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CN-117671934-B - Weak traffic participant early warning method and device

CN117671934BCN 117671934 BCN117671934 BCN 117671934BCN-117671934-B

Abstract

The invention provides a method and a device for early warning a weak traffic participant, which provide early warning for passengers of a vehicle by displaying the range of the weak traffic participant region in the vehicle, and concretely comprise the steps of receiving relevant data of the weak traffic participant detected by a road side unit from the road side unit, setting the weak traffic participant regions corresponding to the weak traffic participant respectively according to the relevant data of the weak traffic participant, merging any two weak traffic participant regions with the overlap ratio meeting a specified condition to form a new weak traffic participant region, and displaying the weak traffic participant region remained after the merging treatment as an early warning region in the vehicle. Therefore, the display interface is concise, the accurate judgment of a vehicle passenger is facilitated, and the waste of system resources can be avoided.

Inventors

  • JI XIAODONG
  • HU HAILONG

Assignees

  • 阿尔卑斯通信器件技术（上海）有限公司

Dates

Publication Date
20260508
Application Date
20220907

Claims (14)

  1. 1. A method for providing an alert to an occupant of a vehicle by displaying a range of a disadvantaged traffic participant region in the vehicle, comprising: A receiving step of receiving, from a roadside unit, related data of a disadvantaged traffic participant, the related data being related information of the disadvantaged traffic participant detected by the roadside unit; setting, according to the related data of the weak traffic participants, weak traffic participant areas corresponding to the weak traffic participants respectively; A merging step of merging any two weak traffic participant regions whose overlap ratio satisfies a prescribed condition with each other to form a new weak traffic participant region, and A display step of displaying the disadvantaged traffic participant region remaining after the processing in the merging step as an early warning region in the vehicle; The related data of the weak traffic participants at least comprises coordinate values, length values and width values of the weak traffic participants, the weak traffic participant area is a circular area in a overlook view with the coordinate values as the center and the length values as the radius, The overlap ratio is the ratio of the overlapping area of any two weak traffic participant areas to the area of one of the two weak traffic participant areas.
  2. 2. The method for alert traffic participants as recited in claim 1, it is characterized in that the method comprises the steps of, The overlap ratio is a ratio of an overlapping area of any two of the disadvantaged traffic participant regions to an area of a smaller one of the any two disadvantaged traffic participant regions.
  3. 3. The method for alert of a disadvantaged transportation participant according to claim 2, wherein, When the overlap ratio is 0.5 or more, it is determined that the overlap ratio satisfies a predetermined condition.
  4. 4. The method for pre-warning a disadvantaged transportation participant according to claim 3, wherein, And under the condition that the overlapping ratio is 0.5-0.9, the formed new weak traffic participant area is a circular area which covers the two weak traffic participant areas.
  5. 5. The method for alert traffic participants as recited in claim 4, it is characterized in that the method comprises the steps of, The center of the new disadvantaged traffic participant region is the midpoint of a line connecting the centers of the two disadvantaged traffic participant regions to each other, The radius of the new disadvantaged traffic participant region is the sum of the radius of the larger of the two disadvantaged traffic participant regions and half the length of the link.
  6. 6. The method for pre-warning a disadvantaged transportation participant according to claim 3, wherein, In the case where the overlap ratio is greater than 0.9, only the larger one of the two impaired traffic participant areas is reserved as the new impaired traffic participant area.
  7. 7. The method for alert traffic participants of any one of claims 1 to 6, In the merging step, the overlap ratio is calculated only on the condition that the center distance of the two weak traffic participant regions is smaller than the sum of the radii of the two weak traffic participant regions.
  8. 8. The method for alert traffic participants as recited in claim 1, it is characterized in that the method comprises the steps of, In the merging step, whether the coincidence degree meets the specified condition is judged based on the relationship between the circle center distance and the respective radiuses of any two weak traffic participant areas.
  9. 9. The disadvantaged traffic participant warning method according to claim 8, it is characterized in that the method comprises the steps of, If the radius of one of the weak traffic participant regions is R A , the radius of the other of the weak traffic participant regions having a smaller radius than the weak traffic participant region is R B , and the center distance between the two weak traffic participant regions is D, then: In the case of 0.55< (R A +R B －D）/2R B ), it is determined that the overlap ratio satisfies a predetermined condition.
  10. 10. The disadvantaged traffic participant warning method according to claim 9, it is characterized in that the method comprises the steps of, In the case of 0.55< (R A +R B －D）/2R B < 0.99), the new disadvantaged traffic participant region formed is a circular region that encompasses the two disadvantaged traffic participant regions.
  11. 11. The disadvantaged traffic participant warning method according to claim 10, it is characterized in that the method comprises the steps of, The center of the new disadvantaged traffic participant region is the midpoint of a line connecting the centers of the two disadvantaged traffic participant regions to each other, The radius of the new disadvantaged traffic participant region is the sum of the radius of the larger of the two disadvantaged traffic participant regions and half the length of the link.
  12. 12. The disadvantaged traffic participant warning method according to claim 9, it is characterized in that the method comprises the steps of, In the case of (R A +R B －D）/2R B . Gtoreq.0.99), only the larger one of the two impaired traffic participant areas is reserved as the new impaired traffic participant area.
  13. 13. The method for alert traffic participants as recited in claim 1, it is characterized in that the method comprises the steps of, A screening step of screening out the vulnerable traffic participants at risk of collision with the vehicle from the data on the vulnerable traffic participants received through the receiving step is included before the setting step, In the setting step, the disadvantaged traffic participant region is set only for the disadvantaged traffic participant at risk of collision with the vehicle.
  14. 14. An vulnerable traffic participant warning device for providing warning to an occupant of a vehicle by displaying a range of vulnerable traffic participant areas in the vehicle, comprising: a receiving unit that receives, from a roadside unit, data related to a disadvantaged traffic participant, the data related to information related to the disadvantaged traffic participant detected by the roadside unit; A setting unit that sets a weak traffic participant area corresponding to each of the weak traffic participants based on the data related to the weak traffic participant; a merging section for merging any two weak traffic participant regions whose overlap ratio satisfies a predetermined condition with each other to form a new weak traffic participant region, and A display unit that displays the impaired transportation participant area remaining after the processing by the merging unit as an early warning area in the vehicle; The related data of the weak traffic participants at least comprises coordinate values, length values and width values of the weak traffic participants, the weak traffic participant area is a circular area in a overlook view with the coordinate values as the center and the length values as the radius, The overlap ratio is the ratio of the overlapping area of any two weak traffic participant areas to the area of one of the two weak traffic participant areas.

Description

Weak traffic participant early warning method and device Technical Field The present invention relates to a method and apparatus for providing an early warning to an occupant by displaying a range of a weak traffic participant area in a vehicle. Background Currently, for traffic safety, a technique of providing early warning to an occupant of a vehicle by displaying a range of a weak traffic participant area in the vehicle has been developed. In this technique, a Road Side Unit (RSU) detects road side traffic participants (including motor vehicles, pedestrians, bicycles, electric bicycles, and other weak traffic participants) by means of a radar, a camera, and the like, generates and transmits a road side unit message (RSM) including the Identification (ID), type, position, speed, orientation, size, and the like of the detected traffic participants. When receiving a roadside unit message sent by a roadside unit, an on-board unit (OBU) mounted on a vehicle extracts data related to a disadvantaged traffic participant from the roadside unit message, and determines whether the disadvantaged traffic participant has a risk of collision with the vehicle. When it is determined that there is a disadvantaged traffic participant at risk of collision with the vehicle, the in-vehicle unit displays the disadvantaged traffic participant region range as early warning information on a display device of the vehicle. In the same area, a plurality of road side units are sometimes provided. These roadside units, even if they detect the same offending traffic participant, tend to have different identities set for them. When the vehicle-mounted unit receives the road side unit information from the road side units, the vehicle-mounted unit can report multiple early warning information to the same weak traffic participant according to multiple different identifications. In addition, even the same roadside unit may set different identifications for the same impaired traffic participant at different times. In this case, too, the vehicle-mounted unit may report a plurality of warning messages to the same impaired traffic participant. In the case where the on-board unit of the vehicle reports the warning information for the same impaired traffic participant a plurality of times, referring to fig. 5, there is a possibility that an excessive impaired traffic participant area (circled area in the figure) is displayed in the display device of the vehicle, affecting the correct judgment of the vehicle occupant. Moreover, repeated display of areas of impaired traffic participants can lead to an endless waste of system resources (computing power, memory, etc.), and may even affect the performance of other functions. Disclosure of Invention The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a weak traffic participant warning method and a weak traffic participant warning device that can make a display interface simple, facilitate a vehicle occupant to make a correct judgment, and avoid waste of system resources. In order to achieve the above object, the present invention provides a method for providing an alert for an occupant of a vehicle by displaying a range of weak traffic participant regions in the vehicle, comprising a receiving step of receiving, from a roadside unit, relevant data of the weak traffic participant detected by the roadside unit, the relevant data being relevant information of the weak traffic participant, a setting step of setting the weak traffic participant regions respectively corresponding to the weak traffic participant based on the relevant data of the weak traffic participant, a merging step of merging any two weak traffic participant regions whose overlap ratio satisfies a prescribed condition with each other to form a new weak traffic participant region, and a displaying step of displaying the weak traffic participant region remaining after the processing of the merging step as an alert region in the vehicle. According to the present invention, any two weak traffic participant regions whose overlap ratio satisfies a predetermined condition are merged with each other to form a new weak traffic participant region by the merging step, and the merged weak traffic participant region is finally displayed, so that the displayed weak traffic participant region can be reduced. Therefore, the display interface is simpler, the vehicle passengers are not interfered by redundant information, and correct judgment is facilitated. In addition, from another point of view, repeated display of the impaired traffic participant area is effectively suppressed, and an endless waste of system resources can be avoided. Preferably, the relevant data of the weak traffic participant at least comprises coordinate values, length values and width values of the weak traffic participant, and the weak traffic participant area is a circular area in a overlook view with t