Urban traffic passenger car blind area early warning method and device based on vehicle-infrastructure cooperation

The invention discloses an urban traffic passenger car blind area early warning method and device based on vehicle-infrastructure cooperation, and belongs to the technical field of intelligent traffic. First position information of a vehicle is acquired, a vehicle coordinate system is established, and an area representative function of each sub-blind area of a vehicle fixed vision blind area under the vehicle coordinate system is acquired; a roadside sensing sensor of the position where the vehicle is located is determined through the first position information, then state information of other traffic participants in the road traffic environment of the position where the vehicle is located is obtained through the sensing sensor on the vehicle and the corresponding roadside sensing sensor, and the state information comprises second position information of the other traffic participants; the second position information of other traffic participants in the road traffic environment where the vehicle is located is