Anti-collision warning device for vehicle, vehicle warning method and readable medium

Abstract

The embodiments of the present disclosure disclose an anti-collision warning device, a vehicle warning method and a readable medium for use in a vehicle. A specific embodiment of the device includes: a main control module, a display module, at least one obstacle detection module and at least one camera module: each obstacle detection module is arranged on the outside of the vehicle, and the obstacle detection module is connected to the camera module. At least one camera module is arranged on the outside of the vehicle, and each camera module is communicatively connected to the main control module. The main control module is communicatively connected to the display module, and the main control module is configured to generate warning information based on the received target scene image and send the warning information to the display module. The display module is arranged inside the vehicle, and the display module is configured to display the received warning information. This embodiment can reduce the risk of collision between people or vehicles.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the field of vehicle technology, and more particularly to an anti-collision warning device, a vehicle warning method, and a readable medium applied to a vehicle. Background Art

[0002] When the vehicle starts, or when the driver or passenger gets out to open the door when the vehicle stops, it is easy to cause conflicts and collisions with pedestrians, vehicles, etc. on the side of the road. The commonly adopted preventive measures are: the driver or passenger observes the vehicles or pedestrians behind and on the sides of the vehicle through the rearview mirror or windows.

[0003] However, the inventors have discovered that when the above preventive measures are adopted, the following technical problems often occur:

[0004] First, most drivers and passengers often forget to observe the rear and sides of the vehicle, and there are blind spots when observing through rearview mirrors or windows, which makes it easy to collide with pedestrians, vehicles, etc. in the blind spots, resulting in a higher risk of collision between people or vehicles.

[0005] Second, it is impossible to determine whether fast-moving objects from the rear and sides will collide with the vehicle, making it impossible to determine whether avoidance is required, which further leads to a higher risk of collision between people or vehicles.

[0006] Third, it is impossible to determine whether an object moving toward the vehicle is dangerous to the driver and passengers, resulting in uncertainty as to whether avoidance is necessary, which further leads to a higher risk of collision between people or vehicles.

[0007] The above information disclosed in this Background section is only for enhancement of understanding of the background of the inventive concept and therefore it may contain information that does not form the prior art that is already known in this country to a person of ordinary skill in the art. Summary of the Invention

[0008] The content of this disclosure is used to briefly introduce concepts that will be described in detail in the detailed description section below. The content of this disclosure is not intended to identify key features or essential features of the claimed technical solution, nor is it intended to limit the scope of the claimed technical solution.

[0009] Some embodiments of the present disclosure provide a collision avoidance warning device, a vehicle warning method, and a computer-readable medium for use in a vehicle to solve one or more of the technical problems mentioned in the background technology section above.

[0010] In a first aspect, some embodiments of the present disclosure provide a collision avoidance warning device for a vehicle, comprising: a main control module, a display module, at least one obstacle detection module, and at least one camera module. Each obstacle detection module of the at least one obstacle detection module is located outside the vehicle and is communicatively connected to a camera module in the at least one camera module. The obstacle detection module is configured to, in response to detecting the presence of an obstacle in a target scene, send a camera activation message to the connected camera module. The at least one camera module is located outside the vehicle and is communicatively connected to the main control module. Upon receiving the camera activation message, the camera module is configured to capture the target scene, obtain an image of the target scene, and transmit the image to the main control module. The main control module is communicatively connected to the display module and is configured to generate warning information based on the received image of the target scene and transmit the warning information to the display module. The display module is located inside the vehicle and is configured to display the received warning information.

[0011] In a second aspect, some embodiments of the present disclosure provide a vehicle warning method, which is applied to an anti-collision warning device applied to a vehicle as described in the first aspect, wherein the anti-collision warning device includes a main control module, a display module, at least one obstacle detection module, and at least one camera module. The method includes: performing obstacle detection on a target scene by each obstacle detection module included in the at least one obstacle detection module. In response to detecting the presence of an obstacle in the target scene by an obstacle detection module included in the at least one obstacle detection module, photographing the target scene by a camera module associated with the obstacle detection module that detected the obstacle to obtain at least one target scene image. Warning information is generated based on each target scene image included in the at least one target scene image. The warning information is displayed by the display module.

[0012] In a third aspect, some embodiments of the present disclosure provide a computer-readable medium having a computer program stored thereon, wherein when the program is executed by a processor, the method described in any implementation of the first aspect is implemented.

[0013] The above-mentioned various embodiments of the present disclosure have the following beneficial effects: through the anti-collision warning device applied to vehicles according to some embodiments of the present disclosure, the risk of collision between people or vehicles can be reduced. Specifically, the reason for the high risk of collision between people or vehicles is that most drivers and passengers often forget to observe the rear and sides of the vehicle, and when observing through the rearview mirror or window, there are blind spots, which easily lead to collisions with pedestrians, vehicles, etc. in the blind spots. Based on this, the anti-collision warning device applied to vehicles according to some embodiments of the present disclosure includes: a main control module, a display module, at least one obstacle detection module and at least one camera module: each obstacle detection module included in the at least one obstacle detection module is arranged on the outside of the vehicle, the obstacle detection module is communicatively connected to the camera module in the at least one camera module, and the obstacle detection module is configured to send camera start information to the main control module and the connected camera module in response to detecting the presence of an obstacle in the target scene. The at least one camera module is disposed on the exterior of the vehicle. Each of the at least one camera module is communicatively connected to the main control module. The camera module is configured to, in response to receiving a camera start signal, capture the target scene, obtain an image of the target scene, and transmit the image to the main control module. The main control module is communicatively connected to the display module. The main control module is configured to generate a warning message based on the received image of the target scene and transmit the warning message to the display module. The display module is disposed inside the vehicle and is configured to display the received warning message. Because the obstacle detection module and camera module are disposed on the exterior of the vehicle, blind spots can be reduced, enabling detection of a wider area around the vehicle and enabling capture of objects detected around the vehicle. Furthermore, because the main control module is configured to generate a warning message based on the received image of the target scene and transmit the warning message to the display module, the captured image can be used to determine whether an obstacle exists and issue a warning if one is present. Therefore, the anti-collision warning device applied to a vehicle according to some embodiments of the present disclosure can reduce the risk of collision between people or vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The above and other features, advantages, and aspects of the various embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that components and elements are not necessarily drawn to scale.

[0015] Figure 1 is a schematic structural diagram of some embodiments of the anti-collision warning device applied to a vehicle according to the present disclosure;

[0016] Figure 2 is a flowchart of some embodiments of the vehicle warning method according to the present disclosure. DETAILED DESCRIPTION

[0017] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of protection of the present disclosure.

[0018] It should also be noted that, for ease of description, only the parts related to the invention are shown in the drawings. In the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other.

[0019] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0020] It should be noted that the modifications of "one" and "multiple" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, they should be understood as "one or more".

[0021] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0022] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0023] Figure 1 It is a structural schematic diagram of some embodiments of the anti-collision warning device applied to a vehicle according to the present disclosure. Figure 1 It includes an obstacle detection module 1, a camera module 2, a main control module 3 and a display module 4.

[0024] In some embodiments, the anti-collision warning device for a vehicle may include a main control module 3, a display module 4, at least one obstacle detection module (e.g., obstacle detection module 1), and at least one camera module (e.g., camera module 2). The main control module 3 may be a microcontroller for processing various received information. For example, the main control module 3 may include, but is not limited to, at least one of the following: a system-on-chip (SoC), an MCU (microcontroller unit), or a DSP (digital signal processor). The specific location of the main control module 3 is not limited. For example, the main control module 3 may be located inside the vehicle. The display module 4 may be a module for displaying received information. For example, the display module 4 may be a display screen. The obstacle detection module may be a module for detecting obstacles around the vehicle. For example, the obstacle detection module may be a radar sensor. The camera module may be a module for recording images. For example, the camera module may be a camera. Each obstacle detection module included in the at least one obstacle detection module may be located outside the vehicle. The obstacle detection module may be communicatively connected to a camera module in the at least one camera module. The specific method for communicating between the obstacle detection module and the camera module in the at least one camera module is not limited. For example, the obstacle detection module may communicate with the camera module in the at least one camera module via a wired connection. The obstacle detection module may also communicate with the camera module in the at least one camera module via a wireless connection. It should be noted that the wireless connection may include, but is not limited to, 3G / 4G connections, WiFi connections, Bluetooth connections, WiMAX connections, Zigbee connections, UWB (ultra wideband) connections, and other currently known or future developed wireless connection methods. The at least one obstacle detection module may be communicatively connected to the at least one camera module in a one-to-one correspondence. Each obstacle detection module included in the at least one obstacle detection module may also be communicatively connected to each camera module in the at least one camera module. The obstacle detection module may be configured to transmit a camera activation message to the connected camera module in response to detecting the presence of an obstacle in a target scene. The target scene may be a scene within a preset range of the vehicle. The camera activation information may be information indicating that the camera module is initiating the capture of the target scene. For example, the camera activation information may be "Camera, on." The camera activation information may be information generated by the obstacle detection module. The camera activation information may also be pre-stored information.Therefore, when it is detected that there are obstacles around the vehicle, information indicating that the camera module is turned on can be sent to the connected camera module, so that the camera module can shoot the target scene.

[0025] In some embodiments, the at least one camera module may be arranged on the outside of the vehicle. Here, there is no limitation on the specific location where the at least one camera module is arranged on the outside of the vehicle. Preferably, the at least one camera module may include a camera module arranged at the rear of the outside of the vehicle. Each camera module included in the at least one camera module may be communicatively connected to the main control module 3. The connection mode of each camera module included in the at least one camera module and the main control module 3 may be a wired connection mode or a wireless connection mode. The camera module may be configured to shoot the target scene in response to receiving the camera start information, obtain the target scene image, and send the target scene image to the main control module 3. The target scene image may be an image obtained by shooting the target scene. Thus, by shooting the target scene, it is convenient for the subsequent main control module to analyze the target scene image to further determine whether there is an obstacle.

[0026] In some embodiments, the main control module 3 can be communicatively connected to the display module 4. The communication connection between the main control module 3 and the display module 4 can be a wired connection or a wireless connection. The main control module 3 can be configured to generate a warning message based on the received target scene image and transmit the warning message to the display module 4. The warning message can include information indicating the presence of an obstacle in the target scene and reminding occupants of the vehicle not to exit the vehicle. For example, the warning message can include "Obstacle present, do not exit the vehicle." In practice, the main control module 3 can first perform obstacle recognition processing on the target scene image using various methods to obtain an obstacle recognition result. As an example, the main control module 3 can match each pre-stored obstacle image in a pre-stored obstacle image set with the target scene image to obtain an obstacle recognition result. Second, the main control module 3 can generate a warning message based on the obstacle recognition result to indicate the presence of an obstacle in the target scene. Finally, the main control module 3 can transmit the warning message to the display module 4. In this way, it is possible to further determine whether there are obstacles in the target scene, and to generate an early warning when it is determined that there are obstacles in the target scene, so as to facilitate subsequent reminders to the people in the vehicle.

[0027] In some embodiments, the display module 4 can be located inside the vehicle. The specific location of the display module 4 inside the vehicle is not limited. For example, the display module 4 can be located on the back of a front seat. The display module 4 can be configured to display the received warning information. This displayed warning information can thus alert occupants of the vehicle, thereby reducing the risk of collision when exiting the vehicle.

[0028] Optionally, the anti-collision warning device may further include a playback module. The playback module may be communicatively connected to the main control module 3. The playback module may be a module for playing audio. For example, the playback module may be a speaker.

[0029] Optionally, each obstacle detection module included in the at least one obstacle detection module may be communicatively connected to the main control module 3. The obstacle detection module may also be configured to, in response to detecting the presence of an obstacle in the target scene, send obstacle presence information to the main control module 3. The obstacle presence information may be information indicating the presence of an obstacle in the target scene. For example, the obstacle presence information may be "obstacle detected." The obstacle presence information may be information generated by the obstacle detection module. The obstacle presence information may also be pre-stored information. The main control module 3 may also be configured to generate an audio warning based on the received obstacle presence information and send the audio warning information to the playback module. The audio warning information may be an audio signal indicating the presence of an obstacle in the target scene and reminding occupants of the vehicle not to exit the vehicle. For example, the audio warning information may be an audio signal stating "Obstacle present, do not exit the vehicle." The playback module may be configured to play audio corresponding to the received audio warning information.

[0030] Optionally, the anti-collision warning device may further include a positioning module. The positioning module may be a module for determining the location of the vehicle. For example, the positioning module may include, but is not limited to, a Beidou positioning module, a GPS positioning module, or a Beidou+GPS dual-core positioning module. The positioning module may be located on the vehicle. The specific location of the positioning module on the vehicle is not limited. The positioning module may be communicatively connected to the main control module 3 and the display module 4.

[0031] Optionally, the positioning module may be configured to detect location information corresponding to the vehicle and transmit the location information to the main control module 3. The location information may be information representing the location of the vehicle. For example, the location information may be geographic coordinates. The main control module 3 may also be configured to generate location perimeter information based on the received location information and transmit the location perimeter information to the display module 4. In practice, the main control module 3 may determine each map tile within a preset range of the location information as location perimeter information. The display module 4 may also be configured to display the received location perimeter information.

[0032] Optionally, the anti-collision warning device may further include at least one door contact sensing module. The door contact sensing module may be a module for detecting whether a person touches a door switch. For example, the door contact sensing module may be a contact sensor. Each door contact sensing module included in the at least one door contact sensing module may be arranged on the door switch of the vehicle. Specifically, each door contact sensing module included in the at least one door contact sensing module may be arranged on the inner side of the door switch of the vehicle. The door contact sensing module may be communicatively connected with each obstacle detection module included in the at least one obstacle detection module.

[0033] Optionally, each of the at least one door contact sensing modules may be configured to, in response to detecting a door opening operation, send obstacle detection activation information to each obstacle detection module. The door opening operation may be an operation indicating that a person is about to open the door. The obstacle detection activation information may be information indicating that the obstacle detection module has been activated. For example, the obstacle detection activation information may be "Obstacle detection module, activated." The obstacle detection activation information may be information generated by the obstacle detection module. The obstacle detection activation information may also be pre-stored information. Each of the at least one obstacle detection modules may be configured to, in response to receiving the obstacle detection activation information, perform obstacle detection on the target scene.

[0034] Optionally, the at least one obstacle detection module may include an obstacle detection module located at the rear of the vehicle, an obstacle detection module located on the left side of the vehicle, and an obstacle detection module located on the right side of the vehicle. The at least one camera module may include a camera module located at the rear of the vehicle, a camera module located on the left side of the vehicle, and a camera module located on the right side of the vehicle. The camera module located at the rear of the vehicle may be communicatively connected to the obstacle detection module located at the rear of the vehicle. The camera module located on the left side of the vehicle may be communicatively connected to the obstacle detection module located on the left side of the vehicle. The camera module located on the right side of the vehicle may be communicatively connected to the obstacle detection module located on the right side of the vehicle. In this manner, all four sides of the vehicle may be detected, and by connecting obstacle detection modules and camera modules in the same direction, when an obstacle detection module detects an obstacle, the obstacle may be photographed by controlling the camera modules located in the same direction.

[0035] Optionally, the anti-collision warning device may further include a power module. The power module may be electrically connected to the display module 4, each obstacle detection module, and each camera module. The power module may be configured to power the display module 4, each obstacle detection module included in the at least one obstacle detection module, and each camera module included in the at least one camera module.

[0036] The above-mentioned various embodiments of the present disclosure have the following beneficial effects: through the anti-collision warning device applied to vehicles according to some embodiments of the present disclosure, the risk of collision between people or vehicles can be reduced. Specifically, the reason for the high risk of collision between people or vehicles is that most drivers and passengers often forget to observe the rear and sides of the vehicle, and when observing through the rearview mirror or window, there are blind spots, which easily lead to collisions with pedestrians, vehicles, etc. in the blind spots. Based on this, the anti-collision warning device applied to vehicles according to some embodiments of the present disclosure includes: a main control module, a display module, at least one obstacle detection module and at least one camera module: each obstacle detection module included in the at least one obstacle detection module is arranged on the outside of the vehicle, the obstacle detection module is communicatively connected to the camera module in the at least one camera module, and the obstacle detection module is configured to send camera start information to the connected camera module in response to detecting the presence of an obstacle in the target scene. The at least one camera module is disposed on the exterior of the vehicle. Each of the at least one camera module is communicatively connected to the main control module. The camera module is configured to, in response to receiving a camera start signal, capture the target scene, obtain an image of the target scene, and transmit the image to the main control module. The main control module is communicatively connected to the display module. The main control module is configured to generate a warning message based on the received image of the target scene and transmit the warning message to the display module. The display module is disposed inside the vehicle and is configured to display the received warning message. Because the obstacle detection module and camera module are disposed on the exterior of the vehicle, blind spots can be reduced, enabling detection of a wider area around the vehicle and enabling capture of objects detected around the vehicle. Furthermore, because the main control module is configured to generate a warning message based on the received image of the target scene and transmit the warning message to the display module, the captured image can be used to determine whether an obstacle exists and issue a warning if one is present. Therefore, the anti-collision warning device applied to a vehicle according to some embodiments of the present disclosure can reduce the risk of collision between people or vehicles.

[0037] Continue to refer Figure 2 , shows a process 200 of some embodiments of the vehicle warning method according to the present disclosure. The vehicle warning method includes the following steps:

[0038] Step 201: Perform obstacle detection on a target scene by using each obstacle detection module included in at least one obstacle detection module.

[0039] In some embodiments, the execution entity of the vehicle warning method (eg Figure 1The anti-collision warning device for a vehicle (shown) can detect obstacles in a target scene using the various obstacle detection modules included in the at least one obstacle detection module. The anti-collision warning device may include a main control module, a display module, at least one obstacle detection module, and at least one camera module. In practice, the execution entity may use a radar sensor to detect whether there are obstacles in the target scene. This allows detection of the vehicle's surroundings to determine whether there are any obstacles.

[0040] Optionally, the anti-collision warning device further includes at least one door contact sensing module.

[0041] In some optional implementations of some embodiments, the execution entity may perform the following steps:

[0042] In the first step, each door contact sensing module included in the at least one door contact sensing module determines whether the associated door switch is open. The door contact sensing module may be a module for detecting whether a person has touched the door switch. For example, the door contact sensing module may be a contact sensor. Each door contact sensing module included in the at least one door contact sensing module may be disposed on a door switch of the vehicle. As an example, the execution entity may detect whether a person has touched the door switch via the door contact sensing module. This allows determination of whether a person is about to open the door.

[0043] In the second step, in response to determining that the door switch is open, each obstacle detection module included in the at least one obstacle detection module performs obstacle detection in the target scene. This allows obstacle detection to be performed in the target scene when a person touches the door switch, reducing the operating time of the obstacle detection modules and improving their utilization.

[0044] Step 202 : In response to an obstacle detection module included in at least one obstacle detection module detecting the presence of an obstacle in a target scene, a camera module associated with the obstacle detection module that detected the obstacle captures the target scene to obtain at least one target scene image.

[0045] In some embodiments, the execution entity may, in response to an obstacle detection module included in the at least one obstacle detection module detecting the presence of an obstacle in the target scene, capture the target scene using a camera module associated with the obstacle detection module that detected the obstacle, thereby obtaining at least one target scene image. The specific number of obstacle detection modules and camera modules is not limited. By way of example, the at least one obstacle detection module may include four obstacle detection modules positioned around the vehicle. And the at least one camera module may include four camera modules positioned around the vehicle. The obstacle detection modules and camera modules in the same orientation are communicatively connected. In practice, in response to an obstacle detection module detecting the presence of an obstacle in the target scene, the execution entity may capture the target scene using a camera module positioned in the same orientation as the obstacle detection module, thereby obtaining at least one target scene image. Capturing the target scene facilitates subsequent analysis of the target scene image to further determine whether an obstacle is present.

[0046] Step 203: Generate warning information according to each target scene image included in the at least one target scene image.

[0047] In some embodiments, the execution entity may generate warning information based on each target scene image included in the at least one target scene image. In practice, for each target scene image included in the at least one target scene image, the execution entity may first perform obstacle recognition processing on the target scene image in various ways to obtain an obstacle recognition result. As an example, the execution entity may match each pre-stored obstacle image included in a pre-stored obstacle image set with the target scene image to obtain an obstacle recognition result. Secondly, in response to the obstacle recognition result indicating the presence of an obstacle in the target scene, the execution entity may generate obstacle warning information corresponding to the target scene image. The obstacle warning information may be information indicating the presence of an obstacle in the target scene. For example, the obstacle warning information may be "obstacle present." Finally, the execution entity may combine the obstacle warning information corresponding to each target scene image included in the at least one target scene image to obtain a warning information. This allows further determination of whether an obstacle exists in the target scene, and may generate a warning if it is determined that an obstacle exists in the target scene, facilitating subsequent alerting of occupants of the vehicle.

[0048] Optionally, the above execution entity may further perform the following steps:

[0049] In the first step, in response to an obstacle detection module included in the at least one obstacle detection module detecting the presence of an obstacle in the target scene, the obstacle detection module that detected the obstacle performs speed detection on the detected obstacle to obtain at least one obstacle movement speed information. The obstacle movement speed information may be information indicating the speed of the obstacle. For example, the obstacle movement speed information may be "30 km / h."

[0050] In a second step, in response to the at least one obstacle movement speed information including obstacle movement speed information representing a speed greater than or equal to a preset speed, an obstacle detection module corresponding to the obstacle movement speed information representing a speed greater than or equal to the preset speed is determined as a target obstacle detection module, thereby obtaining at least one target obstacle detection module.

[0051] In the third step, at least one target obstacle detection module detects the distance to an obstacle corresponding to the obstacle's moving speed information representing a speed greater than or equal to a preset speed, thereby obtaining at least one piece of obstacle distance information. The obstacle distance information may represent the distance between the obstacle and the vehicle. For example, the obstacle distance information may be "25 meters." In practice, the execution entity may use the distance measured by the target obstacle detection module as the obstacle distance information.

[0052] The fourth step is to generate obstacle duration information corresponding to the obstacle movement speed information based on each obstacle distance information included in the at least one obstacle distance information, and the obstacle movement speed information corresponding to the obstacle distance information, to obtain an obstacle duration information set. The obstacle duration information may be information representing the time it takes for the obstacle to reach the vehicle. For example, the obstacle duration information may be "3s." In practice, the execution entity may determine the obstacle duration information as the ratio of the distance represented by each obstacle distance information to the speed represented by the corresponding obstacle movement speed information. Thus, it is possible to determine how long it takes for the obstacle to reach the vehicle.

[0053] Step 5: In response to the obstacle duration information set including obstacle duration information representing a duration less than or equal to a preset duration, generate a warning message based on the obstacle duration information representing a duration less than or equal to the preset duration. In practice, the execution entity may combine the obstacle duration information with pre-stored corpus to obtain the warning message. The pre-stored corpus may include "An obstacle exists, the arrival time is XX, please do not get off the vehicle." The "XX" may represent the obstacle duration information. The obstacle duration information may include "3s." The warning message may include "An obstacle exists, the arrival time is 3s, please do not get off the vehicle."

[0054] The first through fifth steps described above, as an inventive feature of an embodiment of the present disclosure, address the second technical issue mentioned in the background art: "the inability to determine whether fast-moving objects from the rear and sides will collide with the vehicle, resulting in uncertainty about whether avoidance is necessary, further leading to a higher risk of collision for people or vehicles." This higher risk of collision for people or vehicles is further due to the following factors: the inability to determine whether fast-moving objects from the rear and sides will collide with the vehicle, resulting in uncertainty about whether avoidance is necessary. Resolving these factors can further reduce the risk of collision for people or vehicles. To achieve this, the present disclosure first detects the presence of an obstacle in the target scene by an obstacle detection module included in the at least one obstacle detection module, detects the speed of the detected obstacle by the obstacle detection module, and obtains at least one piece of obstacle movement speed information. Secondly, in response to the at least one piece of obstacle movement speed information including obstacle movement speed information indicating a speed greater than or equal to a preset speed, the obstacle detection module corresponding to the obstacle movement speed information indicating a speed greater than or equal to the preset speed is identified as a target obstacle detection module, thereby obtaining at least one target obstacle detection module. Then, the at least one target obstacle detection module detects the distance of an obstacle corresponding to obstacle movement speed information representing a speed greater than or equal to a preset speed, obtaining at least one piece of obstacle distance information. Subsequently, based on each piece of obstacle distance information included in the at least one piece of obstacle distance information and the obstacle movement speed information corresponding to the obstacle distance information, obstacle duration information corresponding to the obstacle movement speed information is generated, thereby obtaining a set of obstacle duration information. Finally, in response to the set of obstacle duration information including obstacle duration information representing a duration less than or equal to a preset duration, a warning message is generated based on the obstacle duration information representing a duration less than or equal to the preset duration. Thus, the obstacle detection module can detect the movement speed and distance of an obstacle and determine the time it will take to reach the vehicle based on the speed and distance. If the time is short, an alarm is issued, thereby more accurately determining whether a collision with the vehicle will occur and, therefore, whether avoidance is necessary, further reducing the risk of collision between people and vehicles.

[0055] Optionally, the above-mentioned anti-collision warning device also includes an artificial intelligence chip.

[0056] Optionally, the above execution entity may further perform the following steps:

[0057] In the first step, obstacle identification is performed on each target scene image included in the at least one target scene image, obtaining at least one obstacle region identification result corresponding to the target scene image. The obstacle region identification result may be an identification result representing a region of an obstacle in the target scene image. For example, the obstacle region identification result may be a coordinate pair. In practice, the execution entity may perform obstacle identification on each target scene image using various methods.

[0058] In a second step, based on the at least one obstacle region recognition result corresponding to each target scene image included in the at least one target scene image, the target scene image is segmented to obtain at least one obstacle image. In practice, the execution entity may segment the region represented by the at least one obstacle region recognition result corresponding to each target scene image to obtain the at least one obstacle image.

[0059] In the third step, the feature extraction model implemented by the AI ​​chip performs feature extraction on each obstacle image corresponding to each target scene image to generate a set of obstacle image feature vectors corresponding to the target scene image. This feature extraction model can be a custom model that takes an obstacle image as input and outputs an obstacle image feature vector. The obstacle image feature vector can be a vector representing the characteristics of the obstacle. This custom model can include a feature extraction layer, a feature mapping layer, and a fully connected layer.

[0060] In a fourth step, for each obstacle image feature vector included in the set of obstacle image feature vectors corresponding to each target scene image included in the at least one target scene image, the execution entity may perform the following processing steps:

[0061] The first sub-step is to determine the similarity between the obstacle image feature vector and each classification image vector included in the preset classification image vector set, and obtain a similarity set. The classification image vector corresponds to image category information. Each classification image vector in the preset classification image vector set can be a feature vector obtained by extracting features from a preset image included in a preset image library. In practice, the execution entity can determine the similarity between the obstacle image feature vector and each classification image vector included in the preset classification image vector set in various ways. As an example, the execution entity can determine the similarity between the obstacle image feature vector and each classification image vector included in the preset classification image vector set by using a cosine similarity algorithm.

[0062] In the second sub-step, the classification image vector whose corresponding similarity satisfies a preset similarity condition is determined as the target classification image vector, wherein the preset similarity condition may be that the corresponding similarity is the largest classification image vector in the similarity set.

[0063] In a third sub-step, the image category information corresponding to the target classification image vector is determined as the obstacle category information corresponding to the obstacle image feature vector.

[0064] In a fifth step, based on each obstacle category information corresponding to each target scene image included in the at least one target scene image, warning level information corresponding to the obstacle category information is generated, thereby obtaining a set of warning level information corresponding to the target scene image. In practice, the execution entity may generate the warning level information corresponding to the obstacle category information based on a preset category warning level comparison table. As an example, the execution entity may determine the warning level corresponding to the obstacle category information in the category warning level comparison table as the warning level information. The category warning level comparison table may be a pre-set table that represents the relationship between obstacle category information and warning levels.

[0065] Step 6: Generate warning information based on the warning level information set corresponding to each target scene image. In practice, the execution entity may determine the highest level warning information represented in the warning level information set as the warning information.

[0066] The above-mentioned first to sixth steps, as an inventive point of an embodiment of the present disclosure, solve the technical problem three mentioned in the background technology, "it is impossible to determine whether an object moving toward the vehicle is dangerous to the driver and passengers, resulting in an inability to determine whether it needs to be avoided, which further leads to a higher risk of collision between people or vehicles." The reasons for the further higher risk of collision between people or vehicles are as follows: it is impossible to determine whether an object moving toward the vehicle is dangerous to the driver and passengers, resulting in an inability to determine whether it needs to be avoided. If the above factors are resolved, the risk of collision between people or vehicles can be further reduced. In order to achieve this effect, the present disclosure first performs obstacle recognition on each target scene image included in the at least one target scene image to obtain at least one obstacle area recognition result corresponding to the target scene image. Secondly, based on the at least one obstacle area recognition result corresponding to each target scene image included in the at least one target scene image, the target scene image is segmented to obtain at least one obstacle image. Then, through the feature extraction model carried by the above-mentioned artificial intelligence chip, feature extraction is performed on each obstacle image corresponding to each target scene image to generate a set of obstacle image feature vectors corresponding to the target scene image. Then, for each obstacle image feature vector included in the set of obstacle image feature vectors corresponding to each target scene image included in the at least one target scene image, the following processing steps are performed: The similarity between the obstacle image feature vector and each classified image vector included in a preset set of classified image vectors is determined to obtain a similarity set. The classified image vectors correspond to image category information. The classified image vectors whose corresponding similarity satisfies a preset similarity condition are determined as target classified image vectors. The image category information corresponding to the target classified image vectors is determined as the obstacle category information corresponding to the obstacle image feature vector. Subsequently, based on each obstacle category information corresponding to each target scene image included in the at least one target scene image, warning level information corresponding to the obstacle category information is generated to obtain a set of warning level information corresponding to the target scene image. Finally, warning information is generated based on the set of warning level information corresponding to each target scene image. Thus, the obstacle category can be determined based on the captured image, and the warning level can be determined based on the obstacle category. A higher-level warning information is generated when the obstacle is more dangerous. Therefore, the warning level can be used to determine whether the object is dangerous to the driver and passengers, and further determine whether avoidance is necessary, further reducing the risk of collision between people or vehicles.

[0067] Step 204: display the warning information via the display module.

[0068] In some embodiments, the execution entity may display the warning information via the display module, thereby reminding occupants of the vehicle through the displayed warning information, thereby reducing the risk of collision when the occupants of the vehicle exit the vehicle.

[0069] The various embodiments of the present disclosure described above have the following beneficial effects: The vehicle warning methods of some embodiments of the present disclosure can reduce the risk of collisions between people or vehicles. Specifically, the high risk of collisions between people or vehicles is due to the fact that many drivers and passengers often forget to check behind and to the sides of their vehicles. When looking through rearview mirrors or windows, they have blind spots, which can easily lead to collisions with pedestrians, vehicles, etc. located in these blind spots. Based on this, the vehicle warning methods of some embodiments of the present disclosure include: first, detecting obstacles in a target scene using each obstacle detection module included in the at least one obstacle detection module. Second, in response to detecting an obstacle in the target scene using an obstacle detection module included in the at least one obstacle detection module, capturing the target scene using a camera module associated with the obstacle detection module that detected the obstacle to obtain at least one target scene image. Then, generating warning information based on each target scene image included in the at least one target scene image. Finally, displaying the warning information using the display module. This is because the obstacle detection module and camera module are located on the exterior of the vehicle. This can reduce blind spots, detect the area around the vehicle on a larger scale, and take photos when objects are detected around the vehicle. This is also because the main control module is configured to generate warning information based on the received target scene image and send the warning information to the display module. It can then be judged based on the captured image to further determine whether there is an obstacle, and issue a warning when an obstacle exists. Therefore, the vehicle warning method of some embodiments of the present disclosure can reduce the risk of collision between people or vehicles.

[0070] The above description is only an illustration of some preferred embodiments of the present disclosure and the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalent features without departing from the above-mentioned inventive concept. For example, the above-mentioned features are replaced with (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure.

Claims

1. A collision avoidance warning device for a vehicle, comprising a main control module, a display module, at least one obstacle detection module, and at least one camera module: Each obstacle detection module included in the at least one obstacle detection module is disposed outside the vehicle, the obstacle detection module is communicatively connected to a camera module in the at least one camera module, and the obstacle detection module is configured to send camera start information to the connected camera module in response to detecting the presence of an obstacle in the target scene; The at least one camera module is disposed outside the vehicle, each camera module included in the at least one camera module is communicatively connected to the main control module, and the camera module is configured to, in response to receiving camera start information, capture the target scene, obtain a target scene image, and send the target scene image to the main control module; The main control module is communicatively connected to the display module, and the main control module is configured to generate warning information according to the received target scene image and send the warning information to the display module; The display module is disposed inside the vehicle, and the display module is configured to display the received warning information; The anti-collision warning device also includes an artificial intelligence chip; The anti-collision warning device is configured to perform obstacle recognition on each target scene image included in at least one target scene image, and obtain at least one obstacle area recognition result corresponding to the target scene image; Segmenting the target scene image according to at least one obstacle region recognition result corresponding to each target scene image included in at least one target scene image to obtain at least one obstacle image; Performing feature extraction on each obstacle image corresponding to each target scene image using a feature extraction model carried by the artificial intelligence chip to generate a set of obstacle image feature vectors corresponding to the target scene image; For each obstacle image feature vector included in a set of obstacle image feature vectors corresponding to each target scene image included in at least one target scene image, the following processing steps are performed: Determining a similarity between the obstacle image feature vector and each classified image vector included in a preset classified image vector set to obtain a similarity set, wherein the classified image vector corresponds to image category information, and each classified image vector in the preset classified image vector set is a feature vector obtained by extracting features from a preset image included in a preset image library; Determine the classification image vector whose corresponding similarity satisfies the preset similarity condition as the target classification image vector; determining the image category information corresponding to the target classification image vector as the obstacle category information corresponding to the obstacle image feature vector; generating warning level information corresponding to each obstacle category information of each target scene image included in at least one target scene image, and obtaining a warning level information set corresponding to the target scene image; Warning information is generated according to the warning level information set corresponding to each target scene image, wherein the warning level information with the highest level represented in the warning level information set is determined as the warning information.

2. The anti-collision warning device for a vehicle according to claim 1, wherein: The anti-collision warning device further includes a playback module, which is communicatively connected to the main control module; and Each obstacle detection module included in the at least one obstacle detection module is communicatively connected to the main control module, and the obstacle detection module is further configured to send obstacle presence information to the main control module in response to detecting the presence of an obstacle in the target scene; The main control module is further configured to generate an alarm audio message according to the received obstacle presence information and send the alarm audio message to the playback module; The playing module is configured to play the audio corresponding to the received alarm audio information.

3. The anti-collision warning device for a vehicle according to claim 1, wherein: The anti-collision warning device further includes a positioning module, which is disposed on the vehicle and is communicatively connected with the main control module and the display module; and The positioning module is configured to detect position information corresponding to the vehicle and send the position information to the main control module; The main control module is further configured to generate location surrounding information based on the received location information, and send the location surrounding information to the display module; The display module is further configured to display the received location surrounding information.

4. The anti-collision warning device for a vehicle according to claim 1, wherein: The anti-collision warning device further includes at least one door contact sensing module, each door contact sensing module included in the at least one door contact sensing module is disposed on a door switch of the vehicle, and the door contact sensing module is communicatively connected to each obstacle detection module included in the at least one obstacle detection module; as well as Each of the at least one door contact sensing module is configured to send obstacle detection opening information to each obstacle detection module in response to detecting a door opening operation; Each obstacle detection module included in the at least one obstacle detection module is configured to perform obstacle detection on the target scene in response to receiving the obstacle detection start information.

5. The anti-collision warning device for a vehicle according to claim 1, wherein: The at least one obstacle detection module includes an obstacle detection module arranged at the rear of the vehicle, an obstacle detection module arranged at the left side of the vehicle, and an obstacle detection module arranged at the right side of the vehicle; The at least one camera module includes a camera module arranged at the rear of the vehicle, a camera module arranged at the left side of the vehicle, and a camera module arranged at the right side of the vehicle; The camera module arranged at the rear of the vehicle is communicatively connected to the obstacle detection module arranged at the rear of the vehicle, the camera module arranged on the left side of the vehicle is communicatively connected to the obstacle detection module arranged on the left side of the vehicle, and the camera module arranged on the right side of the vehicle is communicatively connected to the obstacle detection module arranged on the right side of the vehicle.

6. The anti-collision warning device for a vehicle according to any one of claims 1 to 5, wherein: The anti-collision warning device further includes a power supply module, the power supply module being electrically connected to the display module, each obstacle detection module and each camera module; and The power supply module is configured to supply power to the display module, each obstacle detection module included in the at least one obstacle detection module, and each camera module included in the at least one camera module.

7. A vehicle warning method, applied to the anti-collision warning device for a vehicle according to any one of claims 1 to 6, wherein: The anti-collision warning device includes a main control module, a display module, at least one obstacle detection module and at least one camera module, and the method includes: Performing obstacle detection on a target scene by using each obstacle detection module included in the at least one obstacle detection module; In response to detecting the presence of an obstacle in the target scene by an obstacle detection module included in the at least one obstacle detection module, photographing the target scene by a camera module associated with the obstacle detection module that detected the obstacle to obtain at least one target scene image; generating warning information according to each target scene image included in at least one of the target scene images; The warning information is displayed through the display module.

8. The method according to claim 7, wherein: The anti-collision warning device further includes at least one door contact sensing module; as well as The performing obstacle detection on the target scene by each obstacle detection module included in the at least one obstacle detection module includes: determining, by each door contact sensing module included in the at least one door contact sensing module, whether an associated door switch is turned on; In response to determining that the door switch is turned on, obstacle detection is performed on the target scene by each obstacle detection module included in the at least one obstacle detection module.

9. A computer-readable medium having a computer program stored thereon, wherein: When the program is executed by a processor, the method according to any one of claims 7 to 8 is implemented.

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