Vehicle warning method, device, apparatus and storage medium

Abstract

The application discloses a vehicle warning method, device and equipment and a storage medium, and belongs to the technical field of vehicle safe driving. The method comprises the following steps: determining the angle of the ray emitted by the ray sensor installed on the vehicle relative to the reference surface; detecting that there is no obstacle in the reference area in the driving direction of the vehicle according to the angle of the ray relative to the reference surface, and obtaining the angle of the reference surface detected by the gravity sensor installed on the vehicle relative to the horizontal plane; and performing a warning operation based on the angle of the reference surface relative to the horizontal plane being greater than zero. Through the fact that there is no obstacle in the reference area in the driving direction of the vehicle and the reference surface, and the angle of the reference surface detected by the gravity sensor relative to the horizontal plane is greater than zero, it can be determined that the vehicle will soon reach the top of the slope, at this time, the terminal performs a warning, and if there is also an obstacle opposite to the vehicle that will soon reach the top of the slope, the warning function of the vehicle can reduce the collision probability of the vehicle and the obstacle.

Description

Technical Field

[0001] This application relates to the field of vehicle safe driving technology, and in particular to a vehicle warning method, device, equipment and storage medium. Background Technology

[0002] With the continuous development of vehicle safety driving technology, the warning functions of vehicles are receiving increasing attention. For example, if the surrounding light is poor or the vehicle is in a blind spot and cannot detect obstacles ahead in time, the probability of an accident increases. Therefore, how to utilize the warning functions of vehicles to reduce the probability of accidents is a problem that needs to be solved. Summary of the Invention

[0003] This application provides a vehicle warning method, device, equipment, and storage medium, which can utilize the vehicle's warning function to issue alerts and reduce the probability of accidents. The technical solution is as follows:

[0004] On one hand, embodiments of this application provide a vehicle warning method, the method comprising:

[0005] The angle of the rays emitted by the ray sensor relative to a reference plane is determined. The ray sensor is mounted on the vehicle and located in front of the vehicle in the direction of travel. The reference plane is the plane in which the vehicle is located.

[0006] Based on the angle of the ray relative to the reference surface, the presence of an obstacle in the reference area along the vehicle's driving direction is detected, as well as the reference surface is detected.

[0007] If there are no obstacles in the reference area in the vehicle's driving direction and the reference surface is not detected, obtain the angle of the reference surface relative to the horizontal plane detected by the gravity sensor installed on the vehicle.

[0008] An alarm operation is performed based on the fact that the angle between the reference plane and the horizontal plane is greater than zero.

[0009] In one possible implementation, determining the angle of the ray emitted by the ray sensor relative to the reference plane includes:

[0010] The angle of the reference surface relative to the horizontal surface is detected by the gravity sensor.

[0011] The angle of the ray relative to the reference plane is determined based on the difference between the angle of the horizontal plane and the angle of the reference plane relative to the horizontal plane.

[0012] In one possible implementation, determining the angle of the ray relative to the reference plane based on the difference between the angle of the horizontal plane and the angle of the reference plane relative to the horizontal plane includes:

[0013] The angle of the ray relative to the reference plane is determined according to the following formula based on the difference between the angle of the horizontal plane and the angle of the reference plane relative to the horizontal plane;

[0014]

[0015] Wherein, β represents the angle of the ray relative to the reference plane; p represents the angle of the horizontal plane; α represents the angle of the reference plane relative to the horizontal plane, and α ≥ 0°; k is a scaling factor.

[0016] In one possible implementation, determining the angle of the ray relative to the reference plane based on the difference between the angle of the horizontal plane and the angle of the reference plane relative to the horizontal plane includes:

[0017] The angle of the ray relative to the reference plane is determined according to the following formula based on the difference between the angle of the horizontal plane and the angle of the reference plane relative to the horizontal plane;

[0018]

[0019] Wherein, α′ represents the angle of the reference plane relative to the horizontal plane, and α′ < 0°.

[0020] In one possible implementation, after detecting whether an obstacle exists in the reference area in the vehicle's driving direction based on the angle of the ray relative to the reference surface and detecting the reference surface, the method further includes:

[0021] If an obstacle exists within a reference area in the vehicle's direction of travel, the vehicle's speed is controlled to maintain a distance between the vehicle and the obstacle.

[0022] In one possible implementation, after detecting whether an obstacle exists in the reference area in the vehicle's driving direction based on the angle of the ray relative to the reference surface and detecting the reference surface, the method further includes:

[0023] If there are no obstacles in the reference area in the vehicle's driving direction and the reference surface is detected, the vehicle is controlled to continue driving according to the current driving state.

[0024] In one possible implementation, the warning operation includes at least one of horn warning and voice broadcast.

[0025] On the other hand, a vehicle warning device is provided, the device comprising:

[0026] A determining module is used to determine the angle of the rays emitted by the ray sensor relative to a reference surface. The ray sensor is mounted on the vehicle and located in front of the vehicle in the direction of travel. The reference surface is the plane in which the vehicle is located.

[0027] The detection module is used to detect whether there is an obstacle in the reference area in the driving direction of the vehicle, and to detect the reference surface, based on the angle of the ray relative to the reference surface.

[0028] The acquisition module is used to acquire the angle of the reference surface relative to the horizontal plane detected by the gravity sensor installed on the vehicle if there is no obstacle in the reference area in the driving direction of the vehicle and the reference surface is not detected.

[0029] The warning module is used to perform a warning operation based on the fact that the angle between the reference plane and the horizontal plane is greater than zero.

[0030] In one possible implementation, the determining module is configured to detect the angle of the reference surface relative to the horizontal surface based on the gravity sensor;

[0031] The angle of the ray relative to the reference plane is determined based on the difference between the angle of the horizontal plane and the angle of the reference plane relative to the horizontal plane.

[0032] In one possible implementation, the determining module is configured to determine the angle of the ray relative to the reference plane based on the difference between the angle of the horizontal plane and the angle of the reference plane relative to the horizontal plane according to the following formula;

[0033]

[0034] Wherein, β represents the angle of the ray relative to the reference plane; p represents the angle of the horizontal plane; α represents the angle of the reference plane relative to the horizontal plane, and α ≥ 0°; k is a scaling factor.

[0035] In one possible implementation, the determining module is configured to determine the angle of the ray relative to the reference plane based on the difference between the angle of the horizontal plane and the angle of the reference plane relative to the horizontal plane according to the following formula;

[0036]

[0037] Wherein, α′ represents the angle of the reference plane relative to the horizontal plane, and α′ < 0°.

[0038] In one possible implementation, the device further includes:

[0039] A control module is configured to control the speed of the vehicle if an obstacle exists in a reference area in the vehicle's direction of travel, so as to maintain a distance between the vehicle and the obstacle.

[0040] In one possible implementation, the control module is further configured to control the vehicle to continue driving according to the current driving state if there is no obstacle in the reference area in the driving direction of the vehicle and the reference surface is detected.

[0041] In one possible implementation, the warning operation includes at least one of horn warning and voice broadcast.

[0042] On the other hand, a computer device is provided, the computer device including a processor and a memory, the memory storing at least one computer program, the at least one computer program being loaded and executed by the processor to enable the computer device to implement any of the vehicle warning methods described above.

[0043] On the other hand, a computer-readable storage medium is also provided, wherein at least one computer program is stored therein, the at least one computer program being loaded and executed by a processor to enable a computer to implement any of the vehicle warning methods described above.

[0044] On the other hand, a computer program product or computer program is also provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the computer device to perform any of the vehicle warning methods described above.

[0045] The technical solution provided in this application has at least the following beneficial effects:

[0046] In this embodiment, if no obstacle or reference surface is detected in the reference area along the vehicle's driving direction based on the angle of the ray relative to the reference surface, and the angle of the reference surface relative to the horizontal plane is greater than zero, it can be determined that the vehicle is about to reach the crest of the hill, at which point the terminal issues a warning. If an obstacle is also about to reach the crest of the hill in the opposite direction, this warning operation can reduce the probability of a collision between the vehicle and the obstacle due to being in a blind spot. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a schematic diagram of an implementation environment provided in an embodiment of this application;

[0049] Figure 2 This is a flowchart of a vehicle warning method provided in an embodiment of this application;

[0050] Figure 3 This is a schematic diagram illustrating a case where the angle between a reference plane and a horizontal plane is zero, as provided in an embodiment of this application.

[0051] Figure 4 This is a schematic diagram illustrating a case where the angle between a reference plane and a horizontal plane is greater than zero, as provided in an embodiment of this application.

[0052] Figure 5 This is a schematic diagram illustrating a case where the angle between a reference plane and a horizontal plane is less than zero, as provided in an embodiment of this application.

[0053] Figure 6 This is a logic judgment diagram for ray angle and direction provided in an embodiment of this application;

[0054] Figure 7 This is a schematic diagram of a background control model provided in an embodiment of this application;

[0055] Figure 8 This is a logic diagram of a vehicle warning method provided in an embodiment of this application;

[0056] Figure 9 This is a schematic diagram of a vehicle warning device provided in an embodiment of this application;

[0057] Figure 10 This is a schematic diagram of the structure of a server provided in an embodiment of this application;

[0058] Figure 11 This is a schematic diagram of the structure of a terminal provided in an embodiment of this application. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0060] This application provides a vehicle warning method. Please refer to the following embodiments. Figure 1The diagram illustrates the implementation environment of the method provided in this embodiment. Taking the application of this method in a vehicle driving scenario as an example, the implementation environment may include: terminal 11 and server 12.

[0061] The terminal 11 is equipped with an application or webpage capable of performing vehicle warning operations. When the application or webpage needs to perform vehicle warning operations, the method provided in this embodiment can be used. The server 12 can store vehicle warning information, and the terminal 11 can obtain vehicle warning information from the server 12. Of course, the obtained information can also be stored on the terminal 11.

[0062] Optionally, terminal 11 can be an intelligent device such as an in-vehicle terminal or a smart vehicle system. Server 12 can be a single server, a server cluster consisting of multiple servers, or a cloud computing service center. Terminal 11 and server 12 establish a communication connection via wired or wireless network.

[0063] Those skilled in the art should understand that the above-described terminal 11 and server 12 are merely examples. Other existing or future terminals or servers that are applicable to this application should also be included within the scope of protection of this application, and are hereby incorporated by reference.

[0064] This application provides a vehicle warning method, which can be applied to the above-mentioned... Figure 1 The implementation environment is shown. Figure 2 As shown, taking the application of this method to an in-vehicle terminal as an example, the method includes steps 201-204.

[0065] In step 201, the angle of the ray emitted by the ray sensor relative to the reference plane is determined. The ray sensor is mounted on the vehicle and located in front of the vehicle in the direction of travel. The reference plane is the plane in which the vehicle is located.

[0066] This application does not limit the number of rays emitted by the ray sensor. Depending on the number of rays emitted, the ray sensor can be classified as a single-line sensor or a multi-line sensor. Multi-line sensors can have 4, 8, or 16 rays, etc. Regardless of the type of ray sensor used, the ray sensor provided in this application is installed on the vehicle and located in front of the vehicle in the direction of travel. Furthermore, the vehicle is positioned on a reference plane; if the vehicle is traveling from west to east, the direction of travel is east, and the ray sensor should be installed on the vehicle in the east to emit rays from west to east.

[0067] In one possible implementation, determining the angle of the ray emitted by the ray sensor relative to a reference surface includes: detecting the angle of the reference surface relative to a horizontal plane based on a gravity sensor; and determining the angle of the ray relative to the reference surface based on the difference between the angle of the horizontal plane and the angle of the reference surface relative to the horizontal plane.

[0068] In this embodiment, a gravity sensor is installed on the vehicle, and by measuring the acceleration caused by the vehicle's gravity, the angle of the reference plane relative to the horizontal plane is further calculated. After the gravity sensor calculates the angle of the reference plane relative to the horizontal plane, it uploads this angle to the terminal, which can then further determine the angle of the ray relative to the reference plane.

[0069] In one possible implementation, the angle of the ray relative to the reference plane is determined based on the difference between the angle of the horizontal plane and the angle of the reference plane relative to the horizontal plane, including:

[0070] The angle of the ray relative to the reference plane is determined by the difference between the angle of the horizontal plane and the angle of the reference plane relative to the horizontal plane according to the following formula (1);

[0071]

[0072] Where β represents the angle of the ray relative to the reference plane; p represents the angle of the horizontal plane; α represents the angle of the reference plane relative to the horizontal plane, and α≥0°; k is the scaling factor.

[0073] This application embodiment does not limit the size of the angle p of the horizontal plane measured by the gravity sensor. For example, the angle of the horizontal plane can be 0°. In formula (1), the value range of the proportional coefficient k is k≥1. The size of k can be set empirically or flexibly according to the application scenario. This application embodiment does not limit this. For example, the proportional coefficient can be 2 or 3, etc. α represents the angle of the reference plane relative to the horizontal plane. α=0° means that the reference plane where the vehicle is located is parallel to the horizontal plane. This situation can be referred to... Figure 3 , Figure 3 This is a schematic diagram showing the case where the angle between the reference plane and the horizontal plane is zero. Figure 3 In the diagram, 301 represents the vehicle, and 302 represents the horizontal plane, which is also the reference plane for the vehicle. Figure 3 The vehicle was traveling from west to east, and the radiation sensor was installed on the vehicle, emitting radiation from west to east.

[0074] Similarly, α > 0° means that the angle between the reference plane and the horizontal plane is greater than zero, indicating that the vehicle is going uphill. This can be seen in [reference needed]. Figure 4 , Figure 4 This is a schematic diagram illustrating the case where the angle between the reference plane and the horizontal plane is greater than zero. Figure 4In the diagram, 401 represents the vehicle, 402 represents the reference plane where the vehicle is located, and 403 represents the horizontal plane. Figure 4 In the equation, α > 0°, indicating that the vehicle is going uphill; β is the angle of the ray relative to the reference plane, and β < 0 indicates that the angle of the ray relative to the reference plane is less than zero.

[0075] Taking p = 0° and k = 3 as an example, if the gravity sensor on the vehicle detects that the angle α between the reference plane where the vehicle is located and the horizontal plane is 30°, after the gravity sensor uploads the angle α to the terminal, the terminal can calculate the angle β = -10° between the ray and the reference plane according to formula (1). This angle indicates that the ray emitted by the ray sensor should be offset downward by 10° while being parallel to the reference plane.

[0076] In one possible implementation, the angle of the ray relative to the reference plane is determined based on the difference between the angle of the horizontal plane and the angle of the reference plane relative to the horizontal plane, including:

[0077] The angle of the ray relative to the reference plane is determined by the difference between the angle of the horizontal plane and the angle of the reference plane relative to the horizontal plane according to the following formula (2);

[0078]

[0079] Here, α′ represents the angle of the reference plane relative to the horizontal plane, and α′ < 0°. α′ < 0° means that the angle of the reference plane relative to the horizontal plane is less than zero, i.e., the vehicle is going downhill. This can be seen in [reference needed]. Figure 5 , Figure 5 This is a schematic diagram illustrating the case where the angle between the reference plane and the horizontal plane is less than zero. Figure 5 In the diagram, 501 represents the vehicle, 502 represents the reference plane on which the vehicle is located, and 503 represents the horizontal plane. Figure 5 In the above, α > 0°, the vehicle is in a downhill state, β is the angle of the ray relative to the reference plane, and β > 0 means that the angle of the ray relative to the reference plane is greater than zero.

[0080] Taking p = 0° and k = 3 as an example, if the gravity sensor on the vehicle detects that the angle α between the reference plane where the vehicle is located and the horizontal plane is -30°, then the angle β between the ray and the reference plane can be calculated according to formula (2) as 10°, which means that the ray emitted by the ray sensor should be offset upward by 10° on the basis of being parallel to the reference plane.

[0081] Figure 6 This is a logic diagram for determining the angle and direction of a ray. Figure 6In step 601, the angle of the input reference plane relative to the horizontal plane is represented by the slope α. After the gravity sensor detects α, it sends α to the terminal. The terminal can then execute step 602, which calculates the angle of the ray emitted by the ray sensor relative to the reference plane, i.e., the ray sensor offset value β. Then, the terminal executes step 603 to determine whether β is less than 0. If it is, the terminal executes step 604, controlling the ray sensor to offset downward by |β|; otherwise, the terminal executes step 605, controlling the ray sensor to offset upward by |β|.

[0082] In step 202, based on the angle of the ray relative to the reference surface, it is determined whether there are obstacles in the reference area along the vehicle's travel direction and the reference surface is detected.

[0083] After calculating the angle of the ray relative to the reference surface according to the method in step 201, the terminal can control the ray sensor to emit a ray according to that angle to detect whether there are obstacles and a reference surface in the reference area along the vehicle's driving direction. For example, when the ray detects an obstacle, it will be reflected. The reflected ray will be received again by the ray sensor, and then the ray sensor will upload the detection result to the terminal. The terminal can then determine whether there are obstacles and the detection reference surface in the reference area along the vehicle's driving direction. In this embodiment, the type of obstacle is not limited; for example, an obstacle can be a moving vehicle or a pedestrian.

[0084] For example, the range of the reference area in the vehicle's direction of travel can be set empirically or determined based on input information. For example, when the angle between the reference surface and the horizontal plane is zero, the range of the reference area can be set empirically. According to step 201, if the angle between the reference surface and the horizontal plane is zero, then the angle between the ray emitted by the ray sensor and the reference surface where the vehicle is located is zero. Figure 3 In this case, the ray can detect obstacles within a reference area in the direction the vehicle is traveling. The size of the reference area can be the area within 30 meters directly in front of the vehicle, or a semi-circular area in front of the vehicle with a radius of 30 meters and the vehicle as the center.

[0085] For example, when the angle between the reference plane and the horizontal plane is greater than zero, the size of the reference area in the vehicle's driving direction can be determined based on the input information. In this embodiment, the input information can be the installation height of the ray sensor and the angle between the reference plane and the horizontal plane. If the vehicle is on an uphill slope, the size of the reference area can be calculated using the following formula (3), which is the farthest distance that the ray can reach:

[0086] y=x|tan(90°-|β|)| Formula (3)

[0087] Where y represents the farthest distance that the ray can reach; x represents the installation height of the ray sensor. This application embodiment does not limit the value of this height. For example, x can be 1 meter.

[0088] According to step 201, when β = -10°, taking x = 1 as an example, it can be calculated using formula (3) that when the ray is emitted at an angle of 10° relative to the reference plane, the farthest distance that can be irradiated is 5.67 meters. Therefore, the reference area in the direction of vehicle travel is the area within 5.67 meters in the direction of vehicle travel.

[0089] In step 203, if there are no obstacles in the reference area in the vehicle's driving direction and no reference surface is detected, the angle of the reference surface relative to the horizontal plane detected by the gravity sensor installed on the vehicle is obtained.

[0090] The method by which the gravity sensor installed on the vehicle detects the angle of the reference plane relative to the horizontal plane has been described in detail in step 201 above, and will not be repeated here. After the gravity sensor detects the angle of the reference plane relative to the horizontal plane, the terminal obtains the detected angle information from the gravity sensor.

[0091] In the embodiments of this application, there are two situations that may cause the ray sensor to fail to detect an obstacle in the reference area in the vehicle's direction of travel, and also fail to detect the reference surface on which the vehicle is located:

[0092] Scenario 1: The reference plane where the vehicle is located is horizontal, meaning the angle between the reference plane and the horizontal plane is zero. In this case, the ray sensor emits rays at an angle of zero with the reference plane where the vehicle is located. If the ray sensor does not receive the reflected rays within the reference area, it means that there are no obstacles in the reference area in the vehicle's direction of travel, and the ray sensor has not detected the reference plane where the vehicle is located.

[0093] Scenario 2: The vehicle is going uphill, and the actual distance between the vehicle and the top of the hill is less than the farthest distance the ray can reach. In this situation, the ray sensor will also detect no obstacles in the reference area along the vehicle's direction of travel, and will not detect the reference surface.

[0094] Given that the above two situations may cause the ray sensor to fail to detect obstacles in the reference area in the vehicle's direction of travel, and also fail to detect the reference surface where the vehicle is located, the terminal also needs to control the gravity sensor to obtain the angle of the reference surface relative to the horizontal plane in order to further determine the current driving status of the vehicle.

[0095] In step 204, an alarm operation is performed based on the fact that the angle between the reference plane and the horizontal plane is greater than zero.

[0096] According to step 203, if the angle between the reference plane and the horizontal plane is greater than zero, it indicates that the vehicle is in an uphill state, satisfying condition two in step 203, that is, the vehicle is about to reach the top of the hill. At this time, the terminal needs to issue a warning. In one possible implementation, the warning operation includes at least one of horn warning and voice broadcast. This application embodiment does not limit the content of the voice broadcast. For example, the content of the voice broadcast can be "Approaching the top, be careful of oncoming vehicles".

[0097] In one possible implementation, after detecting whether there is an obstacle in the reference area in the vehicle's driving direction and detecting the reference surface based on the angle of the ray relative to the reference surface, the method further includes: if there is an obstacle in the reference area in the vehicle's driving direction, controlling the vehicle's speed to keep the vehicle at a distance from the obstacle.

[0098] If an obstacle exists within the reference area along the vehicle's direction of travel, there is no need to consider whether the reference surface can be detected. The terminal directly controls the vehicle's speed to keep the vehicle within a distance threshold range from the obstacle. For example, the actual distance between the vehicle and the obstacle can be detected by rays emitted from a ray sensor installed on the vehicle. This application does not limit the value of the threshold; for example, the threshold can be set empirically or flexibly according to the application scenario.

[0099] In one possible implementation, after detecting whether there is an obstacle in the reference area in the vehicle's driving direction and detecting the reference surface based on the angle of the ray relative to the reference surface, the method further includes: if there is no obstacle in the reference area in the vehicle's driving direction and the reference surface is detected, controlling the vehicle to continue driving according to the current driving state.

[0100] In this application embodiment, there are two situations in which there are no obstacles in the reference area in the vehicle's direction of travel, and a reference surface is detected:

[0101] Scenario 3: The vehicle is going uphill, and the distance to the top of the hill is greater than the maximum distance that the ray can reach. If the vehicle is going uphill, and the ray emitted by the ray sensor detects the reference surface, it indicates that the actual distance between the vehicle and the top of the hill is greater than the maximum distance that the ray can reach. In this case, no warning is needed; simply continue driving the vehicle as it is currently in motion.

[0102] Scenario 4: Vehicle is going downhill. If the vehicle is going downhill and there are no obstacles in the reference area in the direction of travel, the rays emitted by the ray sensor can detect the reference surface. In this case, no warning is needed, and the vehicle can continue to travel in the current state.

[0103] Therefore, regardless of whether it is situation three or situation four above, as long as there are no obstacles in the reference area in the direction of vehicle travel and the reference surface is detected, the vehicle can be controlled to continue traveling according to the current driving state.

[0104] Figure 7 This is a schematic diagram of the back-end control model. Figure 7 In this system, the terminal control microprocessor centrally receives and processes signals from the gravity sensor and the ray sensor, and uses algorithms to control the angle of the rays emitted by the ray sensor, control the vehicle speed, and perform warning operations. The terminal can also control the microprocessor to issue warnings via the speaker controller and voice server.

[0105] Figure 8 This is a logic diagram of the vehicle warning method. Figure 8 In step 801, the terminal determines whether the ray sensor can detect an obstacle. If yes, step 802 is executed, and the terminal controls the vehicle speed to maintain a distance from the obstacle. If no, step 803 is executed, and the terminal determines whether the ray sensor can detect a reference surface. If the reference surface can be detected, step 804 is executed, and the terminal controls the vehicle to drive normally. If the reference surface is not detected, step 805 is executed, and the terminal uses the gravity sensor to determine whether the vehicle is on an uphill slope, i.e., whether the angle between the reference surface and the horizontal plane is greater than zero. If yes, step 806 is executed, and the terminal controls the speaker controller and voice server to sound the horn and broadcast a voice warning. If no, step 804 is still executed, i.e., the vehicle is controlled to drive normally, which means controlling the vehicle to continue driving at the current speed.

[0106] In this embodiment, if no obstacle or reference surface is detected in the reference area along the vehicle's driving direction based on the angle of the ray relative to the reference surface, and the angle of the reference surface relative to the horizontal plane is greater than zero, it can be determined that the vehicle is about to reach the crest of the hill, at which point the terminal issues a warning. If an obstacle is also about to reach the crest of the hill in the opposite direction, this warning operation can reduce the probability of a collision between the vehicle and the obstacle due to being in a blind spot.

[0107] See Figure 9 This application provides a vehicle warning device, which includes:

[0108] The determination module 901 is used to determine the angle of the rays emitted by the ray sensor relative to the reference plane. The ray sensor is installed on the vehicle and is located in front of the vehicle in the direction of travel. The reference plane is the plane in which the vehicle is located.

[0109] The detection module 902 is used to detect whether there are obstacles in the reference area in the vehicle's driving direction and to detect the reference surface based on the angle of the ray relative to the reference surface.

[0110] The acquisition module 903 is used to acquire the angle of the reference surface relative to the horizontal plane detected by the gravity sensor installed on the vehicle if there is no obstacle in the reference area in the direction of vehicle travel and no reference surface is detected.

[0111] The warning module 904 is used to perform warning operations based on the fact that the angle between the reference plane and the horizontal plane is greater than zero.

[0112] In one possible implementation, the determining module 901 is used to detect the angle of the reference plane relative to the horizontal plane based on the gravity sensor.

[0113] The angle of the ray relative to the reference plane is determined based on the difference between the angle of the horizontal plane and the angle of the reference plane relative to the horizontal plane.

[0114] In one possible implementation, the determining module 901 is used to determine the angle of the ray relative to the reference plane based on the difference between the angle of the horizontal plane and the angle of the reference plane relative to the horizontal plane according to the following formula;

[0115]

[0116] Where β represents the angle of the ray relative to the reference plane; p represents the angle of the horizontal plane; α represents the angle of the reference plane relative to the horizontal plane, and α≥0°; k is the scaling factor.

[0117] In one possible implementation, the determining module 901 is used to determine the angle of the ray relative to the reference plane based on the difference between the angle of the horizontal plane and the angle of the reference plane relative to the horizontal plane according to the following formula;

[0118]

[0119] Where α′ represents the angle between the reference plane and the horizontal plane, and α′ < 0°.

[0120] In one possible implementation, the device further includes:

[0121] The control module is used to control the vehicle's speed if there is an obstacle in the reference area in the vehicle's direction of travel, so as to keep the vehicle at a distance from the obstacle.

[0122] In one possible implementation, the control module is further configured to control the vehicle to continue driving according to the current driving state if there are no obstacles in the reference area in the vehicle's driving direction and a reference surface is detected.

[0123] In one possible implementation, the alarm operation includes at least one of horn alarm and voice broadcast.

[0124] In this embodiment, if no obstacle or reference surface is detected in the reference area along the vehicle's driving direction based on the angle of the ray relative to the reference surface, and the angle of the reference surface relative to the horizontal plane is greater than zero, it can be determined that the vehicle is about to reach the crest of the hill, at which point the terminal issues a warning. If an obstacle is also about to reach the crest of the hill in the opposite direction, this warning operation can reduce the probability of a collision between the vehicle and the obstacle due to being in a blind spot.

[0125] It should be noted that the apparatus provided in the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here.

[0126] Figure 10 This is a schematic diagram of a server structure provided in an embodiment of this application. The server can vary significantly due to differences in configuration or performance. It may include one or more processors 1001 and one or more memories 1002. The processor 1001 may be a Central Processing Unit (CPU). The one or more memories 1002 store at least one computer program, which is loaded and executed by the one or more processors 1001 to enable the server to implement the vehicle warning methods provided in the various method embodiments described above. Of course, the server may also have wired or wireless network interfaces, a keyboard, and input / output interfaces for input and output. The server may also include other components for implementing device functions, which will not be elaborated upon here.

[0127] Figure 11 This is a schematic diagram of the structure of a terminal provided in an embodiment of this application. The terminal can be a smartphone, tablet computer, laptop computer, or desktop computer. The terminal may also be referred to as user equipment, portable terminal, laptop terminal, desktop terminal, or other names.

[0128] Typically, a terminal includes a processor 1501 and a memory 1502.

[0129] Processor 1501 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 1501 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 1501 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 1501 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the screen. In some embodiments, processor 1501 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0130] The memory 1502 may include one or more computer-readable storage media, which may be non-transitory. The memory 1502 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 1502 is used to store at least one instruction, which is executed by the processor 1501 to cause the terminal to implement the vehicle warning method provided in the method embodiments of this application.

[0131] In some embodiments, the terminal may also optionally include: a peripheral device interface 1503 and at least one peripheral device. The processor 1501, memory 1502, and peripheral device interface 1503 can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface 1503 via a bus, signal line, or circuit board. Specifically, the peripheral device includes at least one of: a radio frequency circuit 1504, a display screen 1505, a camera assembly 1506, an audio circuit 1507, a positioning assembly 1508, and a power supply 1509.

[0132] Peripheral interface 1503 can be used to connect at least one I / O (Input / Output) related peripheral device to processor 1501 and memory 1502. In some embodiments, processor 1501, memory 1502 and peripheral interface 1503 are integrated on the same chip or circuit board; in some other embodiments, any one or two of processor 1501, memory 1502 and peripheral interface 1503 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0133] The radio frequency (RF) circuit 1504 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 1504 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 1504 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals back into electrical signals. Optionally, the RF circuit 1504 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The RF circuit 1504 can communicate with other terminals through at least one wireless communication protocol. This wireless communication protocol includes, but is not limited to: metropolitan area networks (MANs), various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks (WLANs), and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF circuit 1504 may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0134] Display screen 1505 is used to display a UI (User Interface). This UI may include graphics, text, icons, videos, and any combination thereof. When display screen 1505 is a touch display screen, it also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to processor 1501 for processing. In this case, display screen 1505 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, display screen 1505 can be a single screen, located on the front panel of the terminal; in other embodiments, display screen 1505 can be at least two screens, respectively located on different surfaces of the terminal or in a folded design; in other embodiments, display screen 1505 can be a flexible display screen, located on a curved or folded surface of the terminal. Furthermore, display screen 1505 can be configured as a non-rectangular, irregular shape, i.e., a non-rectangular screen. Display screen 1505 can be made of materials such as LCD (Liquid Crystal Display) or OLED (Organic Light-Emitting Diode).

[0135] The camera assembly 1506 is used to acquire images or videos. Optionally, the camera assembly 1506 includes a front-facing camera and a rear-facing camera. Typically, the front-facing camera is located on the front panel of the terminal, and the rear-facing camera is located on the back of the terminal. In some embodiments, there are at least two rear-facing cameras, which are any one of a main camera, a depth-sensing camera, a wide-angle camera, and a telephoto camera, to achieve background blurring by fusion of the main camera and the depth-sensing camera, panoramic shooting by fusion of the main camera and the wide-angle camera, VR (Virtual Reality) shooting, or other fusion shooting functions. In some embodiments, the camera assembly 1506 may also include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm-light flash and a cool-light flash, which can be used for light compensation at different color temperatures.

[0136] The audio circuit 1507 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, converting the sound waves into electrical signals that are input to the processor 1501 for processing, or input to the radio frequency circuit 1504 for voice communication. For stereo sound acquisition or noise reduction purposes, multiple microphones may be used, each positioned at a different location on the terminal. The microphone may also be an array microphone or an omnidirectional microphone. The speaker is used to convert electrical signals from the processor 1501 or the radio frequency circuit 1504 into sound waves. The speaker may be a conventional diaphragm speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can convert electrical signals not only into audible sound waves but also into inaudible sound waves for purposes such as distance measurement. In some embodiments, the audio circuit 1507 may also include a headphone jack.

[0137] The positioning component 1508 is used to locate the current geographical location of the terminal in order to enable navigation or LBS (Location Based Service).

[0138] Power supply 1509 is used to power the various components in the terminal. Power supply 1509 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When power supply 1509 includes a rechargeable battery, the rechargeable battery can support wired or wireless charging. The rechargeable battery can also be used to support fast charging technology.

[0139] In some embodiments, the terminal further includes one or more sensors 1510. The one or more sensors 1510 include, but are not limited to: an accelerometer 1511, a gyroscope 1512, a pressure sensor 1513, a fingerprint sensor 1514, an optical sensor 1515, and a proximity sensor 1516.

[0140] Accelerometer 1511 can detect the magnitude of acceleration along the three coordinate axes of a coordinate system established by the terminal. For example, accelerometer 1511 can be used to detect the components of gravitational acceleration along the three coordinate axes. Processor 1501 can control display screen 1505 to display the user interface in either a landscape or portrait view based on the gravitational acceleration signal acquired by accelerometer 1511. Accelerometer 1511 can also be used for games or for acquiring user motion data.

[0141] The gyroscope sensor 1512 can detect the terminal's orientation and rotation angle. The gyroscope sensor 1512, in conjunction with the accelerometer sensor 1511, can collect the user's 3D movements on the terminal. Based on the data collected by the gyroscope sensor 1512, the processor 1501 can perform the following functions: motion sensing (e.g., changing the UI based on the user's tilt), image stabilization during shooting, game control, and inertial navigation.

[0142] The pressure sensor 1513 can be disposed on the side bezel of the terminal and / or the lower layer of the display screen 1505. When the pressure sensor 1513 is disposed on the side bezel of the terminal, it can detect the user's grip signal on the terminal, and the processor 1501 can perform left / right hand recognition or quick operation based on the grip signal collected by the pressure sensor 1513. When the pressure sensor 1513 is disposed on the lower layer of the display screen 1505, the processor 1501 can control the operable controls on the UI interface based on the user's pressure operation on the display screen 1505. The operable controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.

[0143] The fingerprint sensor 1514 is used to collect a user's fingerprint. The processor 1501 identifies the user based on the fingerprint collected by the fingerprint sensor 1514, or vice versa. When the user's identity is identified as trusted, the processor 1501 authorizes the user to perform relevant sensitive operations, including unlocking the screen, viewing encrypted information, downloading software, making payments, and changing settings. The fingerprint sensor 1514 can be located on the front, back, or side of the terminal. When the terminal has physical buttons or a manufacturer's logo, the fingerprint sensor 1514 can be integrated with the physical buttons or the manufacturer's logo.

[0144] Optical sensor 1515 is used to collect ambient light intensity. In one embodiment, processor 1501 can control the display brightness of display screen 1505 based on the ambient light intensity collected by optical sensor 1515. Specifically, when the ambient light intensity is high, the display brightness of display screen 1505 is increased; when the ambient light intensity is low, the display brightness of display screen 1505 is decreased. In another embodiment, processor 1501 can also dynamically adjust the shooting parameters of camera assembly 1506 based on the ambient light intensity collected by optical sensor 1515.

[0145] The proximity sensor 1516, also known as a distance sensor, is typically installed on the front panel of the terminal. The proximity sensor 1516 is used to detect the distance between the user and the front of the terminal. In one embodiment, when the proximity sensor 1516 detects that the distance between the user and the front of the terminal is gradually decreasing, the processor 1501 controls the display screen 1505 to switch from a screen-on state to a screen-off state; when the proximity sensor 1516 detects that the distance between the user and the front of the terminal is gradually increasing, the processor 1501 controls the display screen 1505 to switch from a screen-off state to a screen-on state.

[0146] Those skilled in the art will understand that Figure 11 The structure shown does not constitute a limitation on the terminal and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0147] In an exemplary embodiment, a computer device is also provided, comprising a processor and a memory storing at least one computer program. The at least one computer program is loaded and executed by one or more processors to enable the computer device to implement any of the vehicle warning methods described above.

[0148] In an exemplary embodiment, a computer-readable storage medium is also provided, which stores at least one computer program that is loaded and executed by a processor of a computer device to enable the computer to implement any of the vehicle warning methods described above.

[0149] In one possible implementation, the aforementioned computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device, etc.

[0150] In an exemplary embodiment, a computer program product or computer program is also provided, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform any of the vehicle warning methods described above.

[0151] It should be noted that all information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.), and signals involved in this application are authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, the angle of the reference plane relative to the horizontal plane involved in this application was obtained with full authorization.

[0152] It should be understood that "multiple" as used in this article refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0153] It should be noted that the terms "first," "second," etc. (if applicable) in the specification and claims of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the above exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0154] The above description is merely an exemplary embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A vehicle warning method characterized by, The method comprises: detecting an angle of a reference surface relative to a horizontal plane according to a gravity sensor; determining an angle β of a ray relative to the reference surface based on a difference between the angle of the horizontal plane and the angle of the reference surface relative to the horizontal plane; controlling a ray sensor to offset downward by |β| when the β is less than 0, or to offset upward by |β| when the β is greater than 0; the ray sensor is mounted on a vehicle and located in front of a driving direction of the vehicle, and the reference surface is a plane where the vehicle is located; detecting whether there is an obstacle in a reference area in the driving direction of the vehicle and detecting the reference surface; if there is no obstacle in the reference area in the driving direction of the vehicle and the reference surface is not detected, obtaining an angle of the reference surface relative to the horizontal plane detected by a gravity sensor mounted on the vehicle; performing a warning operation based on the angle of the reference surface relative to the horizontal plane being greater than zero.

2. The method of claim 1, wherein, The determination of the angle of the ray relative to the reference surface based on the difference between the angle of the horizontal plane and the angle of the reference surface relative to the horizontal plane comprises: determining the angle of the ray relative to the reference surface according to the following formula based on the difference between the angle of the horizontal plane and the angle of the reference surface relative to the horizontal plane; wherein said represents the angle of said ray relative to said reference plane; said represents the angle of said horizontal plane; said represents the angle of said reference plane relative to said horizontal plane, and said ; said k is a proportionality factor.

3. The method of claim 1, wherein, The determination of the angle of the ray relative to the reference surface based on the difference between the angle of the horizontal plane and the angle of the reference surface relative to the horizontal plane comprises: determining the angle of the ray relative to the reference surface according to the following formula based on the difference between the angle of the horizontal plane and the angle of the reference surface relative to the horizontal plane; wherein said represents the angle of said ray relative to said reference plane; said represents the angle of said horizontal plane; said represents the angle of said reference plane relative to said horizontal plane, and said ; said k is a proportionality factor.

4. The method of claim 1, wherein, The detection of whether there is an obstacle in the reference area in the driving direction of the vehicle and the detection of the reference surface according to the angle of the ray relative to the reference surface further comprises: if there is an obstacle in the reference area in the driving direction of the vehicle, controlling the speed of the vehicle to keep a distance from the obstacle.

5. The method of claim 1, wherein, The detection of whether there is an obstacle in the reference area in the driving direction of the vehicle and the detection of the reference surface according to the angle of the ray relative to the reference surface further comprise: if there is no obstacle in the reference area in the driving direction of the vehicle and the reference surface is detected, controlling the vehicle to continue driving according to a current driving state.

6. The method according to any one of claims 1 to 5, characterized in that, The warning operation comprises at least one of a horn warning and voice broadcast.

7. A vehicle warning device, characterized by The device comprises: a determination module configured to detect an angle of a reference surface relative to a horizontal plane according to a gravity sensor, and determine an angle β of a ray relative to the reference surface based on a difference between the angle of the horizontal plane and the angle of the reference surface relative to the horizontal plane; a detection module configured to control a ray sensor to offset downward by |β| when the β is less than 0, or to offset upward by |β| when the β is greater than 0; the ray sensor is mounted on a vehicle and located in front of a driving direction of the vehicle, and the reference surface is a plane where the vehicle is located; and detect whether there is an obstacle in a reference area in the driving direction of the vehicle and detect the reference surface. The acquisition module is configured to acquire an angle of the reference surface relative to a horizontal plane detected by a gravity sensor installed on the vehicle if there is no obstacle in a reference area in the driving direction of the vehicle and the reference surface is not detected. The warning module is configured to perform a warning operation based on the angle of the reference surface relative to the horizontal plane being greater than zero.

8. A computer device, comprising: The computer device includes a processor and a memory, and the memory stores at least one computer program, which is loaded and executed by the processor, so that the computer device implements the vehicle warning method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores at least one computer program, which is loaded and executed by the processor, so that the computer implements the vehicle warning method according to any one of claims 1 to 6.

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