The embodiment of the invention provides a collision early warning method and device, and the method comprises the steps: determining a vehicle driver eye elliptical three-dimensional bounding box of a network access vehicle, and dividing the three-dimensional bounding box into at least one grid; determining an interested target object and a three-dimensional bounding box of the interested target object; determining traffic participants and a three-dimensional bounding box of the traffic participants; the vertex of the three-dimensional bounding box of the target object of interest is connected with the center point of each mesh point of the driver eye elliptical bounding box, and if a connecting line of the center point of any mesh of the driver eye elliptical bounding box and at least one vertex of the target object of interest has an intersection point with the three-dimensional bounding box of the traffic participant, it is judged that shielding exists; and if it is judged that the target object is shielded, a judgment result is sent to the network access vehicle so that the network access vehicle can send out early warning information, and the judgment result further comprises position information of the interested target object. Therefore, the early warning capability of the potential collision risk is improved, and the collision risk is reduced.
本发明实施例提出一种碰撞预警方法和装置,上述方法中,确定入网车辆的车辆驾驶员眼椭圆三维包围盒,将所述三维包围盒划分为至少一个网格;确定感兴趣目标物及所述感兴趣目标物的三维包围盒;确定交通参与者及所述交通参与者的三维包围盒;连接所述感兴趣目标物的三维包围盒顶点与所述驾驶员眼椭圆包围盒的各网点的中心点,若驾驶员眼椭圆包围盒任一网格的中心点与所述感兴趣目标物的至少一个顶点连线与所述交通参与者的三维包围盒有交点,则判断为遮挡;若判断为遮挡,将判断结果发送给所述入网车辆以使所述入网车辆发出预警信息,所述判断结果还包括所述感兴趣目标物的位置信息。如此,提高了潜在碰撞风险的预警能力,降低碰撞风险。
Collision early warning method and device
一种碰撞预警方法和装置
2022-05-13
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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