Road warning systems and methods for vehicle movement

Abstract

This application relates to a road warning system and method for vehicle operation. The system includes: a sensor assembly for collecting millimeter-wave radar signals and positioning signals between the vehicle and at least one obstacle around the vehicle; a warning device for providing warnings to the driver and / or living objects outside the vehicle; and a controller for determining the actual type of each obstacle based on the millimeter-wave radar signals, identifying the collision risk with each obstacle based on the positioning signals, and, when the collision risk reaches a preset warning condition, matching the optimal warning action based on the positioning signals and the actual type, controlling the warning device to execute the optimal warning action. This application's embodiments can determine the actual type of each obstacle based on millimeter-wave radar, avoiding the impact of extreme weather on detection effectiveness, and control the warning device to execute the optimal warning action based on collision risk, thereby achieving two-way obstacle avoidance and improving vehicle driving safety.

Description

Technical Field

[0001] This application relates to the field of vehicle driving safety technology, and in particular to a road warning system and method for vehicle driving. Background Technology

[0002] In related technologies, the technical solutions for vehicle exterior warning generally involve using a camera plus an infrared detector, or using a roadside unit as a sensor to detect pedestrians, thereby issuing warnings based on the sensing data from the camera plus the infrared detector or based on the sensing data from the roadside unit.

[0003] However, firstly, sensor data raises privacy concerns, and the performance of cameras and infrared detectors can be affected during nighttime driving or in extreme weather, reducing vehicle safety. Secondly, the perception data relies on the deployment of roadside units, but deploying roadside units in sparsely populated rural areas is costly and yields low returns. Furthermore, establishing communication with the vehicle is necessary for accurate communication, which is costly and impractical. Finally, when biological movement is detected near the vehicle, the system only slows down the vehicle, indicating a low level of intelligence. One-way avoidance still poses significant safety risks, failing to meet user needs and resulting in a poor user experience, which requires improvement. Summary of the Invention

[0004] This application provides a road warning system and method for vehicle driving to solve the technical problems in related technologies, which cannot balance the protection of privacy and cost-effectiveness, and can only control the vehicle to avoid the movement of living beings around the vehicle in one direction when they are detected, which poses a great safety hazard.

[0005] A first aspect of this application provides a road warning system for vehicle driving, comprising: a sensor assembly for collecting millimeter-wave radar signals and positioning signals between the vehicle and at least one obstacle around the vehicle; a warning device for providing warning reminders to the driver and / or living objects outside the vehicle; and a controller for determining the actual type of each obstacle based on the millimeter-wave radar signals, identifying the collision risk with each obstacle based on the positioning signals, and, when the collision risk reaches a preset warning condition, matching an optimal warning reminder action according to the positioning signals and the actual type, controlling the warning device to execute the optimal warning reminder action.

[0006] Based on the above-mentioned technical means, the embodiments of this application can determine the actual type of each obstacle based on millimeter-wave radar, avoid the impact of extreme weather on the detection effect, and use the controller to judge the collision risk between the vehicle and the obstacle. Thus, based on the collision risk control warning device, the best warning reminder action is executed to achieve two-way avoidance, improve vehicle driving safety, improve the user's driving experience, and the cost is low, does not depend on infrastructure construction, and is easy to promote.

[0007] Optionally, in one embodiment of this application, it further includes: a server, configured to receive millimeter-wave radar signals sent by the controller, input the millimeter-wave radar signals into a pre-built type identification module, output the actual type of each obstacle, and send it to the controller.

[0008] Based on the above technical means, the embodiments of this application can determine the type of obstacle through a server without occupying the vehicle's own operating resources, thereby improving the judgment speed.

[0009] Optionally, in one embodiment of this application, the controller is specifically configured to determine whether any obstacle is in the direction of travel of the vehicle based on the positioning signal; if it is in the direction of travel, determine the actual distance between the vehicle and the obstacle based on the millimeter-wave radar signal; and match the optimal frequency of the warning tone and the warning target of the warning action based on the actual distance.

[0010] Based on the above-mentioned technical means, the embodiments of this application can determine the collision risk between obstacles and vehicles, and execute different warning and reminder actions based on the distance between the vehicle and the obstacle.

[0011] Optionally, in one embodiment of this application, it further includes: a braking device, used to calculate the probability of collision with any obstacle based on the millimeter-wave radar signal, the positioning signal and the actual speed of the vehicle while performing the optimal warning reminder action, and to control the vehicle to decelerate based on a preset braking strategy when the collision probability is greater than a preset probability.

[0012] Based on the above technical means, the embodiments of this application can control the vehicle to decelerate based on the behavior of the obstacle while performing the best warning and reminder action, thereby avoiding a collision between the vehicle and the obstacle when the obstacle does not avoid it.

[0013] Optionally, in one embodiment of this application, the sensor assembly includes at least one millimeter-wave radar and at least one locator.

[0014] Based on the above technical means, the embodiments of this application can obtain millimeter-wave radar data through millimeter-wave radar and obtain positioning information through a locator.

[0015] A second aspect of this application provides a road warning method for vehicle driving, comprising the following steps: collecting millimeter-wave radar signals and positioning signals between the vehicle and at least one obstacle around the vehicle; determining the actual type of each obstacle based on the millimeter-wave radar signals, and identifying the collision risk between the obstacle and each obstacle based on the positioning signals; and when the collision risk reaches a preset warning condition, matching the optimal warning reminder action according to the positioning signals and the actual type, and controlling the vehicle to execute the optimal warning reminder action to provide a warning reminder to the driver and / or a living object outside the vehicle.

[0016] Optionally, in one embodiment of this application, the step of matching the optimal warning reminder action based on the positioning signal and the actual type, and controlling the vehicle to execute the optimal warning reminder action, includes: determining whether any obstacle is in the driving direction of the vehicle based on the positioning signal; if it is in the driving direction, determining the actual distance between the vehicle and the obstacle based on the millimeter-wave radar signal; and matching the optimal frequency of the warning reminder action's prompt sound and the reminder target based on the actual distance.

[0017] Optionally, in one embodiment of this application, the step of matching the optimal warning reminder action based on the positioning signal and the actual type, and controlling the vehicle to execute the optimal warning reminder action, includes: while executing the optimal warning reminder action, calculating the probability of collision with any obstacle based on the millimeter-wave radar signal, the positioning signal and the actual vehicle speed, and controlling the vehicle to decelerate based on a preset braking strategy when the collision probability is greater than a preset probability.

[0018] 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 road warning method for vehicle driving as described in the above embodiments.

[0019] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described road warning method for vehicle movement.

[0020] The beneficial effects of the embodiments of this application are as follows:

[0021] (1) The embodiments of this application can determine the actual type of each obstacle based on millimeter-wave radar, avoid the impact of extreme weather on the detection effect, and use the controller to judge the collision risk between the vehicle and the obstacle, thereby executing the best warning reminder action based on the collision risk control warning device to achieve two-way avoidance, improve vehicle driving safety, improve the user's driving experience, and have low cost, do not depend on infrastructure construction, and are easy to promote.

[0022] (2) The obstacle type can be determined by the server in this application embodiment without occupying the vehicle's own operating resources, thus improving the judgment speed.

[0023] (3) The embodiments of this application can control the vehicle to decelerate based on the behavior of the obstacle while performing the best warning reminder action, thereby avoiding a collision between the vehicle and the obstacle when the obstacle does not avoid it.

[0024] 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

[0025] 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:

[0026] Figure 1 This is a schematic diagram of a road warning system for vehicle movement provided according to an embodiment of this application;

[0027] Figure 2 This is a schematic diagram of the structure of a road warning system for vehicle movement according to a specific embodiment of this application;

[0028] Figure 3 This is a schematic diagram of the controller structure according to a specific embodiment of this application;

[0029] Figure 4 A flowchart of a road warning system for vehicle driving according to a specific embodiment of this application;

[0030] Figure 5 A flowchart of a road warning system for vehicle movement according to another specific embodiment of this application;

[0031] Figure 6 This is a flowchart of a road warning method for vehicle driving according to an embodiment of this application;

[0032] Figure 7 This is a structural schematic diagram of a vehicle provided according to an embodiment of this application.

[0033] Among them, 10-Road warning system for vehicle movement; 100-Sensor components, 101-Millimeter-wave radar module, 102-Positioning module, 200-Alert components, 201-Vehicle domain alert module, 202-Cockpit domain alert module, 300-Controller, 301-Signal receiving module, 302-Signal transmitting module, 303-Signal processing module, 304-Power supply module, 305-Computing module, 306-Communication module, 400-Server; 701-Memory, 702-Processor, 703-Communication interface. Detailed Implementation

[0034] 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.

[0035] The following description, with reference to the accompanying drawings, illustrates a road warning system and method for vehicle driving according to embodiments of this application. Addressing the technical problems mentioned in the background section of the aforementioned related technologies, which fail to balance privacy protection and cost-effectiveness, and where the system can only control the vehicle to perform unidirectional avoidance when biological movement is detected around the vehicle, posing significant safety hazards, this application provides a road warning system for vehicle driving. In this system, the actual type of each obstacle can be determined based on millimeter-wave radar, avoiding the impact of extreme weather on detection effectiveness. A controller is used to assess the collision risk between the vehicle and the obstacle, thereby controlling the warning device to execute the optimal warning action based on the collision risk, achieving bidirectional avoidance, improving vehicle driving safety, enhancing the user's driving experience, and offering low cost, independence from infrastructure construction, and ease of promotion. Thus, this solves the technical problems in related technologies, which fail to balance privacy protection and cost-effectiveness, and where the system can only control the vehicle to perform unidirectional avoidance when biological movement is detected around the vehicle, posing significant safety hazards.

[0036] Specifically, Figure 1 This is a schematic diagram of the structure of a road warning system for vehicle movement provided in an embodiment of this application.

[0037] like Figure 1 As shown, the road warning system 10 for the vehicle includes: sensor assembly 100, warning device 200 and controller 300.

[0038] Specifically, the sensor assembly 100 is used to collect millimeter-wave radar signals and positioning signals between at least one obstacle around the vehicle and the vehicle.

[0039] In actual implementation, the embodiments of this application can use sensor component 100 to collect millimeter-wave radar signals and positioning signals between at least one obstacle around the vehicle and the vehicle, wherein the positioning signal is the vehicle's positioning signal, thereby realizing obstacle detection when the field of vision is obstructed and the road conditions are poor, so as to avoid collision between the vehicle and the obstacle.

[0040] Optionally, in one embodiment of this application, the sensor assembly 100 includes at least one millimeter-wave radar and at least one locator.

[0041] The obstacle component 100 may include at least one millimeter-wave radar for generating at least one millimeter-wave radar signal between the obstacle and the vehicle; and at least one locator, such as GPS (Global Positioning System), BeiDou Navigation Satellite System, etc., for generating the vehicle's positioning signal.

[0042] The warning device 200 is used to provide early warnings and alerts to the driver and / or living beings outside the vehicle.

[0043] As one possible implementation method, embodiments of this application can use a warning device 200 to provide warning reminders to the driver and / or living beings outside the vehicle. The warning device 200 may include optical display devices, acoustic reminder devices, and / or vibration reminder devices, etc.

[0044] Optical display devices can control in-vehicle displays and warning lights to alert the driver to nearby obstacles, and can also control vehicle exterior lights and headlights to warn living beings outside the vehicle to avoid them.

[0045] Acoustic warning devices can provide in-vehicle voice broadcasts and warning sound effects control to alert the driver to nearby obstacles. They can also control the vehicle's external speakers to warn living beings outside the vehicle to avoid them, preventing them from being unable to dodge in time due to limited visibility.

[0046] Vibration alert devices can control vibrations inside the vehicle, such as in the seats and steering wheel, to alert the driver to nearby obstacles.

[0047] The controller 300 is used to determine the actual type of each obstacle based on millimeter-wave radar signals, identify the collision risk with each obstacle based on positioning signals, and when the collision risk reaches the preset warning conditions, match the best warning reminder action according to the positioning signal and the actual type, and control the warning device 200 to execute the best warning reminder action.

[0048] Specifically, in this embodiment, after determining the actual type of each obstacle based on millimeter-wave radar, the collision risk between each obstacle and the vehicle can be determined using positioning signals and millimeter-wave radar. For example, the collision risk between each obstacle and the vehicle can be determined by calculating the collision time. When the collision risk reaches a preset warning condition, such as when the collision time is less than the warning time, this embodiment can match the best reminder action according to the positioning signal and the actual type of the obstacle, thereby controlling the warning device 200 to issue warnings to the driver and living objects outside the vehicle.

[0049] Optionally, in one embodiment of this application, the road warning system 10 for vehicle driving further includes: a server, configured to receive millimeter-wave radar signals sent by the controller 300, input the millimeter-wave radar signals into a pre-built type identification module, output the actual type of each obstacle, and send it to the controller 300.

[0050] In some embodiments, the actual type of obstacle can be determined by a server. The server can receive millimeter-wave radar signals sent by the controller 300 and input the millimeter-wave radar signals into a pre-built type recognition module, thereby outputting the actual type of each obstacle and returning the determination result to the controller 300, thereby avoiding the occupation of vehicle operating resources and improving the speed of operation and determination.

[0051] The pre-built type recognition module can identify whether an obstacle is a living or stationary object from the millimeter-wave radar, such as by determining whether the obstacle is moving or by judging the material of the obstacle through the penetration of the millimeter-wave radar. The specific type recognition module can be set by those skilled in the art according to the actual situation, and no specific restrictions are made here.

[0052] Optionally, in one embodiment of this application, the controller 300 is specifically configured to determine whether any obstacle is in the vehicle's driving direction based on the positioning signal; if it is in the driving direction, determine the actual distance between the vehicle and any obstacle based on the millimeter-wave radar signal; and match the optimal frequency of the warning tone and the warning target for the warning action based on the actual distance.

[0053] In this embodiment of the application, the controller 300 can be further used to determine whether any obstacle is in the direction of vehicle travel based on the positioning signal, that is, to determine the direction of vehicle travel based on the positioning signal, thereby determining the relative direction of any obstacle and vehicle based on the millimeter-wave radar signal, so as to determine whether any obstacle is in the direction of vehicle travel.

[0054] If any obstacle is in the direction of the vehicle's travel, this embodiment of the application can use millimeter-wave radar signals to determine the actual distance between the vehicle and any obstacle, matching the optimal frequency of the warning tone and the warning target. If the actual distance is far, exceeding 10 meters, the warning tone frequency of this embodiment of the application is gentle, such as sounding once every 2 seconds, and the warning target is a living person outside the vehicle. If the actual distance is close, less than or equal to 10 meters, the warning tone frequency of this embodiment of the application is compact, such as sounding once every 1 second, and the warning target is the driver inside the vehicle and a living person outside the vehicle.

[0055] Furthermore, when any obstacle is not in the direction of the vehicle's travel, this embodiment of the application can also determine whether a collision will occur between the vehicle and the obstacle based on positioning information and millimeter-wave radar information. If a collision is likely to occur, this embodiment of the application can simultaneously alert the inside and outside of the vehicle with a prompt sound.

[0056] Optionally, in one embodiment of this application, the road warning system 10 for vehicle driving further includes: a braking device, used to calculate the probability of collision with any obstacle based on millimeter-wave radar signal, positioning signal and actual vehicle speed while performing the best warning reminder action, and to control the vehicle to decelerate based on a preset braking strategy when the collision probability is greater than a preset probability.

[0057] In actual implementation, the embodiments of this application can also use a braking device to control the vehicle to brake while the vehicle is performing the best warning and reminder action, so as to avoid the vehicle from colliding with the obstacle when the vehicle fails to avoid a living obstacle outside the vehicle.

[0058] Specifically, in this embodiment, the collision probability between the vehicle and any obstacle can be calculated based on millimeter-wave radar signals, positioning signals and the actual vehicle speed. That is, the movement direction of the living obstacle is predicted by millimeter-wave radar signals, and the collision probability is determined based on the movement direction and speed of the living obstacle, the actual vehicle speed and positioning signals. When the collision probability is greater than a preset probability, such as 60%, the vehicle is controlled to decelerate based on a preset braking strategy.

[0059] In this embodiment, the living obstacle can be monitored in real time, and the reaction of the living obstacle after receiving the warning information from the vehicle can be obtained. In this way, the vehicle can be controlled to brake and avoid the obstacle based on the movement of the living obstacle, so as to prevent some living obstacles from losing control after hearing the warning sound and colliding with the vehicle.

[0060] It should be noted that the preset braking strategy can be the deceleration braking achieved by the vehicle based on the actual speed of the vehicle without colliding with living obstacles in the embodiments of this application. The specific settings can be made in detail by those skilled in the art according to the actual situation, and no specific restrictions are made here.

[0061] Combination Figures 2 to 5 As shown, the working principle of the road warning system for vehicle driving according to an embodiment of this application will be described in detail with reference to one example.

[0062] like Figure 2 and Figure 3 As shown, the vehicle driving road warning system 10 of this application embodiment may include: sensor assembly 100, millimeter-wave radar module 101, positioning module 102, reminder assembly 200, vehicle body domain reminder module 201, cabin domain reminder module 202, controller 300, signal receiving module 301, signal transmitting module 302, signal processing module 303, power supply module 304, computing module 305, communication module 306, and server 400.

[0063] The sensor assembly 100 includes a millimeter-wave radar module 101 and a positioning module 102.

[0064] The reminder component 200 includes a vehicle body domain reminder module 201 and a cabin domain reminder module 202.

[0065] The controller 300 includes a signal receiving module 301, a signal transmitting module 302, a signal processing module 303, a power supply module 304, a computing module 305, and a communication module 306.

[0066] Server 400 can be a cloud server or a cloud platform.

[0067] like Figure 4 As shown, embodiments of this application may include the following steps:

[0068] Step S401: The driver actively turns on the switch of the night driving warning system.

[0069] Step S402: The millimeter-wave radar module 101 starts working, the power supply module 304 in the controller 300 starts supplying power, the signal transmitting module 302 and the signal receiving module 301 transmit and receive the millimeter-wave radar signal, and send the received source signal to the signal processing module 303. The signal processing module 303 processes the original signal and then sends it to the calculation module 305. The calculation module 305 calculates the processed signal and sends the calculated result to the controller 300 through the communication module 306.

[0070] Step S403: The controller 300 transmits the signal from the radar module to the server 400.

[0071] Step S404: Server 400 determines whether the signal is a human or an animal and feeds back the result to controller 300 in real time.

[0072] Step S405: The controller 300 will decide whether to issue a warning based on the result. If the decision is to issue a warning, the controller 300 will notify the vehicle body domain warning module 201 and the cabin domain warning module 202 to perform warning operations within their respective domains. The car will emit a warning sound to alert pedestrians or animals, and the cabin domain warning module 202 will emit an audio warning to alert the driver to pedestrians or animals.

[0073] Furthermore, such as Figure 5 As shown, the frequency of the prompt tone in this embodiment will change according to different driving conditions. Specifically, it may include the following steps:

[0074] Step S501: If the vehicle needs to issue warnings to the interior and exterior of the vehicle.

[0075] Step S502: The controller 300 first determines whether the person or animal is in the vehicle's driving direction based on the direction detected by the millimeter-wave radar and the driving direction detected by the vehicle positioning module 102. If not, proceed to step S503; otherwise, proceed to step S504.

[0076] Step S503: If it is not in the direction of travel of the vehicle, a relatively gentle warning sound will be emitted to the driver inside the vehicle and living beings outside the vehicle.

[0077] Step S504: If the vehicle is traveling in the same direction, calculate the arrival time based on the distance detected by the millimeter-wave radar and the driving speed obtained by the positioning module 102, and determine whether the arrival time is very short. If yes, proceed to step S505; otherwise, proceed to step S506.

[0078] Step S505: If the arrival time is long, a low-frequency warning sound will be emitted to indicate a general warning.

[0079] Step S506: If the arrival time is very short, a high-frequency warning sound will be issued to indicate a serious warning.

[0080] The road warning system for vehicle driving proposed in this application can determine the actual type of each obstacle based on millimeter-wave radar, avoiding the impact of extreme weather on detection results. It uses a controller to assess the collision risk between the vehicle and the obstacle, and then controls the warning device to execute the optimal warning action based on the collision risk, achieving two-way avoidance, improving vehicle driving safety, enhancing the user's driving experience, and is low-cost, not dependent on infrastructure construction, and easy to promote. This solves the technical problems in related technologies that cannot balance privacy protection and cost-effectiveness, and that can only control the vehicle to avoid obstacles in one direction when biological movement is detected around the vehicle, posing significant safety hazards.

[0081] Next, with reference to the accompanying drawings, a road warning method for vehicle movement proposed according to an embodiment of this application is described.

[0082] Figure 6 This is a flowchart of a road warning method for vehicle driving according to an embodiment of this application.

[0083] like Figure 6 As shown, the road warning method for this vehicle includes the following steps:

[0084] In step S601, millimeter-wave radar signals and positioning signals between at least one obstacle around the vehicle and the vehicle are collected.

[0085] In step S602, the actual type of each obstacle is determined based on millimeter-wave radar signals, and the collision risk with each obstacle is identified based on positioning signals.

[0086] In step S603, when the collision risk reaches the preset warning conditions, the optimal warning reminder action is matched according to the positioning signal and the actual type, and the vehicle is controlled to execute the optimal warning reminder action to provide a warning reminder to the driver and / or living objects outside the vehicle.

[0087] Optionally, in one embodiment of this application, the optimal warning reminder action is matched based on the positioning signal and the actual type, and the vehicle is controlled to execute the optimal warning reminder action, including: determining whether any obstacle is in the vehicle's driving direction based on the positioning signal; if it is in the driving direction, determining the actual distance between the vehicle and any obstacle based on the millimeter-wave radar signal; and matching the optimal frequency of the warning reminder action's prompt sound and the reminder target based on the actual distance.

[0088] Optionally, in one embodiment of this application, the optimal warning and reminder action is matched based on the positioning signal and the actual type, and the vehicle is controlled to perform the optimal warning and reminder action. This includes: while performing the optimal warning and reminder action, calculating the probability of collision with any obstacle based on the millimeter-wave radar signal, the positioning signal and the actual vehicle speed, and controlling the vehicle to decelerate based on a preset braking strategy when the collision probability is greater than a preset probability.

[0089] It should be noted that the foregoing explanation of the road warning system embodiment for vehicle movement also applies to the road warning system for vehicle movement in this embodiment, and will not be repeated here.

[0090] The road warning system for vehicle driving proposed in this application can determine the actual type of each obstacle based on millimeter-wave radar, avoiding the impact of extreme weather on detection results. It uses a controller to assess the collision risk between the vehicle and the obstacle, thereby controlling the warning device to execute the optimal warning action based on the collision risk, achieving two-way avoidance, improving vehicle driving safety, enhancing the user's driving experience, and is low-cost, not dependent on infrastructure construction, and easy to promote. This solves the technical problems in related technologies that cannot balance privacy protection and cost-effectiveness, and that when biological movement is detected around the vehicle, only one-way avoidance can be controlled, posing significant safety hazards.

[0091] Figure 7 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0092] The memory 701, the processor 702, and the computer program stored on the memory 701 and executable on the processor 702.

[0093] When the processor 702 executes the program, it implements the road warning method for vehicle driving provided in the above embodiments.

[0094] Furthermore, the vehicle also includes:

[0095] Communication interface 703 is used for communication between memory 701 and processor 702.

[0096] The memory 701 is used to store computer programs that can run on the processor 702.

[0097] The memory 701 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0098] If the memory 701, processor 702, and communication interface 703 are implemented independently, then the communication interface 703, memory 701, and processor 702 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 7 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.

[0099] Optionally, in a specific implementation, if the memory 701, processor 702, and communication interface 703 are integrated on a single chip, then the memory 701, processor 702, and communication interface 703 can communicate with each other through an internal interface.

[0100] The processor 702 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.

[0101] This embodiment also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described road warning method for vehicle movement.

[0102] 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.

[0103] 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.

[0104] 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 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.

[0105] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0106] 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.

[0107] 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.

[0108] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0109] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A road warning system for a vehicle traveling, characterized by, The system comprises: a sensor assembly for collecting millimeter wave radar signals and positioning signals between at least one obstacle around a vehicle and the vehicle; a warning device for warning and reminding a driver and an outside living body; and a controller for determining an actual type of each obstacle based on the millimeter wave radar signals, identifying a collision risk with the each obstacle based on the positioning signals, and controlling the warning device to perform an optimal warning and reminding action according to the positioning signals and the actual type when the collision risk reaches a preset warning condition. The controller is specifically configured to: determine whether any obstacle is in a driving direction of the vehicle according to the positioning signals; if in the driving direction, determine an actual distance between the vehicle and the any obstacle according to the millimeter wave radar signals; match an optimal frequency of a prompt sound and a reminding target of the warning and reminding action according to the actual distance, including: when the actual distance is greater than a first preset distance, the reminding target of the warning and reminding action is an outside living body; when the actual distance is less than or equal to the first preset distance, the reminding target of the warning and reminding action is the driver and the outside living body. The system further comprises:

2. The system of claim 1, wherein, a server for receiving the millimeter wave radar signals sent by the controller, inputting the millimeter wave radar signals into a pre-constructed type identification module, outputting the actual type of each obstacle, and sending to the controller. The system further comprises:

3. The system of claim 1, wherein, a braking device for calculating a collision probability between the vehicle and the any obstacle according to the millimeter wave radar signals, the positioning signals, and an actual speed of the vehicle while performing the optimal warning and reminding action, and controlling the vehicle to decelerate based on a preset braking strategy when the collision probability is greater than a preset probability. The sensor assembly comprises at least one millimeter wave radar and at least one positioner.

4. The system of claim 1, wherein, The system for warning a road on which a vehicle travels according to any one of claims 1-4, wherein the method comprises the following steps:

5. A road warning method for a vehicle traveling, characterized by, collecting millimeter wave radar signals and positioning signals between at least one obstacle around a vehicle and the vehicle; determining an actual type of each obstacle based on the millimeter wave radar signals, and identifying a collision risk with the each obstacle based on the positioning signals; and when the collision risk reaches a preset warning condition, matching an optimal warning and reminding action according to the positioning signals and the actual type, and controlling the vehicle to perform the optimal warning and reminding action to warn and remind a driver and an outside living body; the matching of the optimal warning and reminding action according to the positioning signals and the actual type, and the controlling of the vehicle to perform the optimal warning and reminding action, comprises: determining whether any obstacle is in a driving direction of the vehicle according to the positioning signals; if in the driving direction, determining an actual distance between the vehicle and the any obstacle according to the millimeter wave radar signals; ​ According to the actual distance, the best frequency and the reminding target of the prompt sound of the pre-warning reminding action are matched, including: when the actual distance is greater than a first preset distance, the reminding target of the pre-warning reminding action is a living body outside the vehicle; when the actual distance is less than or equal to the first preset distance, the reminding target of the pre-warning reminding action is the driver inside the vehicle and the living body outside the vehicle.

6. The method of claim 5, wherein, According to the positioning signal and the actual type, the best pre-warning reminding action is matched, and the vehicle is controlled to execute the best pre-warning reminding action, including: When the best pre-warning reminding action is executed, the collision probability between the vehicle and any obstacle is calculated according to the millimeter wave radar signal, the positioning signal and the actual speed of the vehicle, and when the collision probability is greater than a preset probability, the vehicle is controlled to decelerate based on a preset braking strategy.

7. A vehicle characterized by comprising: including: A memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the road pre-warning method for vehicle driving according to any one of claims 5-6.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the road pre-warning system method for vehicle driving according to any one of claims 5-6.

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