CN111326000B

CN111326000B - Traffic jam warning method, device, computer equipment and storage medium

Info

Publication number: CN111326000B
Application number: CN201811533420.0A
Authority: CN
Inventors: 唐帅; 曲彤; 孙铎; 马莫恩
Original assignee: Audi AG
Current assignee: Audi AG
Priority date: 2018-12-14
Filing date: 2018-12-14
Publication date: 2022-09-30
Anticipated expiration: 2038-12-14
Also published as: CN111326000A

Abstract

The application provides a traffic jam warning method, a traffic jam warning device, computer equipment and a storage medium. The method comprises the following steps: the method comprises the steps of detecting the speed of at least one traffic participant and an available space value exceeding the at least one traffic participant in a first preset area around a current vehicle, if the speed of the at least one traffic participant is smaller than a preset speed and/or the available space value is smaller than a preset overtaking threshold value, meeting a preset jam condition, detecting the occupation condition of a front road along the driving direction, determining the blocking time according to the occupation condition of the front road, the current position of the at least one traffic participant and the speed of the at least one traffic participant, and if the blocking time is larger than a preset waiting time, sending a first warning signal. By the method, the vehicle can judge whether to carry out traffic jam warning according to the blocking time, and user experience is improved.

Description

Traffic jam warning method, device, computer equipment and storage medium

Technical Field

The present application relates to the field of vehicle technologies, and in particular, to a traffic jam warning method, apparatus, computer device, and storage medium.

Background

With the development of society, vehicles are widely used. However, traffic congestion often occurs during driving. Usually, when a driver finds a traffic jam, the driver frequently whistles to remind pedestrians, vehicles and the like which jam a road. However, in general, a driver whistles according to the traffic congestion situation observed by the driver himself or herself, which is highly subjective, and in some cases, whistling is performed in an unnecessary manner. For autonomous vehicles, there is also a need for accurate and reasonable determination of traffic congestion and for determining when to blast.

Therefore, a related art capable of accurate and reasonable traffic jam warning is required.

Disclosure of Invention

In view of the above, it is necessary to provide a traffic jam warning method, apparatus, computer device and storage medium capable of accurately and reasonably performing traffic jam warning.

A traffic congestion warning method, the method comprising:

detecting the speed of at least one traffic participant in a first preset area around a current vehicle and an available space value exceeding the at least one traffic participant;

if the speed of the at least one traffic participant is less than a preset speed and/or the available space value is less than a preset overtaking threshold value, a preset jam condition is met, and the occupation condition of a front road along the driving direction is detected;

determining blocking time according to the occupation condition of the front road, the current position of the at least one traffic participant and the speed of the at least one traffic participant;

and if the blocking time is greater than the preset waiting time, sending a first warning signal.

In one embodiment, the method further comprises:

and detecting whether the first preset area is a non-whistling area.

In one embodiment, if the speed of the at least one traffic participant is less than a preset speed and/or the available space value is less than a preset overtaking threshold value, the preset congestion condition is met, which includes:

if the speed of the at least one traffic participant is less than a preset speed and the available space value is less than the preset overtaking threshold value, the speed of the at least one traffic participant and the available space value meet the preset congestion condition.

In one embodiment, the method further comprises:

determining a category of the at least one traffic participant;

and determining the preset speed corresponding to the category of at least one traffic participant by searching the preset mapping relation between the category of at least one traffic participant and the preset speed.

In one embodiment, if the at least one traffic participant is a pedestrian, the method further comprises:

detecting a behavior state of the pedestrian in a first preset area around a current vehicle;

and determining the preset speed according to the behavior state.

In one embodiment, the determining the blocking time according to the occupation condition of the road ahead, the current position of the at least one traffic participant and the speed of the at least one traffic participant comprises:

detecting a target position in a road ahead, which is closest to a current vehicle and has an available spatial value greater than a preset cut-in threshold;

determining a relative distance between a current location of the at least one traffic participant and the target location;

determining the obstruction time based on the relative distance and the speed of the at least one traffic participant.

In one embodiment, the method further comprises:

after a preset time period, detecting whether the at least one traffic participant is in a second preset area;

and if the at least one traffic participant is in the second preset area, a second warning signal is sent out.

In one embodiment, the method further comprises:

judging whether the current speed of the at least one traffic participant is less than a preset speed and whether the current available space value exceeding the at least one traffic participant is less than the preset overtaking threshold value;

and if the current speed of the at least one traffic participant is less than the preset speed and the current available space value is less than the preset overtaking threshold value, sending a second warning signal.

A traffic jam warning device, the device comprising:

the system comprises a first detection module, a second detection module and a third detection module, wherein the first detection module is used for detecting the speed of at least one traffic participant in a first preset area around a current vehicle and an available space value exceeding the at least one traffic participant;

the occupation condition detection module is used for meeting a preset blocking condition and detecting the occupation condition of a front road along the driving direction if the speed of the at least one traffic participant is less than a preset speed and/or the available space value is less than a preset overtaking threshold value;

the first blocking time determining module is used for determining blocking time according to the occupation condition of a front road, the current position of the at least one traffic participant and the speed of the at least one traffic participant;

and the first warning module is used for sending a first warning signal if the blocking time is greater than the preset waiting time.

In one embodiment, the apparatus further comprises:

and the second detection module is used for detecting whether the first preset area is a non-whistling area.

In one embodiment, the apparatus further comprises:

the category judgment module is used for judging the category of the at least one traffic participant;

the speed determining module is used for determining the preset speed corresponding to the category of at least one traffic participant by searching the preset mapping relation between the category of at least one traffic participant and the preset speed.

In one embodiment, the first blocking time determining module includes:

the system comprises a target position detection module, a target position detection module and a target position detection module, wherein the target position detection module is used for detecting a target position which is closest to a current vehicle in a front road and has an available space value larger than a preset overtaking threshold value;

a distance determination module for determining a relative distance between the current location of the at least one traffic participant and the target location;

and the second blocking time determining module is used for determining the blocking time according to the relative distance and the speed of the at least one traffic participant.

In one embodiment, the apparatus further comprises:

the third detection module is used for detecting whether the at least one traffic participant is in a second preset area after a preset time period;

and the second warning module is used for sending out a second warning signal if the at least one traffic participant is in the second preset area.

A computer device comprising a memory and a processor, the memory having stored thereon a computer program operable on the processor, the processor when executing the computer program implementing the steps of:

determining blocking time according to the occupation condition of the road in front, the current position of the at least one traffic participant and the speed of the at least one traffic participant;

A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:

According to the traffic jam warning method, the device, the computer equipment and the storage medium, when the speed of at least one traffic participant and the available space value exceeding the at least one traffic participant meet the preset jam condition at the same time, the occupation condition of the front road along the driving direction is detected, the blocking time is determined according to the occupation condition of the front road, the current position of the at least one traffic participant and the speed of the at least one traffic participant, wherein the blocking time represents the waiting time required by the vehicle to exceed the traffic participant, and when the blocking time is longer than the preset waiting time, the waiting time is too long, the vehicle sends out a first warning signal to warn the traffic participant.

Drawings

FIG. 1 is a diagram of an exemplary traffic jam warning system;

FIG. 2 is a flow diagram illustrating a traffic congestion warning method according to one embodiment;

FIG. 3 is a flow chart illustrating a traffic jam warning method according to another embodiment;

FIG. 4 is a flow chart illustrating a traffic jam warning method according to another embodiment;

FIG. 5 is a schematic flow chart of the refinement step of step 203 in one embodiment;

FIG. 6 is a flow chart illustrating a traffic congestion warning method according to another embodiment;

FIG. 7 is a block diagram of a traffic jam warning device in one embodiment;

FIG. 8 is a block diagram showing the construction of a traffic jam warning device in another embodiment;

FIG. 9 is a block diagram showing the construction of a traffic jam warning device in another embodiment;

fig. 10 is a block diagram showing the construction of a traffic jam warning device in another embodiment;

FIG. 11 is a diagram illustrating an internal structure of a computer device in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The traffic jam warning method provided by the application can be applied to the application environment shown in fig. 1. Among them, the traffic jam warning method is applied to a vehicle 10, which vehicle 10 is provided with a speed detection means and a space detection means. The current vehicle 10 detects the speed of at least one road user 20 by means of a speed detection device and detects an available space value which exceeds at least one road user 20 by means of a space detection device. When the speed and/or the available space value of at least one traffic participant 20 meets the preset congestion condition, the current vehicle 10 detects the occupation condition of the front road along the driving direction, determines a blocking time according to the occupation condition of the front road, the current position of at least one traffic participant 20 and the speed of at least one traffic participant 20, and sends out a first warning signal when the blocking time is greater than the preset waiting time by comparing the blocking time with the preset waiting time. It is understood that the traffic jam warning method is also applicable to a cloud server (online server)30, and the vehicle 10 communicates with the cloud server 30 through a network. The present vehicle 10 may be, but is not limited to, an automobile, a motorcycle, and other vehicles and various modifications of the vehicle. The vehicle referred to herein may be a single oil-circuit vehicle, a single gas-circuit vehicle, a vehicle combining oil and gas, a vehicle combining oil and electricity, or the like.

In one embodiment, as shown in fig. 2, a traffic jam warning method is provided, which is illustrated by taking the application environment of fig. 1 as an example, and includes the following steps:

step 201, detecting the speed of at least one traffic participant in a first preset area around a current vehicle and an available space value exceeding the at least one traffic participant;

the first preset area is an area in front of the vehicle 10 within a preset range, for example, an area within 5 meters of the front of the vehicle 10.

Here, the traffic participant 20 represents an object that is in front of the vehicle 10 and causes a jam in the travel of the vehicle 10, including a pedestrian, a bicycle, an automobile, a truck, and the like.

The available space value represents a larger value of the distance between the two sides of the transportation participant 20 and the corresponding roadbed edge (or lane boundary, etc.), for example, the distance between the right side of the transportation participant 20 and the roadbed edge on the right side is 1 meter, the distance between the left side of the transportation participant 20 and the roadbed edge on the left side is 0.5 meter, and the available space value is 1 meter (the larger value of 1 meter and 0.5 meter).

Wherein the vehicle 10 is provided with speed detection means for detecting the speed of the road users 20, for example: image sensors, ultrasonic sensors, radar sensors, laser sensors, and the like. The vehicle 10 is also provided with spatial detection means for detecting available spatial values beyond the road users 20, for example: image sensors, ultrasonic sensors, radar sensors, laser sensors, and the like.

In the embodiment of the present invention, the vehicle 10 is provided with a speed detection device that detects the speed of at least one traffic participant 20 in the first preset area, and a space detection device that detects the distance between both sides of at least one traffic participant 20 around the current vehicle and the corresponding roadbed edge, and takes the larger of the two distances as an available space value.

It should be noted that the available space value not only refers to a larger value of the distance between the two sides of the transportation participant 20 and the corresponding roadbed edge, but also refers to the distance between the two sides of the transportation participant 20 and the two sides of other transportation participants, for example, the left side of the transportation participant 20 has no other transportation participant, the right side of the transportation participant 20 has other transportation participants, the distance between the left side of the transportation participant 20 and the roadbed edge on the left side is 0.5 meter, the distance between the right side of the transportation participant 20 and the left side of the other transportation participants is 1 meter, and the available space value is 1 meter.

Step 202, if the speed of the at least one traffic participant is less than a preset speed and/or the available space value is less than a preset overtaking threshold value, meeting a preset congestion condition, and detecting the occupation condition of a front road along the driving direction;

the preset congestion condition is a criterion for determining whether the vehicle 10 will be congested by at least one traffic participant 20. If the speed of the at least one traffic participant 20 is less than the preset speed and/or the available space value is less than the preset cut-in threshold value, the preset congestion condition is satisfied, indicating that the vehicle 10 will be congested by the at least one traffic participant 20; if the speed of the at least one transportation participant 20 is greater than the preset speed and the available space value is greater than the preset cut-in threshold value, the preset jam condition is not satisfied, which indicates that the vehicle 10 is not jammed by the at least one transportation participant 20.

In an embodiment of the present invention, the vehicle 10 is configured to detect an occupancy of the road ahead in the driving direction when the speed of the at least one road participant 20 is less than a predetermined speed and/or the value of the available space is less than a predetermined cut-in threshold, i.e. the vehicle 10 may be congested by the at least one road participant 20.

Step 203, determining blocking time according to the occupation condition of the road ahead, the current position of the at least one traffic participant and the speed of the at least one traffic participant;

wherein the block time represents the time required to wait from when the vehicle 10 determines that at least one of the transportation participants 20 cannot be exceeded to when the vehicle 10 determines that at least one of the transportation participants 20 can be exceeded.

And step 204, if the blocking time is greater than the preset waiting time, sending a first warning signal.

Wherein the preset waiting time represents a criterion for determining whether the first warning signal needs to be issued.

The first warning signal is an acoustic warning signal, for example, a voice warning signal, a whistle warning signal, or the like, which is issued to the at least one traffic participant 20.

In the traffic jam warning method, if the speed of at least one traffic participant 20 is less than the preset speed, and/or the available space value is less than the preset overtaking threshold value, the preset congestion condition is satisfied, the vehicle 10 detects the occupancy of the road ahead in the traveling direction, on the basis of the occupancy of the road ahead, the current position of the at least one road user 20 and the speed of the at least one road user 20, a blocking time is determined, wherein the block time represents the time required for the vehicle 10 to wait while being able to override at least one of the transportation participants 20, when the blocking time is greater than the preset waiting time, which indicates that the waiting time is too long, the vehicle 10 issues a first warning signal to warn at least one of the road users 20, by the method, the vehicle 10 can judge whether to carry out traffic jam warning according to the blocking time, and user experience is improved.

In another embodiment, as shown in fig. 3, a traffic jam warning method is provided, which is illustrated by taking the application environment of fig. 1 as an example, and includes the following steps:

step 301, detecting whether the first preset area is a non-whistling area;

the no-whistle area is a part of the road section of the no-whistle horn determined according to the traffic noise management regulation, and is mostly located in the core area of the city, such as square, campus, etc. In this case, the region other than the whistle-inhibited region may be referred to as a non-whistle-inhibited region.

In the embodiment of the present invention, detecting whether the first preset area is a non-whistling area mainly includes two methods, as follows:

the first method comprises the following steps: the vehicle 10 acquires road information ahead through the navigation system, and determines whether or not the area ahead is a non-whistling area. For example, the vehicle 10, via the navigation system, may obtain road signs (e.g., a sign of a no-whistle zone) or location information (e.g., a certain school) ahead to determine whether the area ahead is a no-whistle zone.

And the second method comprises the following steps: the vehicle 10 captures an image of a road ahead by a camera, and the vehicle 10 recognizes the image of the road ahead and determines whether or not there is a whistling inhibition flag. If the sign for prohibiting whistling exists, determining that the front road is a whistling-prohibited area; and if the sign for prohibiting whistle is not available, determining that the road ahead is a non-whistle-prohibition area.

Step 302, detecting the speed of at least one traffic participant in a first preset area around a current vehicle and exceeding the available space value of the at least one traffic participant;

in the embodiment of the invention, if the first preset area is a non-whistling-prohibited area, the following steps are executed, so as to judge whether a first warning signal needs to be sent out; if the first preset zone is a whistling-prohibited zone, the following steps are not performed because the first warning signal is prohibited from being issued in the whistling-prohibited zone.

Step 303, if the speed of the at least one traffic participant is less than a preset speed and/or the available space value is less than a preset overtaking threshold value, meeting a preset blocking condition, and detecting the occupation condition of a front road along the driving direction;

optionally, if the speed of at least one traffic participant 20 is less than the preset speed and the available space value is less than the preset overtaking threshold, the speed and the available space value of at least one traffic participant 20 satisfy the preset congestion condition.

The preset congestion condition includes two criteria that the speed of at least one traffic participant 20 is less than the preset speed and the available space value is less than the preset overtaking threshold. The preset speed is one of the criteria for determining whether the vehicle 10 is likely to be jammed, and the preset cut-in threshold is the other criteria for determining whether the vehicle 10 is likely to be jammed. By comparing the speed of at least one of the road users 20 with a predetermined speed and comparing the available space value with a predetermined cut-in threshold value, it can be determined whether the vehicle 10 is presently jammed.

If the speed of at least one of the traffic participants 20 is greater than the preset speed and/or the available space value is greater than the preset overtaking threshold value, the speed and the available space value of at least one of the traffic participants 20 do not satisfy the preset congestion condition at the same time.

Step 304, determining blocking time according to the occupation condition of the road ahead, the current position of the at least one traffic participant and the speed of the at least one traffic participant;

in the embodiment of the present invention, the content described in the above step 304 is the same as the content described in the step 203 in the previous embodiment, and is not described again here.

Step 305, if the blocking time is greater than a preset waiting time, a first warning signal is sent out.

In the embodiment of the present invention, the content described in step 305 is the same as the content described in step 204 in the previous embodiment, and is not described again here.

It should be noted that the step 301 does not necessarily have to be executed before the step 302, and the step 301 may be executed before the step 305 issues the first warning signal.

In the traffic jam warning method, the vehicle 10 further detects the speed of at least one traffic participant 20 and the available space value exceeding the at least one traffic participant 20 when detecting that the first preset area is the non-whistle-prohibited area. The method includes that when the vehicle 10 detects that the speed of at least one traffic participant 20 and/or the available space value exceeding the at least one traffic participant 20 meets a preset congestion condition, the occupation condition of a front road along the driving direction is detected, and a blocking time is determined according to the occupation condition of the front road, the current position of the at least one traffic participant 20 and the speed of the at least one traffic participant 20, wherein the blocking time represents the waiting time required for the vehicle 10 to exceed the at least one traffic participant 20, and when the blocking time is greater than the preset waiting time, the waiting time is too long, the vehicle 10 sends a first warning signal to warn the at least one traffic participant 20.

In another embodiment, as shown in fig. 4, a traffic jam warning method is provided, which is illustrated by taking the application environment of fig. 1 as an example, and includes the following steps:

step 401, detecting the speed of at least one traffic participant 20 in a first preset area around a current vehicle and an available space value exceeding the at least one traffic participant;

in the embodiment of the present invention, the content described in the above step 401 is the same as the content described in the step 302 in the previous embodiment, and is not described again here.

Step 402, judging the category of the at least one traffic participant;

the category of the at least one traffic participant 20 is divided according to the speed of the at least one traffic participant 20, for example, a pedestrian, a bicycle, a car, etc., according to the speed of the at least one traffic participant 20.

Step 403, determining a preset speed corresponding to the category of at least one traffic participant by searching a preset mapping relationship between the category of at least one traffic participant and the preset speed.

The vehicle 10 is pre-stored with a mapping relationship between a category of at least one traffic participant 20 and a preset speed, and searches the mapping relationship to determine the preset speed corresponding to the category of the traffic participant 20. For example, the vehicle 10 is pre-stored with mapping relationships between speeds of pedestrians and pedestrians (0.10 m/s), speeds of bicycles and bicycles (2 m/s), and speeds of automobiles and automobiles (10 m/s), and when the vehicle 10 determines that the category of the traffic participant 20 is an automobile, the mapping relationships are searched, and it is further determined that the preset speed corresponding to the automobile is 10 m/s.

The preset speed is a judgment standard for judging whether the vehicle is jammed or not corresponding to the category of the at least one traffic participant 20, and whether the vehicle 10 is jammed or not can be judged by comparing the speed of the at least one traffic participant 20 with the preset speed and comparing the available space value with the preset overtaking threshold value.

In an embodiment of the present invention, the predetermined speed is determined to be more in line with the actual congestion determination requirement according to the category of at least one of the traffic participants 20. If the preset speed is not determined according to the category of at least one traffic participant 20, but only one fixed preset speed is set, it is not possible to accurately determine whether congestion will occur. For example, only one fixed preset speed is set to 2 m/s, whereas the class of the traffic participants 20 is cars, which normally have a speed of more than 2 m/s. The vehicle 10 detects that the category of the traffic participant 20 is an automobile, the speed of the traffic participant is 3 m/s, the speed does not meet the preset jam condition through the judgment of the speed, and the vehicle 10 can be considered not to be jammed through the judgment under the condition that the available space value is not considered. However, as a practical matter, a speed of 3 m/s is very slow for a car, and a car with a speed of 3 m/s causes congestion for the vehicle 10 regardless of the available space.

Further, if the category of the at least one traffic participant is a pedestrian, a behavior state of the pedestrian in a first preset area around the current vehicle needs to be detected, and the preset speed is determined according to the behavior state.

The behavior state of the pedestrian refers to the state and the doing of the current pedestrian in the first preset area. For example, if the current pedestrian is stationary, the behavior state is a stationary state; if the current pedestrian walks while watching the mobile phone, the behavior state is a walking-to-mobile state; if the current pedestrian walks normally, the behavior state is a normal walking state; if the pedestrian leans on the crutch to walk, the behavior state is the body barrier state. The pedestrian image is captured by the camera of the vehicle 10, and the pedestrian behavior state can be determined by analyzing and recognizing the image. The analysis, identification and determination of the behavior state of the pedestrian are performed on the image in the prior art, and are not described herein again.

If the behavior state is a state of watching the mobile phone by walking, the corresponding preset speed is the speed of watching the mobile phone by walking; if the behavior state is a normal walking state, the corresponding preset speed is a normal walking speed; and if the behavior state is the physical obstacle state, the corresponding preset speed is the physical obstacle speed.

In the embodiment of the present invention, after determining that the category of at least one traffic participant 20 is a pedestrian, the behavior state of the pedestrian is further determined, and the preset speed is determined according to the behavior state of the pedestrian. Wherein, normal walking pedestrian, the people of physical disability all correspond respective predetermined speed. For example, a normal walking pedestrian may correspond to a speed of 0.5 m/s, and a physically impaired person may correspond to a speed of 0.2 m/s. The preset speed is determined according to the behavior state, and the actual blockage judgment requirement is met. For example, if the category of the at least one traffic participant 20 is a physically impaired person, the physically impaired person should be forgiving, the speed of the physically impaired person is certainly much lower than the normal walking speed of the pedestrian, and the corresponding preset speed of the physically impaired person should be set to be smaller than the preset speed, which corresponds to the actual walking state of the physically impaired person.

Step 404, if the speed of the at least one traffic participant is less than a preset speed and/or the available space value is less than a preset overtaking threshold value, a preset jam condition is met, and the occupation condition of a front road along the driving direction is detected;

in the embodiment of the present invention, the content described in the step 404 is the same as the content described in the step 303 in the previous embodiment, and is not described again here.

Step 405, determining blocking time according to the occupation condition of the road ahead, the current position of the at least one traffic participant and the speed of the at least one traffic participant;

in the embodiment of the present invention, the content described in the above step 405 is the same as the content described in the step 304 in the previous embodiment, and is not described again here.

Step 406, if the blocking time is greater than a preset waiting time, a first warning signal is sent out.

In the embodiment of the present invention, the content described in the step 406 is the same as the content described in the step 305 in the previous embodiment, and is not described herein again.

In the traffic jam warning method, after detecting the speed of at least one traffic participant 20 and exceeding the available space value of the at least one traffic participant 20, the vehicle 10 needs to determine the category of the at least one traffic participant 20, so as to determine the preset speed corresponding to the category of the at least one traffic participant 20. Wherein the predetermined speed is determined to be more in line with the actual congestion determination requirement according to the category of the at least one traffic participant 20. Thereafter, the vehicle 10 determines whether the speed of at least one of the transportation participants 20 is less than a preset speed and the available space value is less than a preset cut-in threshold. If the speed of at least one traffic participant 20 is less than the preset speed and the available space value is less than the preset cut-in threshold value, it is determined that the speed and the available space value of at least one traffic participant 20 satisfy the preset congestion condition. The method includes that when the vehicle 10 detects that the speed of at least one traffic participant 20 and the available space value exceeding the at least one traffic participant 20 meet a preset congestion condition, the occupation condition of a front road along the driving direction is detected, and a blocking time is determined according to the occupation condition of the front road, the current position of the at least one traffic participant 20 and the speed of the at least one traffic participant 20, wherein the blocking time represents a waiting time required for the vehicle 10 to exceed the at least one traffic participant 20, and when the blocking time is greater than the preset waiting time, the waiting time is too long, and the vehicle 10 sends a first warning signal to warn the at least one traffic participant 20.

As an optional implementation manner, as shown in fig. 5, a schematic flow chart of the refining step in step 203 specifically includes:

step 501, detecting a target position which is closest to a current vehicle and has an available space value larger than a preset overtaking threshold value in a front road;

step 502, determining a relative distance between a current position of at least one traffic participant 20 and the target position;

the predetermined overtaking threshold is a criterion for determining whether the vehicle 10 can overtake at least one of the road users 20. For example, the preset overtaking threshold is 5 meters.

Wherein the target position is a position where the vehicle 10 can pass at least one traffic participant 20, and the available spatial value of the target position is a distance between roadbed edges on both sides of a road ahead. For example, the preset overtaking threshold is 5 meters, the current position of at least one transportation participant 20 is a, the available space value at the position B100 meters ahead of a is detected to be 8 meters, and the position B is taken as the target position if 8 meters is more than 5 meters.

Step 503, determining the blocking time according to the relative distance and the speed of the at least one traffic participant.

In the exemplary embodiment of the invention, the ratio of the relative distance to the speed of at least one road user 20 is used as the blocking time.

In the traffic jam warning method, when the vehicle 10 detects that the speed of at least one traffic participant 20 and/or the available space value exceeding the at least one traffic participant 20 meets the preset jam condition, a target position in the road ahead, which is closest to the current vehicle 10 and has an available space value greater than a preset overtaking threshold value, is detected, a relative distance between the current position of the at least one traffic participant 20 and the target position is calculated, then a blocking time is determined according to the relative distance between the current position of the at least one traffic participant 20 and the target position and the speed of the at least one traffic participant 20, and specifically, a ratio of the relative distance to the speed of the at least one traffic participant 20 is used as the blocking time.

Wherein the block time represents the time required to wait from when the vehicle 10 determines that at least one of the transportation participants 20 cannot be exceeded to when the vehicle 10 determines that at least one of the transportation participants 20 can be exceeded. When the blocking time is longer than the preset waiting time, the waiting time is too long, the vehicle 10 sends a first warning signal to warn at least one traffic participant 20, and by the method, the vehicle 10 can judge whether to warn traffic jam according to the blocking time, so that the user experience is improved.

In another embodiment, as shown in fig. 6, a traffic jam warning method is provided, which is illustrated by taking the application environment of fig. 1 as an example, and includes the following steps:

step 601, detecting the speed of at least one traffic participant in a first preset area around a current vehicle and an available space value exceeding the at least one traffic participant;

in the embodiment of the present invention, the content described in the step 601 is the same as the content described in the step 401 in the previous embodiment, and is not described again here.

Step 602, if the speed of the at least one traffic participant is less than a preset speed and/or the available space value is less than a preset overtaking threshold value, a preset jam condition is met, and the occupation condition of a front road along the driving direction is detected;

in the embodiment of the present invention, the content described in the above step 602 is the same as the content described in the step 404 in the previous embodiment, and is not described again here.

Step 603, determining a blocking time according to the occupation condition of the road ahead, the current position of the at least one traffic participant and the speed of the at least one traffic participant;

in the embodiment of the present invention, the content described in the above step 603 is the same as the content described in the step 405 in the previous embodiment, and is not described again here.

Step 604, if the blocking time is greater than a preset waiting time, a first warning signal is sent out;

in the embodiment of the present invention, the content described in the above step 604 is the same as the content described in the step 406 in the previous embodiment, and is not described herein again.

Step 605, after a preset time period, detecting whether the at least one traffic participant is in a second preset area;

wherein the preset time period represents a time limit value of waiting after the vehicle 10 issues the first warning signal.

Wherein the second predetermined area is an area in a predetermined range in front of the vehicle 10. The second predetermined area may be the same area as the first predetermined area or may be different. Alternatively, the second predetermined range is greater than the first predetermined range because of the travel of at least one of the road users 20. For example, the first predetermined area is an area within 5 meters in front of the vehicle 10, and the second predetermined area is an area within 20 meters in front of the vehicle 10.

In the embodiment of the present invention, if the waiting time is longer than the preset time period after the vehicle 10 sends the first warning signal, it is determined whether the at least one transportation participant 20 is still in the second preset area.

Step 606, if the at least one traffic participant is in the second preset area, determining whether the current speed of the at least one traffic participant is less than a preset speed and exceeds whether the current available space value of the at least one traffic participant is less than the preset overtaking threshold value;

step 607, if the current speed of the at least one traffic participant is less than the preset speed and the current available space value is less than the preset overtaking threshold value, a second warning signal is sent out.

In the embodiment of the present invention, if the vehicle 10 detects that the at least one transportation participant 20 is located in the second predetermined area, the current speed of the at least one transportation participant 20 and the current available space value exceeding the at least one transportation participant 20 are obtained. Further, the vehicle 10 determines whether the current speed of at least one of the transportation participants 20 is less than a preset speed and the current available space value exceeding the at least one of the transportation participants 20 is less than a preset overtaking threshold. If the current speed of at least one road participant 20 is less than the predetermined speed and the value of the currently available space beyond the at least one road participant 20 is less than the predetermined cut-in threshold, a second warning signal is required to be issued indicating that the vehicle 10 is currently jammed.

The second warning signal may be the same signal as the first warning signal, or may be a signal with increased signal strength and increased signal duration compared to the first warning signal. Wherein, through strengthening signal strength and increasing signal duration, can play the effect of strengthening the warning to at least one traffic participant.

It should be noted that, if it is detected in step 606 that at least one transportation participant 20 is located in the second preset area, it may not be necessary to determine whether the current speed of at least one transportation participant 20 is less than the preset speed and whether the current available space value exceeding at least one transportation participant 20 is less than the preset overtaking threshold value, but a second warning signal is directly sent out to perform enhanced warning on at least one transportation participant.

It should be understood that although the various steps in the flow charts of fig. 2-6 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not limited to being performed in the exact order illustrated and, unless explicitly stated herein, may be performed in other orders. Moreover, at least some of the steps in fig. 2-6 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.

In one embodiment, as shown in fig. 7, there is provided a traffic jam warning device including: a first detection module 701, an occupancy detection module 702, a first block time determination module 703 and a first warning module 704, wherein:

a first detection module 701, configured to detect a speed of at least one traffic participant in a first preset area around a current vehicle and an available space value exceeding the at least one traffic participant;

an occupancy detection module 702, configured to, if the speed of the at least one traffic participant is less than a preset speed, and/or the available space value is less than a preset overtaking threshold value, meet a preset congestion condition, and detect an occupancy of a road ahead along a driving direction;

a first blocking time determining module 703, configured to determine a blocking time according to an occupancy of a road ahead, a current location of the at least one traffic participant, and a speed of the at least one traffic participant;

the first warning module 704 is configured to send a first warning signal if the blocking time is greater than a preset waiting time.

In another embodiment, as shown in fig. 8, a traffic jam warning device is provided, which includes, in addition to the first detecting module 701, the occupancy detecting module 702, the first blocking time determining module 703 and the first warning module 704 shown in fig. 7, a second detecting module 801, specifically:

a second detecting module 801, configured to detect whether the first preset area is a non-whistling-prohibited area;

In another embodiment, as shown in fig. 9, there is provided a traffic jam warning device, which includes, in addition to the first detecting module 701, the occupancy detecting module 702, the first blocking time determining module 703 and the first warning module 704 shown in fig. 7, a category determining module 901 and a speed determining module 902, specifically:

a category determining module 901, configured to determine a category of the at least one traffic participant;

a speed determining module 902, configured to determine a preset speed corresponding to a category of at least one traffic participant by searching a preset mapping relationship between the category of the at least one traffic participant and the preset speed;

As an optional implementation manner, if the category of the at least one traffic participant is a pedestrian, the speed determination module 902 is specifically configured to:

and determining the preset speed according to the behavior state.

As an optional implementation manner, the first blocking time determining module 703 includes:

the system comprises a target position detection module, a data processing module and a data processing module, wherein the target position detection module is used for detecting a target position which is closest to a current vehicle and has an available space value larger than a preset overtaking threshold value in a front road;

In another embodiment, as shown in fig. 10, a traffic jam warning device is provided, which includes a third detecting module 1001 and a second warning module 1002 in addition to the first detecting module 701, the occupancy detecting module 702, the first blocking time determining module 703 and the first warning module 704 shown in fig. 7, specifically:

a first detection module 701, configured to detect a speed of at least one traffic participant in a first preset area around a current vehicle and an available spatial value exceeding the at least one traffic participant;

a first warning module 704, configured to send a first warning signal if the blocking time is greater than a preset waiting time;

a third detecting module 1001, configured to detect whether the at least one traffic participant is located in a second preset area after a preset time period;

a second warning module 1002, configured to send a second warning signal if the at least one traffic participant is in the second preset area.

As an optional implementation manner, the second warning module 1002 is specifically configured to:

For specific limitations of the traffic jam warning device, reference may be made to the above limitations of the traffic jam warning method, which are not described herein again. The modules in the traffic jam warning device can be wholly or partially implemented by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 11. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used to store velocity and space values. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a traffic congestion warning method.

It will be appreciated by those skilled in the art that the configuration shown in fig. 11 is a block diagram of only a portion of the configuration associated with the present application, and is not intended to limit the computing device to which the present application may be applied, and that a particular computing device may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In an embodiment, a computer device is provided, comprising a memory and a processor, the memory having stored thereon a computer program operable on the processor, the processor implementing the steps of the method in any of the above embodiments when executing the computer program.

In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, is adapted to carry out the steps of the method of any of the above embodiments.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), synchronous Link (Synchlink) DRAM (SLDRAM), Rambus (Rambus) direct RAM (RDRAM), direct bused dynamic RAM (DRDRAM), and bused dynamic RAM (RDRAM).

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A traffic jam warning method, characterized in that the method comprises:

determining a blocking time according to the occupation condition of a road ahead, the current position of the at least one traffic participant and the speed of the at least one traffic participant, wherein the blocking time represents the waiting time required by the current vehicle to determine that the at least one traffic participant cannot be exceeded to the current vehicle to determine that the at least one traffic participant can be exceeded;

and if the blocking time is greater than the preset waiting time, a first warning signal is sent out to warn the at least one traffic participant.

2. The method of claim 1, further comprising:

and detecting whether the first preset area is a non-whistling-prohibited area.

3. The method according to claim 1, wherein the meeting of the predetermined congestion condition if the speed of the at least one traffic participant is less than a predetermined speed and/or the available space value is less than a predetermined cut-in threshold comprises:

4. The method of claim 1, further comprising:

determining a category of the at least one traffic participant;

5. The method of claim 4, wherein if the at least one traffic participant is a pedestrian, the method further comprises:

and determining the preset speed according to the behavior state.

6. The method according to any one of claims 1 to 5, wherein determining the blocking time based on the occupancy of the road ahead, the current position of the at least one traffic participant and the speed of the at least one traffic participant comprises:

determining the blocking time according to the relative distance and the speed of the at least one traffic participant.

7. The method according to any one of claims 1-5, further comprising:

8. The method of claim 7, further comprising:

9. A traffic jam warning device, the device comprising:

the system comprises a first detection module, a second detection module and a third detection module, wherein the first detection module is used for detecting the speed of at least one traffic participant in a first preset area around a current vehicle and exceeding the available space value of the at least one traffic participant;

the occupation condition detection module is used for meeting a preset blockage condition and detecting the occupation condition of a road ahead along the driving direction if the speed of the at least one traffic participant is less than a preset speed and/or the available space value is less than a preset overtaking threshold value;

a first blocking time determination module, configured to determine a blocking time according to an occupancy of a road ahead, a current location of the at least one traffic participant, and a speed of the at least one traffic participant, where the blocking time represents a waiting time required from the current vehicle determining that the at least one traffic participant cannot be overridden to the current vehicle determining that the at least one traffic participant can be overridden;

the first warning module is used for sending a first warning signal to warn the at least one traffic participant if the blocking time is greater than a preset waiting time.

10. The apparatus of claim 9, further comprising:

and the second detection module is used for detecting whether the first preset area is a non-whistling-prohibited area.

11. The apparatus of claim 9, further comprising:

12. The apparatus of any of claims 9-11, wherein the first block time determination module comprises:

13. The apparatus of any one of claims 9-11, further comprising:

the third detection module is used for detecting whether the at least one traffic participant is in a second preset area or not after a preset time period;

14. A computer arrangement comprising a memory and a processor, the memory having stored thereon a computer program operable on the processor, wherein the processor, when executing the computer program, performs the steps of the method of any of claims 1 to 8.

15. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 8.