The invention discloses an early warning method and device, electronic equipment and a storage medium, and belongs to the technical field of automatic driving. The method comprises the steps of determining whether a transverse collision possibility and a longitudinal collision possibility exist between an obstacle and a vehicle or not according to motion attribute information of the vehicle and motion attribute information of the obstacle, wherein the motion attribute information of the vehicle comprises the yaw velocity and the vehicle speed of the vehicle, and the motion attribute information of the obstacle at least comprises at least two of the relative position, the relative speed and the relative acceleration between the obstacle and the vehicle; if yes, determining the longitudinal collision time and transverse collision time, and determining whether collision early warning is triggered or not according to the longitudinal collision time, the transverse collision time and a collision time threshold value. According to the technical scheme, the accuracy of early warning of the front obstacle is improved, and meanwhile a new thought is provided for collision early warning of the front obstacle in automatic driving.

    本发明公开了一种预警方法、装置、电子设备以及存储介质,属于自动驾驶技术领域。该方法包括:根据车辆的运动属性信息和障碍物的运动属性信息,确定障碍物与车辆之间是否存在横向碰撞可能性和纵向碰撞可能性;其中,所述车辆的运动属性信息包括车辆的横摆角速度和车速;所述障碍物的运动属性信息至少包括障碍物与车辆之间的相对位置、相对速度和相对加速度中的至少两个;若存在,则确定纵向碰撞时间和横向碰撞时间,并根据所述纵向碰撞时间、所述横向碰撞时间和碰撞时间阈值,确定是否触发碰撞预警。通过上述技术方案,提高了前方障碍物预警的准确性,同时为自动驾驶前方障碍物碰撞预警提供了一种新思路。


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    Title :

    Early warning method and device, electronic equipment and storage medium


    Additional title:

    一种预警方法、装置、电子设备以及存储介质


    Contributors:
    GUAN YINGZHOU (author) / LI JIANFENG (author) / WANG YINAN (author) / FU RENTAO (author) / WEI YUANBO (author)

    Publication date :

    2021-10-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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