized. In judging the position of distant vehicles, the accuracy of positioning is critical to the impact of false alarms and missed alarms.

At present, there is no unified standard for the use of the positioning device and the accuracy of the positioning device. At the same time, the equipment equipped with V2X and the vehicle without V2X equipment will coexist for a long time. It is difficult to confirm the positioning accuracy of distant vehicles, and it is prone to false positives and false negatives. In this case, how to start and how to determine the positioning signal The credibility of the system is a necessary condition for reducing false positives and false positives and improving driving safety.

Contents of the invention

The present application aims to solve the technical problems in the prior art that the early warning is prone to false positives and false positives, and the accuracy is low.

In order to solve the above technical problems, the first aspect of the present application discloses a vehicle early warning method, including the following steps:

Obtain the positioning equipment information, environmental information, vehicle information and positioning information of each target vehicle in the target area;

Acquiring location reliability information of each of the target vehicles according to the location equipment information and environmental information of each of the target vehicles;

Acquiring the first complete vehicle information of each target vehicle according to the positioning reliability information, vehicle information and positioning information of each target vehicle;

Sending the first complete vehicle information of each target vehicle in the target area to the current vehicle;

Obtaining orientation information of all target vehicles relative to the current vehicle according to the first complete vehicle information of all target vehicles in the target area and the second complete vehicle information of the current vehicle;

Pre-warning control is performed on the current vehicle according to the orientation information of all the target vehicles relative to the current vehicle.

Further, the acquiring the positioning reliability information of each target vehicle according to the positioning equipment information and environmental information of each target vehicle includes:

Acquiring the positioning accuracy information of each of the target vehicles according to the positioning device information of each of the target vehicles, and obtaining the positioning confidence probability information of each of the target vehicles according to the environmental information of each of the target vehicles;

Positioning reliability information of the target vehicle is obtained according to the positioning accuracy information and the positioning confidence probability information.

Further, the location reliability information is a confidence code;

The obtaining the positioning reliability information of the target vehicle according to the positioning accuracy information and the positioning confidence probability information includes:

The first code is obtained according to the positioning accuracy level, the second code is obtained according to the confidence probability, and the confidence degree code is obtained according to the first code and the second code.

Further, performing pre-warning control on the current vehicle according to the orientation information of all the target vehicles relative to the current vehicle;

include:

Screening and/or sorting the orientation information of all target vehicles relative to the current vehicle according to the target requirements to obtain target information;

Pre-warning control is performed on the current vehicle according to the target information.

Further, the vehicle information of the target vehicle includes chassis data information of the target vehicle;

The second complete vehicle information of the current vehicle includes chassis data information and location information of the current vehicle; the location information of the current vehicle includes location information and roadside information of the current vehicle.

The second aspect of the present application provides a vehicle early warning device, including:

An acquisition module, configured to acquire positioning device information, environmental information, vehicle information and positioning information of each target vehicle in the target area;

The acquisition module is configured to acquire location reliability information of each of the target vehicles according to the positioning equipment information and environmental information of each of the target vehicles;

The acquisition module is configured to acquire the first complete vehicle information of each target vehicle according to the positioning reliability information, vehicle information and positioning information of each target vehicle;

A sending module, configured to send the first complete vehicle information of all target vehicles in the target area to the current vehicle;

The obtaining module is configured to obtain the orientation information of all target vehicles relative to the current vehicle according to the first complete vehicle information of all target vehicles in the target area and the second complete vehicle information of the current vehicle;

The early warning control module is configured to perform early warning control on the current vehicle according to the orientation information of all the target vehicles relative to the current vehicle.

Further, the acquisition module is specifically used for:

Acquiring the positioning accuracy information of each target vehicle according to the positioning device information of each target vehicle, and obtaining the positioning confidence probability information of each target vehicle according to the environmental information of each target vehicle;

Positioning reliability information of the target vehicle is obtained according to the positioning accuracy information and the positioning confidence probability information.

Further, the location reliability information is a confidence code; the acquisition module is specifically used for:

The first code is obtained according to the positioning accuracy level, the second code is obtained according to the confidence probability, and the confidence degree code is obtained according to the first code and the second code.

The third aspect of the present application provides an electronic device, the electronic device includes a processor and a memory, at least one instruction, at least one program, code set or instruction set are stored in the memory, the at least one instruction, the at least A program, the code set or instruction set is loaded and executed by the processor to realize the vehicle early warning method.

A fourth aspect of the present application provides a computer storage medium, at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or at least one program is loaded and executed by a processor to implement the vehicle early warning method.

By adopting the above-mentioned technical scheme, the present application has the following beneficial effects:

The early warning method provided by this application can obtain the positioning accuracy of the target vehicle according to the positioning equipment information of the target vehicle, and obtain the location confidence probability information of the target vehicle according to the target vehicle's environmental information; Positioning reliability; it can effectively solve the problem of reliability of receiving positioning signals. Furthermore, the first complete vehicle information of the target vehicle is fused with the second complete vehicle information of the current vehicle to obtain the orientation and the confidence of the orientation of the target vehicle relative to the current vehicle, and the early warning control is performed based on the orientation and orientation reliability Among them, judging whether to start the early warning scheme after judging the location reliability can effectively improve the accuracy of early warning information, reduce misjudgment, and improve driving safety.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained based on these drawings without creative effort.

FIG. 1 is a schematic flow diagram of a vehicle early warning method according to an embodiment of the present application;

FIG. 2 is a schematic flow chart of a vehicle early warning method according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a vehicle early warning device according to an embodiment of the present application.

detailed description

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Apparently, the described embodiments are only some of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

Reference herein to "one embodiment" or "an embodiment" refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present application. In the description of the embodiments of the present application, it should be understood that the orientations or positional relationships indicated by the terms "upper", "lower", "top", and "bottom" are based on the orientations or positional relationships shown in the drawings, and only It is for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of these features. Also, the terms "first", "second", etc. are used to distinguish similar items and not necessarily to describe a specific order or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein can be practiced in sequences other than those illustrated or described herein.

In order to solve the technical problems of false alarms and missed alarms and low accuracy in the prior art, the early warning is easy to occur. The following describes a specific embodiment of a vehicle early warning method of the present application. Fig. 1 is a schematic flow chart of a vehicle early warning method provided in the embodiment of the present application. Or uninventive labor may include more or fewer operational steps. The sequence of steps enumerated in the embodiments is only one of the execution sequences of many steps, and does not represent the only execution sequence. When an actual system or server product is executed, the methods shown in the embodiments or drawings may be executed sequentially or in parallel (for example, in a parallel processor or multi-thread processing environment). Specifically as shown in Figure 1, the method may include:

S101: Obtain the positioning device information, environmental information, vehicle information and positioning information of each target vehicle in the target area;

The positioning device information is the positioning configuration of the target vehicle. For example, currently available positioning devices include Global Navigation Satellite System (Global Navigation Satellite System, GNSS), Real-time Kinematic (RTK) \ Real-time Dynamic Code Phase Difference Technology (Technology Real Time Differential, RTD), inertial measurement unit (Inertial Measurement Unit, IMU), visual positioning, ultra wide band (Ultra Wide Band, UWB) equipment, etc., the positioning configuration of the target vehicle can be a combination of one or more positioning devices;

The environmental information can be the surrounding environment or weather where the vehicle is located. For example, the surrounding environment can be an open space, a suburb of a city, an urban area, etc., and the weather can be rainy or sunny;

Vehicle information may include the chassis data of the vehicle, etc., which can reflect various aspects of the performance and status of the vehicle, such as vehicle speed, braking conditions, and accelerator conditions, etc.;

The positioning information may include vehicle position information detected by the vehicle pointing device, road test information, and the like.

S102: Obtain the positioning reliability information of each target vehicle according to the positioning equipment information and environmental information of each target vehicle; it specifically includes:

Obtain the positioning accuracy information of each target vehicle according to the positioning device information of each target vehicle, and obtain the positioning confidence probability information of each target vehicle according to the environmental information of each target vehicle;

The position reliability information of the target vehicle is obtained according to the position accuracy information and the position confidence probability information.

In the embodiment of the present application, the location reliability information may be in the form of confidence coding;

According to the positioning accuracy information and the positioning confidence probability information, the positioning reliability information of the target vehicle is obtained, including:

The first code is obtained according to the positioning accuracy level, the second code is obtained according to the confidence probability, and the confidence degree code is obtained according to the first code and the second code.

In the embodiment of the present application, the specific implementation manner of obtaining location reliability information and encoding it can be as follows:

According to the positioning equipment information of the target vehicle, that is, the positioning configuration, different positioning accuracy can be formed. For example, the positioning accuracy obtained by the positioning configuration composed of GNSS and RTK is less than 5cm, and the level is the highest, which can be level 1. The positioning composed of GNSS signal and UWB The positioning accuracy obtained by the configuration is slightly lower, 5-10cm, and the positioning accuracy level can be set as level 2, etc. According to this method, the positioning accuracy of the target vehicle is classified according to the positioning equipment information of the target vehicle; the positioning accuracy is reflected according to the level The 4-digit code; the specific division and coding examples are as follows: the positioning accuracy is less than 5, the level is 1, and the positioning code is 0001; the positioning accuracy is 5-10cm, the level is 2, the positioning code is 0010; the positioning accuracy is 10-20 , the level is 3, the positioning code is 0011; the positioning accuracy is 20-50cm, the level is 4, the positioning code is 0100; the positioning accuracy is 50-100cm, the level is 5, the positioning code is 0101; the positioning accuracy is 100-150cm, the level is It is grade 6, and the positioning code is 0110; the positioning accuracy is 150-200cm, the grade is 7, and the positioning code is 0111; the positioning accuracy is 200-300cm, the grade is 8, and the positioning code is 1000; the positioning accuracy is greater than 300cm, the grade is 9 , location code 1001.

According to the environment information of the target vehicle, the location confidence probability is obtained, and the location confidence probability level is divided. For example, if the environment where the vehicle is located is an open place and the weather is sunny at that time, the location confidence probability is relatively high, which can be level 1. If the vehicle If the environment is in the suburbs of the city and the weather is sunny, the confidence probability is slightly lower than the confidence probability of the open space and sunny scene, which can be set to level 2; according to the level, the 4-digit coding of the positional confidence probability is carried out; the specific division And the encoding example is as follows:

The environment is an open place and sunny, the level is 1, and the positioning code is 0001; the environment is the suburbs of the city and sunny, the level is 2, and the positioning code is 0010; the environment is the urban area and sunny, the level is 3 , the positioning code is 0011; the environment is an open place and rainy day, the level is 4, and the positioning code is 0100; the environment is the suburbs of the city and rainy days, the level is 5, and the positioning code is 0101; the environment is urban areas plus rainy days , grade 6, location code 0110; their combination. An 8-bit byte may be used to encode the confidence probability and the positioning accuracy. As shown in Figure 2, the upper 4 bits are used to indicate the positioning accuracy probability, and the lower 4 bits are used to indicate the positioning accuracy level.

The location confidence probability code is used as the first 4 digits, and the location accuracy code is used as the last 4 digits to form an 8-digit code, which is the confidence code. For example, if the location accuracy is level 1 and the location confidence probability is level 1, then the confidence The degree code is 00010001.

S103: Obtain the first complete vehicle information of each target vehicle according to the location reliability information, vehicle information and location information of each target vehicle; the location reliability code, vehicle chassis data information and location information of each vehicle are about to form the vehicle Overall V2X information.

S104: Send the first complete vehicle information of each target vehicle in the target area to the current vehicle; in the embodiment of the present application, according to requirements, all vehicles in the target area can be target vehicles or some of them can be target vehicles, The first complete vehicle information of all target vehicles, that is, the overall V2X information of each vehicle, is sent to the current vehicle in a wireless manner.

S105: Obtain the orientation information of all target vehicles relative to the current vehicle according to the first complete vehicle information of all target vehicles in the target area and the second complete vehicle information of the current vehicle;

In the embodiment of the present application, the position of the target vehicle can be judged according to the positioning information of the target vehicle, and the position of the current vehicle can be judged according to the vehicle information of the current vehicle. The orientation of the vehicle, such as the front, or the right rear, etc.; because the vehicle information of the target vehicle includes confidence information, this orientation is an orientation with confidence, which can reflect the credibility of the orientation judgment; secondly , the vehicle information of the target vehicle also includes vehicle information, that is, the chassis data information of the vehicle, which can predict the orientation change of the vehicle in real time.

S106: Carry out pre-warning control on the current vehicle according to the orientation information of all target vehicles relative to the current vehicle. It includes:

Filter and/or sort the orientation information of all target vehicles relative to the current vehicle according to the target requirements to obtain target information; perform early warning and control on the current vehicle according to the target information.

Among them, according to the target requirements, the orientation information of all target vehicles relative to the current vehicle is screened and/or sorted. The screening and/or methods can be based on three principles. Vehicles within a certain range, for example, collision warning on the left, that is, it is necessary to filter out the orientation information of the target vehicle within a certain range on the left, left front or left rear of the nearest vehicle relative to the vehicle; perform early warning control, such as judging The possibility of collision, sending out collision reminders, etc. Second, the principle of priority, that is, the priority warning occurs first, that is, the first warning and the later warning related target vehicles are sorted and screened relative to the position information of the current vehicle, and the target information including the ranking is obtained; It is sent to the back-end early warning judgment or early warning control module for item-by-item processing; third, the principle of confidence, if the position information with a low confidence level, the early warning function may not be activated, and the position information is excluded; select the confidence level that meets the requirements according to the requirements. The orientation information of the vehicle corresponding to the degree.

Carry out pre-warning control on the current vehicle according to the target information. It can make a pre-warning judgment based on the target information to determine whether to start the pre-warning. For scenes with low confidence, early warning judgment may not be activated to avoid misjudgment.

In the embodiment of the present application, an implementable solution is to filter and/or sort the orientation information of all target vehicles relative to the current vehicle according to the target requirements. The first complete vehicle information and the second complete vehicle information can be performed as above After merging; in another implementable scheme, screening and/or sorting can be performed based on the vehicle information of the target vehicle to obtain the target information, and then the filtered and/or sorted target information is sent to the current vehicle and the current vehicle. The whole vehicle information of the vehicle is combined, and then the early warning processing is carried out.

In the embodiment of the present application, filtering the orientation information according to the requirements can improve the early warning efficiency. The wide-ranging application scenarios in the embodiments of this application can be that a vehicle equipped with a V2X device broadcasts positioning information, confidence information, and other necessary information, such as speed and heading angle information, to other vehicles. information, roadside information, positioning information, and the complete vehicle information of the remote vehicle, that is, the target vehicle, are fused to determine the orientation information of other vehicles relative to the vehicle. Then calculate the early warning algorithm based on the information.

The early warning method provided by this application can obtain the positioning accuracy of the target vehicle according to the positioning equipment information of the target vehicle, and obtain the location confidence probability information of the target vehicle according to the target vehicle's environmental information; Positioning reliability; it can effectively solve the problem of reliability of receiving positioning signals. Further, the first complete vehicle information of the target vehicle is fused with the second complete vehicle information of the current vehicle to obtain the orientation and the confidence of the orientation of the target vehicle relative to the current vehicle, and the early warning control is performed based on the orientation and orientation position reliability; After judging the location reliability and then judging whether to start the early warning scheme, it can effectively improve the accuracy of early warning information, reduce misjudgment, and improve driving safety. That is, in the embodiment of the present application, the complete vehicle information of the remote vehicle and the complete vehicle information of the current vehicle will be fused to realize the determination of the orientation. Different from the traditional fusion scheme, the fusion scheme increases the confidence judgment. That is, the current vehicle forms a series of position judgments with confidence based on the confidence of remote vehicle positioning; and then judges whether to start the early warning scheme based on the confidence. If the confidence level is low, the early warning scheme is not activated, so as to improve the accuracy of early warning information, reduce misjudgment, and improve driving safety.

Fig. 2 is a schematic flow chart of a vehicle early warning method in the embodiment of the present application; the vehicle early warning method in Fig. 2 includes:

S201: Obtain the positioning device information, environmental information, vehicle information and positioning information of each target vehicle in the target area;

S202: Obtain the positioning accuracy information of each target vehicle according to the positioning device information of each target vehicle, and obtain the positioning confidence probability information of each target vehicle according to the environmental information of each target vehicle;

S203: Obtain the first code according to the positioning accuracy level, obtain the second code according to the confidence probability; obtain the confidence degree code according to the first code and the second code.

S204: Obtain the first complete vehicle information of each target vehicle according to the positioning reliability information, vehicle information and positioning information of each target vehicle;

S205: Send the first complete vehicle information of each target vehicle in the target area to the current vehicle;

S206: Obtain the orientation information of all target vehicles relative to the current vehicle according to the first complete vehicle information of all target vehicles in the target area and the second complete vehicle information of the current vehicle;

S207: Screen and/or sort the orientation information of all target vehicles relative to the current vehicle according to the target requirements, and obtain target information;

S208: Perform pre-warning control on the current vehicle according to the target information.

The second aspect of the present application provides a vehicle early warning device. The device provided by the present application is based on the same inventive concept as the above-mentioned method. FIG. 3 is a schematic diagram of a vehicle early warning device 300 of the present application. The device includes:

An acquisition module 301, configured to acquire positioning device information, environmental information, vehicle information and positioning information of each target vehicle in the target area;

An acquisition module 301, configured to acquire the positioning reliability information of each target vehicle according to the positioning equipment information and environmental information of each target vehicle;

An acquisition module 301, configured to acquire the first complete vehicle information of each target vehicle according to the location reliability information, vehicle information and location information of each target vehicle;

A sending module 302, configured to send the first complete vehicle information of all target vehicles in the target area to the current vehicle;

An acquisition module 301, configured to obtain the orientation information of all target vehicles relative to the current vehicle according to the first complete vehicle information of all target vehicles in the target area and the second complete vehicle information of the current vehicle;

The early warning control module 303 is configured to perform early warning control on the current vehicle according to the orientation information of all target vehicles relative to the current vehicle. The early warning control may include early warning judgment, early warning processing, and the like.

In the embodiment of this application, the acquisition module 301 is specifically used for:

Obtain the positioning accuracy information of each target vehicle according to the positioning device information of each target vehicle, and obtain the positioning confidence probability information of each target vehicle according to the environmental information of each target vehicle;

The position reliability information of the target vehicle is obtained according to the position accuracy information and the position confidence probability information.

In the embodiment of the present application, the location reliability information is a confidence code; the acquisition module 301 is specifically used for:

The first code is obtained according to the positioning accuracy level, the second code is obtained according to the confidence probability, and the confidence degree code is obtained according to the first code and the second code.

The third aspect of the present application provides an electronic device, the electronic device includes a processor and a memory, at least one instruction, at least one program, code set or instruction set are stored in the memory, at least one instruction, at least one program, code set or instruction set It is loaded and executed by the processor to realize the vehicle early warning method.

The fourth aspect of the present application provides a computer storage medium. At least one instruction or at least one program is stored in the storage medium. The at least one instruction or at least one program is loaded and executed by a processor to implement the vehicle early warning method.

Optionally, in this embodiment of the present application, the foregoing storage medium may be located in at least one network server among multiple network servers of a computer network. Optionally, in this embodiment, the above-mentioned storage medium may include but not limited to: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk Various media that can store program codes such as discs or optical discs.

It should be noted that: the order of the above-mentioned embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And the above describes the specific embodiments of this specification. Other implementations are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. Multitasking and parallel processing are also possible or may be advantageous in certain embodiments.

Each embodiment in this specification is described in a progressive manner, the same and similar parts of each embodiment can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for relevant parts, please refer to part of the description of the method embodiment.

Those of ordinary skill in the art can understand that all or part of the steps for implementing the above-mentioned embodiments can be completed by hardware, and can also be completed by instructing related hardware through a program. The program can be stored in a computer-readable storage medium. The above-mentioned The storage medium can be read-only memory, magnetic disk or optical disk and so on.

The above are only preferred embodiments of the application, and are not intended to limit the application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the application shall be included in the protection scope of the application. Inside.

Claims (9)

1. A vehicle early warning method, is characterized in that, comprises the following steps: Obtain the positioning device information, environmental information, vehicle information and positioning information of each target vehicle in the target area; the positioning device information is the positioning configuration of the target vehicle, and the positioning configuration of the target vehicle can be one or more positioning devices The vehicle information includes chassis data of the vehicle; the positioning information includes vehicle position information and roadside information; Obtain the positioning accuracy information of each of the target vehicles according to the positioning equipment information of each of the target vehicles, and obtain the location confidence probability information of each of the target vehicles according to the environmental information of each of the target vehicles; according to the positioning Accuracy information and the location confidence probability information to obtain location reliability information of the target vehicle; Acquiring the first complete vehicle information of each target vehicle according to the positioning reliability information, vehicle information and positioning information of each target vehicle; Sending the first complete vehicle information of each target vehicle in the target area to the current vehicle; Obtaining orientation information of all target vehicles relative to the current vehicle according to the first complete vehicle information of all target vehicles in the target area and the second complete vehicle information of the current vehicle; Pre-warning control is performed on the current vehicle according to the orientation information of all the target vehicles relative to the current vehicle. 2. The vehicle early warning method according to claim 1, wherein the location reliability information is a confidence code; The obtaining the positioning reliability information of the target vehicle according to the positioning accuracy information and the positioning confidence probability information includes: The first code is obtained according to the positioning accuracy level, and the second code is obtained according to the confidence probability; the confidence degree code is obtained according to the first code and the second code. 3. The vehicle pre-warning method according to claim 1, wherein the pre-warning control is performed on the current vehicle according to the orientation information of all the target vehicles relative to the current vehicle; include: Screening and/or sorting the orientation information of all target vehicles relative to the current vehicle according to the target requirements to obtain target information; Pre-warning control is performed on the current vehicle according to the target information. 4. The vehicle early warning method according to claim 1, wherein the vehicle information of the target vehicle comprises chassis data information of the target vehicle; The second complete vehicle information of the current vehicle includes chassis data information and location information of the current vehicle; the location information of the current vehicle includes location information and roadside information of the current vehicle. 5. A vehicle early warning device, characterized in that it comprises: The acquisition module is used to acquire the positioning equipment information, environmental information, vehicle information and positioning information of each target vehicle in the target area; the positioning equipment information is the positioning configuration of the target vehicle, and the positioning configuration of the target vehicle can be a or a combination of multiple positioning devices; the vehicle information includes chassis data of the vehicle; the positioning information includes vehicle position information and roadside information; The obtaining module is configured to obtain the positioning accuracy information of each target vehicle according to the positioning device information of each target vehicle, and obtain the positioning information of each target vehicle according to the environmental information of each target vehicle. Probability information; obtaining location reliability information of the target vehicle according to the location accuracy information and the location confidence probability information; The acquisition module is configured to acquire the first complete vehicle information of each target vehicle according to the positioning reliability information, vehicle information and positioning information of each target vehicle; A sending module, configured to send the first complete vehicle information of all target vehicles in the target area to the current vehicle; The obtaining module is configured to obtain the orientation information of all target vehicles relative to the current vehicle according to the first complete vehicle information of all target vehicles in the target area and the second complete vehicle information of the current vehicle; An early warning control module, configured to perform early warning control on the current vehicle according to the orientation information of all the target vehicles relative to the current vehicle. 6. The vehicle early warning device according to claim 5, wherein the acquisition module is specifically used for: The positioning accuracy information of each target vehicle is obtained according to the positioning device information of each target vehicle, and the location confidence probability information of each target vehicle is obtained according to the environment information of each target vehicle. 7. The vehicle early warning device according to claim 6, wherein the location reliability information is a confidence code; the acquisition module is specifically used for: The first code is obtained according to the positioning accuracy level, and the second code is obtained according to the confidence probability; the confidence degree code is obtained according to the first code and the second code. 8. An electronic device, characterized in that the electronic device includes a processor and a memory, at least one instruction, at least one section of program, code set or instruction set are stored in the memory, the at least one instruction, the at least A section of program, said code set or instruction set is loaded and executed by said processor to realize the vehicle early warning method according to any one of claims 1-4. 9. A computer storage medium, characterized in that at least one instruction or at least one section of program is stored in the storage medium, and the at least one instruction or at least one section of program is loaded and executed by a processor to implement claims 1-4 Any one of the vehicle early warning methods.

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