A method and device for vehicle hazard warning

Abstract

This application discloses a hazard warning method and device for vehicles. The hazard warning method includes: receiving real-time information and detection markers of at least one target object sent by an intelligent driving domain controller; analyzing and processing the real-time information of the target object and displaying the processing results on an in-vehicle display screen; determining whether there is a collision risk between the target object and the vehicle based on the processing results; and if so, automatically sending a warning signal to the driver and the target object. This application enables the vehicle to automatically issue warning prompts to the driver and the target object when a collision risk exists, alerting the driver while simultaneously warning the target object, thus preventing collision accidents caused by blind spots or driver negligence.

Description

Technical Field

[0001] This application relates to the field of automotive technology, and more specifically, to a method and device for warning of danger in vehicles. Background Technology

[0002] With social development and changing times, people's economic income has continued to increase, and the number of private cars has continued to rise. Traffic congestion and traffic accidents have become a serious social problem. Especially during peak hours such as commuting to and from work, commuting to and from school, and holidays, cars, trucks, elderly mobility scooters, motorcycles, bicycles, and pedestrians are all mixed together on the road, making the traffic situation even more severe. When the travel paths of cars and other vehicles or pedestrians overlap at intersections or entrances to residential areas, or when blind spots are created due to obstacles blocking the vision of both parties, traffic accidents are very likely to occur.

[0003] Currently, drivers use manual turn signals, flashing high beams (at night), or honking their horn within their visible field of vision to warn other vehicles or pedestrians and avoid collisions. However, when the paths of one's vehicle and other vehicles or pedestrians overlap, or when blind spots are created due to obstructed views, the driver cannot anticipate the situation or proactively warn others, greatly increasing the risk of collisions. Summary of the Invention

[0004] This application provides a vehicle hazard warning method and device, which automatically sends a warning to the driver and the target object when there is a collision risk. While warning the target object, it also reminds the driver to avoid collision traffic accidents caused by blind spots or driver negligence.

[0005] This application provides a vehicle hazard warning method, including:

[0006] Receive real-time information and detection markers of at least one target object sent by the intelligent driving domain controller;

[0007] The system analyzes and processes real-time information about the target object and displays the results on the vehicle-mounted display screen.

[0008] Based on the processing results, determine whether there is a risk of collision between the target object and the vehicle;

[0009] If so, a warning signal will be automatically sent to the driver and the target object.

[0010] Preferably, a warning signal is automatically sent to the driver, specifically including:

[0011] The hazard level of a target is indicated by the color of the target on the vehicle's display screen.

[0012] Preferably, automatically sending a warning signal to the driver further includes:

[0013] If the actual distance between the target object and the vehicle is less than the minimum threshold, the vehicle's speakers will issue a warning and the actual distance between the target object and the vehicle will be displayed on the vehicle's screen.

[0014] Preferably, the real-time information of the target object is analyzed and processed, and the processing results are displayed on the vehicle-mounted display screen, specifically including:

[0015] If the detection marker is 1, the real-time lateral coordinates, real-time longitudinal coordinates, and real-time heading angle of the target object in the instrument coordinate system of the vehicle display screen are calculated based on the real-time information of the target object; the coordinates of the vehicle remain unchanged in the instrument coordinate system.

[0016] The target object is displayed in the instrument coordinate system based on the real-time horizontal coordinate, real-time vertical coordinate, and real-time heading angle.

[0017] Preferably, the method further includes analyzing and processing the real-time information of the target object and displaying the processing results on the vehicle-mounted display screen, and also includes:

[0018] The counting begins from the moment the target object's detection marker changes to the first detection marker, and during the counting period, it is determined whether the target object is displayed in the instrument coordinate system based on the first detection marker;

[0019] During the counting process, if the first detection mark changes to the second detection mark and remains the second detection mark at the end of the preset counting time, then the detection mark of the target object at the end of the preset counting time is the second detection mark;

[0020] The second detection mark determines whether the target object is displayed in the instrument coordinate system.

[0021] Preferably, during the counting process, if the first detection mark changes to the second detection mark and then changes back to the first detection mark, the count is set to 0, the counting ends, and it is determined whether the target object is displayed in the instrument coordinate system based on the first detection mark.

[0022] Preferably, the real-time longitudinal coordinates of the target object in the instrument coordinate system of the vehicle display screen are calculated based on the real-time information of the target object, specifically including:

[0023] If the actual longitudinal distance between the target and the vehicle changes beyond the first threshold within a step time period before the current moment, then the change in the actual longitudinal distance between the target and the vehicle is set to the first threshold.

[0024] Calculate the second actual longitudinal coordinate between the target and the vehicle at the current moment based on the first actual longitudinal coordinate and the change in actual longitudinal distance between the target and the vehicle at the previous moment;

[0025] The second actual longitudinal coordinate is converted into the real-time longitudinal coordinate of the target object in the instrument coordinate system.

[0026] Preferably, the real-time heading angle of the target object in the instrument coordinate system of the vehicle display screen is calculated based on the real-time information of the target object, specifically including:

[0027] Calculate the initial real-time slope of the target object in the instrument coordinate system based on the real-time information of the target object;

[0028] Determine the slope segment where the initial real-time slope is located;

[0029] The slope corresponding to the endpoint closest to 0 in the slope segment is taken as the final real-time slope.

[0030] The real-time heading angle of the target object in the instrument coordinate system is calculated based on the final real-time slope.

[0031] This application also provides a vehicle hazard warning device, including a receiving module, a processing module, a judgment module, and a warning module;

[0032] The receiving module is used to receive real-time information and detection markers of at least one target object sent by the intelligent driving domain controller;

[0033] The processing module is used to analyze and process the real-time information of the target object and display the processing results on the vehicle display screen;

[0034] The judgment module is used to determine whether there is a risk of collision between the target object and the vehicle based on the processing results;

[0035] The warning module is used to automatically send warning signals to the driver and the target object.

[0036] Preferably, the processing module includes a first calculation module and a display module;

[0037] The first calculation module is used to calculate the real-time lateral coordinates, real-time longitudinal coordinates, and real-time heading angle of the target object in the instrument coordinate system of the vehicle display screen based on the real-time information of the target object when the detection mark is 1; the coordinates of the vehicle remain unchanged in the instrument coordinate system.

[0038] The display module is used to display the target object in the instrument coordinate system based on the real-time horizontal coordinate, real-time vertical coordinate, and real-time heading angle.

[0039] Preferably, the first calculation module includes a first assignment module, a second calculation module, and a conversion module;

[0040] The first assignment module is used to set the actual longitudinal distance between the target object and the vehicle to the first threshold when the change in the actual longitudinal distance between the target object and the vehicle exceeds the first threshold within a step time before the current time.

[0041] The second calculation module is used to calculate the second actual longitudinal distance between the target and the vehicle at the current moment based on the first actual longitudinal distance between the target and the vehicle at the previous moment and the change in the actual longitudinal distance.

[0042] The conversion module is used to convert the second actual longitudinal coordinates into the real-time longitudinal coordinates of the target object in the instrument coordinate system.

[0043] Preferably, the first calculation module includes a third calculation module, a slope segment determination module, a second assignment module, and a fourth calculation module;

[0044] The third calculation module is used to calculate the initial real-time slope of the target object in the instrument coordinate system based on the real-time information of the target object.

[0045] The slope segment determination module is used to determine the slope segment where the initial real-time slope is located.

[0046] The second assignment module is used to take the slope corresponding to the endpoint closest to 0 in the slope segment as the final real-time slope.

[0047] The fourth calculation module is used to calculate the real-time heading angle of the target object in the instrument coordinate system based on the final real-time slope.

[0048] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0049] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present application and, together with their description, serve to explain the principles of the present application.

[0050] Figure 1 A flowchart of the vehicle hazard warning method provided in this application;

[0051] Figure 2 The flowchart for determining the detection marker provided in this application;

[0052] Figure 3 This is a schematic diagram of the real-world coordinate system;

[0053] Figure 4 A schematic diagram of the instrument coordinate system provided in this application;

[0054] Figure 5 A comparison between the actual coordinates of the target object provided in this application and the coordinates of the target object displayed on the vehicle-mounted display screen;

[0055] Figure 6 A structural diagram of the hazard warning device for the vehicle provided in this application;

[0056] Figure 7A structural diagram of the first computing module provided in this application. Detailed Implementation

[0057] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0058] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0059] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0060] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0061] Example 1

[0062] The vehicle hazard warning method provided in this application is applied to an intelligent cockpit domain controller. For example... Figure 1 As shown, hazard warning methods include:

[0063] S110: Receive real-time information and detection markers of at least one target object sent by the intelligent driving domain controller.

[0064] The intelligent driving domain controller uses vehicle-mounted radars (such as front radar, left front radar, left rear radar, ultrasonic radar, right front radar, right rear radar, etc.) and camera sensors (such as front-view camera, surround-view camera, etc.) to detect the type and driving status of targets such as cars, trucks, elderly mobility scooters, motorcycles, electric vehicles, bicycles, and pedestrians around the vehicle. The driving status includes the actual lateral and longitudinal distances between the target and the vehicle, the lane line parameters of the lane where the vehicle is located, the actual relative position and direction between the target and the lane where the vehicle is located, and the actual heading angle information of the target. This data is transmitted to the intelligent cockpit domain controller via the CAN bus.

[0065] Specifically, the longitudinal direction is defined as the vehicle's driving direction, and the lateral direction is defined as the direction perpendicular to the driving direction. If the actual lateral distance between the target object and the vehicle exceeds a first preset distance (e.g., 10m), the target object is considered invalid, i.e., no target object is detected. If the actual longitudinal distance between the target object and the vehicle exceeds a second preset distance (e.g., 100m), the target object is considered invalid, i.e., no target object is detected. If the actual lateral distance between the target object and the vehicle is within the first preset distance or the actual longitudinal distance is within the second preset distance, the target object is considered detected. Based on this, a detection marker of 1 indicates that the target object may affect the vehicle's driving, and a detection marker of 0 indicates that the target object will not affect the vehicle's driving.

[0066] S120: Analyzes and processes the real-time information of the target object and displays the processing results on the vehicle-mounted display screen.

[0067] At each moment, the real-time information of the target object is analyzed and processed, and the processing results are displayed on the vehicle-mounted display screen, specifically including:

[0068] S1201: If the detection marker is 1, then calculate the real-time lateral coordinates, real-time longitudinal coordinates, and real-time heading angle of the target object in the instrument coordinate system of the vehicle display screen based on the real-time information of the target object.

[0069] It should be noted that in the real-world coordinate system, the front of the vehicle (i.e., the direction of travel) is the positive direction of the x-axis (horizontal coordinate axis), the right side of the vehicle is the positive direction of the y-axis (vertical coordinate axis), and the origin is the intersection of the vehicle's longitudinal center axis and the rear axle. Figure 3 A real-world coordinate system is shown. In the instrument coordinate system, the coordinates of the vehicle 410 remain unchanged (not the origin of the instrument coordinate system). The position of the target object is limited to the designated area 420 on the vehicle display screen. The direction opposite to the vehicle's driving direction is the positive direction of the y-axis (vertical axis), and the right side of the vehicle is the positive direction of the x-axis (horizontal axis). Figure 4 As shown. Therefore, when calculating the real-time lateral coordinates, real-time longitudinal coordinates, and real-time heading angle of a target object in the instrument coordinate system, it is necessary to convert the real-time information of the target object provided by the intelligent driving domain controller into coordinates and heading angles in the instrument coordinate system.

[0070] Setting (x) 1-r y 1-raw (x) represents the actual coordinates of the target object in the real-world coordinate system, specifically the longitudinal and lateral distances between the target object and the vehicle in the real-world coordinate system. 2-ICM y 2-ICM x represents the real-time coordinates of the target object in the instrument coordinate system. 1max_rangeHere, k_ycorrect represents the longitudinal (x-axis) detection range of the target object in the real-world coordinate system, and k_ycorrect represents the scaling factor of the instrument coordinate system relative to the real-world coordinate system. 2_range The vertical (y-axis) display range in the instrument coordinate system, (x 0-I y 0-ICM () represents the coordinates of the vehicle's center point in the instrument coordinate system, such as Figure 4 As shown.

[0071] As an example, the real-time longitudinal coordinate y of the target object in the instrument coordinate system of the vehicle display screen is calculated based on the real-time information of the target object. 2-ICM , specifically including:

[0072] P1: In the time step preceding the current moment, if the actual longitudinal distance between the target object and the vehicle changes by x... 2-raw If the distance exceeds the first threshold x0, then the actual longitudinal distance between the target object and the vehicle changes by x. 2-ra The first threshold is x0, i.e., x 2-raw =x0.

[0073] If the actual longitudinal distance between the target object and the vehicle changes by x 2-raw If the first threshold x0 is not exceeded, then the actual longitudinal distance change x between the target object and the vehicle is... 2-ra constant.

[0074] The data refresh cycle of the intelligent cockpit domain controller is one step. Each data refresh limits the longitudinal jump distance of the target object, with the maximum jump being a first threshold (e.g., 1.5m). This prevents large changes in the actual distance of the target object detected by radar and cameras from causing calculation abnormalities in the intelligent cockpit domain controller and large jumps in the target object displayed on the vehicle display.

[0075] P2: Based on the first actual longitudinal distance x between the target object and the vehicle at the previous moment. 1-raw-last and actual longitudinal distance change x 2-raw Calculate the second actual longitudinal distance x between the target object and the vehicle at the current moment. 1-r .

[0076] Specifically, the second actual longitudinal distance is calculated using the following formula:

[0077] x 1-r =x 1-raw-las +x 2-raw (1)

[0078] It should be noted that if the direction of the actual longitudinal distance change is the same as the vehicle's direction of travel, the actual longitudinal distance change value is positive; otherwise, it is negative.

[0079] P3: Based on the longitudinal coordinate y of the vehicle's center point in the instrument coordinate system 0-ICM The longitudinal detection range of the target object in the real-world coordinate system (x) 1max_range The scaling factor k_ycorrect of the instrument coordinate system relative to the real-world coordinate system and the vertical display range y in the instrument coordinate system. 2_range The second actual longitudinal distance x 1-raw Converted to the real-time longitudinal coordinates y of the target object in the instrument coordinate system 2-ICM .

[0080] As an example, for the case where the target object is directly in front of the vehicle in the real-world coordinate system, the real-time longitudinal coordinate is calculated using the following formula:

[0081] y 2-ICM =-(x 1-raw / x 1max_range )^k ycorrect *y 2_range +y 0-ICM (2)

[0082] Based on the above, and according to the lane line parameters of the vehicle and the real-time longitudinal coordinate y... 2-ICM Calculate the real-time lateral coordinate x of the target object 2-ICM :

[0083] x 2-ICM =y 2-ICM 2 *(C 2-ICM-right +C 2-ICM-left ) / 2+y 2-ICM *(C 1-ICM-right +C 1-ICM-left ) / 2+(C 0-ICM-righ +C 0-ICM-left ) / twenty three)

[0084] Among them, C 2-ICM-right C 2-ICM-left Let C be the curvature of the right and left lane lines where the vehicle is located in the instrument coordinate system. 1-ICM-right C 1-ICM-lef C represents the yaw angle of the vehicle's right and left lane lines in the instrument coordinate system. 0-ICM-righ C 0-ICM-left These are the lateral coordinates of the right and left lane lines where the vehicle is located in the instrument coordinate system.

[0085] As an example, C 2-ICM-righ C 1-ICM-right and C 0-ICM-right The parameter C is the right lane line of the vehicle's lane in the actual world coordinate system provided by the intelligent driving domain controller. 3-raw-right C 2-raw-rightC 1-raw-right and C 0-raw-right C was obtained by fitting three points on the right lane line. 2-ICM-left C 1-ICM-lef and C 0-ICM-left The parameter C is the left lane line of the vehicle's lane in the actual world coordinate system provided by the intelligent driving domain controller. 3-raw-left C 2-raw-lef C 1-raw-lef and C 0-raw-lef And obtained by fitting three points on the right lane line, where C 3-raw-right C 2-raw-righ C 1-raw-righ and C 0-raw-right These represent the rate of change of curvature of the right lane line, the curvature of the right lane line, the angle between the right lane line and the vertical axis (x-axis), and the lateral distance (y-axis distance) of the right lane line from the origin in the real-world coordinate system, respectively, provided by the intelligent driving domain controller; C 3-raw-lef C 2-raw-lef C 1-raw-lef and C 0-raw-lef These represent the rate of change of curvature of the left lane line, the curvature of the left lane line, the angle between the left lane line and the vertical axis (x-axis), and the lateral distance (y-direction distance) of the left lane line from the origin in the real-world coordinate system, respectively, provided by the intelligent driving domain controller.

[0086] Specifically, the parameter C of the right lane line 2-ICM-righ C 1-ICM-righ and C 0-ICM-right The method of obtaining the parameter C of the left lane line 2-ICM-lef C 1-ICM-left and C 0-ICM-left The method for obtaining this is the same. The following uses the parameter C of the left lane line as an example. 2-ICM-left C 1-ICM-lef and C 0-ICM-left For example, the following are some examples:

[0087] R1: Obtain the x-coordinates (X) of three points on the left lane line of the lane where the vehicle is located in the real-world coordinate system. 2-raw-left X 3-raw-left and X 4-raw-left .

[0088] R2: For each point, according to the cubic fitting equation Y = C 0-raw-left +C 1-raw-lef X+C 2-raw-lef X 2 +C 3-raw-left X 3 Calculate the ordinates of three points on the left lane line of the lane where the vehicle is located, in the real-world coordinate system.

[0089] With X 2-raw-lef For example, Y 2-raw-left =C 0-raw-left +C 1-raw-left X 2-raw-left +C 2-raw-left X 2-raw-left 2 +C 3-raw-left X 2-raw-lef 3 (4)

[0090] R3: Convert the coordinates of three points on the left lane line of the vehicle's lane in the real-world coordinate system to the coordinates of three points in the instrument panel coordinate system, obtaining (X... 2-ICM-lef Y 2-ICM-left ), (X 3-ICM-left Y 3-ICM-lef ), (T 4-ICM-left Y 4-ICM-left ).

[0091] With point (X) 2-raw-lef Y 2-raw-lef For example,

[0092] X 2-ICM-lef =x 0-ICM +k 1-lef *Y 2-raw-lef (5)

[0093]

[0094] Among them, k 1-lef This is the proportionality coefficient of the point calculated based on similar triangles.

[0095] R4: Fit the curve equation of the left lane line of the vehicle's lane in the instrument coordinate system based on the coordinates of three points in the instrument coordinate system:

[0096] X ICM-left =C 2-ICM-lef *Y ICM-left 2 +C 1-ICM-left *Y ICM-left +C 0-ICM-left (7)

[0097] This yields three parameters C. 2-ICM-lef C 1-ICM-lef and C 0-ICM-lef .

[0098] Using the same method, the curve equation of the right lane line of the vehicle's lane in the instrument coordinate system is as follows:

[0099] X ICM-right =C 2-ICM-right *YICM-right 2 +C 1-ICM-right *Y ICM-righ +C 0-ICM-righ (8)

[0100] This yields three parameters C. 2-ICM-right C 1-ICM-right and C 0-ICM-righ .

[0101] Based on this, the equations of the centerlines of the two lane lines in the instrument coordinate system are further calculated:

[0102] X ICM-center =y ICM 2 *(C 2-ICM-right +C 2-ICM-left ) / 2+y ICM *(C 1-ICM-right +C 1-IcM-left ) / 2+(C 0-ICM-right +C 0-ICM-left ) / 2 (9)

[0103] If the target object is directly in front of the vehicle, then in the instrument coordinate system, the target object is on the center line of the two lane lines. Therefore, given the real-time longitudinal coordinate y of the target object... 2-ICM In this case, the real-time lateral coordinate x of the target object 2-ICM for:

[0104] x 2-ICM =y 2-ICM 2 *(C 2-ICM-right +C 2-ICM-lef ) / 2+y 2-ICM *(C 1-ICM-righ +C 1-ICM-left ) / 2+(C 0-ICM-righ +C 0-ICM-lef ) / 2 (10)

[0105] After obtaining the real-time longitudinal coordinates, it also considers the lane line parameters where the vehicle is located and the real-time longitudinal coordinate y. 2-ICM Calculate the real-time heading angle of the target object.

[0106] As an example, calculating the real-time heading angle Theta specifically includes:

[0107] Q1: Calculate the initial real-time slope k of the target object in the instrument coordinate system based on the lane line parameters of the vehicle in the instrument coordinate system and the real-time longitudinal coordinates of the target object. 0-ICM The initial real-time slope k 0-ICM As the final real-time slope k 2-ICM .

[0108] k 0-ICM =2*y 2-ICM *(C 2-ICM-right +C 2-ICM-left ) / 2+(C 1-ICM-right +C 1-ICM-left ) / 2 (11)

[0109] Q2: Based on the final real-time slope k 2-ICM Calculate the real-time heading angle Theta of the target object in the instrument coordinate system. Specifically, the real-time heading angle of the target object is obtained by calculating the arctangent of the final real-time slope, i.e., Theta = arctan(k 2-ICM ).

[0110] It should be noted that the real-time heading angle is the angle between the target's direction of travel and the negative y-axis of the instrument coordinate system. If Theta is positive, it means that the target's direction of travel is tilted towards the positive x-axis of the instrument coordinate system, and the vehicle's heading is pointing towards the upper right or lower right of the instrument coordinate system.

[0111] Theta is -, indicating that the target's direction of travel is tilted in the negative direction of the x-axis of the instrument coordinate system, and the direction of the vehicle's front is pointing to the upper left or lower left of the instrument coordinate system.

[0112] Preferably, in order to reduce abrupt changes in the target's heading angle in the instrument coordinate system, the initial real-time slope k of the target is also adjusted. 0-ICM Optimization was performed to obtain the final real-time slope. For different actual lateral distances (y-axis distances) between the target object and the vehicle in the real-world coordinate system, the slope display range of the target object in the instrument coordinate system varies. The following example, using a target object with an actual lateral distance of 30m as an example, illustrates how to optimize the initial real-time slope to obtain the final real-time slope.

[0113] When the actual lateral distance is 30m, the slope display range of the target object in the instrument coordinate system is [-0.0036, +0.0036]. This slope display range is divided into a preset number of parts (e.g., 20 parts), thus obtaining 20 slope segments, namely slope <-0.0036, [-0.0036, -0.00324), [-0.00324, -0.00288), ..., [0.00324, 0.0036), and slope >0.0036.

[0114] If the initial real-time slope k 0-ICM If a slope falls into a certain slope range, the slope corresponding to the endpoint closest to 0 in that slope range is taken as the final real-time slope.

[0115] For example, if the initial real-time slope falls within the range < -0.0036, the final real-time slope is set to curvature = -0.0036. When the initial real-time slope is in the range [-0.0036, -0.00324), the final real-time slope is set to -0.00324. When the initial real-time slope is in the range [-0.00324, -0.00288), the final real-time slope is set to -0.00288; ...; when the initial real-time slope is in the range [0.00324, 0.0036), the final real-time slope is set to 0.00324; when the initial real-time slope is in the range > 0.0036, the final real-time slope is set to 0.0036.

[0116] Figure 5 The following is a comparison of the actual coordinates of the target object output by the intelligent driving domain controller (left figure) and the coordinates of the target object displayed on the vehicle display screen (right figure) in this preferred embodiment.

[0117] S1202: Displays the target object in the instrument coordinate system based on the real-time horizontal coordinate, real-time vertical coordinate, and real-time heading angle.

[0118] like Figure 2 As shown, the determination of detection markers during continuous detection of a target includes the following steps:

[0119] S210: Start counting from the moment the target object's detection mark changes to the first detection mark, and determine whether to display the target object in the instrument coordinate system based on the first detection mark during the counting period.

[0120] S220: During the counting process, if the first detection mark changes to the second detection mark and remains the second detection mark at the end of the preset counting time, then the detection mark of the target object at the end of the preset counting time is the second detection mark, and S230 is executed.

[0121] S230: Determine whether to display the target object in the instrument coordinate system based on the second detection mark.

[0122] S240: During the counting process, if the first detection mark changes to the second detection mark and then changes back to the first detection mark, the count is set to 0, the counting ends, and it is determined whether the target object is displayed in the instrument coordinate system based on the first detection mark.

[0123] As an example, the entire counting process is set to 50 steps.

[0124] As an example, when the first detection marker is 0: within 50 steps, the display is based on the detection marker being 0 (i.e., the target object is not displayed in the instrument coordinate system). If the detection marker changes from 0 to 1 within 50 steps and remains at 1 at the end of the count, the target object detection marker is considered reliable, and after 50 steps (after the count ends), the display is based on the detection marker being 1 (i.e., the target object is displayed in the instrument coordinate system). If the detection marker changes from 0 to 1 and then back to 0 within 50 steps, the target object detection marker is considered unreliable, the count is reset to zero, the count ends, and the display is based on the detection marker being 0 (i.e., the target object is not displayed in the instrument coordinate system). After the count is reset to zero, a new round of counting can begin, achieving continuous detection marker jump detection.

[0125] As an example, when the first detection marker is 1: Within 50 steps, the display is based on the detection marker being 1 (i.e., the target object is displayed in the instrument coordinate system). If the detection marker changes from 1 to 0 within 50 steps and remains 0 at the end of the count, the target object detection marker is considered reliable, and after 50 steps (after the count ends), the display is based on the detection marker being 0 (i.e., the target object is not displayed in the instrument coordinate system). If the detection marker changes from 1 to 0 and then back to 1 within 50 steps, the target object detection marker is considered unreliable, the count is reset to zero, the count ends, and the display is based on the detection marker being 1 (i.e., the target object is displayed in the instrument coordinate system).

[0126] Only when the detection marker information is continuously displayed for a preset duration will the target object's detection marker be considered credible, and the intelligent cockpit domain controller will then output the actual detection marker signal to the vehicle display screen.

[0127] S130: Determine whether there is a collision risk between the target object and the vehicle based on the processing results. If yes, proceed to S140; otherwise, return to S110.

[0128] Specifically, the system determines whether the alarm threshold is exceeded by measuring the actual distance between the target object and the vehicle (determined by the actual coordinates of the target object and the vehicle) and the actual heading angle. If the alarm threshold is exceeded, a collision risk is identified.

[0129] Specifically, the alarm thresholds include a third threshold and a fourth threshold. If the actual distance is less than the third threshold and the actual heading angle is less than the fourth threshold, there is a risk of collision.

[0130] S140: Automatically sends warning signals to the driver and the target object.

[0131] The vehicle displays the color of an object on its in-vehicle display screen to indicate its hazard level, enabling the vehicle to automatically send warning signals to the driver. For example, if the actual distance between the object and the vehicle is a safe distance (e.g., greater than a second threshold), the intelligent cockpit domain controller controls the object to be displayed in gray on the in-vehicle display screen; if the actual distance between the object and the vehicle may pose a collision risk (e.g., between the second threshold and a minimum threshold, where the second threshold is greater than the minimum threshold), the intelligent cockpit domain controller controls the object to be displayed in blue; if the actual distance between the object and the vehicle poses a collision risk (e.g., less than the minimum threshold), the intelligent cockpit domain controller controls the object to be displayed in red.

[0132] Preferably, if the actual distance between the target object and the vehicle is less than a minimum threshold, the intelligent cockpit domain controller controls the in-vehicle speakers to issue a warning message, and the intelligent cockpit domain controller controls the in-vehicle display screen to show the actual distance between the target object and the vehicle, thus enabling the vehicle to automatically send a warning signal to the driver. For different risk levels, the in-vehicle speakers use alarm sounds of different frequencies to alert the driver.

[0133] The intelligent cockpit domain controller sends warning signals to the body control module via the CAN bus, and the body control module provides warnings through the exterior horn and exterior lights. For different risk levels, the exterior horn uses different frequencies of alarm sounds to alert the target, and the exterior lights use different colors or flashing frequencies to alert the target.

[0134] Example 2

[0135] Based on the aforementioned vehicle hazard warning method, this application also provides a vehicle hazard warning device. For example... Figure 6 As shown, the hazard warning device includes a receiving module 610, a processing module 620, a judgment module 630, and a warning module 640.

[0136] The receiving module 610 is used to receive real-time information and detection markers of at least one target object sent by the intelligent driving domain controller.

[0137] The processing module 620 is used to analyze and process the real-time information of the target object and display the processing results on the vehicle display screen.

[0138] The judgment module 630 is used to determine whether there is a risk of collision between the target object and the vehicle based on the processing results.

[0139] The warning module 640 is used to automatically send warning signals to the driver and the target.

[0140] As one embodiment, the processing module 620 includes a first calculation module 6201 and a display module 6202.

[0141] The first calculation module 6201 is used to calculate the real-time lateral coordinates, real-time longitudinal coordinates, and real-time heading angle of the target object in the instrument coordinate system of the vehicle display screen based on the real-time information of the target object when the detection mark is 1; the coordinates of the vehicle remain unchanged in the instrument coordinate system.

[0142] The display module 6202 is used to display the target object in the instrument coordinate system based on the real-time horizontal coordinate, real-time vertical coordinate and real-time heading angle.

[0143] As an example, such as Figure 7 As shown, the first calculation module 6201 includes a first assignment module 62011, a second calculation module 62012, and a conversion module 62017.

[0144] The first assignment module 62011 is used to set the actual longitudinal distance change between the target object and the vehicle to the first threshold when the actual longitudinal distance change between the target object and the vehicle exceeds the first threshold within a step time before the current time.

[0145] The second calculation module 62012 is used to calculate the second actual longitudinal distance between the target and the vehicle at the current moment based on the first actual longitudinal distance between the target and the vehicle at the previous moment and the change of the actual longitudinal distance, and use it as the real-time longitudinal coordinate of the target in the instrument coordinate system.

[0146] The conversion module 62017 is used to convert the second actual longitudinal coordinates into the real-time longitudinal coordinates of the target object in the instrument coordinate system.

[0147] Preferably, such as Figure 7 As shown, the first calculation module 6201 also includes a third calculation module 62013, a slope segment determination module 62014, a second assignment module 62015, and a fourth calculation module 62016.

[0148] The third calculation module 62013 is used to calculate the initial real-time slope of the target object in the instrument coordinate system based on the real-time information of the target object.

[0149] The slope segment determination module 62014 is used to determine the slope segment where the initial real-time slope is located.

[0150] The second assignment module 62015 is used to take the slope corresponding to the endpoint closest to 0 in the slope segment as the final real-time slope.

[0151] The fourth calculation module 62016 is used to calculate the real-time heading angle of the target object in the instrument coordinate system based on the final real-time slope.

[0152] Preferably, the processing module 620 further includes a counting module 6203, a transition judgment module 6204, and a display confirmation module 6205.

[0153] The counting module 6203 is used to start counting from the moment the target object's detection marker changes to the first detection marker. During the counting period, the intelligent cockpit domain controller determines whether to display the target object in the instrument coordinate system based on the first detection marker.

[0154] The transition judgment module 6204 is used to determine whether the transition of the detection mark is reliable during the counting process and to determine the detection mark after the counting ends. During the counting process, if the first detection mark transitions to the second detection mark and remains the second detection mark at the end of the preset counting time, then the detection mark of the target object at the end of the preset counting time is the second detection mark. During the counting process, if the first detection mark transitions to the second detection mark and then transitions back to the first detection mark, then the count is set to 0, the counting ends, and the detection mark after the counting ends is the first detection mark.

[0155] The display determination module 6205 is used to determine whether to display the target object in the instrument coordinate system based on the detection mark after the counting ends.

[0156] The beneficial effects of this application are as follows:

[0157] 1. In the event of a collision risk, the vehicle automatically sends a warning to the driver and the target object, alerting the driver while warning the target object to avoid collision accidents caused by blind spots or driver negligence.

[0158] 2. This application determines whether the detection mark of the intelligent driving domain controller is reliable based on the jump of the detection mark within a preset time period, thereby determining whether the target object is displayed on the vehicle display screen, avoiding the driver being misled and optimizing the driving experience.

[0159] 3. This application improves the user experience by controlling the jumps in the actual distance and real-time heading angle of the target object, making the display of the target object's driving status smoother.

[0160] While specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of this application. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this application. The scope of this application is defined by the appended claims.

Claims

1. A method for vehicle hazard warning, characterized in that, include: Receive real-time information and detection markers of at least one target object sent by the intelligent driving domain controller; The real-time information of the target object is analyzed and processed, and the processing results are displayed on the vehicle display screen; Based on the processing results, determine whether there is a risk of collision between the target object and the vehicle; If so, a warning signal will be automatically sent to the driver and the target object; The determination of the detection markers includes: The counting begins from the moment the target object's detection marker changes to the first detection marker, and during the counting period, it is determined whether the target object is displayed in the instrument coordinate system based on the first detection marker; During the counting process, if the first detection mark changes to the second detection mark and remains the second detection mark at the end of the preset counting time, then the detection mark of the target object at the end of the preset counting time is the second detection mark; Determine whether the target object is displayed in the instrument coordinate system based on the second detection mark; During the counting process, if the first detection mark changes to the second detection mark and then changes back to the first detection mark, the count is set to 0, the counting ends, and the first detection mark is used to determine whether the target object is displayed in the instrument coordinate system. When the detection marker is 1, it means that the target object may affect the vehicle's driving, and the target object is displayed in the instrument coordinate system; When the detection marker is 0, it means that the target object will not affect the vehicle's driving, and the target object will not be displayed in the instrument coordinate system; The real-time information of the target object is analyzed and processed, and the processing results are displayed on the vehicle display screen, specifically including: If the detection marker is 1, then the real-time lateral coordinates, real-time longitudinal coordinates, and real-time heading angle of the target object in the instrument coordinate system of the vehicle display screen are calculated based on the real-time information of the target object; in the instrument coordinate system, the coordinates of the vehicle remain unchanged; The target object is displayed in the instrument coordinate system based on the real-time lateral coordinates, the real-time longitudinal coordinates, and the real-time heading angle. Calculating the real-time longitudinal coordinates of the target object in the instrument coordinate system of the vehicle display screen based on the real-time information of the target object, specifically including: If, within a time step prior to the current moment, the actual longitudinal distance between the target object and the vehicle changes beyond a first threshold, then the change in the actual longitudinal distance between the target object and the vehicle is set to the first threshold. Calculate the second actual longitudinal coordinate between the target and the vehicle at the current moment based on the first actual longitudinal coordinate between the target and the vehicle at the previous moment and the change in the actual longitudinal distance; The second actual longitudinal coordinate is converted into the real-time longitudinal coordinate of the target object in the instrument coordinate system; Calculating the real-time heading angle of the target object in the instrument coordinate system of the vehicle display screen based on the real-time information of the target object, specifically including: Calculate the initial real-time slope of the target object in the instrument coordinate system based on the real-time information of the target object; Determine the slope segment in which the initial real-time slope is located; The slope corresponding to the endpoint closest to 0 in the slope segment is taken as the final real-time slope. The real-time heading angle of the target object in the instrument coordinate system is calculated based on the final real-time slope.

2. The vehicle hazard warning method according to claim 1, characterized in that, Automatically send warning signals to the driver, specifically including: The hazard level of the target object is indicated by its color on the vehicle's display screen.

3. The vehicle hazard warning method according to claim 1 or 2, characterized in that, Automatically sending warning signals to the driver also includes: If the actual distance between the target object and the vehicle is less than a minimum threshold, the vehicle's speakers will issue a warning, and the actual distance between the target object and the vehicle will be displayed on the vehicle's screen.

4. A vehicle hazard warning device, characterized in that, It includes a receiving module, a processing module, a judgment module, and an early warning module; The receiving module is used to receive real-time information and detection markers of at least one target object sent by the intelligent driving domain controller; The processing module is used to analyze and process the real-time information of the target object and display the processing results on the vehicle display screen; The judgment module is used to determine whether there is a risk of collision between the target object and the vehicle based on the processing result; The early warning module is used to automatically send early warning signals to the driver and the target object; The processing module includes a counting module, a transition judgment module, a display determination module, a first calculation module, and a display module; The counting module is used to start counting from the moment when the target object's detection mark jumps to the first detection mark. During the counting period, the intelligent cockpit domain controller determines whether to display the target object in the instrument coordinate system based on the first detection mark. The transition judgment module is used to determine whether the transition of the detection mark is reliable during the counting process and to determine the detection mark after the counting ends. During the counting process, if the first detection mark transitions to the second detection mark and remains the second detection mark at the end of the preset counting time, then the detection mark of the target object at the end of the preset counting time is the second detection mark. During the counting process, if the first detection mark transitions to the second detection mark and then transitions back to the first detection mark, then the count is set to 0, the counting ends, and the detection mark after the counting ends is the first detection mark. When the detection marker is 1, it means that the target object may affect the vehicle's driving, and the target object is displayed in the instrument coordinate system; When the detection marker is 0, it means that the target object will not affect the vehicle's driving, and the target object will not be displayed in the instrument coordinate system; The display determination module is used to determine whether to display the target object in the instrument coordinate system based on the detection mark after the counting is completed; The first calculation module is used to calculate the real-time lateral coordinates, real-time longitudinal coordinates, and real-time heading angle of the target object in the instrument coordinate system of the vehicle display screen based on the real-time information of the target object when the detection mark is 1; the coordinates of the vehicle remain unchanged in the instrument coordinate system. The display module is used to display the target object in the instrument coordinate system based on the real-time horizontal coordinate, the real-time vertical coordinate, and the real-time heading angle. The first calculation module includes a first assignment module, a second calculation module, and a conversion module; The first assignment module is used to set the change in the actual longitudinal distance between the target object and the vehicle to the first threshold when the change in the actual longitudinal distance between the target object and the vehicle exceeds the first threshold within a step time period before the current time. The second calculation module is used to calculate the second actual longitudinal distance between the target object and the vehicle at the current moment based on the first actual longitudinal distance between the target object and the vehicle at the previous moment and the change of the actual longitudinal distance; The conversion module is used to convert the second actual longitudinal coordinate into the real-time longitudinal coordinate of the target object in the instrument coordinate system; The first calculation module includes a third calculation module, a slope segment determination module, a second assignment module, and a fourth calculation module; The third calculation module is used to calculate the initial real-time slope of the target object in the instrument coordinate system based on the real-time information of the target object. The slope segment determination module is used to determine the slope segment in which the initial real-time slope is located; The second assignment module is used to take the slope corresponding to the endpoint closest to 0 in the slope segment as the final real-time slope; The fourth calculation module is used to calculate the real-time heading angle of the target object in the instrument coordinate system based on the final real-time slope.

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