# US 11,308,138 B2 · Danger warning method for vehicle, danger warning device for vehicle, and medium

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- Number: US 11,308,138 B2
- Document ID: US11308138B2
- Status: Granted
- Kind: B2
- Application number: 16/722,231
- Filed: 2019-12-20
- Published: 2020-07-02
- Granted: 2022-04-19
- Earliest claimed: 2018-12-28
- Assignees: Apollo Intelligent Driving Technology (Beijing) Co., Ltd.
- Applicants: Beijing Baidu Netcom Science and Technology Co., Ltd.
- Inventors: Zhuhua Zhang; Xing Hu
- Web page: https://patentgrep.com/patent/US11308138B2

## CPC

- G06F 16/29: Geographical information databases
- G08G 1/0116: {from roadside infrastructure, e.g. beacons}
- B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention
- G01S 13/91: for traffic control (G01S13/93 takes precedence)
- G08G 1/0133: {for classifying traffic situation}
- G08G 1/164: {Centralised systems, e.g. external to vehicles}
- B60W 2050/143: {Alarm means}
- B60W 2050/146: {Display means}
- G01S 13/878: {Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector (G01S13/874 takes precedence)}
- G01S 2013/9316: {combined with communication equipment with other vehicles or with base stations}
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES

## Abstract

Embodiments of the present disclosure provide a danger warning method for a vehicle, a danger warning device for a vehicle, and medium. The method includes: receiving a plurality of sensing data sets from a plurality of environmental monitoring devices that monitor a plurality of geographical ranges; determining a danger degree of respective object in the plurality of geographical ranges with respect to the vehicle based on the plurality of sensing data sets; and providing a danger warning instruction to the vehicle in response to determining that the danger degree is greater than a degree threshold. Each of the plurality of sensing data sets includes relevant information about objects in the corresponding geographical range, and the plurality of environmental monitoring devices are arranged away from the vehicle. The danger degree is configured to indicate a possibility that the object will endanger safe driving of the vehicle.

## Claims

### Claim 1

A danger warning method for a vehicle, comprising:
receiving a plurality of sensing data sets from a plurality of environmental monitoring devices that monitor a plurality of geographical ranges, each of the plurality of sensing data sets comprising relevant information about objects in the corresponding geographical range, and the plurality of environmental monitoring devices being arranged away from the vehicle;
determining a danger degree of respective object in the plurality of geographical ranges with respect to the vehicle based on the plurality of sensing data sets, the danger degree being configured to indicate a possibility that the object will endanger safe driving of the vehicle; and
providing a danger warning instruction to the vehicle in response to determining that the danger degree is greater than a degree threshold;
wherein determining the danger degree comprises:
performing de-redundancy on the plurality of sensing data sets; and
determining the danger degree based on a plurality of de-redundant sensing data sets;
wherein performing de-redundancy on the plurality of sensing data sets comprises:
determining that at least two of the plurality of sensing data sets comprise relevant information about the same object; and
keeping the relevant information about the same object in one of the at least two sensing data sets, and deleting the relevant information about the same object from remaining sensing data sets.

### Claim 2 (depends on 1)

The method according to claim 1, wherein performing de-redundancy comprises:
determining that at least two of the plurality of geographical ranges monitored by the plurality of environmental monitoring devices are at least partially overlapping; and
performing de-redundancy on the at least two sensing data sets comprising relevant information about objects in the at least two geographical ranges.

### Claim 3 (depends on 1)

The method according to claim 1, wherein determining the danger degree comprises:
identifying an object within a distance threshold to the vehicle from the plurality of sensing data sets; and
determining the danger degree of the object based on the relevant information about the object identified.

### Claim 4 (depends on 1)

The method according to claim 1, wherein determining the danger degree comprises:
classifying the plurality of sensing data sets into a plurality of data categories based on at least one of a speed of the object and a relative orientation of the object and the vehicle;
for a predetermined dangerous event, determining a priority of each of the plurality of data categories; and
determining a possibility that respective object in the plurality of geographical ranges triggers the predetermined dangerous event with each of the plurality of data categories according to an order of the priorities, to generate the danger degree of the object.

### Claim 5 (depends on 1)

The method according to claim 1, wherein providing the danger warning comprises:
transmitting the danger warning instruction to an on-board device via a communication connection with the on-board device of the vehicle.

### Claim 6 (depends on 1)

The method according to claim 1, wherein providing the danger warning comprises:
selecting an environmental monitoring device from a plurality of candidate environmental monitoring devices, each of the plurality of candidate environmental monitoring devices having a communication connection with an on-board device of the vehicle; and
transmitting the danger warning instruction to the selected environmental monitoring device, to instruct the selected environmental monitoring device to forward the danger warning instruction to the on-board device,
wherein selecting the environmental monitoring device from the plurality of candidate environmental monitoring devices is based on at least one of:
a distance between each of the plurality of candidate environmental monitoring devices and the vehicle;
whether the plurality of candidate environmental monitoring devices are located in a traveling direction of the vehicle; and
an angle between a position of each of the plurality of candidate environmental monitoring devices and a position of the vehicle in a coordinate system.

### Claim 7 (depends on 1)

The method according to claim 1, wherein each of the plurality of sensing data sets comprises at least one of a type, a size, a position, a speed, and a motion direction of the object in the geographical range.

### Claim 8 (depends on 1)

The method according to claim 1, wherein providing the danger warning instruction to the vehicle in response to determining that the danger degree is greater than the threshold comprises:
presenting the danger warning instruction to a driver of the vehicle, when an automatic driving capability of the vehicle is less than a capability threshold;
providing the danger warning instruction to a controller to assist in driving control of the vehicle, when the automatic driving capability of the vehicle is greater than or equal to the capability threshold.

### Claim 9

A danger warning device for a vehicle, comprising:
one or more processors; and
a storage device configured to store one or more programs,
wherein when the one or more programs are executed by the one or more processors, the one or more processors are caused to:
receive a plurality of sensing data sets from a plurality of environmental monitoring devices that monitor a plurality of geographical ranges, each of the plurality of sensing data sets comprising relevant information about objects in the corresponding geographical range, and the plurality of environmental monitoring devices being arranged away from the vehicle;
determine a danger degree of respective object in the plurality of geographical ranges with respect to the vehicle based on the plurality of sensing data sets, the danger degree being configured to indicate a possibility that the object will endanger safe driving of the vehicle; and
provide a danger warning instruction to the vehicle in response to determining that the danger degree is greater than a degree threshold;
wherein the one or more processors are configured to:
perform de-redundancy on the plurality of sensing data sets; and
determine the danger degree based on a plurality of de-redundant sensing data sets;
wherein the one or more processors are configured to perform de-redundancy on the plurality of sensing data sets by acts of:
determining that at least two of the plurality of sensing data sets comprise relevant information about the same object; and
keeping the relevant information about the same object in one of the at least two sensing data sets, and deleting the relevant information about the same object from remaining sensing data sets.

### Claim 10 (depends on 9)

The device according to claim 9, wherein the one or more processors are configured to:
determine that at least two of the plurality of geographical ranges monitored by the plurality of environmental monitoring devices are at least partially overlapping; and
perform de-redundancy on the at least two sensing data sets comprising relevant information about the object in the at least two geographical ranges.

### Claim 11 (depends on 9)

The device according to claim 9, wherein the one or more processors are configured to:
identify an object within a distance threshold to the vehicle from the plurality of sensing data sets; and
determine the danger degree of the object based on the relevant information about the object.

### Claim 12 (depends on 9)

The device according to claim 9, wherein the one or more processors are configured to:
classify the plurality of sensing data sets into a plurality of data categories based on at least one of a speed of the object and a relative orientation of the object and the vehicle;
for a predetermined dangerous event, determine a priority of each of the plurality of data categories; and
determine a possibility that respective object in the plurality of geographical ranges triggers the predetermined dangerous event with each of the plurality of data categories according to an order of the priorities, to generate the danger degree of the object.

### Claim 13 (depends on 9)

The device according to claim 9, wherein the one or more processors are configured to:
transmit the danger warning instruction to an on-board device via a communication connection with the on-board device of the vehicle.

### Claim 14 (depends on 9)

The device according to claim 9, wherein the one or more processors are configured to:
select an environmental monitoring device from a plurality of candidate environmental monitoring devices, each of the plurality of candidate environmental monitoring devices having a communication connection with an on-board device of the vehicle; and
transmit the danger warning instruction to the selected environmental monitoring device, to cause the selected environmental monitoring device to forward the danger warning instruction to the on-board device,
wherein the one or more processors are configured to select the environmental monitoring device from the plurality of candidate environmental monitoring devices based on at least one of:
a distance between each of the plurality of candidate environmental monitoring devices and the vehicle;
whether the plurality of candidate environmental monitoring devices are located in a traveling direction of the vehicle; and
an angle between a position of each of the plurality of candidate environmental monitoring devices and a position of the vehicle in a coordinate system.

### Claim 15 (depends on 9)

The device according to claim 9, wherein each of the plurality of sensing data sets comprises at least one of a type, a size, a position, a speed, and a motion direction of the object in the geographical range.

### Claim 16 (depends on 9)

The device according to claim 9, wherein the one or more processors are configured to:
present the danger warning instruction to a driver of the vehicle, presenting the danger warning instruction to a driver of the vehicle;
provide the danger warning instruction to a controller to assist in driving control of the vehicle, when the automatic driving capability of the vehicle is greater than or equal to the capability threshold.

### Claim 17

A non-transitory computer readable storage medium having a stored thereon computer program that, when executed by a processor, cause a danger warning method for a vehicle to be implemented, the method comprising:
receiving a plurality of sensing data sets from a plurality of environmental monitoring devices that monitor a plurality of geographical ranges, each of the plurality of sensing data sets comprising relevant information about objects in the corresponding geographical range, and the plurality of environmental monitoring devices being arranged away from the vehicle;
determining a danger degree of respective object in the plurality of geographical ranges with respect to the vehicle based on the plurality of sensing data sets, the danger degree being configured to indicate a possibility that the object will endanger safe driving of the vehicle; and
providing a danger warning instruction to the vehicle in response to determining that the danger degree is greater than a degree threshold;
wherein determining the danger degree comprises:
performing de-redundancy on the plurality of sensing data sets; and
determining the danger degree based on a plurality of de-redundant sensing data sets;
wherein performing de-redundancy on the plurality of sensing data sets comprises:
determining that at least two of the plurality of sensing data sets comprise relevant information about the same object; and
keeping the relevant information about the same object in one of the at least two sensing data sets, and deleting the relevant information about the same object from remaining sensing data sets.