A method, system, vehicle and computing device for collision avoidance warning for a vehicle

Abstract

The application provides a car anti-collision early warning method, comprising the following steps: S1, an information acquisition unit acquires target information; S2, a data processing unit processes the target information collected by the information acquisition unit, calculates target position information, and an information processing unit compensates time for communication delay and calculation delay, and calculates compensated target position information; S3, when the target position information meets a warning triggering condition, a warning unit sends a warning. Through the above technology, the driver can directly feel the danger degree of collision with both eyes, and the effect of early warning is achieved. Meanwhile, the time compensation technology reduces the error caused by communication delay and calculation delay on real-time display, and improves the accuracy and precision of early warning.

Description

Technical Field

[0001] This invention relates to the field of automotive safety, specifically to a method, system, vehicle, and computing device for warning of automotive collision avoidance. Background Technology

[0002] Collision warning systems require the prediction of danger while driving. According to the current forms of collision warning alarms on the market, there are sound alerts, vibration alerts (steering wheel, seats, etc.), and even the vehicle will take over control to avoid danger when the collision danger level reaches a certain level. According to research on the application of such systems in Europe, America and Israel for many years, 90% of car accidents can be avoided through such collision warning systems.

[0003] Existing collision warning systems typically include an information acquisition unit, a data processing unit, and a warning unit. The information acquisition unit obtains target information, processes the collected target information, calculates the target's position information, and issues a warning through the warning unit when the target's position information meets the warning trigger conditions. Some systems also include an execution unit, which can perform operations such as automatic braking.

[0004] However, existing collision warning systems do not take into account communication and computation delays, resulting in a certain time lag in the prediction of target objects. Summary of the Invention

[0005] To address the issue that existing collision warning systems do not consider communication and computation delays, this invention incorporates these delays and increases the accuracy of the collision warning system through time compensation.

[0006] The present invention provides a method for warning of vehicle collision avoidance, comprising:

[0007] S1, the information acquisition unit acquires information about the target object.

[0008] S2. The data processing unit processes the target information collected by the information acquisition unit and calculates the target object's location information. The information processing unit performs time compensation for communication delay and calculation delay, and calculates the compensated target object's location information. When inputting the recognition result data, the time parameter for target object coordinate acquisition is the received timestamp - t1, where t1 is the interval between data acquisition and data received by the data processing unit. When outputting the prediction data, the input time parameter is the current timestamp + t2, where t2 is the interval between when the data processing unit obtains the prediction data and when the final drawing is completed, which can reduce the errors caused by t1 and t2.

[0009] S3. When the target location information meets the warning triggering conditions, a warning is issued through the warning unit.

[0010] The above technologies allow drivers to directly perceive the degree of collision danger with their own eyes, achieving a warning effect. Simultaneously, time compensation technology reduces errors in real-time display caused by communication and computation delays, improving the accuracy and precision of the warnings.

[0011] Furthermore, t2 is determined by averaging the time records of the drawing, and each drawing can use the average of the times of the previous multiple drawings.

[0012] Furthermore, the time range of t1 is preset based on empirical values; then, the results are displayed and evaluated on a real machine. A multinomial fitting algorithm model is used, and the regression equation is solved using the least squares method. The optimal value is then used to correct the preset value of t1. The specific algorithm principle is as follows:

[0013] 1) The time-compensated position is a function of time: y^ i =a0x i n +a1x i n-1 +a2x i n-2 +…+a n-1 x i +a n Where X represents the time point, and y^ i These are the position coordinates at that point in time;

[0014] 2) Based on the historical trajectory, collect historical data points {(x1,y1)(x2,y2)…(x m ,y m )};

[0015] 3) Express the error as the sum of squares using the least squares method:

[0016]

[0017] 4) Find the optimal a0 to a n The fitting coefficients, ∈, are calculated as follows: (n+1)th partial derivatives, and each partial derivative is set to 0:

[0018]

[0019] 5) The other terms in the above system of equations can also be expanded to include the fitting coefficients a0 to a... n Use the equation to find the coefficients of these n+1 fitted values;

[0020] 6) Perform time compensation as done in steps 1) to 5) on the (x, y) position information of the target object to obtain the true position of the target object at the time of display.

[0021] Furthermore, it also includes a fusion unit that generates descriptive information based on the target object's location information after time compensation, renders the descriptive information into an image, and displays the image through a warning unit. The image can be displayed on a display screen in the car or projected onto the windshield.

[0022] Furthermore, it also includes an execution unit that, when the target location information meets preset conditions, performs one or any combination of operations such as closing the car windows, locking the steering wheel, and automatic braking.

[0023] Furthermore, the information acquisition unit includes one or any combination of radar, laser, sonar, infrared, and camera.

[0024] Furthermore, the warning issued by the warning unit includes one or any combination of images, sounds, and vibrations.

[0025] The present invention also provides a vehicle collision avoidance system, including an information acquisition unit, a data processing unit and a warning unit, wherein the system uses the aforementioned warning method.

[0026] The present invention also provides a collision avoidance vehicle that uses the above-described warning method.

[0027] The present invention also provides a computing device, including a processor and a memory, wherein the memory stores code for performing the above-described methods.

[0028] This invention reduces the errors caused by communication and calculation delays in real-time display through time compensation technology, thereby improving the accuracy and precision of early warnings. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the process of the present invention;

[0030] Figure 2 This is a schematic diagram illustrating the time compensation principle of the present invention. Detailed Implementation

[0031] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention and not the entire structure.

[0032] Example 1:

[0033] See Figure 1 The vehicle collision avoidance warning method of this embodiment includes the following steps:

[0034] S1. The information acquisition unit acquires target object information, which can be a vehicle in front, a pedestrian, an obstacle, etc. Target object information includes the type, speed, and position of the target object. The type of target object can be determined based on its dimensions: length, width, height, etc. Position information can be absolute coordinates in a world coordinate system, such as latitude and longitude, or relative coordinates, such as the three-dimensional spatial coordinates relative to the vehicle itself.

[0035] S2. The data processing unit processes the target information collected by the information acquisition unit. For target position information (absolute coordinates in the world coordinate system), it calculates the relative coordinates of the target in the vehicle's standard coordinate system based on the vehicle's current GPS information. For target position information (relative coordinates), it transforms the coordinates into relative coordinates in the vehicle's standard coordinate system. Based on the target's position and speed, it calculates the target's direction of movement and path. (See also...) Figure 2 When inputting the recognition result data, the time parameter for target object coordinate acquisition is the receiving timestamp - t1, where t1 is the interval between data acquisition and data processing unit receiving the data. When outputting the prediction data, the input time parameter is the current timestamp + t2, where t2 is the interval between the acquisition of prediction data in the data processing unit and the final completion of drawing. This reduces the errors caused by t1 and t2. By calculating the time-compensated target object position information, the actual position of the target object when drawing is completed is inferred, improving the accuracy of the early warning.

[0036] S3. When the target location information meets the warning triggering conditions, such as when the vehicle is traveling at 100km / h and is less than 100m away from the vehicle in front, a warning is issued through the warning unit to increase the driver's attention and avoid a collision.

[0037] The above technologies allow drivers to directly perceive the degree of collision danger with their own eyes, achieving a warning effect. Simultaneously, time compensation technology reduces errors in real-time display caused by communication and computation delays, improving the accuracy and precision of the warnings.

[0038] Example 2:

[0039] The vehicle collision avoidance warning method of this embodiment includes the following steps:

[0040] S1. The information acquisition unit acquires target object information, which can be a vehicle in front, a pedestrian, an obstacle, etc. Target object information includes the type, speed, and position of the target object. The type of target object can be determined based on its dimensions: length, width, height, etc. Position information can be absolute coordinates in a world coordinate system, such as latitude and longitude, or relative coordinates, such as the three-dimensional spatial coordinates relative to the vehicle itself.

[0041] S2. The data processing unit processes the target information collected by the information acquisition unit. For target position information in the world coordinate system (absolute coordinates), it calculates the relative coordinates of the target in the vehicle's standard coordinate system based on the vehicle's current GPS information. For target position information in relative coordinates, it transforms the coordinates to the relative coordinates in the vehicle's standard coordinate system. Based on the target's position and speed, it calculates the target's direction of movement and path. When inputting the recognition result data, the target coordinate acquisition time parameter is the receiving timestamp - t1, where t1 is the interval between data acquisition and data reception by the data processing unit. When outputting the prediction data, the input time parameter is the current timestamp + t2, where t2 is the interval between obtaining the prediction data in the data processing unit and the final completion of the drawing, reducing errors caused by t1 and t2. t2 is determined by averaging the drawing time records. Each drawing can use the average of the times taken from previous drawings, for example, the average of the times taken from the previous 10 drawings. By calculating the time-compensated target position information, the actual position of the target when the drawing is completed is inferred, improving the accuracy of the warning.

[0042] S3. When the target location information meets the warning triggering conditions, such as when the vehicle is traveling at 100km / h and is less than 100m away from the vehicle in front, a warning is issued through the warning unit to increase the driver's attention and avoid a collision.

[0043] The above technologies allow drivers to directly perceive the degree of collision danger with their own eyes, achieving a warning effect. Simultaneously, time compensation technology reduces errors in real-time display caused by communication and computation delays, improving the accuracy and precision of the warnings.

[0044] Example 3:

[0045] The vehicle collision avoidance warning method of this embodiment includes the following steps:

[0046] S1. The information acquisition unit acquires target object information, which can be a vehicle in front, a pedestrian, an obstacle, etc. Target object information includes the type, speed, and position of the target object. The type of target object can be determined based on its dimensions: length, width, height, etc. Position information can be absolute coordinates in a world coordinate system, such as latitude and longitude, or relative coordinates, such as the three-dimensional spatial coordinates relative to the vehicle itself.

[0047] S2. The data processing unit processes the target information collected by the information acquisition unit. For target position information that is in the absolute coordinate system of the world coordinate system, it calculates the relative coordinates of the target in the vehicle's standard coordinate system based on the vehicle's current GPS information. For target position information that is in relative coordinates, it transforms the coordinates into relative coordinates in the vehicle's standard coordinate system. Based on the target's position and speed, it calculates the target's direction of movement and path. When inputting the recognition result data, the time parameter for target coordinate acquisition is the receiving timestamp - t1, where t1 is the interval between data acquisition and the data processing unit receiving the data. When outputting the prediction data, the input time parameter is the current timestamp + t2, where t2 is the interval between the data processing unit obtaining the prediction data and the final drawing completion, which reduces the errors caused by t1 and t2. By calculating the time-compensated target position information, the actual position of the target when the drawing is completed is inferred, improving the accuracy of the warning.

[0048] The time range for t1 is preset based on empirical values. Then, the results are displayed and evaluated on a real machine. A multinomial fitting algorithm model is used, and the least squares method is employed to solve the regression equation. The optimal value is then used to correct the preset value of t1. The specific algorithm principle is as follows:

[0049] 1) The time-compensated position is a function of time: y^ i =a0x i n +a1x i n-1 +a2x i n-2 +…+a n-1 x i +a n Where x is the time point, y^ i These are the position coordinates at that point in time;

[0050] 2) Based on the historical trajectory, collect historical data points {(x1,y1)(x2,y2)…(x m ,y m )};

[0051] 3) Express the error as the sum of squares using the least squares method:

[0052]

[0053] 4) Find the optimal a0 to a n The fitting coefficients, ∈, are calculated as follows: (n+1)th partial derivatives, and each partial derivative is set to 0:

[0054]

[0055] 5) The other terms in the above system of equations can also be expanded to include the fitting coefficients a0 to a... n Use the equation to find the coefficients of these n+1 fitted values;

[0056] 6) Perform time compensation as done in steps 1) to 5) on the (x, y) position information of the target object to obtain the true position of the target object at the time of display.

[0057] S3. When the target location information meets the warning triggering conditions, such as when the vehicle is traveling at 100km / h and is less than 100m away from the vehicle in front, a warning is issued through the warning unit to increase the driver's attention and avoid a collision.

[0058] The above technologies allow drivers to directly perceive the degree of collision danger with their own eyes, achieving a warning effect. Simultaneously, time compensation technology reduces errors in real-time display caused by communication and computation delays, improving the accuracy and precision of the warnings.

[0059] Example 4:

[0060] This embodiment, based on embodiment 1, further includes a fusion unit, comprising the following steps:

[0061] S1. The information acquisition unit acquires target object information, which can be a vehicle in front, a pedestrian, an obstacle, etc. Target object information includes the type, speed, and position of the target object. The type of target object can be determined based on its dimensions: length, width, height, etc. Position information can be absolute coordinates in a world coordinate system, such as latitude and longitude, or relative coordinates, such as the three-dimensional spatial coordinates relative to the vehicle itself.

[0062] S2. The data processing unit processes the target information collected by the information acquisition unit. For target position information in the world coordinate system (absolute coordinates), it calculates the relative coordinates of the target in the vehicle's standard coordinate system based on the vehicle's current GPS information. For target position information in relative coordinates, it transforms the coordinates into relative coordinates in the vehicle's standard coordinate system. Based on the target's position and speed, it calculates the target's direction of movement and path. It compensates for communication and calculation delays, calculating the compensated target position information—that is, the estimated actual position of the target after time compensation when the drawing is completed.

[0063] The fusion unit generates depiction information based on the time-compensated target object location information and the target object type, then renders this depiction information as an image. The location information, after spatial modeling and projection matrix transformation, is sent to the rendering engine. The rendering engine integrates all the information to be displayed and generates a single frame of image to be displayed through a graphics interface. The rendered image information, blended with the real-world scene and generated through the above processing, is projected onto the display optical engine via the controller's LVDS display interface for display. The display optical engine projects the image data output from the data processing controller onto the vehicle's windshield via optical elements. The data processing controller can adjust the optical display path via a CAN network communication interface.

[0064] The image is displayed through a warning unit. The image can be displayed on a screen in the car or projected onto the windshield, such as through ARHUD technology. When using ARHUD technology, it needs to be consistent with the real-world information.

[0065] S3. When the target location information meets the warning triggering conditions, such as when the vehicle is traveling at 100km / h and is less than 100m away from the vehicle in front, a warning is issued through the warning unit to increase the driver's attention and avoid a collision.

[0066] The above technologies allow drivers to directly perceive the degree of collision danger with their own eyes, achieving a warning effect. Simultaneously, time compensation technology reduces errors in real-time display caused by communication and computation delays, improving the accuracy and precision of the warnings.

[0067] This embodiment is based on embodiment 1. Of course, it is also possible to add a fusion unit based on embodiments 2-4, which will not be elaborated here.

[0068] Example 5:

[0069] The vehicle collision avoidance warning method of this embodiment includes the following steps:

[0070] S1. The information acquisition unit acquires target object information, which can be a vehicle in front, a pedestrian, an obstacle, etc. Target object information includes the type, speed, and position of the target object. The type of target object can be determined based on its dimensions: length, width, height, etc. Position information can be absolute coordinates in a world coordinate system, such as latitude and longitude, or relative coordinates, such as the three-dimensional spatial coordinates relative to the vehicle itself.

[0071] S2. The data processing unit processes the target information collected by the information acquisition unit. For target position information in the world coordinate system (absolute coordinates), it calculates the relative coordinates of the target in the vehicle's standard coordinate system based on the vehicle's current GPS information. For target position information in relative coordinates, it transforms the coordinates into relative coordinates in the vehicle's standard coordinate system. Based on the target's position and speed, it calculates the target's direction of movement and path. It compensates for communication and calculation delays, calculating the compensated target position information—that is, the estimated actual position of the target after time compensation when the drawing is completed.

[0072] Fusion unit: Based on the time-compensated target location information, generates depiction information according to the target type, renders the depiction information into an image, and displays the image through the warning unit. The image can be displayed on the car's screen or projected onto the windshield.

[0073] S3. When the target location information meets the warning triggering conditions, such as when the vehicle is traveling at 100km / h and is less than 100m away from the vehicle in front, a warning is issued through the warning unit to increase the driver's attention and avoid a collision.

[0074] It also includes an execution unit that, when the target location information meets preset conditions, for example, if the driver does not take measures after the warning unit issues a warning and does not slow down in time, a collision will occur, then it will perform one or any combination of operations such as closing the windows, locking the steering wheel, or automatic braking.

[0075] The above technologies allow drivers to directly perceive the degree of collision danger with their own eyes, achieving a warning effect. Simultaneously, time compensation technology reduces errors in real-time display caused by communication and computation delays, improving the accuracy and precision of the warnings.

[0076] Example 6:

[0077] The vehicle collision avoidance warning method of this embodiment includes the following steps:

[0078] S1. The information acquisition unit acquires target information, which can be a vehicle ahead, a pedestrian, an obstacle, etc. Target information includes the target's type, speed, and position. The type of target can be determined based on its dimensions: length, width, and height. Position information can be absolute coordinates in a world coordinate system, such as latitude and longitude, or relative coordinates, such as its three-dimensional spatial position relative to the vehicle. The information acquisition unit includes one or any combination of radar, laser, sonar, infrared, and camera devices.

[0079] S2. The data processing unit processes the target information collected by the information acquisition unit. For target position information in the world coordinate system (absolute coordinates), it calculates the relative coordinates of the target in the vehicle's standard coordinate system based on the vehicle's current GPS information. For target position information in relative coordinates, it transforms the coordinates into relative coordinates in the vehicle's standard coordinate system. Based on the target's position and speed, it calculates the target's direction of movement and path. It compensates for communication and calculation delays, calculating the compensated target position information—that is, the estimated actual position of the target after time compensation when the drawing is completed.

[0080] Fusion unit: Based on the time-compensated target location information, generates depiction information according to the target type, renders the depiction information into an image, and displays the image through the warning unit. The image can be displayed on the car's screen or projected onto the windshield.

[0081] S3. When the target location information meets the warning triggering conditions, such as when the vehicle is traveling at 100km / h and is less than 100m away from the vehicle in front, a warning is issued through the warning unit to increase the driver's attention and avoid a collision.

[0082] It also includes an execution unit that, when the target location information meets preset conditions, for example, if the driver does not take measures after the warning unit issues a warning and does not slow down in time, a collision will occur, then it will perform one or any combination of operations such as closing the windows, locking the steering wheel, or automatic braking.

[0083] The above technologies allow drivers to directly perceive the degree of collision danger with their own eyes, achieving a warning effect. Simultaneously, time compensation technology reduces errors in real-time display caused by communication and computation delays, improving the accuracy and precision of the warnings.

[0084] Example 7:

[0085] The vehicle collision avoidance warning method of this embodiment includes the following steps:

[0086] S1. The information acquisition unit acquires target information, which can be a vehicle ahead, a pedestrian, an obstacle, etc. Target information includes the target's type, speed, and position. The type of target can be determined based on its dimensions: length, width, and height. Position information can be absolute coordinates in a world coordinate system, such as latitude and longitude, or relative coordinates, such as its three-dimensional spatial position relative to the vehicle. The information acquisition unit includes one or any combination of radar, laser, sonar, infrared, and camera devices.

[0087] S2. The data processing unit processes the target information collected by the information acquisition unit. For target position information in the world coordinate system (absolute coordinates), it calculates the relative coordinates of the target in the vehicle's standard coordinate system based on the vehicle's current GPS information. For target position information in relative coordinates, it transforms the coordinates into relative coordinates in the vehicle's standard coordinate system. Based on the target's position and speed, it calculates the target's direction of movement and path. It compensates for communication and calculation delays, calculating the compensated target position information—that is, the estimated actual position of the target after time compensation when the drawing is completed.

[0088] Fusion unit: Based on the time-compensated target location information, generates depiction information according to the target type, renders the depiction information into an image, and displays the image through the warning unit. The image can be displayed on the car's screen or projected onto the windshield.

[0089] S3. When the target location information meets the warning triggering conditions, such as when the vehicle is traveling at 100 km / h and is less than 100 meters away from the vehicle in front, a warning is issued through the warning unit to increase the driver's attention and avoid a collision. The warning issued by the warning unit includes one or any combination of images, sounds, and vibrations.

[0090] It also includes an execution unit that, when the target location information meets preset conditions, for example, if the driver does not take measures after the warning unit issues a warning and does not slow down in time, a collision will occur, then it will perform one or any combination of operations such as closing the windows, locking the steering wheel, or automatic braking.

[0091] The above technologies allow drivers to directly perceive the degree of collision danger with their own eyes, achieving a warning effect. Simultaneously, time compensation technology reduces errors in real-time display caused by communication and computation delays, improving the accuracy and precision of the warnings.

[0092] The overall workflow is as follows:

[0093] 1) The signal acquisition unit acquires target information (location, target type, etc.) and sends the information to the data processing unit through the network interface.

[0094] 2) The data processing unit receives the target object information and processes it: For the position information, the position coordinates of the target object in the agreed coordinate system are converted into spatial coordinates of the vehicle's unified coordinate system.

[0095] 3) Time compensation processing: After obtaining the spatial coordinates of the target object in the unified coordinate system of the whole vehicle through the calculation in step 2), the data processing controller performs time compensation processing:

[0096] a) First, obtain the time interval t1 from data acquisition to data processing controller receiving data and the time interval t2 from the time of data prediction to the time of final drawing completion.

[0097] b) Then, update the list of historical data location information and obtain the coefficients n of the polynomial based on experience.

[0098] c) Calculate the fitting polynomial using the method provided above: y = a0xn + a1xn-1 + a2xn-2 + ... + an-1x + an

[0099] d) Calculate the compensated position by substituting the current timestamp and t2 into the polynomial equation. Calculate the spatial coordinate values ​​for the x and y components in the coordinate (x, y, z) respectively, and leave the z coordinate unprocessed.

[0100] 4) Data fusion processing: Based on the time-compensated target location information and different early warning information for different targets, generate drawing information (the drawing information can be rendered into a displayable image by the graphics engine of the data processing controller) and update the list of objects to be drawn; perform drawing data fusion processing according to the priority of the object information to be drawn to obtain the final data to be drawn.

[0101] Drawing business logic processing: The data processing controller calls the graphics rendering engine based on the drawing data information obtained in step 4) to send the generated image data to the optical engine through the LVDS interface and finally project it onto the windshield.

[0102] Example 8:

[0103] This embodiment provides a vehicle collision avoidance system, installed on a vehicle, including an information acquisition unit, a data processing unit, and a warning unit. The system uses the warning method described in the above embodiment.

[0104] Example 9:

[0105] This embodiment provides a collision avoidance vehicle that uses the warning method described in the above embodiments.

[0106] Example 10:

[0107] This embodiment is a computing device, including a processor and a memory, the memory storing code for executing the system in the above embodiment.

[0108] The processor can be a multi-core processor or may contain multiple processors. In some embodiments, the processor may include a general-purpose main processor and one or more specialized coprocessors, such as a graphics processing unit (GPU), a digital signal processor (DSP), etc. In some embodiments, the processor may be implemented using custom circuitry, such as an application-specific integrated circuit (ASIC) or a field-programmable gate array (FPGA).

[0109] Memory can include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. ROM can store static data or instructions required by the processor or other modules of the computer. Permanent storage devices can be read-write storage devices. Permanent storage devices can be non-volatile storage devices that retain stored instructions and data even when the computer is powered off. In some embodiments, permanent storage devices use high-capacity storage devices (e.g., magnetic or optical disks, flash memory) as permanent storage devices. In other embodiments, permanent storage devices can be removable storage devices (e.g., floppy disks, optical drives). System memory can be a read-write storage device or a volatile read-write storage device, such as dynamic random access memory. System memory can store some or all of the instructions and data required by the processor during operation. Furthermore, memory can include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks can also be used. In some implementations, the memory may include removable storage devices that are readable and / or writable, such as laser discs (CDs), read-only digital versatile optical discs (e.g., DVD-ROMs, dual-layer DVD-ROMs), read-only Blu-ray discs, ultra-high density optical discs, flash memory cards (e.g., SD cards, mini SD cards, Micro-SD cards, etc.), magnetic floppy disks, etc. Computer-readable storage media do not contain carrier waves or transient electronic signals transmitted wirelessly or via wired connections.

[0110] The memory stores executable code, which, when executed by the processor, causes the processor to perform the method described above.

[0111] For those skilled in the art, any modifications or variations made to the above embodiments of the present invention, without departing from the spirit of the present invention, should be included within the scope of protection of the present invention.

Claims

1. A method for warning of collision avoidance in automobiles, comprising: S1. The information acquisition unit acquires information about the target object; S2. The data processing unit processes the target information collected by the information acquisition unit and calculates the target object's location information. S3. When the target location information meets the warning triggering conditions, a warning is issued through the warning unit; The feature is that: in S2, when inputting the recognition result data, the time parameter for acquiring the target object coordinates is the receiving timestamp - t1, where t1 is the interval between data acquisition and data processing unit receiving the data, i.e., communication delay; when outputting the prediction data, the input time parameter is the current timestamp + t2, where t2 is the interval between when the data processing unit obtains the prediction data and when the final drawing is completed, i.e., calculation delay; the information processing unit performs time compensation for the communication delay and calculation delay, and calculates the compensated target object position information.

2. The vehicle collision avoidance warning method according to claim 1, characterized in that: t2 is determined by taking the average value of the recorded time.

3. The vehicle collision avoidance warning method according to claim 1, characterized in that: The time range of t1 is preset based on empirical values; then the effect is displayed and evaluated on the actual machine. A multinomial fitting algorithm model is used, the least squares method is used to solve the regression equation, and the preset value of t1 is corrected using the optimal value.

4. The vehicle collision avoidance warning method according to any one of claims 1-3, characterized in that: It also includes a fusion unit that generates drawing information based on the target object's location information after time compensation, renders the drawing information into an image, and displays the image through a warning unit.

5. The vehicle collision avoidance warning method according to claim 4, characterized in that: It also includes an execution unit that, when the target location information meets preset conditions, performs one or any combination of operations such as closing the windows, locking the steering wheel, or automatic braking.

6. The vehicle collision avoidance warning method according to claim 5, characterized in that: The information acquisition unit includes one or any combination of radar, laser, sonar, infrared, and camera.

7. The vehicle collision avoidance warning method according to claim 6, characterized in that: The warning issued by the warning unit includes one or any combination of images, sounds, and vibrations.

8. A vehicle collision avoidance system, comprising an information acquisition unit, a data processing unit, and a warning unit, characterized in that: The system uses the early warning method as described in any one of claims 1-7.

9. A collision-avoidance vehicle, characterized in that: The vehicle uses the warning method as described in any one of claims 1-7.

10. A computing device, characterized in that: It includes a processor and a memory, the memory storing code for performing the method as described in any one of claims 1-7.

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