阅读说明：本技术 车辆异常原因的确定方法、装置、通信设备及存储介质 (Method and device for determining vehicle abnormal reason, communication equipment and storage medium ) 是由 付俭伟 郑加希 马春香 于 2021-10-25 设计创作，主要内容包括：本申请适用于车联网领域,提供一种车辆异常原因的确定方法、装置、通信设备及存储介质。车辆异常原因的确定方法包括：获取目标车辆的行驶状态信息、驾驶状态信息,以及获取周围车辆的行驶状态信息,行驶状态信息包括速度、加速度、航向角、行驶轨迹、车辆间距中的任意一项或多项,驾驶状态信息包括方向盘状态、油门状态、刹车状态、行驶模式、ABS状态、档位状态中的任意一项或多项；确定目标车辆的行驶状态信息与周围车辆的行驶状态信息的差异信息；当根据差异信息确定目标车辆行驶异常时,根据目标车辆的行驶状态信息以及驾驶状态信息,确定目标车辆的异常原因,从而可以根据目标车辆的异常原因,合理指导用户驾驶。(The application is suitable for the field of vehicle networking and provides a method and a device for determining vehicle abnormal reasons, communication equipment and a storage medium. The method for determining the cause of the vehicle abnormality comprises the following steps: acquiring running state information and driving state information of a target vehicle and acquiring running state information of surrounding vehicles, wherein the running state information comprises any one or more of speed, acceleration, course angle, running track and vehicle distance, and the driving state information comprises any one or more of steering wheel state, accelerator state, brake state, running mode, ABS state and gear state; determining difference information between the driving state information of the target vehicle and the driving state information of the surrounding vehicles; when the target vehicle is determined to be abnormal according to the difference information, the abnormal reason of the target vehicle is determined according to the running state information and the driving state information of the target vehicle, so that the user can be reasonably guided to drive according to the abnormal reason of the target vehicle.)

1. A method of determining a cause of an abnormality in a vehicle, characterized by comprising:

acquiring running state information and driving state information of a target vehicle, and acquiring running state information of surrounding vehicles, wherein the surrounding vehicles are vehicles within a preset distance range from the target vehicle, the running state information comprises any one or more of speed, acceleration, course angle, running track and vehicle distance, and the driving state information comprises any one or more of steering wheel state, accelerator state, brake state, running mode, ABS state and gear state;

determining difference information between the traveling state information of the target vehicle and the traveling state information of the surrounding vehicles;

and when the target vehicle is determined to be abnormal in running according to the difference information, determining the abnormal reason of the target vehicle according to the running state information and the driving state information of the target vehicle.

2. The method according to claim 1, wherein the determining the cause of the abnormality of the target vehicle based on the travel state information and the driving state information of the target vehicle includes:

determining running state information and driving state information of the target vehicle at the abnormal running moment from the running state information and the driving state information of the target vehicle;

and inputting the driving state information and the road surface condition information at the abnormal driving time into a dynamic model of the target vehicle to obtain the driving state information output by the dynamic model of the target vehicle, and comparing the driving state information at the abnormal driving time with the driving state information output by the dynamic model to determine the abnormal reason of the target vehicle.

3. The method of claim 1, wherein said determining said target vehicle travel anomaly from said discrepancy information comprises:

and if the accumulated times that one or more of the difference information meets the preset conditions in the preset time period is greater than the preset times, determining that the target vehicle is abnormal in running.

4. The method according to claim 1, wherein if the target vehicle is determined to be abnormally driven based on the difference information, determining the cause of the abnormality of the target vehicle based on the driving state information and the driving state information of the target vehicle includes:

acquiring the position relation between the running track of the target vehicle and a lane;

and if the target vehicle is determined to be abnormal in running according to the difference information and the position relation, determining the abnormal reason of the target vehicle according to the running state information and the driving state information of the target vehicle.

5. The method according to claim 1, wherein the determining the difference information of the traveling state information of the target vehicle and the traveling state information of the surrounding vehicles includes:

determining an average speed from the speed of the surrounding vehicle; determining difference information between the running state information of the target vehicle and the running state information of the surrounding vehicles according to the average speed and the speed of the target vehicle;

alternatively, the first and second electrodes may be,

determining an average distance according to the vehicle distance of the surrounding vehicles; determining difference information between the running state information of the target vehicle and the running state information of the surrounding vehicles according to the average distance and the vehicle distance of the target vehicle;

alternatively, the first and second electrodes may be,

determining a similarity between a travel track of the target vehicle and a travel track of the surrounding vehicles; and determining difference information between the running state information of the target vehicle and the running state information of the surrounding vehicles according to the similarity.

6. The method according to claim 1, wherein the obtaining of the travel state information of the target vehicle comprises:

acquiring first state information detected by an on-board unit of the target vehicle, second state information sent by the surrounding vehicles and third state information sent by roadside sensing equipment;

and determining the running state information of the target vehicle according to any one or more kinds of fusion information of the first state information, the second state information and the third state information.

7. The method of claim 1, wherein after the determining the cause of the abnormality of the target vehicle, the method further comprises:

and outputting first prompt information according to the abnormal reason, and/or sending second prompt information to the surrounding vehicles according to the abnormal reason.

8. A device for determining a cause of an abnormality in a vehicle, characterized by comprising:

the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring running state information and driving state information of a target vehicle and acquiring running state information of surrounding vehicles, the surrounding vehicles are vehicles with a distance between the target vehicle and the target vehicle within a preset distance range, the running state information comprises any one or more of speed, acceleration, course angle, running track and vehicle distance, and the driving state information comprises any one or more of steering wheel state, accelerator state, brake state, running mode, ABS state and gear state;

a determination module configured to determine difference information between the travel state information of the target vehicle and the travel state information of the surrounding vehicles;

and the analysis module is used for determining the abnormal reason of the target vehicle according to the running state information and the driving state information of the target vehicle when the target vehicle is determined to be abnormal in running according to the difference information.

9. A communication device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.

Technical Field

The application belongs to the field of vehicle networking, and particularly relates to a method and a device for determining vehicle abnormal reasons, communication equipment and a storage medium.

Background

Along with the development of communication technology and artificial intelligence technique, the function of on-vehicle unit is also abundanter more and more, and on-vehicle unit can in time discover the vehicle unusual through gathering vehicle information, reduces the probability that takes place the traffic accident.

The existing vehicle-mounted unit generally collects running data in the running process of a vehicle and reports the running data to a data center when abnormal data are collected, but the reason for causing the abnormal running data cannot be accurately judged, so that effective countermeasures cannot be taken, and the running safety of the current vehicle is ensured.

Disclosure of Invention

In view of this, embodiments of the present application provide a method and an apparatus for determining a cause of an abnormality of a vehicle, a communication device, and a storage medium, which can determine the cause of the abnormality of the vehicle, so as to reasonably guide a user to drive the vehicle.

A first aspect of an embodiment of the present application provides a method for determining a cause of a vehicle abnormality, including:

acquiring running state information and driving state information of a target vehicle, and acquiring running state information of surrounding vehicles, wherein the surrounding vehicles are vehicles within a preset distance range from the target vehicle, the running state information comprises any one or more of speed, acceleration, course angle, running track and vehicle distance, and the driving state information comprises any one or more of steering wheel state, accelerator state, brake state, running mode, ABS state and gear state;

determining difference information between the traveling state information of the target vehicle and the traveling state information of the surrounding vehicles;

and when the target vehicle is determined to be abnormal in running according to the difference information, determining the abnormal reason of the target vehicle according to the running state information and the driving state information of the target vehicle.

In one possible implementation manner, the determining the cause of the abnormality of the target vehicle according to the driving state information and the driving state information of the target vehicle includes:

determining running state information and driving state information of the target vehicle at the abnormal running moment from the running state information and the driving state information of the target vehicle;

and inputting the driving state information and the road surface condition information at the abnormal driving time into a dynamic model of the target vehicle to obtain the driving state information output by the dynamic model of the target vehicle, and comparing the driving state information at the abnormal driving time with the driving state information output by the dynamic model to determine the abnormal reason of the target vehicle.

In one possible implementation manner, the determining the target vehicle driving abnormality according to the difference information includes:

and if the accumulated times that one or more of the difference information meets the preset conditions in a preset time period is greater than the preset times, determining that the target vehicle is abnormal in running.

In one possible implementation manner, if the target vehicle is determined to be abnormally driven according to the difference information, determining the cause of the abnormality of the target vehicle according to the driving state information and the driving state information of the target vehicle includes:

acquiring the position relation between the running track of the target vehicle and a lane;

and if the target vehicle is determined to be abnormal in running according to the difference information and the position relation, determining the abnormal reason of the target vehicle according to the running state information and the driving state information of the target vehicle.

In one possible implementation, the determining the difference information between the traveling state information of the target vehicle and the traveling state information of the surrounding vehicle includes:

determining an average speed from the speed of the surrounding vehicle;

and determining difference information between the running state information of the target vehicle and the running state information of the surrounding vehicles according to the average speed and the speed of the target vehicle.

In one possible implementation, the determining the difference information between the traveling state information of the target vehicle and the traveling state information of the surrounding vehicle includes:

determining an average distance according to the vehicle distance of the surrounding vehicles;

and determining difference information between the running state information of the target vehicle and the running state information of the surrounding vehicles according to the average distance and the vehicle distance of the target vehicle.

In one possible implementation, the determining the difference information between the traveling state information of the target vehicle and the traveling state information of the surrounding vehicle includes:

determining a similarity between a travel track of the target vehicle and a travel track of the surrounding vehicles;

and determining difference information between the running state information of the target vehicle and the running state information of the surrounding vehicles according to the similarity.

In one possible implementation manner, the acquiring the driving state information of the target vehicle includes:

acquiring first state information detected by an on-board unit of the target vehicle, second state information sent by the surrounding vehicles and third state information sent by roadside sensing equipment;

and determining the running state information of the target vehicle according to any one or more kinds of fusion information of the first state information, the second state information and the third state information.

In one possible implementation, after the determining the cause of the abnormality of the target vehicle, the method further includes:

and outputting first prompt information according to the abnormal reason, and/or sending second prompt information to the surrounding vehicles according to the abnormal reason.

A second aspect of the embodiments of the present application provides a device for determining a cause of a vehicle abnormality, including:

the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring running state information and driving state information of a target vehicle and acquiring running state information of surrounding vehicles, the surrounding vehicles are vehicles with a distance between the target vehicle and the target vehicle within a preset distance range, the running state information comprises any one or more of speed, acceleration, course angle, running track and vehicle distance, and the driving state information comprises any one or more of steering wheel state, accelerator state, brake state, running mode, ABS state and gear state;

a determination module configured to determine difference information between the travel state information of the target vehicle and the travel state information of the surrounding vehicles;

and the analysis module is used for determining the abnormal reason of the target vehicle according to the running state information and the driving state information of the target vehicle when the target vehicle is determined to be abnormal in running according to the difference information.

In a possible implementation manner, the analysis module is specifically configured to:

determining running state information and driving state information of the target vehicle at the abnormal running moment from the running state information and the driving state information of the target vehicle;

and inputting the driving state information and the road surface condition information at the abnormal driving time into a dynamic model of the target vehicle to obtain the driving state information output by the dynamic model of the target vehicle, and comparing the driving state information at the abnormal driving time with the driving state information output by the dynamic model to determine the abnormal reason of the target vehicle.

In a possible implementation manner, the analysis module is specifically configured to:

acquiring the position relation between the running track of the target vehicle and a lane;

and if the target vehicle is determined to be abnormal in running according to the difference information and the position relation, determining the abnormal reason of the target vehicle according to the running state information and the driving state information of the target vehicle.

A third aspect of embodiments of the present application provides a communication device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method for determining a cause of a vehicle abnormality as described in the first aspect.

A fourth aspect of embodiments of the present application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method for determining a cause of a vehicle abnormality as described in the first aspect above.

A fifth aspect of embodiments of the present application provides a computer program product, which, when run on a communication device, causes the communication device to execute the method for determining a cause of a vehicle abnormality described in any one of the above first aspects.

Compared with the prior art, the embodiment of the application has the advantages that: by acquiring the travel state information of the target vehicle, the driving state information, and acquiring the travel state information of the surrounding vehicles, the difference information of the travel state information of the target vehicle and the travel state information of the surrounding vehicles is determined. And when the target vehicle is determined to be abnormal according to the difference information, the abnormal reason of the target vehicle is further determined according to the running state information and the driving state information of the target vehicle, so that the user can be reasonably guided to drive according to the abnormal reason of the target vehicle.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below.

FIG. 1 is a schematic flow chart of an implementation of a method for determining a cause of a vehicle abnormality according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a device for determining a cause of a vehicle abnormality according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a communication device according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It is also to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

The existing vehicle-mounted unit generally collects running data in the running process of a vehicle and reminds a user when abnormal data are collected, but the reason of the abnormality cannot be determined according to the abnormal running data, so that the user cannot be reasonably guided to drive.

To this end, the present application provides a method for determining a cause of a vehicle abnormality, which determines difference information between travel state information of a target vehicle and travel state information of surrounding vehicles by acquiring travel state information of the target vehicle, driving state information, and acquiring travel state information of the surrounding vehicles. And when the target vehicle is determined to be abnormal according to the difference information, the abnormal reason of the target vehicle is further determined according to the running state information and the driving state information of the target vehicle, so that the user can be reasonably guided to drive according to the abnormal reason of the target vehicle.

The following describes an exemplary method for determining a cause of a vehicle abnormality according to the present application.

The method for determining the vehicle abnormal reason is executed on communication equipment, and the communication equipment can be an on-board unit installed on a vehicle, a road side sensing equipment installed on a road, a cloud server and the like.

Referring to fig. 1, a method for determining a cause of a vehicle abnormality according to an embodiment of the present application includes:

s101: the method comprises the steps of obtaining driving state information and driving state information of a target vehicle, and obtaining driving state information of surrounding vehicles, wherein the surrounding vehicles are the vehicles which are the same as a driving road section of the target vehicle and are within a preset distance range.

The driving state information comprises any one or more of speed, acceleration, course angle, driving track and vehicle distance, and the driving state information comprises any one or more of steering wheel state, accelerator state, brake state, driving mode, ABS state and gear state.

The driving state information of the target vehicle is acquired from an in-vehicle unit of the target vehicle. The running state information of the target vehicle and the running state information of the surrounding vehicle may be acquired from an on-board unit of the target vehicle, may be acquired from the surrounding vehicle, or may be acquired from a roadside sensing device.

In one possible implementation manner, first state information detected by an on-board unit of a target vehicle, second state information sent by surrounding vehicles and third state information sent by a road side sensing device are obtained. Wherein the first state information comprises any one or more of speed, acceleration, course angle, driving position and vehicle distance between the target vehicle and the surrounding vehicles. The second state information and the third state information may be the same as the first state information. And determining the running state information of the target vehicle according to any one or more kinds of fusion information of the first state information, the second state information and the third state information. The driving state information of the surrounding vehicles can be determined according to any one or more kinds of fusion information of the first state information, the second state information and the third state information, and therefore the accuracy of the determined driving state information is improved. For example, the speed of the target vehicle is obtained by averaging the speed of the target vehicle in the first state information, the speed of the target vehicle in the second state information, and the speed of the target vehicle in the third state information. For another example, the travel position of the target vehicle in the first state information, the travel position of the target vehicle in the second state information, and the travel position of the target vehicle in the third state information are fitted to obtain the travel locus of the target vehicle. The driving position may be coordinates or longitude and latitude.

S102: determining difference information between the traveling state information of the target vehicle and the traveling state information of the surrounding vehicles.

Wherein the running state information of the target vehicle and the running state information of the surrounding vehicles include: any one or more of a difference in speed, a difference in acceleration, a difference in heading angle, a difference in travel locus, and a difference in vehicle distance between the target vehicle and the surrounding vehicle.

In one possible implementation, the speed of the surrounding vehicle is acquired, the average speed of the surrounding vehicle is calculated from the speed of the surrounding vehicle, and the difference information between the traveling state information of the target vehicle and the traveling state information of the surrounding vehicle is determined from the average speed of the surrounding vehicle and the speed of the target vehicle.

In one possible implementation, an average acceleration of the surrounding vehicle is calculated from accelerations of a plurality of surrounding vehicles, and difference information between the traveling state information of the target vehicle and the traveling state information of the surrounding vehicle is determined from the average acceleration of the surrounding vehicle and the acceleration of the target vehicle.

In one possible implementation, the average course angle of the surrounding vehicle is calculated according to the course angle of the surrounding vehicle, and the difference information between the driving state information of the target vehicle and the driving state information of the surrounding vehicle is determined according to the average course angle of the surrounding vehicle and the course angle of the target vehicle. The heading angle may be calculated according to the positions of the vehicles at two adjacent moments, or may be directly obtained from a Global Navigation Satellite System (GNSS). The average heading angle of the surrounding vehicle refers to an average of the heading angles of the surrounding vehicles.

In one possible implementation, the inter-vehicle distance of the target vehicle may be calculated from the traveling position of the target vehicle and the traveling positions of the neighboring vehicles, and the inter-vehicle distance of the neighboring vehicles may be calculated from the traveling positions of the neighboring vehicles and the traveling positions of the neighboring vehicles. The adjacent vehicle of the target vehicle refers to a vehicle on the same lane directly in front of or directly behind the target vehicle, or a vehicle on a left or right adjacent lane of the target vehicle.

The vehicle pitch includes a lateral pitch, which may refer to a distance between two vehicles in a direction perpendicular to the driving direction, and a longitudinal pitch, which may refer to a distance between two vehicles in the driving direction. An average distance may be calculated from the vehicle distances of all the surrounding vehicles, and difference information between the traveling state information of the target vehicle and the traveling state information of the surrounding vehicles is determined from the average distance and the vehicle distance of the target vehicle.

In one possible implementation, the travel track of the surrounding vehicle is calculated according to the travel position of the surrounding vehicle within a preset time period, and the travel track of the target vehicle is calculated according to the travel position of the target vehicle within the preset time period. And determining the similarity between the running track of the target vehicle and the running track of the surrounding vehicle, and determining the difference information between the running state information of the target vehicle and the running state information of the surrounding vehicle according to the similarity. The similarity may be obtained by averaging the similarity between the travel path of the target vehicle and the travel path of each of the surrounding vehicles. The driving track can be obtained by curve fitting of the driving position in a preset time period. The similarity of the running tracks of the target vehicle and each of the surrounding vehicles can be calculated by a Frechet distance algorithm or a Hausdorff distance algorithm.

S103: and when the target vehicle is determined to be abnormal in running according to the difference information, determining the abnormal reason of the target vehicle according to the running state information and the driving state information of the target vehicle.

Specifically, whether the target vehicle is abnormally driven is determined according to whether the difference information satisfies a preset condition. The difference information satisfying the preset condition may include any one or more of the following: the difference between the average speed of the surrounding vehicles and the speed of the target vehicle is larger than a preset value, the difference between the average acceleration of the surrounding vehicles and the acceleration of the target vehicle is larger than a preset value, the difference between the average course angle of the surrounding vehicles and the course angle of the target vehicle is larger than a preset value, the difference between the average distance of the surrounding vehicles and the inter-vehicle distance of the target vehicle is larger than a preset value, and the similarity between the running track of the target vehicle and the running track of the surrounding vehicles is smaller than a preset value.

In one possible implementation manner, if the accumulated number of times that one or more of the difference information satisfies the preset condition is greater than the preset number of times within the preset time period, it may be determined that the target vehicle is abnormally driven. Specifically, the accumulated times that the difference of the speed, the difference of the acceleration, the difference of the heading angle, the difference of the driving track and the difference of the vehicle distance between the target vehicle and the surrounding vehicles respectively meet the preset conditions can be counted, and when the accumulated times of at least one of the target vehicle and the surrounding vehicles is greater than the preset times, the abnormal driving of the target vehicle can be determined. In some other embodiments, the number of times that any one of the difference information satisfies the preset condition may also be counted, and if the accumulated number of times that all the items of the difference information satisfy the preset condition is greater than the threshold, it may be determined that the target vehicle is abnormally driven. For example, the target vehicle may be determined to be abnormally driven if N1+ N2+ N3+ N4+ N5 > N (where N is a threshold value) with respect to the surrounding vehicle, the number of times of abnormality occurrence of the difference in speed is N1, the number of times of abnormality occurrence of the difference in acceleration is N2, the number of times of abnormality occurrence of the difference in heading angle is N3, the number of times of abnormality occurrence of the difference in travel track is N4, and the number of times of abnormality occurrence of the inter-vehicle distance is N5.

In a possible implementation manner, the position relationship between the running track of the target vehicle and the lane is obtained, and if the target vehicle is determined to be abnormally running according to the difference information and the position relationship. Specifically, according to the position relationship between the driving track of the target vehicle and the lane, the lane line keeping condition of the target vehicle and the stable condition of the lane changing process of the target vehicle can be determined. The keeping condition of the lane line of the target vehicle may be the number of times that the target vehicle deviates from the current lane within a preset time period, and if the number of times that the target vehicle deviates from the current lane within the preset time period is greater than the preset number of times, it is determined that the keeping condition of the lane line of the target vehicle is abnormal. The stable condition of the target vehicle in the lane changing process can be the swing amplitude of the target vehicle in the lane changing process, and if the swing amplitude of the target vehicle in the lane changing process is larger than a preset value, the abnormal stable condition of the target vehicle in the lane changing process is determined.

In one embodiment, whether the target vehicle deviates from the current lane may be determined by the degree of coincidence and similarity of the driving trajectory of the target vehicle with the center line of the lane. The track of the lane center line can be obtained from a map, and can also be obtained by identifying a road surface image shot by a front camera of a vehicle. The degree of the swing of the target vehicle in the lane may be determined by a ratio of an actual travel track length of the target vehicle to a length of the lane line in the current section. For example, if the ratio is greater than the threshold, it is determined that the swing amplitude of the target vehicle in the lane is greater than a preset value.

In a possible implementation manner, the number of times of abnormal holding conditions of the lane line of the target vehicle and the number of times of abnormal steady conditions in the lane changing process of the target vehicle are counted, and if the difference information between the target vehicle and the surrounding vehicles meets the accumulated number of times of the preset condition, the number of times of abnormal holding conditions of the lane line of the target vehicle and the sum of the number of times of abnormal steady conditions in the lane changing process of the target vehicle are greater than the preset value, the abnormal running of the target vehicle is determined, and the accuracy of determining the abnormal running of the vehicle is further improved.

After the target vehicle is determined to be abnormal in running, whether abnormal driving behaviors exist is determined according to the corresponding relation between the running state information and the driving state information, if the abnormal driving behaviors exist, the reason that the target vehicle is abnormal is determined to be improper driving, and if the abnormal driving behaviors do not exist, the reason that the target vehicle is abnormal is determined to be vehicle faults. By determining the abnormality cause of the target vehicle by comparing the difference information of the running state information of the target vehicle and the running state information of the surrounding vehicles, the accuracy of evaluating the abnormality cause is improved.

In one possible implementation, after the target vehicle is determined to be abnormally driven, the driving state information and the driving state information at the time of abnormal driving of the target vehicle are determined from the driving state information and the driving state information of the target vehicle, and the driving state information and the road surface condition information at the time of abnormal driving are input to the dynamic model of the target vehicle to obtain the driving state information output by the dynamic model of the target vehicle. The road surface condition information may include information such as a gradient of the road surface, a degree of curvature of the lane line, and the like. The vehicle dynamics model is a model for analyzing vehicle forces and vehicle motion. The parameters input to the vehicle dynamics model may also include vehicle travel patterns. And comparing the running state information at the abnormal running time with the running state information output by the dynamic model, and determining the abnormal reason of the target vehicle.

In one embodiment, if the difference between the driving state information at the abnormal driving time and the driving state information output by the dynamic model is within a preset range, it is determined that there is no abnormal driving behavior, and the cause of the abnormality of the target vehicle is a vehicle failure.

In another possible implementation manner, the abnormality level of the abnormal driving behavior may be determined according to a difference between the driving state information at the abnormal driving time and the driving state information output by the dynamic model, and the abnormality level may be output. For example, the abnormality level may be determined based on a correspondence relationship between a difference between the running state information at the time of the abnormal running and the running state information output by the dynamic model and a preset level.

In a possible implementation manner, after the abnormality cause of the target vehicle is determined, corresponding first prompt information is output according to the abnormality cause or the abnormality level of the target vehicle, and the first prompt information can be the abnormality cause or information prompting a user of a driving error, so that the driver of the target vehicle can be reminded to stop for inspection or pay attention to driving. After the abnormal reason of the target vehicle is determined, corresponding second prompt information is generated according to the abnormal reason or the abnormal grade of the target vehicle, and the prompt information is sent to surrounding vehicles, wherein the second prompt information can be the abnormal reason of the target vehicle or the position of the target vehicle, so that the surrounding vehicles are reminded of avoiding. The first prompt message and the second prompt message can be messages in a voice mode, a vibration mode or a text mode.

In the above-described embodiment, the difference information of the running state information of the target vehicle and the running state information of the surrounding vehicles is determined by acquiring the running state information of the target vehicle, the driving state information, and acquiring the running state information of the surrounding vehicles. And if the running abnormality of the target vehicle is determined according to the difference information, determining the abnormality reason of the target vehicle according to the running state information and the driving state information of the target vehicle, so that the user can be reasonably guided to drive according to the abnormality reason of the target vehicle.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

Fig. 2 shows a block diagram of a vehicle abnormality cause determination device provided in the embodiment of the present application, corresponding to the vehicle abnormality cause determination method described in the above embodiment, and for convenience of explanation, only the relevant portions of the embodiment of the present application are shown.

As shown in fig. 2, the apparatus for determining the cause of a vehicle abnormality includes an acquisition module 10, a determination module 20, and an analysis module 30.

The obtaining module 10 is configured to obtain driving state information of a target vehicle, driving state information, and driving state information of a surrounding vehicle, where the surrounding vehicle is a vehicle having a distance from the target vehicle within a preset distance range, the driving state information includes any one or more of a speed, an acceleration, a heading angle, a driving track, and a vehicle distance, and the driving state information includes any one or more of a steering wheel state, an accelerator state, a brake state, a driving mode, an ABS state, and a gear state.

The determination module 20 is configured to determine difference information between the driving state information of the target vehicle and the driving state information of the surrounding vehicles;

the analysis module 30 is configured to determine a cause of the abnormality of the target vehicle according to the driving state information and the driving state information of the target vehicle when it is determined that the target vehicle is abnormally driven according to the difference information.

In this embodiment, the acquiring module 10, the determining module 20, and the analyzing module 30 may be modules in a V2X vehicle-mounted unit with high-precision positioning. The obtaining module 10 may be an antenna of the vehicle-mounted unit, bluetooth, or a Dedicated Short Range Communication (DSRC) chip, and the determining module 20 and the analyzing module 30 may be integrated on a computing chip of the vehicle-mounted unit, such as a Digital Signal Processing (DSP) chip.

In a possible implementation manner, the analysis module 30 is specifically configured to:

determining running state information and driving state information of the target vehicle at the abnormal running moment from the running state information and the driving state information of the target vehicle;

and inputting the driving state information and the road surface condition information at the abnormal driving time into a dynamic model of the target vehicle to obtain the driving state information output by the dynamic model of the target vehicle, and comparing the driving state information at the abnormal driving time with the driving state information output by the dynamic model to determine the abnormal reason of the target vehicle.

In a possible implementation manner, the analysis module 30 is specifically configured to:

and if the accumulated times that one or more of the difference information meets the preset conditions in the preset time period is greater than the preset times, determining that the target vehicle is abnormal in running.

In a possible implementation manner, the analysis module 30 is specifically configured to:

acquiring the position relation between the running track of the target vehicle and a lane;

and if the target vehicle is determined to be abnormal in running according to the difference information and the position relation, determining the abnormal reason of the target vehicle according to the running state information and the driving state information of the target vehicle.

In a possible implementation manner, the determining module 20 is specifically configured to:

determining an average speed from the speed of the surrounding vehicle;

and determining difference information between the running state information of the target vehicle and the running state information of the surrounding vehicles according to the average speed and the speed of the target vehicle.

In a possible implementation manner, the determining module 20 is specifically configured to:

determining an average distance according to the vehicle distance of the surrounding vehicles;

and determining difference information between the running state information of the target vehicle and the running state information of the surrounding vehicles according to the average distance and the vehicle distance of the target vehicle.

In a possible implementation manner, the determining module 20 is specifically configured to:

determining a similarity between a travel track of the target vehicle and a travel track of the surrounding vehicles;

and determining difference information between the running state information of the target vehicle and the running state information of the surrounding vehicles according to the similarity.

In a possible implementation manner, the obtaining module 10 is specifically configured to:

acquiring first state information detected by an on-board unit of the target vehicle, second state information sent by the surrounding vehicles and third state information sent by roadside sensing equipment;

and determining the running state information of the target vehicle according to any one or more kinds of fusion information of the first state information, the second state information and the third state information.

In one possible implementation, the analysis module 30 is further configured to:

and outputting first prompt information according to the abnormal reason, and/or sending second prompt information to the surrounding vehicles according to the abnormal reason.

It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.

Fig. 3 is a schematic structural diagram of a communication device according to an embodiment of the present application. As shown in fig. 3, the communication device of this embodiment includes: a processor 11, a memory 12 and a computer program 13 stored in said memory 12 and executable on said processor 11. The processor 11, when executing the computer program 13, implements the steps in the above-described method embodiment of determining the cause of the vehicle abnormality, such as steps S101 to S103 shown in fig. 1. Alternatively, the processor 11 executes the computer program 13 to implement the functions of the modules/units in the device embodiments, such as the functions of the acquisition module 10 to the analysis module 30 shown in fig. 2.

Illustratively, the computer program 13 may be partitioned into one or more modules/units, which are stored in the memory 12 and executed by the processor 11 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 13 in the communication device.

Those skilled in the art will appreciate that fig. 3 is merely an example of a communication device and is not limiting and may include more or fewer components than shown, or some components in combination, or different components, for example, the communication device may also include input output devices, network access devices, buses, etc.

The Processor 11 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 12 may be an internal storage unit of the communication device, such as a hard disk or a memory of the communication device. The memory 12 may also be an external storage device of the communication device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the communication device. Further, the memory 12 may also include both an internal storage unit and an external storage device of the communication device. The memory 12 is used for storing the computer program and other programs and data required by the communication device. The memory 12 may also be used to temporarily store data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.