Vehicle collision warning methods, systems, storage media and vehicles

Abstract

This invention relates to the field of vehicle technology, specifically providing a vehicle collision warning method, system, storage medium, and vehicle, aiming to solve one of the problems of limited warning range, low accuracy, and poor warning effect in existing vehicle collision warning systems. The vehicle collision warning method provided by this invention includes: acquiring parameters related to the obstacle, the vehicle's motion state, and the air conditioning's operating state; determining, based at least on the relevant parameters, whether there is a collision risk between the vehicle and the obstacle; and, if a collision risk is determined to exist and the air conditioning is operating, issuing a warning to the driver via a warning medium, wherein the parameters related to the obstacle include distance. The vehicle collision warning method provided by this invention can improve the warning effect and accuracy, thereby enhancing the driving experience.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, and particularly provides a vehicle collision warning method, system, storage medium and vehicle. BACKGROUND

[0002] For the purpose of safe driving, most vehicles are equipped with a collision warning function, which mainly warns the driver when the vehicle and the obstacle are identified to have a collision risk during driving.

[0003] The existing warning scheme is to determine whether there is a collision risk between the vehicle and the obstacle based on the distance between them during driving, and to warn the driver by displaying warning information on the screen and combining a buzzer or a voice prompter when there is a collision risk. However, when the noise in the vehicle cabin is large, the effect of the sound prompt is not obvious. In addition, the existing technology can only warn the driver when the vehicle is in the driving state, and the warning range is limited, and the warning accuracy is not high. SUMMARY

[0004] The present application aims to solve the above technical problems, that is, at least one of the problems of the existing vehicle collision warning, such as limited warning range, low accuracy, and poor warning effect.

[0005] In a first aspect, the present application provides a vehicle collision warning method, the vehicle is equipped with an air conditioner, and the warning method comprises: obtaining parameters related to an obstacle, a motion state of the vehicle and a working state of the air conditioner; determining whether the vehicle and the obstacle have a collision risk based on at least the related parameters; in the case that the collision risk is determined and the air conditioner is in the working state, making the air conditioner send a warning prompt to the driver in the form of sending a warning medium to the driver, wherein the parameters related to the obstacle include distance.

[0006] In the vehicle collision warning method provided by the present application, in the case that the air conditioner is in the working state and there is a collision risk, the air conditioner sends a warning medium to the driver, and the driver receives the warning information through the way of tactile perception. Compared with the traditional way of auditory perception, the way of tactile perception is less affected by environmental factors such as noise, so as to facilitate the driver to learn the warning prompt in time, to make a timely response to the warning, to improve the warning effect, and to improve the driving experience.

[0007] In some possible implementation of the vehicle collision warning method, the determining whether the vehicle and the obstacle have the collision risk based on at least the related parameters comprises: if the distance change amount is zero and the motion state of the vehicle is the idle state, obtaining the acceleration of the vehicle; and if the acceleration of the vehicle is greater than zero and the gear of the vehicle is the forward gear, determining that the vehicle and the obstacle have the collision risk.

[0008] As can be understood by those skilled in the art, when the distance change amount between the vehicle and the obstacle is zero, there are various situations between the vehicle and the obstacle, which can be that the vehicle and the obstacle are in the same motion state and have the same motion speed, or the vehicle and the obstacle are both in the static state, in which the vehicle can be in the parking state or the idle state. The existing technical solution can determine whether the vehicle and the obstacle have the collision risk when the vehicle is in motion, but cannot effectively determine whether the vehicle and the obstacle have the collision risk when the vehicle is in the idle state and the obstacle is static. Therefore, the vehicle is easy to collide with the obstacle when the vehicle is switched from the idle state to the start state. In the warning method provided in the present application, when the distance change amount is zero, the motion state of the vehicle is further combined, and the acceleration of the vehicle is obtained when the motion state of the vehicle is the idle state. The motion trend of the vehicle in the idle state is rapidly determined through the change of the acceleration and the gear information, and then the risk occurrence time when the vehicle and the obstacle have the collision risk is determined, so that the driver can be rapidly and timely warned, and the accuracy and effect of the warning are improved, and the safety of the driver and the passenger is better ensured.

[0009] In some possible implementation of the vehicle collision warning method, the determining whether the vehicle and the obstacle have the collision risk based on at least the related parameters comprises: if the distance change amount is less than zero, determining that the vehicle and the obstacle have the collision risk; or

[0010] if the distance change amount is greater than zero, determining that the vehicle and the obstacle do not have the collision risk.

[0011] As can be understood by those skilled in the art, the vehicle has three states of driving, idling and parking, and the obstacle has two states of motion and static. No matter what state the vehicle and the obstacle are in, when the distance change amount between the vehicle and the obstacle is less than zero, it indicates that the vehicle and the obstacle are approaching each other, and this situation is determined to have the collision risk. When the distance change amount between the vehicle and the obstacle is greater than zero, it indicates that the vehicle and the obstacle are moving away from each other, and this situation is determined to not have the collision risk.

[0012] In some possible implementation forms of the vehicle collision warning method, the air conditioner comprises a vehicle-mounted air conditioner and a parking air conditioner, the parking air conditioner is connected with a voltage stabilizer, so that the parking air conditioner can be started when the vehicle-mounted air conditioner is started, and the "warning the driver by the air conditioner in a manner of sending the warning medium to the driver" comprises: when the parking air conditioner is running, the driver is preferentially warned by the parking air conditioner in a manner of sending the warning medium to the driver.

[0013] It can be understood by those skilled in the art that the parking air conditioner is powered by a battery, and the vehicle-mounted air conditioner is powered by an engine. When the engine is running, the battery is charged. At this time, running the parking air conditioner can easily cause the running voltage of the compressor of the parking air conditioner to be unstable, and the voltage when the air conditioner starts is very large, which can easily cause damage to electrical devices. In the present application, by configuring the parking air conditioner with a voltage stabilizer, the vehicle-mounted air conditioner and the parking air conditioner can be run at the same time, thereby improving the efficiency of air conditioning.

[0014] In addition, since the indoor unit of the parking air conditioner is usually installed above the driver and the passenger, closer to the area where the user's head is located, preferentially warning the driver by the parking air conditioner when the parking air conditioner is running can shorten the escape path of the warning medium, and help the warning medium to quickly reach the neck and other parts of the driver with higher sensitivity, so that the driver can more quickly perceive the warning information, so as to more quickly make a targeted response.

[0015] In some possible implementation forms of the vehicle collision warning method, the parking air conditioner is arranged on the top of the vehicle, and a radar sensor is arranged on the parking air conditioner, and the parameters related to the obstacle are measured by at least the radar sensor.

[0016] By arranging the radar sensor on the parking air conditioner, such as arranging the radar sensor on the top of the parking air conditioner, since the "field of view" of the top of the vehicle is more open, the microwave radiation area can be increased, thereby improving the detection range and facilitating more accurate collision warning.

[0017] It can be understood that the radar sensor can be selected together with the parking air conditioner. In addition, the vehicle is usually also provided with a radar sensor or other type of sensor for detecting information related to obstacles when it is delivered from the factory.

[0018] In some possible implementation forms of the vehicle collision warning method, the warning medium comprises a gaseous medium and / or a liquid medium.

[0019] It's understandable that the indoor unit of a parking air conditioner produces condensation while cooling. This condensation, once collected, can be used as a warning medium in collision warning systems. For example, by adding nozzles to spray the condensation in a mist form towards the driver, it can both refresh the driver and increase the humidity inside the cabin. Furthermore, the condensation can be sprayed alone or along with the cool air. The same principle applies to temperature control.

[0020] Understandably, since the driver's position is basically fixed during driving, the louvers of the vehicle's air conditioning and parking air conditioning can be set to swing to a set angle when a warning is issued. At this set angle, cold air / hot air / water vapor will be sprayed towards the driver's head area.

[0021] In some feasible implementations of the above-described vehicle collision warning method, the vehicle is further equipped with a buzzer and / or a voice prompt device, and the warning method further includes: when it is determined that there is a collision risk and the air conditioner is not in operation, issuing a warning prompt to the driver through the buzzer and / or the voice prompt device.

[0022] This setup enables full coverage of warning scenarios. When the air conditioning is on, the warning is prioritized to the driver via the air conditioning system; when the air conditioning is off, the warning is issued via an audible alert, thereby improving the warning effectiveness in specific scenarios.

[0023] In a second aspect, the present invention also provides a vehicle collision warning system, wherein the vehicle is equipped with an air conditioner, and the warning system includes: an information acquisition module configured to acquire parameters related to an obstacle, the vehicle's motion state, and the air conditioner's operating state; a risk assessment module configured to determine, at least based on the related parameters, whether there is a collision risk between the vehicle and the obstacle; and a warning module configured to, when a collision risk is determined to exist and the air conditioner is in operating condition, cause the air conditioner to issue a warning to the driver by distributing a warning medium to the driver.

[0024] In a third aspect, the present invention also provides a computer-readable storage medium, characterized in that the computer-readable storage medium is adapted to store a plurality of program codes, the program codes being adapted to be loaded and run by a processor to perform the vehicle collision warning method described in any of the foregoing technical solutions.

[0025] In a fourth aspect, the present invention also provides a vehicle including a memory and a processor, the memory being adapted to store a plurality of program codes, the program codes being adapted to be loaded and run by the processor to perform the vehicle collision warning method described in any of the foregoing technical solutions.

[0026] Those skilled in the art will understand that, since the aforementioned vehicle, vehicle collision warning system, and computer-readable storage medium, along with their associated software, hardware, and combinations thereof, are capable of executing the aforementioned vehicle collision warning method, they possess all the technical effects that the aforementioned vehicle collision warning method can achieve, and will not be elaborated upon here. Attached Figure Description

[0027] The preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which:

[0028] Figure 1 This is a flowchart of a vehicle collision warning method provided in an embodiment of the present invention. Detailed Implementation

[0029] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention. Those skilled in the art can make adjustments as needed to adapt to specific application scenarios. For example, although the embodiments of the present invention are described using a large truck as an example, this is not limiting; the technical solution of the present invention is also applicable to other vehicles equipped with or without parking air conditioning.

[0030] To better illustrate the invention, numerous specific details are set forth in the following detailed description. Those skilled in the art will understand that the invention can be practiced without certain specific details.

[0031] In the description of this invention, terms such as "upper," "lower," "inner," "outer," "top," and "bottom," which indicate direction or positional relationships, are based on actual application and are used merely for ease of description. They do not indicate or imply that the device to be protected must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0032] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0033] The truck provided by this invention is equipped with an onboard air conditioner and a parking air conditioner. The onboard air conditioner and the parking air conditioner work together to create a comfortable temperature environment in the cabin for the driver and passengers.

[0034] Vehicle air conditioning, also known as factory-installed air conditioning or driving air conditioning, is standard equipment on trucks. It is driven by the engine. The compressor's rotating shaft is connected to the engine's crankshaft via a magnetic clutch and belt, thus obtaining power. When cooling or heating mode is needed, the magnetic clutch is engaged via an electrical circuit, causing the compressor to run with the engine. When the air conditioning is off, the magnetic clutch disengages, disconnecting the transmission path between the compressor and the engine, and the compressor is no longer affected by the engine. Therefore, vehicle air conditioning can only be used when the engine is running. When the engine is off, the air conditioning cannot start. In this case, if air conditioning is needed, the parking air conditioning can be used.

[0035] A parking air conditioner is an optional air conditioner that can run continuously using DC power supplied by the vehicle's battery. It is a more energy-efficient and environmentally friendly electric air conditioner. Parking air conditioners are available in integrated and split types. Integrated air conditioners are usually installed on the roof of the vehicle, while split air conditioners have the indoor unit installed in the driver's cabin, and the outdoor unit can be installed on the roof, the back of the front of the vehicle, or under the vehicle.

[0036] This embodiment uses a roof-mounted integrated parking air conditioner as an example. The roof-mounted integrated parking air conditioner can be installed at the sunroof location, with the air outlet directly above the vehicle roof. The air outlet has adjustable louvers; by adjusting the direction of the louvers, the airflow can be directed directly towards the driver or passengers. Furthermore, the water tray of the parking air conditioner in this embodiment is connected to a water spray pipe, which is equipped with nozzles. The spray direction of the nozzles is towards the driver's head, and the spraying action is controlled by a controller. In addition, the parking air conditioner is equipped with a radar sensor, which is used to detect the distance and relative speed between obstacles and the vehicle.

[0037] In this embodiment of the invention, in order to improve the efficiency of air conditioning and achieve rapid temperature adjustment, a voltage regulator is also configured for the parking air conditioner. Specifically, the voltage regulator is used to adjust the voltage to an effective range when the parking air conditioner is started, so as to avoid excessive current in the circuit and achieve the purpose of simultaneous operation of the parking air conditioner and the vehicle air conditioner.

[0038] Based on the above vehicle configuration, this embodiment of the invention provides a vehicle collision warning method, with reference to... Figure 1 As shown, the early warning method includes:

[0039] S10. Obtain parameters related to obstacles, the vehicle's motion status, and the air conditioning's operating status. Among these, the parameters related to obstacles include distance.

[0040] Specifically, the obstacle-related parameters in this embodiment include the distance between the obstacle and the vehicle. In the horizontal plane, this distance includes lateral and longitudinal distances. Based on these lateral and longitudinal distances, the orientation of the obstacle relative to the vehicle can be easily calculated. Furthermore, based on the lateral and longitudinal distances, the corresponding changes in distance can be calculated, thereby determining the relative speed between the obstacle and the vehicle. Besides distance, obstacle-related parameters may also include the obstacle's height and width. Combining information such as the obstacle's height and width allows for a better assessment of whether an obstacle constitutes a substantial obstacle; for example, it can further determine whether an obstacle like a doorway constitutes a substantial obstacle to the vehicle's movement.

[0041] A vehicle's motion state includes driving, idling, and parking. Driving refers to the vehicle's motion state; idling refers to the vehicle being stationary but its power unit is still running; and parking refers to the vehicle's power unit being completely stopped. The power unit can be the vehicle's engine or electric motor. The vehicle's motion state can be obtained by detecting the status of the engine, wheels, drive shaft, etc.

[0042] It should be noted that the above-mentioned states are the normal states of the vehicle. In addition, the vehicle also includes the starting state, that is, the state of the engine or battery preheating, which can be classified as the idling state.

[0043] An air conditioner's operating status includes both active and inactive states. Active state means the compressor and / or fan are running, while inactive state means the compressor and fan are stopped. The operating status of an air conditioner can be further subdivided into cooling mode, heating mode, and fresh air exchange mode.

[0044] In this embodiment of the invention, parameters related to obstacles, the vehicle's motion state, and the air conditioner's operating state are acquired through their respective configured sensors. These can be acquired simultaneously or sequentially. For example, distance information can be acquired synchronously with the vehicle's motion state information and the air conditioner's operating state information, or the distance information can be acquired first, followed by the vehicle's motion state information, and finally the air conditioner's operating state information. Other sequential information acquisition methods are also possible.

[0045] In this embodiment, the distance is measured by a radar sensor.

[0046] S20. At least based on relevant parameters, determine whether there is a risk of collision between the vehicle and the obstacle.

[0047] In this embodiment, the existence of a collision risk is determined based on parameters related to the obstacle and the vehicle's motion state.

[0048] Specifically, taking distance as an example where the relevant parameters are limited to distance, the calculated change in distance can be categorized into three cases: change greater than zero, change equal to zero, and change less than zero. Specifically, the change in distance equals the current distance value minus the previously measured distance value.

[0049] There are three states of vehicle operation: driving, idling, and stationary.

[0050] If the change in distance is less than zero, it indicates that the obstacle and the vehicle are approaching each other, and it is judged that there is a risk of collision between the vehicle and the obstacle.

[0051] If the change in distance is zero and the vehicle is idling, then the vehicle's acceleration is measured. When the vehicle's acceleration is greater than zero and the vehicle is in drive, it indicates that the vehicle is about to enter a driving state and is about to approach an obstacle, thus indicating a risk of collision between the vehicle and the obstacle. When the vehicle's acceleration is zero, the vehicle is stationary, and the distance between them will not change, thus indicating no risk of collision between the vehicle and the obstacle.

[0052] If the change in distance is greater than zero, it indicates that the obstacle and the vehicle are moving away from each other, and it is determined that there is no risk of collision between the vehicle and the obstacle.

[0053] In this embodiment, "at least based on relevant parameters" means that in some cases, it is sufficient to determine whether there is a collision risk based solely on relevant parameters, while in other cases, it is necessary to combine relevant parameters and the vehicle's motion state to determine whether there is a collision risk.

[0054] S30. If a collision risk is determined to exist and the air conditioner is in operation, the air conditioner shall issue a warning to the driver by distributing a warning medium to the driver.

[0055] Specifically, taking the standalone operation of the vehicle's air conditioning as an example, when the vehicle is in driving or idling, if a collision risk is detected, the louvers of the air conditioning vents will be deflected to a set angle, which is directly facing the area where the driver's head is located, so as to blow cold or hot air towards the driver. During this process, the airflow speed or air volume can be greater than the airflow speed or air volume under normal operating conditions, so as to effectively stimulate the driver.

[0056] Taking the simultaneous operation of the vehicle's air conditioning and the parking air conditioning as an example, when a collision risk is detected and the parking air conditioning is detected to be running, the parking air conditioning will be prioritized to issue a warning to the driver by distributing a warning medium. Specifically, the louvers of the parking air conditioning vents will be deflected to a set angle, directing the airflow towards the area where the driver's head is located. Furthermore, condensed water can be sprayed onto the driver through nozzles. The combination of the condensed water and the airflow can further enhance the stimulation to the driver and improve the effectiveness of the warning.

[0057] Understandably, the same applies when only the parking air conditioner is running.

[0058] In addition, the vehicle in this embodiment is also equipped with a buzzer and / or a voice prompt. When a collision risk is detected and the air conditioning is not in operation, the buzzer sounds or the voice prompt emits a warning voice to provide a warning to the driver.

[0059] Furthermore, the warning method in this embodiment of the invention can also incorporate a warning triggering mechanism. Specifically, a first preset distance threshold and a second preset distance threshold are set, where the first preset distance threshold is greater than the second preset distance threshold. After obtaining the distance between the obstacle and the vehicle, this distance is compared with the first preset distance threshold and the second preset distance threshold respectively. If the distance between the obstacle and the vehicle is greater than the first preset distance threshold, it indicates that the collision risk is low, and it is determined that no collision warning is needed. If the distance between the obstacle and the vehicle is less than or equal to the first preset distance threshold but greater than the second preset distance threshold, it is necessary to determine whether there is a collision risk, i.e., execution starts from step S10. If the distance between the obstacle and the vehicle is less than the second preset distance threshold, a warning prompt is issued directly, with priority given to the air conditioning system for the warning prompt.

[0060] Furthermore, different first preset distance thresholds and second preset distance thresholds can be set for different motion states, taking into account the vehicle's motion state.

[0061] It is understood that in the above embodiments, the situation that causes the distance between the obstacle and the vehicle to change can be that the vehicle is moving but the obstacle is stationary, or the vehicle is stationary but the obstacle is moving, or the vehicle and the obstacle are moving separately.

[0062] Furthermore, it can be understood that the distances in the above embodiments can be distances in various directions of the vehicle, such as the distance between the vehicle and an obstacle in front, or the distance between the vehicle and an obstacle behind, or the distance between the vehicle and an obstacle on the side. Distances in different directions are used for collision warnings in different directions and can be selectively configured as needed.

[0063] This invention also provides a vehicle collision warning system, which includes:

[0064] The information acquisition module is configured to acquire parameters related to obstacles, the vehicle's motion status, and the air conditioning's operating status.

[0065] Specifically, the information acquisition module is electrically or communicatively connected to sensors for detecting parameters related to obstacles, sensors for detecting the vehicle's motion status, and sensors for detecting the air conditioner's operating status.

[0066] The risk assessment module is configured to determine whether there is a risk of collision between the vehicle and an obstacle, based at least on relevant parameters.

[0067] Specifically, the risk assessment module can process information and determine whether there is a risk of collision between the vehicle and an obstacle based on the processed information.

[0068] The warning module is configured to issue a warning to the driver by distributing a warning medium when a collision risk is detected and the air conditioning is in operation.

[0069] Specifically, the early warning module is electrically or communicatively connected to the risk assessment module, and coordinates the actions of relevant components in the air conditioner, buzzer, and / or voice prompt based on the assessment results.

[0070] Furthermore, embodiments of the present invention also provide a vehicle including a memory and a processor. The memory is adapted to store multiple lines of program code, which are adapted to be loaded and run by the processor to perform the vehicle collision warning method in the foregoing embodiments.

[0071] This invention also provides a computer-readable storage medium suitable for storing multiple lines of program code, which are adapted to be loaded and run by a processor to perform the vehicle collision warning method described in any of the foregoing technical solutions.

[0072] In the description of this invention, "module" and "processor" can include hardware, software, or a combination of both. A module may include hardware circuitry, various suitable sensors, communication ports, and memory, and may also include software components, such as program code, or a combination of software and hardware. A processor may be a central processing unit, microprocessor, image processor, digital signal processor, or any other suitable processor. The processor has data and / or signal processing capabilities. The processor may be implemented in software, in hardware, or a combination of both. Non-transitory computer-readable storage media include any suitable medium capable of storing program code, such as magnetic disks, hard disks, optical disks, flash memory, read-only memory, random access memory, etc.

[0073] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by hardware related to computer program instructions. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable storage medium can include any entity or device capable of carrying the computer program code, a medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory, a random access memory, an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc. It should be noted that the content included in the computer-readable storage medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable storage medium does not include electrical carrier signals and telecommunication signals.

[0074] Furthermore, it should be understood that since the control module is only used to illustrate the functional units of the system of the present invention, the physical device corresponding to the control module can be the processor itself, or a part of the processor's software, hardware, or a combination of software and hardware. Therefore, the number of control modules can be configured as needed.

[0075] Those skilled in the art will understand that the control module can be adaptively split. Specific splitting of the control module will not cause the technical solution to deviate from the principles of the present invention; therefore, the technical solutions after splitting will all fall within the protection scope of the present invention.

[0076] It is understandable that when a vehicle is an electric vehicle, the power for the operation of the in-vehicle air conditioning comes from the battery, so the operation of the air conditioning is not affected by the vehicle's motion.

[0077] The vehicle in this invention can be a large vehicle such as a heavy truck or van, a medium-sized vehicle such as a medium-sized bus or van, or a small vehicle such as a small passenger car or van.

[0078] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A vehicle collision warning method characterized by comprising: The vehicle is configured with an air conditioner, The pre-warning method comprises: Step S10: obtaining parameters related to the obstacle, the motion state of the vehicle and the working state of the air conditioner; Step S20: judging whether the vehicle and the obstacle exist collision risk based on at least the related parameters; Step S30: in the case of judging that there is collision risk and the air conditioner is in working state, making the air conditioner send a pre-warning prompt to the driver in the way of sending pre-warning medium to the driver, Wherein, the parameters related to the obstacle include distance; Wherein, "judging whether the vehicle and the obstacle exist collision risk based on at least the related parameters" comprises: If the change amount of the distance is zero and the motion state of the vehicle is idle state, obtaining the acceleration of the vehicle; if the acceleration of the vehicle is greater than zero and the gear of the vehicle is forward gear, judging that the vehicle and the obstacle exist collision risk; or If the change amount of the distance is less than zero, judging that the vehicle and the obstacle exist collision risk; or If the change amount of the distance is greater than zero, judging that the vehicle and the obstacle do not exist collision risk; The pre-warning method further comprises a pre-warning trigger mechanism: Setting a first preset distance threshold and a second preset distance threshold, the first preset distance threshold is greater than the second preset distance threshold, after obtaining the distance between the obstacle and the vehicle, comparing the distance with the first preset distance threshold and the second preset distance threshold respectively; If the distance between the obstacle and the vehicle is greater than the first preset distance threshold, judging that there is no need to carry out collision pre-warning; If the distance between the obstacle and the vehicle is less than or equal to the first preset distance threshold and greater than the second preset distance threshold, it is necessary to judge whether there is collision risk, then starting from step S10; If the distance between the obstacle and the vehicle is less than the second preset distance threshold, directly sending a pre-warning prompt, and preferentially sending a pre-warning prompt by the air conditioner.

2. The vehicle collision warning method according to claim 1, characterized by, The air conditioner comprises a vehicle-mounted air conditioner and a parking air conditioner, the parking air conditioner is connected with a voltage stabilizer, so that the parking air conditioner can be started in the case that the vehicle-mounted air conditioner is started, and "making the air conditioner send a pre-warning prompt to the driver in the way of sending pre-warning medium to the driver" comprises: In the case that the parking air conditioner is running, preferentially making the parking air conditioner send a pre-warning prompt to the driver in the way of sending pre-warning medium to the driver.

3. The vehicle collision warning method according to claim 2, characterized by, The parking air conditioner is arranged on the top of the vehicle, and the parking air conditioner is configured with a radar sensor, and the parameters related to the obstacle are at least measured by the radar sensor.

4. The vehicle collision warning method according to claim 1, characterized by, The pre-warning medium comprises gaseous medium and / or liquid medium.

5. The vehicle collision warning method according to claim 1, characterized by, The vehicle is further configured with a buzzer and / or a voice prompter, and the pre-warning method further comprises: In the case of judging that there is collision risk and the air conditioner is in non-working state, sending a pre-warning prompt to the driver through the buzzer and / or the voice prompter.

6. A vehicle collision warning system characterized by comprising: The vehicle is configured with an air conditioner, and the system is used to realize the vehicle collision pre-warning method of claim 1, The pre-warning system comprises: an information acquisition module configured to acquire a parameter related to an obstacle, a motion state of a vehicle, and an operation state of an air conditioner; a risk judgment module configured to judge whether the vehicle and the obstacle exist a collision risk based on at least the related parameter; a pre-warning module configured to, in a case that the collision risk is judged to exist and the air conditioner is in the operation state, make the air conditioner issue a pre-warning prompt to a driver in a manner of issuing a pre-warning medium to the driver.

7. A computer-readable storage medium, characterized in that, The computer readable storage medium is adapted to store a plurality of program codes adapted to be loaded and run by the processor to execute the vehicle collision pre-warning method of any one of claims 1 to 5.

8. A vehicle characterized by comprising: The vehicle comprises a memory and a processor, the memory is adapted to store a plurality of program codes adapted to be loaded and run by the processor to execute the vehicle collision pre-warning method of any one of claims 1 to 5.

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