CN114125695B - Slope driving warning method, device and equipment of vehicle and storage medium - Google Patents
Slope driving warning method, device and equipment of vehicle and storage medium Download PDFInfo
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- CN114125695B CN114125695B CN202010898923.9A CN202010898923A CN114125695B CN 114125695 B CN114125695 B CN 114125695B CN 202010898923 A CN202010898923 A CN 202010898923A CN 114125695 B CN114125695 B CN 114125695B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
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Abstract
The embodiment of the disclosure relates to a slope driving warning method, device and equipment of a vehicle and a storage medium. The method comprises the following steps: and acquiring positioning data of the vehicle and positioning data of a target vehicle on an uphill road section, acquiring relative position data between the vehicle and the target vehicle according to the positioning data of the vehicle and the positioning data of the target vehicle, and controlling the vehicle to carry out safety warning under the condition that the relative position data meets a set condition. By the method, the vehicle driver can know the position condition of the target vehicle in advance, and the driving safety of the vehicle on the ascending road is effectively improved.
Description
Technical Field
The present disclosure relates to the field of vehicle technologies, and more particularly, to a slope driving warning method of a vehicle, a slope driving warning device of a vehicle, a slope driving warning apparatus of a vehicle, and a computer-readable storage medium.
Background
With the rapid development of society, the quantity of the vehicles kept is increasing, and the traveling of riding vehicles has become an important daily traveling mode for people, such as traveling by public transportation means, traveling by automatic driving vehicles and the like.
At present, in the process of moving and going out by taking a car, an ascending road is often encountered, and because the ascending road is inclined upwards, the driving sight of a driver can only be inclined upwards, so that the driver can only observe the condition outside the car between the top of the ascending road and the car, but can not observe the condition on the road adjacent to the top of the ascending road, and if the opposite car is driven on the road adjacent to the top of the ascending road at this time, the traffic accident of the car is easily caused.
Therefore, in order to effectively improve the safety of driving on a sloping road, it is necessary to provide a warning method for driving on a sloping road of a vehicle.
Disclosure of Invention
It is an object of embodiments of the present disclosure to provide a new solution for a slope driving warning of a vehicle.
According to a first aspect of the present disclosure, there is provided a slope driving warning method of a vehicle, the method comprising:
Acquiring positioning data of the vehicle on an uphill road section and positioning data of a target vehicle, wherein the target vehicle is other vehicles capable of establishing communication connection with the vehicle;
obtaining relative position data between the vehicle and the target vehicle according to the positioning data of the vehicle and the positioning data of the target vehicle;
And controlling the vehicle to carry out safety warning under the condition that the relative position data meets the set condition.
Optionally, the positioning data of the vehicle on the uphill road section includes: at least one of longitude and latitude of the vehicle, altitude, linear distance of the vehicle relative to a roof of the uphill road section, and traveling direction of the vehicle; the positioning data of the target vehicle includes: at least one of longitude and latitude of the target vehicle, altitude, linear distance of the target vehicle relative to the slope top and running direction of the target vehicle.
Optionally, the positioning data of the vehicle on the uphill road section comprises the longitude and latitude of the vehicle, and the positioning data of the target vehicle comprises the longitude and latitude of the target vehicle;
obtaining relative position data between the vehicle and the target vehicle according to the positioning data of the vehicle and the positioning data of the target vehicle, including:
Obtaining a horizontal distance between the vehicle and the target vehicle according to the longitude and latitude of the vehicle and the longitude and latitude of the target vehicle, wherein the relative position data comprises the horizontal distance; the relative position data satisfying a setting condition includes: the horizontal distance is less than a first set threshold.
Optionally, the positioning data of the vehicle on the uphill road section comprises longitude and latitude and altitude of the vehicle, and the positioning data of the target vehicle comprises longitude and latitude and altitude of the target vehicle;
obtaining relative position data between the vehicle and the target vehicle according to the positioning data of the vehicle and the positioning data of the target vehicle, including:
Obtaining a horizontal distance between the vehicle and the target vehicle according to the longitude and latitude of the vehicle and the longitude and latitude of the target vehicle;
Obtaining a linear distance between the vehicle and the target vehicle according to a horizontal distance between the vehicle and the target vehicle, an altitude of the vehicle and an altitude of the target vehicle, wherein the relative position data comprises the linear distance; the relative position data satisfying a setting condition includes: the linear distance is smaller than a second set threshold.
Optionally, the positioning data of the vehicle on the uphill road section comprises a linear distance of the vehicle relative to a top of the uphill road section, and the positioning data of the target vehicle comprises a linear distance of the target vehicle relative to the top of the uphill road section;
obtaining relative position data between the vehicle and the target vehicle according to the positioning data of the vehicle and the positioning data of the target vehicle, including:
Obtaining an actual running distance between the vehicle and the target vehicle according to a linear distance between the vehicle and a slope top of the uphill road section and a linear distance between the target vehicle and the slope top, wherein the relative position data comprises the actual running distance; the relative position data satisfying a setting condition includes: the actual travel distance is smaller than a third set threshold.
Optionally, the relative position data includes an adjacent road segment indicating whether the target vehicle is located on the uphill road segment, wherein the adjacent road segment is a road segment received with a top of the uphill road segment;
the relative position data satisfies a set condition, including:
The relative position data indicates an adjacent road section where the target vehicle is located on the uphill road section.
Optionally, the positioning data of the vehicle on the uphill road section includes a running direction of the vehicle, the positioning data of the target vehicle includes a running direction of the target vehicle, and the relative position data includes data indicating whether the vehicle and the target vehicle are traveling in opposite directions;
the relative position data satisfies a set condition, including:
the relative position data indicates that the vehicle and the target vehicle are traveling in opposite directions.
Optionally, the method further comprises:
acquiring image data of the uphill road section;
and displaying the uphill road section, a first position of the vehicle relative to the uphill road section and a second position of the target vehicle relative to the uphill road section on a display device of the vehicle according to the image data, the positioning data of the vehicle on the uphill road section and the positioning data of the target vehicle.
Optionally, the positioning data of the vehicle on the uphill road section includes a linear distance of the vehicle relative to a top of a slope of the uphill road section, and the method further includes:
Acquiring the curvature of the uphill section and the vertical distance between the vehicle and the top of the uphill section;
Searching a standard running speed corresponding to the curvature of the sloping road, the linear distance and the vertical distance of the vehicle relative to the slope top of the uphill road section in a preset running speed mapping table;
And controlling the current running speed of the vehicle according to the standard running speed.
According to a second aspect of the present disclosure, there is provided a slope driving warning device of a vehicle, including:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring positioning data of the vehicle on an uphill road section and positioning data of a target vehicle, wherein the target vehicle is other vehicles capable of establishing communication connection with the vehicle;
the obtaining module is used for obtaining relative position data between the vehicle and the target vehicle according to the positioning data of the vehicle and the positioning data of the target vehicle;
and the control module is used for controlling the vehicle to carry out safety warning under the condition that the relative position data meets the set condition.
According to a third aspect of the present disclosure, there is provided an embodiment of a slope driving warning apparatus of a vehicle, including a slope driving warning device of a vehicle as described in the third aspect of the present specification, or the apparatus includes:
a memory for storing executable commands;
And the processor is used for executing the slope road driving warning method of the vehicle according to the first aspect of the specification under the control of the executable command.
According to a fourth aspect of the present disclosure, there is also provided an embodiment of a computer-readable storage medium storing executable instructions that, when executed by a processor, perform a method of warning of a road-slope driving of a vehicle as described in the first aspect of the present description.
One beneficial effect of the embodiment of the present disclosure is that the present embodiment controls the vehicle to perform the safety warning by determining the relative position data between the vehicle and the target vehicle, and if the relative position data satisfies the set condition. The position condition of the target vehicle can be known in advance by a vehicle driver, and the driving safety of the vehicle on the uphill road is effectively improved.
Other features of the present invention and its advantages will become apparent from the following detailed description of exemplary embodiments of the invention, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
Fig. 1a is a schematic diagram of an application scenario of a slope driving warning method of a vehicle according to an embodiment of the disclosure;
Fig. 1b is a block diagram of a hardware configuration of a slope driving warning device of a vehicle provided in an embodiment of the present disclosure;
fig. 2 is a flowchart of a method for warning a vehicle driving on a sloping road according to an embodiment of the disclosure;
fig. 3 is a schematic structural diagram of a slope driving warning device of a vehicle according to an embodiment of the disclosure;
Fig. 4 is a schematic structural diagram of a slope driving warning device of a vehicle according to an embodiment of the present disclosure.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.
The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to persons of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods, and apparatus should be considered part of the specification.
In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
Fig. 1a is a schematic diagram of an application scenario of a slope driving warning method of a vehicle according to an embodiment of the present disclosure.
In this application scenario, after a communication connection is established between a vehicle traveling on an uphill road section and a target vehicle, the target vehicle shown in fig. 1a also obtains positioning data of the vehicle, and sends the positioning data of the vehicle to the vehicle shown in fig. 1a through the communication connection, the vehicle shown in fig. 1a receives the positioning data sent by the target vehicle, and at the same time also obtains the positioning data of the vehicle, and after the vehicle shown in fig. 1a obtains the positioning data of the vehicle and the positioning data of the target vehicle, the vehicle obtains relative position data between the vehicle and the target vehicle according to the positioning data of the vehicle and the positioning data of the target vehicle, and judges whether the relative position data meets a set condition, and under the condition that the relative position data meets the set condition, the vehicle shown in fig. 1a is controlled to perform safety warning.
In the application scenario, through the slope road driving warning method of the vehicle, a vehicle driver can know the position condition of the target vehicle in advance, and the driving safety of the vehicle on the slope road is effectively improved.
< Hardware configuration >
Fig. 1b is a block diagram of a hardware configuration of a slope driving warning device of a vehicle according to an embodiment of the present disclosure.
The slope driving warning device 1000 of the vehicle may be a virtual machine or a physical machine. The slope driving warning device 1000 of the vehicle may include a processor 1100, a memory 1200, an interface device 1300, a communication device 1400, a display device 1500, an input device 1600, a speaker 1700, a microphone 1800, and the like. The processor 1100 may be a central processing unit CPU, a microprocessor MCU, or the like. The memory 1200 includes, for example, ROM (read only memory), RAM (random access memory), nonvolatile memory such as a hard disk, and the like. The interface device 1300 includes, for example, a USB interface, a headphone interface, and the like. The communication device 1400 can perform wired or wireless communication, for example. The display device 1500 is, for example, a liquid crystal display, a touch display, or the like. The input device 1600 may include, for example, a touch screen, keyboard, etc. A user may input/output voice information through the speaker 1700 and microphone 1800.
In this embodiment, the memory 1200 is used to store a computer program for controlling the processor 1100 to operate to perform the data processing method according to any embodiment of the present invention. The skilled person can design the computer program instructions according to the disclosed solution. How the computer program controls the processor 1100 to operate is well known in the art and will not be described in detail here.
Although a plurality of devices are shown for the slope driving warning apparatus 1000 of the vehicle in fig. 1b, the present invention may relate to only some of the devices, for example, the slope driving warning apparatus 1000 of the vehicle relates to only the memory 1200 and the processor 1100.
In addition, the slope driving warning device 1000 of the vehicle may be installed inside the vehicle shown in fig. 1a, or may be installed outside the vehicle, the slope driving warning device 1000 of the vehicle independent of the outside of the vehicle may acquire positioning data of the vehicle shown in fig. 1a on an uphill road section and positioning data of the target vehicle shown in fig. 1a through a mobile network or bluetooth, acquire relative position data between the vehicle and the target vehicle according to the positioning data of the vehicle shown in fig. 1a and the positioning data of the target vehicle shown in fig. 1a, and control the vehicle shown in fig. 1a to perform safety warning when the relative position data satisfies a set condition.
In the above description, the skilled person may design instructions according to the disclosed solution. How the instructions control the processor to operate is well known in the art and will not be described in detail here.
< Method example >
The embodiment of the disclosure provides a slope driving warning method of a vehicle, as shown in fig. 2, the method comprises the following steps:
s201: and acquiring positioning data of the vehicle on the uphill road section and positioning data of the target vehicle.
Since the present invention aims to alert a vehicle traveling on an uphill road section to avoid a traffic accident between the vehicle traveling on the uphill road section and a target vehicle by determining a relative position between the vehicle traveling on the uphill road section and the target vehicle, in the embodiment of the present disclosure, it is necessary to acquire positioning data of the vehicle on the uphill road section and positioning data of the target vehicle in order to determine the relative position between the vehicle traveling on the uphill road section and the target vehicle.
The invention provides a vehicle for warning the driving of a slope road of the vehicle; the target vehicle refers to other vehicles which can establish communication connection with the vehicle, and the target vehicle can be located on the same uphill road section as the vehicle or can be an adjacent road section located on the uphill road section, wherein the adjacent road section is a road section connected with the slope top of the uphill road section.
It should also be noted here that the vehicle may establish a communication connection with the target vehicle via V2V communication technology, and the triggering condition for establishing a communication connection between the vehicle and the target vehicle may be: according to the linear distance between the vehicle and the target vehicle, triggering whether the communication connection is established between the vehicle and the target vehicle, namely, triggering the communication connection between the vehicle and the target vehicle when the linear distance between the vehicle and the target vehicle is smaller than a set value, and not triggering the communication connection between the vehicle and the target vehicle when the linear distance between the vehicle and the target vehicle is not smaller than the set value.
In addition, in the embodiment of the present disclosure, the positioning data of the vehicle on the uphill road section includes: at least one of longitude and latitude of the vehicle, altitude, linear distance of the vehicle relative to a roof of the uphill road section, and traveling direction of the vehicle. The positioning data of the target vehicle includes: at least one of longitude and latitude of the target vehicle, altitude, linear distance of the target vehicle relative to the slope top and running direction of the target vehicle.
S202: and obtaining relative position data between the vehicle and the target vehicle according to the positioning data of the vehicle and the positioning data of the target vehicle.
S203: and controlling the vehicle to carry out safety warning under the condition that the relative position data meets the set condition.
The embodiment of the disclosure provides five specific implementations for obtaining relative position data between the vehicle and the target vehicle according to the positioning data of the vehicle and the positioning data of the target vehicle based on the type of the positioning data of the vehicle on the uphill road section and the type of the positioning data of the target vehicle referred to in step S201.
Since the driver of the vehicle traveling on the uphill road can only observe the condition from the top of the uphill road to the outside of the vehicle, but the condition on the road adjacent to the top of the uphill road cannot be observed, if the target vehicle travels on the road adjacent to the top of the uphill road at this time, the traffic accident of the vehicle is easily caused, that is, the more the vehicle traveling on the uphill road and the target vehicle get close to the top of the slope, the more dangerous is easily caused, so that the vehicle traveling on the uphill road and the target vehicle can be given an alarm before the vehicle traveling on the uphill road gets close to the top of the slope, and the traffic accident between the vehicle traveling on the uphill road and the target vehicle can be avoided.
Based on this, it is possible to determine whether or not the vehicle traveling on the uphill road section and the target vehicle are approaching the roof by the relative position data capable of reflecting the approaching degree of both the vehicle traveling on the uphill road section and the target vehicle approaching the roof.
The first embodiment is based on that the positioning data of the vehicle on the uphill road section comprises the longitude and latitude of the vehicle, the positioning data of the target vehicle comprises the longitude and latitude of the target vehicle, the relative position data between the vehicle and the target vehicle are obtained according to the positioning data of the vehicle and the positioning data of the target vehicle, specifically, the horizontal distance between the vehicle and the target vehicle is obtained according to the longitude and latitude of the vehicle and the longitude and latitude of the target vehicle, wherein the relative position data comprises the horizontal distance.
Here, the horizontal distance between the vehicle and the target vehicle may reflect the approaching degree of both the vehicle and the target vehicle traveling on the uphill road section to the roof, and the closer the vehicle and the target vehicle are to the roof, the smaller the horizontal distance between the vehicle and the target vehicle is, whereas the farther the vehicle and the target vehicle are from the roof, the larger the horizontal distance between the vehicle and the target vehicle is.
It should be noted that, according to the longitude and latitude of the vehicle and the longitude and latitude of the target vehicle, the horizontal distance between the vehicle and the target vehicle is obtained, specifically, the longitude and latitude of the vehicle may be converted into a corresponding coordinate position (X Vehicle with a vehicle body having a vehicle body support ,Y Vehicle with a vehicle body having a vehicle body support ) in a plane coordinate system, the longitude and latitude of the target vehicle may be converted into a corresponding coordinate position (X Target object ,Y Target object ) in the plane coordinate system, the square of the difference between the coordinate position X Vehicle with a vehicle body having a vehicle body support of the vehicle and the coordinate position X Target object of the target vehicle is calculated, the square of the difference between the coordinate position Y Vehicle with a vehicle body having a vehicle body support of the vehicle and the coordinate position Y Target object of the target vehicle is calculated, and the sum of the two squares is given as the root number, so that the obtained value is the horizontal distance between the vehicle and the target vehicle.
Further, in the embodiment of the present disclosure, after the relative position data including the horizontal distance is obtained through the first embodiment, it may be determined whether the relative position data meets the set condition, and if the horizontal distance is smaller than the first set threshold, the vehicle is controlled to perform the safety warning, and if the horizontal distance is not smaller than the first set threshold, the vehicle is not controlled to perform the safety warning.
The second embodiment is based on that the positioning data of the vehicle on the uphill road section comprises longitude and latitude and altitude of the vehicle, the positioning data of the target vehicle comprises longitude and latitude and altitude of the target vehicle, the relative position data between the vehicle and the target vehicle is obtained according to the positioning data of the vehicle and the positioning data of the target vehicle, specifically, the horizontal distance between the vehicle and the target vehicle is obtained according to the longitude and latitude of the vehicle and the longitude and latitude of the target vehicle, and the linear distance between the vehicle and the target vehicle is obtained according to the horizontal distance between the vehicle and the target vehicle, the altitude of the vehicle and the altitude of the target vehicle, wherein the relative position data comprises the linear distance.
Here, the linear distance between the vehicle and the target vehicle may reflect the approaching degree of both the vehicle traveling on an uphill road section and the target vehicle approaching the roof, and the closer the vehicle and the target vehicle are to the roof, the smaller the linear distance between the vehicle and the target vehicle is, whereas the farther the vehicle and the target vehicle are from the roof, the larger the linear distance between the vehicle and the target vehicle is.
The method further includes obtaining a straight line distance between the vehicle and the target vehicle according to a horizontal distance between the vehicle and the target vehicle, an altitude of the vehicle and an altitude of the target vehicle, specifically calculating a square of a difference between the altitude of the vehicle and the altitude of the target vehicle, summing the square of the horizontal distance and the square of the difference between the altitude and the horizontal distance, and obtaining a numerical value which is the straight line distance between the vehicle and the target vehicle.
Further, in the embodiment of the present disclosure, after the relative position data including the linear distance is obtained through the second embodiment, whether the relative position data meets the set condition may be determined, and the vehicle is controlled to perform the safety warning when the linear distance is smaller than the second set threshold value, and the vehicle is not controlled to perform the safety warning when the linear distance is not smaller than the second set threshold value.
The third embodiment is based on that the positioning data of the vehicle on the uphill road section comprises a linear distance of the vehicle relative to a slope top of the uphill road section, the positioning data of the target vehicle comprises a linear distance of the target vehicle relative to the slope top, the relative position data between the vehicle and the target vehicle are obtained according to the positioning data of the vehicle and the positioning data of the target vehicle, specifically, the actual running distance between the vehicle and the target vehicle is obtained according to the linear distance of the vehicle relative to the slope top of the uphill road section and the linear distance of the target vehicle relative to the slope top, wherein the relative position data comprises the actual running distance.
Here, the actual travel distance between the vehicle and the target vehicle may reflect the approaching degree of both the vehicle traveling on an uphill road section and the target vehicle approaching the roof, and the closer the vehicle and the target vehicle are to the roof, the smaller the actual travel distance between the vehicle and the target vehicle is, whereas the farther the vehicle and the target vehicle are from the roof, the larger the actual travel distance between the vehicle and the target vehicle is.
It should be noted that, according to the linear distance between the vehicle and the slope top of the uphill road section and the linear distance between the target vehicle and the slope top, the actual driving distance between the vehicle and the target vehicle is obtained, specifically, the sum of the linear distance between the vehicle and the slope top of the uphill road section and the linear distance between the target vehicle and the slope top may be calculated, and the obtained value is the actual driving distance between the vehicle and the target vehicle.
Further, in the embodiment of the present disclosure, after the relative position data including the actual driving distance is obtained through the third embodiment, whether the relative position data meets the set condition may be determined, and when the actual driving distance is smaller than the third set threshold, the vehicle is controlled to perform the safety warning, and when the actual driving distance is not smaller than the third set threshold, the vehicle is not controlled to perform the safety warning.
The fourth embodiment is to obtain relative position data between the vehicle and the target vehicle according to the positioning data of the vehicle and the positioning data of the target vehicle based on that the positioning data of the vehicle on an uphill road section includes the longitude and latitude of the vehicle and the positioning data of the target vehicle includes the longitude and latitude of the target vehicle, specifically, determine that the relative position data between the vehicle and the target vehicle includes a road section adjacent to the uphill road section indicating whether the target vehicle is located on the uphill road section according to that the positioning data of the vehicle on the uphill road section includes the longitude and latitude of the vehicle and the positioning data of the target vehicle includes the longitude and latitude of the target vehicle.
Further, the embodiment of the present disclosure may determine whether the relative position data satisfies a set condition after obtaining the relative position data including the adjacent road segment indicating whether the target vehicle is located on the uphill road segment through the fourth embodiment, and control the vehicle to perform the safety warning if the relative position data indicates that the target vehicle is located on the adjacent road segment on the uphill road segment, and not control the vehicle to perform the safety warning if the relative position data indicates that the target vehicle is not located on the adjacent road segment on the uphill road segment.
A fifth embodiment is to obtain relative position data between the vehicle and the target vehicle according to the positioning data of the vehicle and the positioning data of the target vehicle based on the positioning data of the vehicle on an uphill road section including the traveling direction of the vehicle and the positioning data of the target vehicle including the traveling direction of the target vehicle, and specifically determine whether the relative position data between the vehicle and the target vehicle includes data indicating whether the vehicle and the target vehicle are traveling in opposite directions according to the positioning data of the vehicle on an uphill road section including the traveling direction of the vehicle and the positioning data of the target vehicle including the traveling direction of the target vehicle.
Further, in the embodiment of the present disclosure, after obtaining the relative position data including the data indicating whether the vehicle and the target vehicle are traveling in the opposite direction through the fifth embodiment, it may be determined whether the relative position data satisfies the set condition, and when the relative position data indicates that the vehicle and the target vehicle are traveling in the opposite direction, the vehicle is controlled to perform the safety warning, and when the relative position data indicates that the vehicle and the target vehicle are traveling in the same direction, the vehicle is not controlled to perform the safety warning.
It is emphasized that the above-mentioned five embodiments may be used alone or in combination, and the more the combined embodiments, the more accurately it is determined whether the vehicle and the target vehicle on the uphill road are approaching the top of the slope, so that the more accurately it is to control the vehicle to perform the safety warning.
By the method, the vehicle is controlled to carry out safety warning by determining the relative position data between the vehicle and the target vehicle and under the condition that the relative position data meets the set condition. The position condition of the target vehicle can be known in advance by a vehicle driver, and the driving safety of the vehicle on the uphill road is effectively improved.
In the disclosed embodiments, the safety warning includes a visual safety warning, i.e., a warning screen is displayed through a real device, and also includes an audible warning, i.e., a warning voice is played through a speaker.
Further, in order to provide a visual relative position between the vehicle and the target vehicle for the vehicle driver while alerting the vehicle driver through the above method, in the embodiment of the present disclosure, the relative position between the vehicle and the target vehicle may be displayed on the display device of the vehicle, specifically, image data of the uphill road section is acquired, and the uphill road section, the first position of the vehicle relative to the uphill road section, and the second position of the target vehicle relative to the uphill road section are displayed on the display device of the vehicle according to the image data, the positioning data of the vehicle on the uphill road section, and the positioning data of the target vehicle.
The first position of the vehicle relative to the uphill section refers to the first position of the vehicle on the uphill section; the second position of the target vehicle relative to the uphill road section refers to the second position of the target vehicle located on the uphill road section or the second position of the target vehicle located on an adjacent road section of the uphill road section.
In addition, the display device of the vehicle may be a windshield display device, a windshield projection device, a wearable device, or the like.
Further, while warning the vehicle driver by the above method, in order to further improve the running safety between the vehicle running on the uphill road section and the target vehicle, in the embodiment of the present disclosure, the curvature of the uphill road section, the vertical distance between the vehicle and the top of the uphill road section, and the linear distance between the vehicle and the top of the uphill road section may be obtained, and the current running speed of the vehicle may be controlled according to the standard running speed by searching a preset running speed map for a standard running speed corresponding to the curvature of the uphill road section, the linear distance between the vehicle and the top of the uphill road section, and the vertical distance.
Here, if the vehicle traveling on the uphill road section is currently in automatic driving, the powertrain and the brake may be automatically controlled to control the current traveling speed of the vehicle to the standard traveling speed according to the standard traveling speed. If the vehicle being driven on an uphill road is currently being driven manually, a visual or audible prompt may be issued to the driver, e.g. requesting immediate deceleration to 30km/h.
In addition, the running speed map is created in advance based on the history data, and involves three parameter values, namely, the curvature of the slope, the linear distance and the vertical distance of the vehicle with respect to the top of the uphill road section, which together determine the standard running speed of the vehicle.
< Device example >
As shown in fig. 3, the embodiment of the present disclosure further provides a slope driving warning device 30 of a vehicle, where the device 30 includes: an acquisition module 301, an acquisition module 302, a control module 303, and a display module 304;
the acquiring module 301 is configured to acquire positioning data of the vehicle on an uphill road section and positioning data of a target vehicle, where the target vehicle is another vehicle capable of establishing communication connection with the vehicle;
An obtaining module 302, configured to obtain relative position data between the vehicle and the target vehicle according to the positioning data of the vehicle and the positioning data of the target vehicle;
And the control module 303 is used for controlling the vehicle to carry out safety warning when the relative position data meets the set condition.
In one embodiment, the positioning data of the vehicle on the uphill road section includes: at least one of longitude and latitude of the vehicle, altitude, linear distance of the vehicle relative to a roof of the uphill road section, and traveling direction of the vehicle; the positioning data of the target vehicle includes: at least one of longitude and latitude of the target vehicle, altitude, linear distance of the target vehicle relative to the slope top and running direction of the target vehicle.
In one embodiment, the positioning data of the vehicle on the uphill road section includes a longitude and latitude of the vehicle, and the positioning data of the target vehicle includes a longitude and latitude of the target vehicle; the obtaining module 302 is specifically configured to obtain a horizontal distance between the vehicle and the target vehicle according to the longitude and latitude of the vehicle and the longitude and latitude of the target vehicle, where the relative position data includes the horizontal distance; the relative position data satisfying a setting condition includes: the horizontal distance is less than a first set threshold.
In one embodiment, the positioning data of the vehicle on the uphill road section comprises longitude and latitude and altitude of the vehicle, and the positioning data of the target vehicle comprises longitude and latitude and altitude of the target vehicle; the obtaining module 302 is specifically configured to obtain a horizontal distance between the vehicle and the target vehicle according to the longitude and latitude of the vehicle and the longitude and latitude of the target vehicle; obtaining a linear distance between the vehicle and the target vehicle according to a horizontal distance between the vehicle and the target vehicle, an altitude of the vehicle and an altitude of the target vehicle, wherein the relative position data comprises the linear distance; the relative position data satisfying a setting condition includes: the linear distance is smaller than a second set threshold.
In one embodiment, the positioning data of the vehicle on an uphill road section includes a linear distance of the vehicle relative to a top of the uphill road section, and the positioning data of the target vehicle includes a linear distance of the target vehicle relative to the top of the uphill road section; the obtaining module 302 is specifically configured to obtain an actual driving distance between the vehicle and the target vehicle according to a linear distance between the vehicle and a top of a slope of the uphill road section and a linear distance between the target vehicle and the top of the slope, where the relative position data includes the actual driving distance; the relative position data satisfying a setting condition includes: the actual travel distance is smaller than a third set threshold.
In one embodiment, the relative position data includes an adjacent road segment indicating whether the target vehicle is located on the uphill road segment, wherein the adjacent road segment is a road segment that is received with a crest of the uphill road segment; the relative position data satisfies a set condition, including: the relative position data indicates an adjacent road section where the target vehicle is located on the uphill road section.
In one embodiment, the positioning data of the vehicle on the uphill road section includes a traveling direction of the vehicle, the positioning data of the target vehicle includes a traveling direction of the target vehicle, and the relative position data includes data indicating whether the vehicle and the target vehicle are traveling in opposite directions; the relative position data satisfies a set condition, including: the relative position data indicates that the vehicle and the target vehicle are traveling in opposite directions.
In one embodiment, the apparatus further comprises:
A display module 304, configured to acquire image data of the uphill road section; and displaying the uphill road section, a first position of the vehicle relative to the uphill road section and a second position of the target vehicle relative to the uphill road section on a display device of the vehicle according to the image data, the positioning data of the vehicle on the uphill road section and the positioning data of the target vehicle.
In one embodiment, the positioning data of the vehicle on the uphill road section includes a linear distance of the vehicle relative to a top of the uphill road section, and the control module 303 is further configured to obtain a curvature of the uphill road section and a vertical distance of the vehicle relative to the top of the uphill road section; searching a standard running speed corresponding to the curvature of the sloping road, the linear distance and the vertical distance of the vehicle relative to the slope top of the uphill road section in a preset running speed mapping table; and controlling the current running speed of the vehicle according to the standard running speed.
< Device example >
In the embodiment of the present disclosure, there is also provided a slope driving warning device 40 of a vehicle as shown in fig. 4, where the slope driving warning device 40 of the vehicle includes the slope driving warning apparatus 30 of the vehicle described in the embodiment of the apparatus of the present specification.
In further embodiments, the vehicle's hill drive warning device 40 may also include a memory and a processor. The memory is used for storing a computer program. The processor is configured to perform the methods described in any of the method embodiments of the present specification under the control of a computer program stored in the memory.
The slope driving warning device of the vehicle can be a terminal device. The slope driving warning device of the vehicle can also be a server in communication connection with the terminal device. The slope driving warning device of the vehicle may further include a terminal device and a server connected to the terminal device, which is not limited herein.
< Computer-readable storage Medium embodiment >
The present embodiment provides a computer-readable storage medium having stored therein executable instructions that, when executed by a processor, perform the method described in any of the method embodiments of the present specification.
The present invention may be a system, method, and/or computer program product. The computer program product may include a computer readable storage medium having computer readable program instructions embodied thereon for causing a processor to implement aspects of the present invention.
The computer readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: portable computer disks, hard disks, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static Random Access Memory (SRAM), portable compact disk read-only memory (CD-ROM), digital Versatile Disks (DVD), memory sticks, floppy disks, mechanical coding devices, punch cards or in-groove structures such as punch cards or grooves having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media, as used herein, are not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., optical pulses through fiber optic cables), or electrical signals transmitted through wires.
The computer readable program instructions described herein may be downloaded from a computer readable storage medium to a respective computing/processing device or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers and/or edge servers. The network interface card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium in the respective computing/processing device.
Computer program instructions for carrying out operations of the present invention may be assembly instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as SMALLTALK, C ++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions may be executed entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present invention are implemented by personalizing electronic circuitry, such as programmable logic circuitry, field Programmable Gate Arrays (FPGAs), or Programmable Logic Arrays (PLAs), with state information for computer readable program instructions, which can execute the computer readable program instructions.
Various aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable medium having the instructions stored therein includes an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are all equivalent.
The foregoing description of embodiments of the invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvement in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.
Claims (11)
1. A slope driving warning method of a vehicle comprises the following steps:
Acquiring positioning data of the vehicle on an uphill road section and positioning data of a target vehicle, wherein the target vehicle is other vehicles capable of establishing communication connection with the vehicle;
obtaining relative position data between the vehicle and the target vehicle according to the positioning data of the vehicle and the positioning data of the target vehicle;
Controlling the vehicle to carry out safety warning under the condition that the relative position data meets the set condition,
The positioning data of the vehicle on the uphill road section comprises a linear distance between the vehicle and the slope top of the uphill road section, and the positioning data of the target vehicle comprises a linear distance between the target vehicle and the slope top;
obtaining relative position data between the vehicle and the target vehicle according to the positioning data of the vehicle and the positioning data of the target vehicle, including: obtaining an actual running distance between the vehicle and the target vehicle according to a linear distance between the vehicle and a slope top of the uphill road section and a linear distance between the target vehicle and the slope top, wherein the relative position data comprises the actual running distance; the relative position data satisfying a setting condition includes: the actual travel distance is smaller than a third set threshold.
2. The method of claim 1, wherein the positioning data of the vehicle on the uphill road segment comprises: at least one of longitude and latitude of the vehicle, altitude, linear distance of the vehicle relative to a roof of the uphill road section, and traveling direction of the vehicle; the positioning data of the target vehicle includes: at least one of longitude and latitude of the target vehicle, altitude, linear distance of the target vehicle relative to the slope top and running direction of the target vehicle.
3. The method of claim 1, wherein the positioning data of the vehicle on the uphill road section includes a latitude and longitude of the vehicle, and the positioning data of the target vehicle includes a latitude and longitude of the target vehicle;
obtaining relative position data between the vehicle and the target vehicle according to the positioning data of the vehicle and the positioning data of the target vehicle, including:
Obtaining a horizontal distance between the vehicle and the target vehicle according to the longitude and latitude of the vehicle and the longitude and latitude of the target vehicle, wherein the relative position data comprises the horizontal distance; the relative position data satisfying a setting condition includes: the horizontal distance is less than a first set threshold.
4. The method of claim 1, wherein the positioning data of the vehicle on the uphill road section comprises a longitude and latitude of the vehicle, an altitude, and the positioning data of the target vehicle comprises a longitude and latitude of the target vehicle, an altitude;
obtaining relative position data between the vehicle and the target vehicle according to the positioning data of the vehicle and the positioning data of the target vehicle, including:
Obtaining a horizontal distance between the vehicle and the target vehicle according to the longitude and latitude of the vehicle and the longitude and latitude of the target vehicle;
Obtaining a linear distance between the vehicle and the target vehicle according to a horizontal distance between the vehicle and the target vehicle, an altitude of the vehicle and an altitude of the target vehicle, wherein the relative position data comprises the linear distance; the relative position data satisfying a setting condition includes: the linear distance is smaller than a second set threshold.
5. The method of claim 1, wherein the relative position data includes an adjacent road segment that indicates whether the target vehicle is located on the uphill road segment, wherein the adjacent road segment is a road segment that is received with a roof of the uphill road segment;
the relative position data satisfies a set condition, including:
The relative position data indicates an adjacent road section where the target vehicle is located on the uphill road section.
6. The method according to claim 1, wherein the positioning data of the vehicle on an uphill road section includes a traveling direction of the vehicle, the positioning data of the target vehicle includes a traveling direction of the target vehicle, and the relative position data includes data indicating whether the vehicle and the target vehicle are traveling in opposite directions;
the relative position data satisfies a set condition, including:
the relative position data indicates that the vehicle and the target vehicle are traveling in opposite directions.
7. The method according to claim 1, wherein the method further comprises:
acquiring image data of the uphill road section;
and displaying the uphill road section, a first position of the vehicle relative to the uphill road section and a second position of the target vehicle relative to the uphill road section on a display device of the vehicle according to the image data, the positioning data of the vehicle on the uphill road section and the positioning data of the target vehicle.
8. The method of claim 1, wherein the positioning data of the vehicle on an uphill road segment includes a linear distance of the vehicle relative to a roof of the uphill road segment, the method further comprising:
Acquiring the curvature of the uphill section and the vertical distance between the vehicle and the top of the uphill section;
Searching a standard running speed corresponding to the curvature of the sloping road, the linear distance and the vertical distance of the vehicle relative to the slope top of the uphill road section in a preset running speed mapping table;
And controlling the current running speed of the vehicle according to the standard running speed.
9. A slope driving warning device of a vehicle, comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring positioning data of the vehicle on an uphill road section and positioning data of a target vehicle, wherein the target vehicle is other vehicles capable of establishing communication connection with the vehicle;
the obtaining module is used for obtaining relative position data between the vehicle and the target vehicle according to the positioning data of the vehicle and the positioning data of the target vehicle;
A control module for controlling the vehicle to carry out safety warning under the condition that the relative position data meets the set condition,
The positioning data of the vehicle on the uphill road section comprises a linear distance between the vehicle and the slope top of the uphill road section, and the positioning data of the target vehicle comprises a linear distance between the target vehicle and the slope top;
The obtaining module is specifically configured to obtain an actual driving distance between the vehicle and the target vehicle according to a linear distance between the vehicle and a top of the uphill road section and a linear distance between the target vehicle and the top of the uphill road section, where the relative position data includes the actual driving distance; the relative position data satisfying a setting condition includes: the actual travel distance is smaller than a third set threshold.
10. A slope driving warning apparatus of a vehicle, comprising the slope driving warning device of a vehicle according to claim 9, or the apparatus comprising:
a memory for storing executable commands;
A processor for executing the slope driving warning method of the vehicle according to any one of claims 1 to 8 under the control of the executable command.
11. A computer-readable storage medium storing executable instructions that, when executed by a processor, perform the method of warning of a road slope of a vehicle according to any one of claims 1-8.
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| CN115790591B (en) * | 2022-12-14 | 2024-02-27 | 成都荒服九能科技合伙企业(有限合伙) | Method, device, equipment and storage medium for matching inertial measurement with electronic map data |
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