Collision reminding method and device of vehicle, vehicle and storage medium

Abstract

This application relates to the field of vehicle technology, and in particular to a collision warning method, device, vehicle, and storage medium for vehicles. The method includes: detecting the actual slope value of the ramp where the vehicle is located; identifying the vehicle's collision safety threshold based on the actual slope value, while simultaneously acquiring the vehicle's actual speed, current gear, and / or actual acceleration; if the actual speed, current gear, and / or actual acceleration exceed the collision safety threshold, then controlling the vehicle to issue a collision warning. This solves the problem of damage to the vehicle's front or rear bumper and related components, and even personal injury and property damage, caused by excessive speed when switching from flat road to uphill or downhill driving, effectively improving vehicle safety and enhancing the driver's experience.

Description

Technical Field

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

[0002] For some novice drivers, due to their lack of proficiency in driving on public roads, when switching from flat roads to uphill or downhill driving, they are prone to damage to the front or rear bumper and related parts of the vehicle due to their own misoperation (such as excessive speed), which may even cause personal injury and property damage. This issue urgently needs to be addressed.

[0003] Application content

[0004] This application provides a collision warning method, device, vehicle, and storage medium for vehicles to solve the problem that when switching from flat road to uphill or downhill driving, excessive speed can cause damage to the front or rear bumper and related parts of the vehicle, or even personal injury and property damage, effectively improving vehicle safety and enhancing the driver's user experience.

[0005] The first aspect of this application provides a collision warning method for a vehicle, comprising the following steps:

[0006] Detect the actual slope of the ramp where the vehicle is located;

[0007] While identifying the vehicle's collision safety threshold based on the actual slope value, the system also acquires the vehicle's actual speed, current gear, and / or actual acceleration; and

[0008] If the actual vehicle speed, the current gear, and / or the actual acceleration exceed the collision safety threshold, the vehicle will be controlled to issue a collision warning.

[0009] Optionally, the actual slope value of the ramp where the detection vehicle is located includes:

[0010] Identify the first slope value of the road surface in front of the vehicle;

[0011] Collect the second slope value of the vehicle's current location;

[0012] The actual slope value is determined based on the first slope value and the second slope value.

[0013] Optionally, controlling the vehicle to provide a collision warning includes:

[0014] Match the target collision warning method and / or type based on the difference exceeding the collision safety threshold;

[0015] Control at least one collision warning device of the vehicle to perform a collision warning according to the target collision warning method and / or type.

[0016] Optionally, after detecting the actual slope of the ramp where the vehicle is located, the method further includes:

[0017] Determine whether the actual slope value is greater than the collision slope threshold;

[0018] If the actual slope value is greater than the collision slope threshold, the vehicle is controlled to issue an impending collision warning.

[0019] Optionally, the collision slope threshold is obtained from the static maximum approach angle or static maximum departure angle of the vehicle when it is on a slope.

[0020] Optionally, before identifying the vehicle's collision safety threshold based on the actual slope value, the method further includes:

[0021] Detect the actual load of the vehicle;

[0022] The collision safety threshold is then modified based on the actual load, and the collision safety threshold is adjusted accordingly.

[0023] A second aspect of this application provides a vehicle collision warning device, comprising:

[0024] The detection module is used to detect the actual slope value of the ramp where the vehicle is located;

[0025] The acquisition module is used to identify the vehicle's collision safety threshold based on the actual slope value, while simultaneously acquiring the vehicle's actual speed, current gear, and / or actual acceleration; and

[0026] The alert module is used to control the vehicle to issue a collision alert if the actual vehicle speed, the current gear, and / or the actual acceleration exceeds the collision safety threshold.

[0027] Optionally, the detection module includes:

[0028] The identification unit is used to identify the first slope value of the road surface in front of the vehicle;

[0029] The acquisition unit is used to acquire the second slope value of the current position of the vehicle;

[0030] A determining unit is configured to determine the actual slope value based on the first slope value and the second slope value.

[0031] Optionally, the reminder module includes:

[0032] A matching unit is used to match a target collision warning method and / or type based on the difference exceeding the collision safety threshold;

[0033] A first control unit is configured to control at least one collision warning device of the vehicle to perform a collision warning according to the target collision warning method and / or type.

[0034] Optionally, after detecting the actual slope of the ramp where the vehicle is located, the reminder module further includes:

[0035] The judgment unit is used to determine whether the actual slope value is greater than the collision slope threshold.

[0036] The second control unit is used to control the vehicle to issue an impending collision warning if the actual slope value is greater than the collision slope threshold.

[0037] Optionally, the collision slope threshold is obtained from the static maximum approach angle or static maximum departure angle of the vehicle when it is on a slope.

[0038] Optionally, before identifying the vehicle's collision safety threshold based on the actual slope value, the acquisition module further includes:

[0039] The detection unit is used to detect the actual load of the vehicle;

[0040] The modification unit is used to calculate a modification value for the collision safety threshold based on the actual load, and adjust the collision safety threshold based on the modification value.

[0041] A third aspect of this application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-described collision warning method for the vehicle.

[0042] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the vehicle collision warning method as described in the above embodiments.

[0043] Therefore, the system can detect the actual slope of the ramp the vehicle is on, identify the vehicle's collision safety threshold based on the actual slope, and simultaneously obtain the vehicle's actual speed, current gear, and / or actual acceleration. This allows the system to issue a collision warning when the actual speed, current gear, and / or actual acceleration exceed the collision safety threshold. This solves the problem of damage to the front or rear bumper and related components, and even personal injury and property damage, caused by excessive speed when switching from flat roads to uphill or downhill driving, effectively improving vehicle safety and enhancing the driver's experience.

[0044] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0045] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0046] Figure 1 This is a flowchart of a vehicle collision warning method according to an embodiment of this application;

[0047] Figure 2 Here is an example diagram of a vehicle collision warning system according to an embodiment of this application;

[0048] Figure 3 This is a schematic diagram of a target reminder method according to an embodiment of this application;

[0049] Figure 4 This is an example diagram of a collision warning device for a vehicle according to an embodiment of this application;

[0050] Figure 5 A schematic diagram of the vehicle structure provided in the application embodiment. Detailed Implementation

[0051] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0052] The following description, with reference to the accompanying drawings, describes a vehicle collision warning method, device, vehicle, and storage medium according to embodiments of this application. Addressing the problem mentioned in the background section where excessive speed during transition from flat road to uphill or downhill driving can damage the front or rear bumper and related components, potentially causing personal injury or property damage, this application provides a vehicle collision warning method. This method detects the actual slope of the slope the vehicle is on, identifies the vehicle's collision safety threshold based on the actual slope, and simultaneously acquires the vehicle's actual speed, current gear, and / or actual acceleration. When the actual speed, current gear, and / or actual acceleration exceed the collision safety threshold, the method controls the vehicle to issue a collision warning. This solves the problem of excessive speed during transition from flat road to uphill or downhill driving, potentially causing damage to the front or rear bumper and related components, and even personal injury or property damage, effectively improving vehicle safety and enhancing the driver's experience.

[0053] Specifically, Figure 1 This is a schematic flowchart illustrating a vehicle collision warning method provided in an embodiment of this application. Figure 1As shown, the collision warning method for this vehicle includes the following steps:

[0054] In step S101, the actual slope value of the ramp where the vehicle is located is detected.

[0055] Optionally, in some embodiments, detecting the actual slope value of the ramp where the vehicle is located includes: identifying a first slope value of the road surface in front of the vehicle; acquiring a second slope value of the current location of the vehicle; and determining the actual slope value based on the first slope value and the second slope value.

[0056] In detecting the actual slope of the ramp where the vehicle is located, the embodiments of this application can be based on... Figure 2 The collision warning system shown is implemented for the vehicle. The system mainly includes: an image acquisition device (such as a camera), sensors that collect the vehicle's operating status (such as the vehicle's forward, backward, and tilting states), a driving warning analysis system, and a collision warning device.

[0057] Specifically, in this embodiment, a camera installed on the vehicle can identify the road surface ahead. Based on calculation methods in related technologies, a first slope value of the road surface ahead of the vehicle is obtained. A slope sensor on the vehicle body collects a second slope value indicating the vehicle's current position. Therefore, based on the first and second slope values, the actual slope value of the slope the vehicle is on can be calculated. For example, if the first slope value of the road surface ahead of the vehicle is 30 degrees and the second slope value at the vehicle's current position is 10 degrees, then the actual slope value of the slope the vehicle is on is 20 degrees, making the obtained actual slope value more accurate. It should be noted that the above-described method of using a camera to obtain the first slope value of the road surface ahead of the vehicle and using a slope sensor to obtain the second slope value at the vehicle's current position is merely exemplary. Those skilled in the art can set up different acquisition devices according to actual conditions. To avoid redundancy, detailed descriptions are not provided here.

[0058] In step S102, while identifying the vehicle's collision safety threshold based on the actual slope value, the vehicle's actual speed, current gear, and / or actual acceleration are obtained.

[0059] The collision safety thresholds for vehicles can include collision safety thresholds related to slope and gear position, collision safety thresholds related to slope and vehicle speed, and collision safety thresholds related to slope and acceleration. The acceleration-related collision safety thresholds can be pre-set thresholds, thresholds obtained through a limited number of experiments, or thresholds obtained through a limited number of computer simulations; no specific limitations are imposed here.

[0060] Specifically, the embodiments of this application can preset the mapping relationship between slope value and gear, vehicle speed and acceleration respectively. After detecting the actual slope value of the slope where the vehicle is located in step S101, the collision safety threshold of the vehicle can be identified based on the above mapping relationship, and the actual vehicle speed, current gear and / or actual acceleration of the vehicle can be obtained.

[0061] For example, taking vehicle speed as an example, when a vehicle is traveling forward on a 30% slope (approximately 16.5 degrees), a front bumper damage accident will occur at a speed of 110 km / h; when traveling forward on a 10% slope (approximately 5.5 degrees), a front bumper damage accident will occur at a speed of 165 km / h; when traveling forward on a slope less than 10% (less than 5.5 degrees), even if the vehicle reaches its maximum speed, no damage will occur. Therefore, in this embodiment, the slope value from 5.5 degrees to 16.5 degrees can be segmented according to a certain ratio (e.g., 3 degrees or 5 degrees), and the vehicle speed can also be divided according to the same ratio. The speed limit can be within the range of 0–10 km / h from the maximum permissible speed, thus obtaining the collision safety threshold related to slope value and vehicle speed.

[0062] It should be noted that the collision safety thresholds related to slope and gear, and the collision safety thresholds related to slope and acceleration are obtained in the same way as those related to slope and vehicle speed. To avoid redundancy, they will not be elaborated on here.

[0063] In step S103, if the actual vehicle speed, current gear and / or actual acceleration exceed the collision safety threshold, the vehicle is controlled to issue a collision warning.

[0064] It should be understood that if the vehicle's actual speed is greater than the speed-related collision safety threshold identified based on the actual slope value, or the current gear is greater than the gear-related collision safety threshold identified based on the actual slope value, or the actual acceleration is greater than the acceleration-related collision safety threshold identified based on the actual slope value, then there is a certain risk of collision if the vehicle is driven at this speed. Therefore, the embodiments of this application can control the vehicle to provide collision warnings.

[0065] Furthermore, in some embodiments, controlling the vehicle to issue a collision warning includes: matching a target collision warning method and / or type based on the difference exceeding a collision safety threshold; and controlling at least one collision warning device of the vehicle to issue a collision warning based on the target collision warning method and / or type.

[0066] The target collision warning method can be to use different colors to provide warnings, and the target collision warning type can be acoustic warning and / or optical warning. The collision warning device can include the dashboard, in-vehicle audio system, etc.

[0067] Specifically, the target collision warning method in this application embodiment can be implemented by setting a corresponding color based on the difference between the actual vehicle speed and the collision safety threshold, such as... Figure 3 As shown, this application embodiment can be set with four colors: ① a light green area, i.e., exceeding the collision safety threshold by less than -20, meaning the current vehicle speed does not exceed the collision safety threshold, the instrument panel can display light green; ② a dark green area, i.e., exceeding the collision safety threshold by between -20 and 0, meaning the current vehicle speed does not exceed the collision safety threshold, the instrument panel can display dark green; ③ a yellow area, i.e., when the difference between exceeding the collision safety threshold is between 0 and 15, the current vehicle speed exceeds the collision safety threshold, the instrument panel can display yellow, and continuing to drive at this time may cause vehicle damage; ④ a red area, i.e., when the difference between exceeding the collision safety threshold is greater than 15, the current vehicle speed exceeds the collision safety threshold, the instrument panel can display red, and continuing to drive at this time may cause personal injury. The target collision type can be a corresponding voice message played through the in-vehicle audio system.

[0068] For example, taking vehicle speed as an example, assuming the vehicle is traveling forward on a 30% slope (approximately 16.5 degrees), the speed-related collision safety threshold is 110 km / h. If the current speed is 85 km / h, exceeding the collision safety threshold by -25 but less than -20, the dashboard will display a light green light, and an announcement will be made through the car's audio system stating, "The collision safety threshold is 110 km / h, the current speed is 85 km / h, and a collision will not occur at this speed." If the current speed is 100 km / h, exceeding the collision safety threshold by -15 but falling between -20 and 0, the dashboard will display a dark green light, and an announcement will be made through the car's audio system stating, "The collision safety threshold is 110 km / h, the current speed is 100 km / h, and a collision will not occur at this speed." If the current speed is 120 km / h... If the speed exceeds the collision safety threshold of 5, between 0 and 15, the dashboard will display a yellow warning and an audio message will be played through the car's speakers, such as "The collision safety threshold is 110 km / h. The current speed is 115 km / h. A collision will occur at this speed. Please slow down." If the current speed is 120 km / h and exceeds the collision safety threshold of 5, between 0 and 15, the dashboard will display a yellow warning and an audio message will be played through the car's speakers, such as "The collision safety threshold is 135 km / h. The current speed is 115 km / h. A collision will occur at this speed, and there is a risk to personal safety. Please slow down." This is to prevent damage to the front bumper and related components due to insufficient approach angle during uphill driving and insufficient departure angle during downhill driving, which could lead to damage to the rear bumper and related components.

[0069] It should be noted that the embodiments of this application can also remind the driver to select a certain gear for driving and to reasonably control the accelerator pedal and brake pedal. The method is the same as the reminder method under the above vehicle speed conditions, and will not be described in detail here. In addition, the embodiments of this application can play "Please slow down" repeatedly when the difference exceeds the collision safety threshold by a large margin, and the playback volume gradually increases.

[0070] Optionally, in some embodiments, after detecting the actual slope value of the ramp where the vehicle is located, the method further includes: determining whether the actual slope value is greater than a collision slope threshold; if the actual slope value is greater than the collision slope threshold, controlling the vehicle to issue an impending collision warning.

[0071] Optionally, in some embodiments, the collision slope threshold is obtained from the static maximum approach angle or the static maximum departure angle when the vehicle is on a slope.

[0072] The approach angle is the angle between the tangent line drawn from the front protrusion of the vehicle to the front wheel and the ground when the vehicle is fully loaded and stationary. It is the maximum angle between the horizontal plane and the plane tangent to the outer edge of the front wheel tire (static load). The departure angle is the angle between the road surface and the tangent line drawn from the rear protrusion of the vehicle to the rear wheel when the vehicle is fully loaded and stationary. It is the maximum angle between the horizontal plane and the plane tangent to the outer edge of the rear wheel tire (static load).

[0073] Specifically, if the detected slope change exceeds the vehicle's maximum static approach angle or maximum static departure angle when it is on a slope, indicating that the vehicle is inevitably going to be damaged, this embodiment of the application can control the dashboard to display yellow and issue a warning through the in-vehicle audio system that "the slope ahead is too steep and a collision may occur," thereby facilitating the driver to pull over to the side of the road in time or take an alternate route, thus improving vehicle safety.

[0074] Optionally, in some embodiments, before identifying the collision safety threshold of the vehicle based on the actual slope value, the method further includes: detecting the actual load of the vehicle; calculating a modified value of the collision safety threshold based on the actual load; and adjusting the collision safety threshold based on the modified value.

[0075] It should be understood that the heavier the vehicle load, the closer the vehicle is to the ground, thus increasing the likelihood of a collision. Therefore, this application embodiment can pre-set a mapping relationship between vehicle load and a modified collision safety threshold. This mapping relationship can be pre-set, obtained through computer simulation, based on actual measurements, or calculated using relevant formulas; no specific limitations are imposed here. Upon detecting the actual load of the vehicle, this application embodiment can obtain the modified collision safety threshold from the pre-set mapping relationship, thereby modifying the collision safety threshold accordingly to further improve vehicle safety and prevent collisions.

[0076] The vehicle collision warning method proposed in this application can detect the actual slope of the slope where the vehicle is located, identify the vehicle's collision safety threshold based on the actual slope value, and simultaneously obtain the vehicle's actual speed, current gear, and / or actual acceleration. Therefore, when the actual speed, current gear, and / or actual acceleration exceed the collision safety threshold, the method controls the vehicle to issue a collision warning. This solves the problem of damage to the front or rear bumper and related components, or even personal injury and property damage, caused by excessive speed when switching from flat road to uphill or downhill driving, effectively improving vehicle safety and enhancing the driver's experience.

[0077] Next, a collision warning device for a vehicle according to an embodiment of this application is described with reference to the accompanying drawings.

[0078] Figure 4 This is a block diagram of a vehicle collision warning device according to an embodiment of this application.

[0079] like Figure 4 As shown, the collision warning device 10 of the vehicle includes: a detection module 100, an acquisition module 200, and a warning module 300.

[0080] The detection module 100 is used to detect the actual slope value of the slope where the vehicle is located;

[0081] The acquisition module 200 is used to identify the vehicle's collision safety threshold based on the actual slope value, while simultaneously acquiring the vehicle's actual speed, current gear, and / or actual acceleration; and

[0082] The alert module 300 is used to control the vehicle to issue a collision alert if the actual vehicle speed, current gear and / or actual acceleration exceeds the collision safety threshold.

[0083] Optionally, the detection module 100 includes:

[0084] The recognition unit is used to identify the first slope value of the road surface in front of the vehicle.

[0085] The data acquisition unit is used to acquire the second slope value of the vehicle's current location;

[0086] The determining unit is used to determine the actual slope value based on the first slope value and the second slope value.

[0087] Optionally, the reminder module 300 includes:

[0088] The matching unit is used to match the target collision warning method and / or type based on the difference exceeding the collision safety threshold;

[0089] A first control unit is used to control at least one collision warning device of the vehicle to perform a collision warning according to the target collision warning method and / or type.

[0090] Optionally, after detecting the actual slope of the ramp where the vehicle is located, the reminder module 300 also includes:

[0091] The judgment unit is used to determine whether the actual slope value is greater than the collision slope threshold.

[0092] The second control unit is used to control the vehicle to issue an impending collision warning if the actual slope value is greater than the collision slope threshold.

[0093] Optionally, the collision slope threshold is obtained from the static maximum approach angle or static maximum departure angle when the vehicle is on a slope.

[0094] Optionally, before identifying the vehicle's collision safety threshold based on the actual slope value, the acquisition module 200 further includes:

[0095] The detection unit is used to detect the actual load on the vehicle.

[0096] The modification unit is used to calculate the modified value of the collision safety threshold based on the actual load, and adjust the collision safety threshold according to the modified value.

[0097] It should be noted that the explanation of the above-described embodiment of the vehicle collision warning method also applies to the vehicle collision warning device of this embodiment, and will not be repeated here.

[0098] The vehicle collision warning device proposed in this application can detect the actual slope of the slope where the vehicle is located, and identify the vehicle's collision safety threshold based on the actual slope value. Simultaneously, it acquires the vehicle's actual speed, current gear, and / or actual acceleration. Therefore, when the actual speed, current gear, and / or actual acceleration exceed the collision safety threshold, it controls the vehicle to issue a collision warning. This solves the problem of damage to the front or rear bumper and related components, or even personal injury and property damage, caused by excessive speed when switching from flat road to uphill or downhill driving. It effectively improves vehicle safety and enhances the driver's experience.

[0099] Figure 5 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. The electronic device may include:

[0100] The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0101] When processor 502 executes the program, it implements the vehicle collision warning method provided in the above embodiments.

[0102] Furthermore, the vehicle also includes:

[0103] Communication interface 503 is used for communication between memory 501 and processor 502.

[0104] The memory 501 is used to store computer programs that can run on the processor 502.

[0105] The memory 501 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0106] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0107] Optionally, in a specific implementation, if the memory 501, processor 502, and communication interface 503 are integrated on a single chip, then the memory 501, processor 502, and communication interface 503 can communicate with each other through an internal interface.

[0108] Processor 502 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0109] This embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the vehicle collision warning method described above.

[0110] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0111] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0112] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0113] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0114] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

Claims

1. A collision warning method for vehicles, characterized in that, Includes the following steps: The actual slope of the ramp where the vehicle is located is detected, including: Identify the first slope value of the road surface in front of the vehicle; Collect the second slope value of the vehicle's current location; The actual slope value is determined based on the first slope value and the second slope value; While identifying the vehicle's collision safety threshold based on the actual slope value, the system also acquires the vehicle's actual speed, current gear, and / or actual acceleration; and If the actual vehicle speed, the current gear, and / or the actual acceleration exceed the collision safety threshold, then the vehicle is controlled to issue a collision warning. Before identifying the vehicle's collision safety threshold based on the actual slope value, the method further includes: Detect the actual load of the vehicle; The collision safety threshold is then modified based on the actual load, and the collision safety threshold is adjusted accordingly.

2. The method according to claim 1, characterized in that, The control of the vehicle to provide a collision warning includes: Match the target collision warning method and / or type based on the difference exceeding the collision safety threshold; Control at least one collision warning device of the vehicle to perform a collision warning according to the target collision warning method and / or type.

3. The method according to claim 1, characterized in that, After detecting the actual slope of the ramp where the vehicle is located, the process also includes: Determine whether the actual slope value is greater than the collision slope threshold; If the actual slope value is greater than the collision slope threshold, the vehicle is controlled to issue an impending collision warning.

4. The method according to claim 3, characterized in that, The collision slope threshold is obtained from the static maximum approach angle or static maximum departure angle of the vehicle when it is on a slope.

5. A collision warning device for a vehicle, characterized in that, include: The detection module is used to detect the actual slope value of the ramp where the vehicle is located, including: The identification unit is used to identify the first slope value of the road surface in front of the vehicle; The acquisition unit is used to acquire the second slope value of the current position of the vehicle; A determining unit is configured to determine the actual slope value based on the first slope value and the second slope value; The acquisition module is used to identify the vehicle's collision safety threshold based on the actual slope value, while simultaneously acquiring the vehicle's actual speed, current gear, and / or actual acceleration; and The alert module is used to control the vehicle to issue a collision alert if the actual vehicle speed, the current gear, and / or the actual acceleration exceeds the collision safety threshold. The detection module is further configured to: before identifying the vehicle's collision safety threshold based on the actual slope value, include: Detect the actual load of the vehicle; The collision safety threshold is then modified based on the actual load, and the collision safety threshold is adjusted accordingly.

6. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the collision warning method for a vehicle as described in any one of claims 1-4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the collision warning method for a vehicle as described in any one of claims 1-4.

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