Blind spot obstacle warning methods, vehicles and storage media

Abstract

This application discloses a blind spot obstacle warning method, a vehicle, and a storage medium. The vehicle includes a blind spot monitoring light, which includes multiple obstacle indicator lights. The blind spot obstacle warning method includes the following steps: if a target obstacle is detected within a preset blind spot, a first relative positional relationship between the target obstacle and the vehicle is determined; based on the first relative positional relationship, a target obstacle indicator light is determined from among the obstacle indicator lights; and the target obstacle indicator light is illuminated. This application solves the technical problem of poor effectiveness in warning of obstacles within blind spots in existing technologies.

Description

Technical Field

[0001] This application relates to the field of vehicle safety technology, and in particular to a blind spot obstacle warning method, a vehicle, and a storage medium. Background Technology

[0002] With the continuous development of vehicle technology, people's requirements for vehicles have gone beyond simple transportation; they now demand greater convenience and safety. Among these, blind spots have a significant impact on driving safety. Vehicles are highly susceptible to collisions with other road users within these blind spots. Since accidents caused by blind spots account for a large proportion of all accidents, if drivers could detect potential dangers in advance, make correct judgments, and take timely measures, the accident rate would be significantly reduced. Currently, blind spot monitoring devices such as radar can be installed in vehicles to comprehensively monitor obstacles within blind spots and provide warnings when they are detected. However, blind spots cover a wide area, and not every obstacle within a blind spot will affect the vehicle's movement. This can lead to warnings that do not meet the driver's actual needs, causing unnecessary panic and rendering blind spot warnings ineffective. Summary of the Invention

[0003] The main objective of this application is to provide a blind spot obstacle warning method, vehicle, and storage medium, aiming to solve the technical problem that the existing technology has poor effect in warning of obstacles in blind spots.

[0004] To achieve the above objectives, this application provides a blind spot obstacle warning method applied to a vehicle, the vehicle including a blind spot monitoring light, the blind spot monitoring light including a plurality of obstacle indicator lights, and the blind spot obstacle warning method comprising the following steps:

[0005] If a target obstacle is detected within a preset blind zone, a first relative positional relationship between the target obstacle and the vehicle is determined.

[0006] Based on the first relative positional relationship, the target obstacle indicator is determined from each of the obstacle indicator lights;

[0007] Turn on the indicator light of the target obstacle.

[0008] This application also provides an obstacle warning device for vehicle blind spots, the obstacle warning device for vehicle blind spots comprising:

[0009] The first relative position relationship determination module is used to determine the first relative position relationship between the target obstacle and the vehicle if a target obstacle is detected within a preset blind zone.

[0010] The target obstacle indicator light determination module is used to determine the target obstacle indicator light from among the obstacle indicator lights based on the first relative positional relationship;

[0011] The illumination module is used to illuminate the indicator lights of the target obstacle.

[0012] This application also provides a vehicle, which is a physical device, including a blind spot monitoring light, the blind spot monitoring light including a plurality of obstacle indicator lights, the vehicle further including: a memory, a processor, and a program of the blind spot obstacle warning method stored in the memory and executable on the processor, wherein when the program of the blind spot obstacle warning method is executed by the processor, it can implement the steps of the blind spot obstacle warning method as described above.

[0013] This application also provides a storage medium, which is a computer-readable storage medium, on which a program for implementing a blind spot obstacle warning method is stored. When the program for the blind spot obstacle warning method is executed by a processor, it implements the steps of the blind spot obstacle warning method as described above.

[0014] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the blind spot obstacle warning method described above.

[0015] This application provides a blind spot obstacle warning method, a vehicle, and a storage medium. By detecting a target obstacle within a preset blind spot range, a first relative positional relationship between the target obstacle and the vehicle is determined, thereby locating the target obstacle. Then, based on the first relative positional relationship, the target obstacle indicator light is determined from among the obstacle indicator lights, and the target obstacle indicator light is illuminated, thus providing a direct display and warning of the target obstacle's location. Compared to methods that only alert the driver to the presence of obstacles in blind spots, this application uses different target obstacle indicator lights to indicate the primary positional relationship between the vehicle and the target obstacle. This allows the driver to intuitively and accurately understand the primary relative positional relationship between the target obstacle and the vehicle when they see the indicator light. Consequently, with the exact location of the target obstacle clearly known, the time required for the driver to guess and repeatedly confirm the target obstacle's position is greatly reduced, enabling more decisive, timely, and accurate decisions. This overcomes the technical deficiency of blind spot warnings, which are often ineffective because not all obstacles in the blind spot affect the vehicle's driving. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating an embodiment of the blind spot obstacle warning method of this application;

[0019] Figure 2 This is a schematic diagram of the first structure of a blind spot monitoring light installed on a rearview mirror in one possible embodiment of this application;

[0020] Figure 3 This is a schematic diagram of the second structure of a blind spot monitoring light installed on a rearview mirror in one possible embodiment of this application;

[0021] Figure 4 This is a schematic diagram of the structure of a blind spot monitoring lamp in one possible implementation of this application;

[0022] Figure 5 This is a schematic diagram of the obstacle indicator light distribution in an embodiment of this application;

[0023] Figure 6 This is a schematic diagram of another possible implementation of the first setting interface in the blind spot obstacle warning method of this application;

[0024] Figure 7 This is a schematic diagram illustrating an example of an obstacle's trajectory intersecting with a vehicle's trajectory in this application.

[0025] Figure 8 This is a schematic diagram illustrating another example of the intersection of the obstacle's trajectory and the vehicle's trajectory in this application.

[0026] Figure 9 This is a schematic diagram of the device structure of the hardware operating environment involved in the blind spot obstacle warning method in this application embodiment.

[0027] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0028] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] With the continuous development of vehicle technology, people's requirements for vehicles have gone beyond simply being a means of transportation; they now demand greater convenience and safety. Among these requirements, blind spots have a significant impact on driving safety. Vehicles are highly susceptible to collisions with other road users within these blind spots. Since accidents caused by blind spots account for a large proportion of all accidents, if drivers can detect potential hazards in advance, make correct judgments, and take timely measures, the accident rate will be significantly reduced. Currently, blind spot monitoring devices such as radar can be installed in vehicles to comprehensively monitor obstacles within blind spots and provide warnings when obstacles are detected.

[0030] However, the more comprehensive the blind spot monitoring device's monitoring of obstacles within the blind spot, the wider the coverage area it can detect. Simply alerting the driver to the presence of obstacles in the blind spot is less effective. In scenarios where the driver needs to be aware of obstacles in the blind spot, often only obstacles in certain blind spot areas may affect the vehicle's movement. Obstacles in other areas not only don't affect the vehicle's movement but can also cause unnecessary panic, affecting the timeliness and accuracy of the driver's decision-making and potentially leading to accidents, thus impacting the user experience. For example, obstacles directly behind or to the right of the vehicle have a relatively small impact on left turns. If an obstacle is detected in the blind spot directly behind or to the right and the driver is alerted, the driver, unaware that the obstacle is directly behind or to the right, might cancel the left turn decision out of fear that the obstacle is on the left, or repeatedly check the left rearview mirror or even turn around to confirm whether it's safe to turn left, causing unnecessary panic.

[0031] In response, this application provides a blind spot obstacle warning method, a vehicle, and a storage medium. By detecting a target obstacle within a preset blind spot range, a first relative positional relationship between the target obstacle and the vehicle is determined, thereby locating the target obstacle. Then, based on the first relative positional relationship, the target obstacle indicator light is determined from among the obstacle indicator lights, and the target obstacle indicator light is illuminated, thus providing a direct display and warning of the target obstacle's location. Compared to methods that only alert the driver to the presence of obstacles in blind spots, this application uses different target obstacle indicator lights to indicate the primary positional relationship between the vehicle and the target obstacle. This allows the driver to intuitively and accurately understand the primary relative positional relationship between the target obstacle and the vehicle when they see the indicator light. Consequently, with the exact location of the target obstacle clearly known, the time required for the driver to guess and repeatedly confirm the target obstacle's position is greatly reduced, enabling more decisive, timely, and accurate decisions. This overcomes the technical deficiency of blind spot warnings, which are often ineffective because not all obstacles in the blind spot affect the vehicle's driving.

[0032] This application provides a blind spot obstacle warning method. In the first embodiment of the blind spot obstacle warning method of this application, refer to... Figure 1 The vehicle includes a blind spot monitoring light, which includes multiple obstacle indicator lights. The blind spot obstacle warning method includes the following steps:

[0033] Step S10: If a target obstacle is detected within the preset blind zone, then determine the first relative positional relationship between the target obstacle and the vehicle;

[0034] In this embodiment, it should be noted that the blind spot obstacle warning method is applied to a vehicle, which includes a blind spot monitoring light. The blind spot monitoring light includes multiple obstacle indicator lights, each of which can be located at at least one of the following positions: exterior rearview mirror, interior rearview mirror, windshield head-up display, central control screen, instrument panel, etc. These indicator lights indicate blind spot obstacles in different directions through graphic or positional differences. For example, they can all be located on the windshield head-up display or central control screen, with a right-pointing arrow indicating blind spot obstacles on the right and a left-pointing arrow indicating blind spot obstacles on the left. Alternatively, they can be located on the left and right rearview mirrors, with the obstacle indicator light on the left rearview mirror indicating blind spot obstacles on the left and the obstacle indicator light on the right rearview mirror indicating blind spot obstacles on the right. The blind spot monitoring light can be an LED (light-emitting diode), halogen lamp, laser light, etc. The structure and control of each obstacle indicator light are independent of each other, that is, each obstacle indicator light can be controlled to be lit independently, and when each obstacle indicator light is lit, it will not affect the lighting or turning off of other obstacle indicator lights.

[0035] In one feasible embodiment, the blind spot monitoring light may further include a friendly vehicle indicator light. Each obstacle indicator light is positioned in multiple directions relative to the friendly vehicle indicator light to alert the driver to the positional relationship between obstacles and the vehicle. Each direction of the friendly vehicle indicator light may have zero, one, or multiple obstacle indicator lights. The more directions with obstacle indicator lights, the more accurate the alert for obstacles within the blind spot. The specific configuration can be determined based on the positional relationship between the blind spot and the vehicle and actual needs; this embodiment does not impose such limitations. For example, refer to... Figure 2 , Figure 2 This is a schematic diagram of the first structure of a blind spot monitoring light installed on a rearview mirror in one possible embodiment of this application, as shown below. Figure 2 As shown, the rearview mirror 1 is equipped with a vehicle indicator light 4, a left obstacle indicator light 3, a right obstacle indicator light 5, and a rear obstacle indicator light 6. The left obstacle indicator light 3 is used to remind the driver that there is an obstacle on the left side of the vehicle, the right obstacle indicator light 5 is used to remind the driver that there is an obstacle on the right side of the vehicle, and the rear obstacle indicator light 6 is used to remind the driver that there is an obstacle on the rear side of the vehicle.

[0036] In one feasible approach, refer to Figure 3 , Figure 3This is a schematic diagram of the second structure of a blind spot monitoring light installed on a rearview mirror in one embodiment of this application. The blind spot monitoring light is installed on the back of the mirror surface 2, that is, on the side of the mirror surface that does not face the driver. The left obstacle indicator light 3, the right obstacle indicator light 5, and the rear obstacle indicator light 6 are all installed on the circuit board 7, and the left obstacle indicator light 3, the right obstacle indicator light 5, and the rear obstacle indicator light 6 are each equipped with positive and negative wiring harnesses 8, which are respectively connected to the vehicle controller. The vehicle controller sends signals to control their lighting and turning off. The mirror surface 2 is provided with a coating. In the area that matches the own vehicle indicator light 4 (not shown in the figure), the left obstacle indicator light 3, the right obstacle indicator light 5, and the rear obstacle indicator light 6, a partially uncoated hollow pattern is set so that the light emitted by the own vehicle indicator light 4, the left obstacle indicator light 3, the right obstacle indicator light 5, and the rear obstacle indicator light 6 can pass through the mirror surface 2 and be reflected outside the mirror surface and seen by the driver.

[0037] In one feasible approach, refer to Figure 4 , Figure 4 This is a schematic diagram of the structure of a blind spot monitoring lamp in one embodiment of this application. The blind spot monitoring lamp includes a light source 9, a lamp housing 10, and a lamp cover 11. The light source 9 is disposed on a circuit board 7. The lamp housing 10 is made of an opaque material to block the light from spreading to the surroundings and to avoid mutual interference between the blind spot monitoring lamps. The lamp cover 11 is made of a transparent material so that light can pass through the lamp cover and be emitted to the outside.

[0038] Specifically, during vehicle operation, a blind spot monitoring device can be continuously used to detect the presence of target obstacles within a preset blind spot range. Alternatively, the blind spot monitoring device can be activated when preset blind spot monitoring conditions are met to detect the presence of target obstacles within the preset blind spot range. If a target obstacle is detected within the preset blind spot range, detection data of the target obstacle is acquired, and a first relative positional relationship between the target obstacle and the vehicle is determined based on the detection data. The blind spot monitoring device refers to a device capable of detecting objects within a certain range, such as radar or a camera. The first relative positional relationship refers to the position of the target obstacle with the vehicle's position as a reference point. The first relative positional relationship may include obstacle distance, obstacle orientation, obstacle height, etc. For example, with the front of the vehicle as 0°, rotating clockwise, the obstacle could be located at a distance of b1 meters and a height of c1 meters in the a1° direction of the vehicle; or at a distance of b2 meters and a height of c2 meters in the a2° direction slightly to the left of the rear of the vehicle.

[0039] Optionally, before the step of determining the first relative positional relationship between the target obstacle and the vehicle if a target obstacle is detected within a preset blind zone, the method further includes:

[0040] Step S11: When the vehicle's direction adjustment information is detected, the corresponding target blind spot monitoring device is activated according to the direction adjustment information. The direction adjustment information includes at least one of turn signal information, steering control information where the steering wheel angle exceeds a preset angle threshold, and reversing gear switching information.

[0041] In this embodiment, it should be noted that, since the blind spot coverage is wide, multiple blind spot monitoring devices can be set at different locations on the vehicle to monitor blind spots located in different monitoring directions of the vehicle. For example, a radar can be set on the left, rear, and right sides of the vehicle. The left radar is used to monitor the blind spot on the left side of the vehicle, the right radar is used to monitor the blind spot on the right side of the vehicle, and the rear radar is used to monitor the blind spot on the rear side of the vehicle.

[0042] Specifically, a pre-set trigger condition for direction adjustment is implemented. During vehicle operation, when the trigger condition is triggered, direction adjustment information is generated. When the vehicle's direction adjustment information is detected, a target monitoring direction is determined based on the direction adjustment information. Based on the pre-set mapping relationship between the monitoring direction and the blind spot monitoring device, the target blind spot monitoring device corresponding to the target monitoring direction is determined and activated. The trigger condition includes turning on the turn signal, steering wheel angle exceeding a preset angle threshold, and shifting to reverse gear. The direction adjustment information includes at least one of the following: turn signal information, steering control information indicating that the steering wheel angle exceeds a preset angle threshold, and reverse gear shifting information.

[0043] For example, when a turn signal is detected to be on, turn signal information is generated, the target monitoring direction is determined based on the turn signal information, and the target blind spot monitoring device corresponding to the target monitoring direction is activated. For example, when a left turn signal is detected to be on, turn signal information indicating that the left turn signal is on is generated, and the target monitoring direction can be determined to be to the left, and the target blind spot monitoring device corresponding to the left side is activated.

[0044] For example, when the steering wheel angle is detected to exceed a preset angle threshold, steering control information is generated, the target monitoring direction is determined based on the steering control information, and the target blind spot monitoring device corresponding to the target monitoring direction is activated. For instance, when the steering wheel is detected to turn right by c° and c exceeds the preset angle threshold, steering control information to turn right by c° is generated, and the target monitoring direction can be determined to be forward to the right by c°, and the target blind spot monitoring device corresponding to forward to the right by c° is activated. It should be noted that the target blind spot monitoring device corresponding to the target monitoring direction can be a target blind spot monitoring device corresponding to the directional range of the target monitoring direction. For example, with the front of the vehicle as 0°, rotating clockwise, 0° to 180° corresponds to blind spot monitoring device 1, 90° to 270° corresponds to blind spot monitoring device 2, and 180° to 360° corresponds to blind spot monitoring device 3. If the target monitoring direction is 60°, then blind spot monitoring device 1 is activated; if the target monitoring direction is 160°, then both blind spot monitoring device 1 and blind spot monitoring device 2 are activated. The target blind spot monitoring device corresponding to the target monitoring direction can also be the target blind spot monitoring device closest to the target monitoring direction. For example, with the front of the vehicle as 0°, rotating clockwise, blind spot monitoring device 1 is set at 135°, blind spot monitoring device 2 is set at 180°, and blind spot monitoring device 3 is set at 215°. If the target monitoring direction is 60°, then blind spot monitoring device 1 is activated; if the target monitoring direction is 160°, then blind spot monitoring device 2 is activated.

[0045] For example, when a gear shift to reverse gear is detected, reverse gear shift information is generated. The target monitoring direction is determined based on the reverse gear shift information, and the target blind spot monitoring device corresponding to the target monitoring direction is activated. For example, when a gear shift to reverse gear is detected, reverse gear shift information is generated, and the target monitoring direction can be determined to be the rear side, and the target blind spot monitoring device corresponding to the rear side is activated.

[0046] Step S12: The target blind spot monitoring device detects whether there is a target obstacle within the preset blind spot range.

[0047] In this embodiment, specifically, the target blind spot monitoring device detects whether there are target obstacles within a preset blind spot range. Only the portion of the blind spot monitoring device corresponding to the target monitoring direction is activated based on the direction adjustment information; for areas that do not require monitoring, the corresponding blind spot monitoring device does not need to be activated, effectively reducing unnecessary resource consumption.

[0048] Step S20: Based on the first relative positional relationship, determine the target obstacle indicator from each of the obstacle indicator lights;

[0049] In this embodiment, specifically, a mapping table of obstacle indicator lights and their relative positions is pre-stored. The mapping table of obstacle indicator lights and their relative positions is queried according to the first relative position relationship, and the obstacle indicator light corresponding to the first relative position relationship is determined as the target obstacle indicator light. The target obstacle indicator light can be one or more.

[0050] Optionally, the first relative positional relationship includes the obstacle direction and obstacle distance, and the step of determining the target obstacle indicator from each of the obstacle indicator lights according to the first relative positional relationship includes:

[0051] Step A10: Determine at least one obstacle indicator light of the same direction from each of the obstacle indicator lights according to the direction of the obstacle;

[0052] In this embodiment, it should be noted that the first relative positional relationship includes the obstacle direction and the obstacle distance, wherein the obstacle direction refers to the direction of the obstacle relative to the vehicle, and the obstacle distance refers to the distance between the obstacle and the vehicle.

[0053] Specifically, a mapping table of obstacle indicator lights and their relative positions is pre-stored. The relative positions include the installation direction and distance of the obstacle indicator lights. The obstacle direction is matched with the obstacle indicator light installation direction to determine the target obstacle indicator light installation direction closest to the obstacle direction. Then, the obstacle indicator lights corresponding to the target obstacle indicator light installation direction are designated as obstacle indicator lights in the same direction. There are multiple obstacle indicator lights in the same direction, meaning multiple obstacle indicator lights are installed in each obstacle indicator light installation direction. For example, the blind spot monitoring light includes a friendly vehicle indicator light, referencing... Figure 5 , Figure 5 This is a schematic diagram of the obstacle indicator light distribution in an embodiment of this application. Figure 5 In the diagram, rectangles indicate the installation locations of indicator lights for friendly vehicles, triangles indicate the installation locations of obstacle indicator lights, and dashed lines indicate the installation direction of the obstacle indicator lights. Figure 5 It is known that each obstacle indicator light has three obstacle indicator lights in its installation direction. It should be noted that even if there is no own vehicle indicator light, obstacle indicator lights distributed in the same direction can be identified as obstacle indicator lights in the same direction.

[0054] Step A20: Determine the target obstacle indicator from the obstacle indicator lights in the same direction based on the obstacle distance.

[0055] In this embodiment, specifically, the distance to the obstacle is matched with the installation distance of the obstacle indicator light to determine the installation distance of the target obstacle indicator light that is closest to the distance to the obstacle, and then the obstacle indicator light in the same direction corresponding to the installation distance of the target obstacle indicator light is determined as the target obstacle indicator light.

[0056] Step S30: Turn on the indicator light of the target obstacle.

[0057] In this embodiment, specifically, the target obstacle indicator light is turned on, while other obstacle indicator lights are turned off to remind the driver of the location of the target obstacle, so that the driver can make a decisive, timely and accurate decision knowing the exact location of the target obstacle.

[0058] In one feasible approach, target illumination parameters for each blind spot monitoring light can be determined separately. Based on these parameters, each blind spot monitoring light is then illuminated. The illumination parameters include emission color, total illumination duration, intermittent emission frequency, and emission brightness. By setting different illumination parameters and combinations thereof, more information can be provided to the driver, making the warnings about obstacles in the vehicle's blind spots more accurate.

[0059] Optionally, the step of illuminating the indicator light of the target obstacle includes:

[0060] Step S31: Detect the current speed of the target obstacle;

[0061] Step S32: Determine the target light emission color of the target obstacle indicator light based on the current movement speed;

[0062] Step S33: Light up the target obstacle indicator light in the target light color.

[0063] In this embodiment, specifically, the current speed of the target obstacle can be detected by a blind spot monitoring device to determine the target speed range to which the current speed belongs. Based on a preset mapping relationship between speed ranges and emission colors, the target emission color corresponding to the current speed is determined, and the target obstacle indicator light is illuminated with the target emission color. For example, the emission color corresponding to a speed in the range of 0 to v1 is green, the emission color corresponding to a speed in the range of v1 to v2 is orange, the emission color corresponding to a speed in the range of v2 to v3 is red, and the emission color corresponding to a speed greater than v3 is gold. This allows the driver to know not only the location of the target obstacle but also its speed when they see the target obstacle indicator light.

[0064] Optionally, the step of illuminating the indicator light of the target obstacle includes:

[0065] Illuminate the indicator lights of each obstacle in the same direction, and highlight the indicator light of the target obstacle.

[0066] In this embodiment, it should be noted that when multiple obstacle indicator lights are present in the same direction, the position of the target obstacle indicator light among these lights indicates the distance between the obstacle and the vehicle. However, since the distance between the driver and the blind spot monitoring light is much greater than the distance between the obstacle indicator lights, the accuracy of visually judging the position of the obstacle indicator light among these lights is low. Therefore, this embodiment illuminates all obstacle indicator lights in the same direction and highlights the target obstacle indicator light, which visually displays the position of the target obstacle indicator light among these lights. This reduces the time and effort required for the driver to estimate distances, improving convenience during driving. Furthermore, since the driver does not need to estimate distances, the accuracy of the distance warning for the target obstacle is effectively improved, enhancing the driving experience.

[0067] In this embodiment, if a target obstacle is detected within a preset blind zone, the first relative positional relationship between the target obstacle and the vehicle is determined, thereby locating the target obstacle. Then, based on the first relative positional relationship, the target obstacle indicator light is determined from each obstacle indicator light, and the target obstacle indicator light is illuminated, thus providing a direct display and reminder of the target obstacle's location. Compared to methods that only alert the driver to the presence of obstacles in blind spots, this application uses different target obstacle indicator lights to indicate the primary positional relationship between the vehicle and the target obstacle. This allows the driver to intuitively and accurately understand the primary relative positional relationship between the target obstacle and the vehicle when they see the indicator light. Consequently, with the exact location of the target obstacle clearly known, the time required for the driver to guess and repeatedly confirm the target obstacle's position is greatly reduced, enabling more decisive, timely, and accurate decisions. This overcomes the technical deficiency of blind spot warnings, which are often ineffective because not all obstacles in the blind spot affect the vehicle's driving.

[0068] Furthermore, referring to Figure 6Based on the above embodiments of this application, in another embodiment of this application, the same or similar content as the above embodiments can be referred to the above description, and will not be repeated hereafter. Based on this, the step of determining the target obstacle indicator from each of the obstacle indicator lights according to the first relative positional relationship includes:

[0069] Step B10: Based on the first relative positional relationship, determine whether the target obstacle is within a preset first warning range;

[0070] In this embodiment, specifically, based on the first relative positional relationship, the obstacle distance between the target obstacle and the friendly vehicle is determined, and it is determined whether the obstacle distance is within a preset first warning range. If the obstacle distance is within the preset first warning range, the target obstacle is determined to be within the preset first warning range; if the obstacle distance is not within the preset first warning range, the target obstacle is determined to be outside the preset first warning range.

[0071] Step B20: If it is determined that the target obstacle is within a preset first warning range, then the target obstacle indicator light is determined from each of the obstacle indicator lights according to the first relative position relationship.

[0072] In this embodiment, specifically, a first alert range with high urgency is preset according to actual needs. If the target obstacle is determined to be within the preset first alert range, it indicates that an alert needs to be issued as soon as possible. Therefore, upon detecting the target obstacle, the target obstacle indicator light is immediately determined from among the obstacle indicator lights based on the earliest detected first relative position relationship. If the target obstacle is determined not to be within the preset first alert range, it indicates that the target obstacle currently has a relatively small impact on the vehicle. Therefore, the target obstacle can be continuously monitored until it is detected to be within the preset first alert range, at which point an alert is issued.

[0073] Because blind spot monitoring devices typically have a large monitoring range, while the distance that may affect a vehicle is usually smaller than that monitoring range. For example, a blind spot monitoring device can detect obstacles within a 200-meter range, but an obstacle 200 meters away from the vehicle has little impact on the vehicle's movement. Therefore, the actual significance of the warning at this time is small, and it may even affect the accuracy of the driver's decision-making.

[0074] Optionally, after the step of determining whether the target obstacle is within a preset safe range based on the first relative positional relationship, the method further includes:

[0075] Step B30: If it is determined that the target obstacle is not within the preset first warning range, then it is determined whether the target obstacle is within the preset second warning range, wherein the preset second warning range is greater than the preset first warning range;

[0076] Step B40: If it is determined that the target obstacle is within a preset second warning range, then after a preset interval, a second relative positional relationship between the target obstacle and the vehicle is determined;

[0077] In this embodiment, specifically, if it is determined that the target obstacle is not within a preset first warning range, it indicates that the target obstacle currently has a relatively small impact on the vehicle. Therefore, more information about the target obstacle can be obtained, and a more accurate judgment can be made before issuing an obstacle warning, reducing the probability of misjudgment and improving the accuracy of warnings for obstacles in the vehicle's blind spot. Therefore, a second warning range can be preset according to actual needs. The preset second warning range is larger than the preset first warning range. If it is determined that the target obstacle is not within the preset first warning range, it is then determined whether the target obstacle is within the preset second warning range. If it is determined that the target obstacle is within the preset second warning range, a timer is started. When the timer reaches a preset interval, the target obstacle is detected again to determine the second relative positional relationship between the target obstacle and the vehicle. The preset interval is used to compare the movement of the target obstacle before and after the interval. It can be set according to actual conditions, and can be a fixed value or determined based on the vehicle's speed and a preset algorithm. This embodiment does not impose any restrictions on this.

[0078] Step B50: If it is determined that the distance between the target obstacle and the vehicle has decreased based on the first relative position relationship and the second relative position relationship, then the target obstacle indicator light is determined from each of the obstacle indicator lights based on the second relative position relationship.

[0079] In this embodiment, specifically, based on the first relative positional relationship and the second relative positional relationship, it is determined whether the distance between the target obstacle and the vehicle has decreased. If, based on the first and second relative positional relationships, the distance between the target obstacle and the vehicle has decreased, it can be determined that the target obstacle is approaching the vehicle, thus increasing the possibility of it affecting the vehicle's driving. Therefore, the target obstacle indicator can be identified from the obstacle indicator lights based on the second relative positional relationship. If, based on the first and second relative positional relationships, the distance between the target obstacle and the vehicle remains unchanged or increases, it can be determined that the target obstacle is moving away from the vehicle, thus reducing the possibility of it affecting the vehicle's driving. In this case, obstacle warnings may not be issued, or the target obstacle may be continuously monitored.

[0080] The method for determining whether the distance between the target obstacle and the vehicle decreases based on the first relative position relationship and the second relative position relationship can be as follows: the first relative position relationship includes the distance to the first obstacle, the second relative position relationship includes the distance to the second obstacle, the distance difference is obtained by subtracting the distance to the first obstacle from the distance to the second obstacle, and it is determined whether the distance difference is less than a preset distance threshold. If the distance difference is determined to be less than the preset distance threshold, it is determined that the distance between the target obstacle and the vehicle has decreased. If the distance difference is determined to be greater than or equal to the preset distance threshold, it is determined that the distance between the target obstacle and the vehicle remains unchanged or increases. The preset distance threshold can be 0 or other values.

[0081] Optionally, the step of determining the target obstacle indicator from among the obstacle indicator lights based on the second relative positional relationship includes:

[0082] Step B41: Determine the obstacle movement direction and obstacle movement speed of the target obstacle based on the first relative position relationship and the second relative position relationship;

[0083] Step B42: Based on the obstacle's direction of movement and speed, predict the obstacle's trajectory.

[0084] In this embodiment, specifically, based on the first relative positional relationship and the second relative positional relationship, the direction of movement and the speed of movement of the target obstacle within the preset time interval are determined. Based on the direction of movement and the speed of movement, the trajectory of the target obstacle in the next time range is predicted. The method of predicting the trajectory of the target obstacle in the next time range based on the direction of movement and the speed of movement can be that the direction of movement is taken as the direction of movement of the target obstacle in the next time range, and the speed of movement is taken as the speed of movement of the target obstacle in the next time range, thereby determining the trajectory of the target obstacle in the next time range.

[0085] Step B43: Obtain the current speed and direction of travel of the vehicle;

[0086] Step B44: Based on the vehicle speed and the driving direction information, predict the vehicle's trajectory.

[0087] In this embodiment, specifically, the current vehicle speed and driving direction information are obtained, and the vehicle's trajectory in the next time range is predicted based on the vehicle speed and driving direction information. The driving direction information can be determined based on direction adjustment information, which includes at least one of turn signal information, steering control information where the steering wheel angle exceeds a preset angle threshold, and reverse gear switching information. The method of predicting the vehicle's trajectory in the next time range based on the vehicle speed and driving direction information can be to use the driving direction information as the vehicle's direction of movement in the next time range and the vehicle speed as the vehicle's speed in the next time range, thereby determining the vehicle's trajectory in the next time range.

[0088] Step B45: If it is determined that the trajectory of the obstacle intersects with the trajectory of the vehicle, then the target obstacle indicator light is determined from each of the obstacle indicator lights according to the second relative position relationship.

[0089] In this embodiment, specifically, it is determined whether the trajectory of the obstacle intersects with the trajectory of the vehicle. If it is determined that the trajectory of the obstacle intersects with the trajectory of the vehicle, the target obstacle indicator light is determined from the obstacle indicator lights according to the second relative position relationship. If it is determined that the trajectory of the obstacle does not intersect with the trajectory of the vehicle, the process can return to the step of determining the second relative position relationship between the target obstacle and the vehicle after a preset interval, continuously monitoring the movement of the target obstacle. By determining whether the trajectories intersect, obstacles with minimal impact on the vehicle's movement can be further filtered, thereby improving the accuracy of warnings about obstacles in the vehicle's blind spot. For example, refer to... Figure 7 and Figure 8 , Figure 7 This is a schematic diagram illustrating an example scenario where the trajectory of an obstacle intersects with the trajectory of a vehicle in this application. Figure 8 This is a schematic diagram illustrating another example of the intersection of the obstacle's trajectory and the vehicle's trajectory in this application, where time t1 is earlier than time t2. For Figure 7 In the scenario described, at time t1, if a left turn signal from a friendly vehicle is detected, the left turn direction information of the friendly vehicle can be obtained. At this time, a target obstacle is detected traveling straight ahead in a lane one lane away from the friendly vehicle. The distance to the obstacle is detected as S1 at time t1 and S2 at time t2. Since S2 is less than S1, it can be determined that the target obstacle is approaching the friendly vehicle. However, based on the direction and speed of the target obstacle's movement, its trajectory can be predicted as follows: Figure 7 As shown, the trajectory of one's own vehicle can be predicted based on its speed and direction of travel. Figure 7 As shown, the trajectory of the obstacle does not intersect with the trajectory of the friendly vehicle; therefore, obstacle warnings are not required. Figure 7 In the scenario described above, at time t1, if a left turn signal from a friendly vehicle is detected, the left turn direction information of that vehicle can be obtained. At this time, if a target obstacle is detected traveling in a lane one lane away from the friendly vehicle, the obstacle's trajectory can be predicted based on its direction of movement and speed. Figure 8 As shown, the trajectory of one's own vehicle can be predicted based on its speed and direction of travel. Figure 8 As shown, the trajectory of the obstacle intersects with the trajectory of the friendly vehicle. Therefore, based on the second relative position relationship detected at time t2, the target obstacle indicator is determined from each obstacle indicator and an obstacle warning is issued.

[0090] In this embodiment, the urgency of obstacle warnings is graded by using a first warning range and a second warning range, and different response strategies are implemented. This effectively reduces misjudgments and improves the accuracy of obstacle warnings. Furthermore, by judging whether the movement trajectories intersect, the accuracy of obstacle warnings can be further improved. This overcomes the technical defect that the blind spot coverage is very wide, and not all obstacles in the blind spot will affect the vehicle's driving. As a result, the warnings for obstacles in the blind spot do not match the driver's actual needs and may cause unnecessary panic. In other words, the effect of warnings for obstacles in the blind spot is poor. This embodiment improves the effect of warnings for obstacles in the blind spot.

[0091] Furthermore, this application embodiment also provides a vehicle blind spot obstacle warning device, which is applied to a vehicle, the vehicle including a blind spot monitoring light, the blind spot monitoring light including a plurality of obstacle indicator lights, and the vehicle blind spot obstacle warning device including:

[0092] The first relative position relationship determination module is used to determine the first relative position relationship between the target obstacle and the vehicle if a target obstacle is detected within a preset blind zone.

[0093] The target obstacle indicator light determination module is used to determine the target obstacle indicator light from among the obstacle indicator lights based on the first relative positional relationship;

[0094] The illumination module is used to illuminate the indicator lights of the target obstacle.

[0095] Optionally, the first relative position relationship determination module is further configured to:

[0096] When the vehicle's direction adjustment information is detected, the corresponding target blind spot monitoring device is activated according to the direction adjustment information. The direction adjustment information includes at least one of turn signal information, steering control information where the steering wheel angle exceeds a preset angle threshold, and reverse gear switching information.

[0097] The target blind spot monitoring device detects whether there are target obstacles within the preset blind spot range.

[0098] Optionally, the target obstacle indicator light determination module is further configured to:

[0099] Based on the direction of the obstacle, at least one obstacle indicator light of the same direction is determined from each of the obstacle indicator lights;

[0100] The target obstacle indicator is determined from the obstacle indicator lights in the same direction based on the distance to the obstacle.

[0101] Optionally, the lighting module is further used for:

[0102] Illuminate the indicator lights of each obstacle in the same direction, and highlight the indicator light of the target obstacle.

[0103] Optionally, the target obstacle indicator light determination module is further configured to:

[0104] Based on the first relative positional relationship, determine whether the target obstacle is within a preset first warning range;

[0105] If it is determined that the target obstacle is within a preset first warning range, then the target obstacle indicator light is determined from each of the obstacle indicator lights according to the first relative position relationship.

[0106] Optionally, the target obstacle indicator light determination module is further configured to:

[0107] If it is determined that the target obstacle is not within the preset first warning range, then it is determined whether the target obstacle is within the preset second warning range, wherein the preset second warning range is greater than the preset first warning range;

[0108] If it is determined that the target obstacle is within a preset second warning range, then after a preset interval, a second relative positional relationship between the target obstacle and the vehicle is determined;

[0109] If, based on the first relative positional relationship and the second relative positional relationship, it is determined that the distance between the target obstacle and the vehicle has decreased, then, based on the second relative positional relationship, the target obstacle indicator light is determined from each of the obstacle indicator lights.

[0110] Optionally, the target obstacle indicator light determination module is further configured to:

[0111] Based on the first relative position relationship and the second relative position relationship, determine the obstacle movement direction and obstacle movement speed of the target obstacle;

[0112] Based on the obstacle's direction of movement and speed of movement, predict the trajectory of the target obstacle.

[0113] Obtain the current speed and direction of travel of the vehicle;

[0114] Based on the vehicle speed and the driving direction information, predict the vehicle's trajectory.

[0115] If it is determined that the trajectory of the obstacle intersects with the trajectory of the vehicle, then the target obstacle indicator light is determined from each of the obstacle indicator lights according to the second relative position relationship.

[0116] Optionally, the lighting module is further used for:

[0117] Detect the current speed of the target obstacle;

[0118] The target light color of the target obstacle indicator is determined based on the current movement speed;

[0119] The target obstacle indicator light is illuminated in the target light color.

[0120] The vehicle blind spot obstacle warning device provided by this invention employs the blind spot obstacle warning method in the above embodiments, solving the technical problem that the prior art has poor effect in warning of obstacles in the blind spot. Compared with the prior art, the beneficial effects of the vehicle blind spot obstacle warning device provided by this invention are the same as those of the blind spot obstacle warning method provided in the above embodiments, and other technical features of this vehicle blind spot obstacle warning device are the same as those disclosed in the above embodiments, and will not be repeated here.

[0121] Furthermore, embodiments of the present invention provide a vehicle, the vehicle including a vehicle blind spot monitoring light, the blind spot monitoring light including a plurality of obstacle indicator lights, the vehicle further including: at least one processor; and a memory communicatively connected to at least one processor; wherein the memory stores instructions executable by at least one processor, the instructions being executed by at least one processor to enable at least one processor to perform the blind spot obstacle warning method in the above embodiments.

[0122] In one feasible embodiment, the blind spot monitoring light may further include a vehicle indicator light. Each obstacle indicator light is positioned in multiple directions of the vehicle indicator light to remind the driver of the positional relationship between the obstacle and the vehicle. There may be 0, 1, or more obstacle indicator lights in each direction of the vehicle indicator light. The more directions in which obstacle indicator lights are provided, the more accurate the reminder of obstacles in the blind spot. The specific settings can be made according to the positional relationship between the blind spot and the vehicle and actual needs. This embodiment does not impose any restrictions on this.

[0123] The following is for reference. Figure 9 It shows a structural schematic diagram of a vehicle suitable for implementing embodiments of the present disclosure. Figure 9 The vehicle shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments disclosed herein.

[0124] like Figure 9As shown, the vehicle may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) or programs loaded from storage devices into random access memory (RAM). The RAM also stores various programs and arrays required for vehicle operation. The processing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0125] Typically, the following systems can be connected to the I / O interface: input devices including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices including, for example, magnetic tapes, hard disks, etc.; and communication devices. Communication devices allow the vehicle to communicate wirelessly or wiredly with other devices to exchange arrays. Although vehicles with various systems are shown in the figures, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems may be implemented alternatively.

[0126] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device, or installed from a ROM. When the computer program is executed by a processing device, it performs the functions defined above in the methods of embodiments of this disclosure.

[0127] The vehicle provided by this invention employs the blind spot obstacle warning method described in the above embodiments, solving the technical problem that the prior art has poor effectiveness in warning of obstacles in blind spots. Compared with the prior art, the beneficial effects of the vehicle provided by the embodiments of this invention are the same as those of the blind spot obstacle warning method provided in the above embodiments, and other technical features of the vehicle are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0128] It should be understood that various parts of this disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0129] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0130] Furthermore, this embodiment provides a computer-readable storage medium having computer-readable program instructions stored thereon, the computer-readable program instructions being used to execute the blind spot obstacle warning method in the above embodiment.

[0131] The computer-readable storage medium provided in this embodiment of the invention may be, for example, a USB flash drive, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination thereof.

[0132] The aforementioned computer-readable storage medium may be included in the vehicle or may exist independently and not installed in the vehicle.

[0133] The aforementioned computer-readable storage medium carries one or more programs that, when executed by a vehicle, cause the vehicle to: if a target obstacle is detected within a preset blind spot, determine a first relative positional relationship between the target obstacle and the vehicle; determine a target obstacle indicator light from among the obstacle indicator lights based on the first relative positional relationship; and illuminate the target obstacle indicator light.

[0134] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0135] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0136] The modules described in the embodiments of this disclosure can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0137] The computer-readable storage medium provided by this invention stores computer-readable program instructions for executing the above-described blind spot obstacle warning method, thus solving the technical problem that the prior art has poor effect in warning of obstacles in blind spots. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the embodiments of this invention are the same as the beneficial effects of the blind spot obstacle warning method provided in the above-described embodiments, and will not be repeated here.

[0138] Furthermore, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the blind spot obstacle warning method described above.

[0139] The computer program product provided in this application solves the technical problem that the prior art has poor effect in alerting to obstacles in blind spots. Compared with the prior art, the beneficial effects of the computer program product provided in the embodiments of this invention are the same as the beneficial effects of the blind spot obstacle alerting method provided in the above embodiments, and will not be repeated here.

[0140] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent scope of this application.

Claims

1. A method for alerting users to blind spot obstacles, characterized in that, The blind spot obstacle warning method is applied to a vehicle, which includes blind spot monitoring lights. The blind spot monitoring lights include a friendly vehicle indicator light and an obstacle indicator light. Multiple obstacle indicator lights are provided in each direction of the friendly vehicle indicator light. The blind spot obstacle warning method includes the following steps: If a target obstacle is detected within a preset blind zone, a first relative positional relationship between the target obstacle and the vehicle is determined. Based on the first relative positional relationship, the target obstacle indicator is determined from each of the obstacle indicator lights; Illuminate the indicator light of the target obstacle; The first relative positional relationship includes the obstacle direction and the obstacle distance. The obstacle direction refers to the direction of the target obstacle relative to the vehicle, and the obstacle distance is the distance between the target obstacle and the vehicle. The step of determining the target obstacle indicator from each of the obstacle indicator lights according to the first relative positional relationship includes: Based on the direction of the obstacle, at least one obstacle indicator light of the same direction is determined from each of the obstacle indicator lights; The target obstacle indicator light is determined from the obstacle indicator lights in the same direction based on the obstacle distance; The step of illuminating the indicator light of the target obstacle includes: Illuminate each of the obstacle indicator lights in the same direction and highlight the target obstacle indicator light, wherein the position of the target obstacle indicator light among the obstacle indicator lights in the same direction represents the distance between the target obstacle and the friendly vehicle; The step of illuminating the indicator light of the target obstacle includes: Detect the current speed of the target obstacle; The target light color of the target obstacle indicator is determined based on the current movement speed; The target obstacle indicator light is illuminated in the target light color.

2. The blind spot obstacle warning method as described in claim 1, characterized in that, Before the step of determining the first relative positional relationship between the target obstacle and the vehicle if a target obstacle is detected within a preset blind zone, the method further includes: When the vehicle's direction adjustment information is detected, the corresponding target blind spot monitoring device is activated according to the direction adjustment information. The direction adjustment information includes at least one of turn signal information, steering control information where the steering wheel angle exceeds a preset angle threshold, and reverse gear switching information. The target blind spot monitoring device detects whether there are target obstacles within the preset blind spot range.

3. The blind spot obstacle warning method as described in claim 1, characterized in that, The step of determining the target obstacle indicator from among the obstacle indicator lights based on the first relative position relationship includes: Based on the first relative positional relationship, determine whether the target obstacle is within a preset first warning range; If it is determined that the target obstacle is within a preset first warning range, then the target obstacle indicator light is determined from each of the obstacle indicator lights according to the first relative position relationship.

4. The blind spot obstacle warning method as described in claim 3, characterized in that, After the step of determining whether the target obstacle is within a preset safe range based on the first relative position relationship, the method further includes: If it is determined that the target obstacle is not within the preset first warning range, then it is determined whether the target obstacle is within the preset second warning range, wherein the preset second warning range is greater than the preset first warning range; If it is determined that the target obstacle is within a preset second warning range, then after a preset interval, a second relative positional relationship between the target obstacle and the vehicle is determined; If, based on the first relative positional relationship and the second relative positional relationship, it is determined that the distance between the target obstacle and the vehicle has decreased, then, based on the second relative positional relationship, the target obstacle indicator light is determined from each of the obstacle indicator lights.

5. The blind spot obstacle warning method as described in claim 4, characterized in that, The step of determining the target obstacle indicator from among the obstacle indicator lights based on the second relative position relationship includes: Based on the first relative position relationship and the second relative position relationship, determine the obstacle movement direction and obstacle movement speed of the target obstacle; Based on the obstacle's direction of movement and speed of movement, predict the trajectory of the target obstacle. Obtain the current speed and direction of travel of the vehicle; Based on the vehicle speed and the driving direction information, predict the vehicle's trajectory. If it is determined that the trajectory of the obstacle intersects with the trajectory of the vehicle, then the target obstacle indicator light is determined from each of the obstacle indicator lights according to the second relative position relationship.

6. A vehicle, characterized in that, The vehicle includes blind spot monitoring lights, which include friendly vehicle indicator lights and obstacle indicator lights. Multiple obstacle indicator lights are provided in each direction of the friendly vehicle indicator lights. The vehicle also includes: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the steps of the blind spot obstacle warning method according to any one of claims 1 to 5.

7. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and the computer-readable storage medium stores a program for implementing the blind spot obstacle warning method. The program for implementing the blind spot obstacle warning method is executed by a processor to implement the steps of the blind spot obstacle warning method as described in any one of claims 1 to 5.

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