A method, apparatus and vehicle for vehicle alerting

Abstract

The application relates to the technical field of vehicle control, and provides a vehicle alarm method and device and a vehicle, and relates to the technical field of vehicle control. The method comprises the following steps: if it is detected that a vehicle is located at a congested intersection or a traffic signal intersection, it is determined whether there is a front vehicle and / or a rear vehicle in the same lane as the vehicle; if the front vehicle and / or the rear vehicle exist, radar configuration information of the front vehicle and / or the rear vehicle is acquired; according to the radar configuration information of the front vehicle and / or the rear vehicle, an alarm strategy of the vehicle is determined; and according to the alarm strategy, alarm information is output when it is detected that the vehicle has a collision risk. The application can reduce the influence of interference signals and improve the reliability of vehicle anti-collision alarm.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle control, and more particularly, to a vehicle alarm method and device and vehicle in the field of vehicle control. BACKGROUND

[0002] With the development of the automobile industry, more and more cars are involved in our life, and vehicle intelligent service plays a key and important role. Among them, the anti-collision radar alarm system is an intelligent function service for serving users.

[0003] The anti-collision radar alarm system usually sends ultrasonic signals through sensors, and receives ultrasonic signals reflected by obstacles. The distance between the vehicle and the obstacle is calculated according to the time difference between the transmitted ultrasonic signals and the received ultrasonic signals, and the vehicle is timely alarmed. However, if there are ultrasonic signals of the same frequency or multiple frequencies around the vehicle, the anti-collision radar alarm system will be interfered, resulting in false judgment of the anti-collision radar alarm system. How to improve the reliability of vehicle anti-collision alarm in the presence of interference signals around the vehicle is a problem to be solved at present. SUMMARY

[0004] The present application provides a vehicle alarm method, device and vehicle, which can reduce the influence of interference signals and improve the reliability of vehicle anti-collision alarm.

[0005] In a first aspect, a vehicle alarm method is provided, which comprises: if it is detected that the vehicle is located at a congested intersection or a traffic signal intersection, determining whether there is a front vehicle and / or a rear vehicle in the same lane as the vehicle; if the front vehicle and / or the rear vehicle exists, acquiring radar configuration information of the front vehicle and / or the rear vehicle; determining an alarm strategy of the vehicle according to the radar configuration information, wherein the alarm strategy comprises alarming by the front radar of the vehicle, alarming by the rear radar of the vehicle, receiving detection information of the rear radar in the front vehicle for alarming, or receiving detection information of the front radar in the rear vehicle for alarming; and outputting alarm information when it is detected that the vehicle has a collision risk according to the alarm strategy.

[0006] In the embodiments of this application, when a vehicle is at a congested intersection or a traffic light intersection, the system can detect whether there are vehicles in front and / or behind in the same lane as the vehicle (e.g., the vehicle itself). Based on the radar configuration information of the vehicles in front and / or behind, the system determines the vehicle's alarm strategy. Since there are many vehicles at congested intersections or traffic light intersections, resulting in significant signal interference, the vehicle can determine its alarm strategy based on the configuration information of other vehicles in the same lane, thereby reducing interference signals from other vehicles and improving the reliability of the vehicle's collision avoidance alarm.

[0007] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: if there is a vehicle ahead and the radar configuration information of the vehicle ahead indicates that the vehicle ahead is not equipped with a rear radar, determining that the alarm strategy of the vehicle is to issue the alarm through the front radar of the vehicle; if there is a vehicle ahead and the radar configuration information of the vehicle ahead indicates that the vehicle ahead is equipped with a rear radar, determining that the alarm strategy of the vehicle is to issue the alarm through the front radar of the vehicle, and sending a first prompt message to the vehicle ahead; wherein, the first prompt message is used to prompt the vehicle ahead to turn off the rear radar of the vehicle ahead; or, if there is a vehicle ahead and the radar configuration information of the vehicle ahead indicates that the vehicle ahead is equipped with a rear radar, determining that the alarm strategy of the vehicle is to receive the detection information of the rear radar of the vehicle ahead to issue the alarm, and turning off the front radar of the vehicle.

[0008] In the embodiments of this application, if a vehicle is detected ahead, the vehicle's alarm strategy is determined based on whether the vehicle ahead is equipped with a rear radar. If the vehicle ahead is not equipped with a rear radar, the vehicle's alarm strategy is determined to be to issue a collision alarm via the vehicle's front radar. If the vehicle ahead is equipped with a rear radar, the vehicle's alarm strategy is determined to be to issue an alarm via the vehicle's front radar and request the vehicle ahead to turn off its rear radar, or to receive detection information from the rear radar of the vehicle ahead, issue an alarm, and turn off the vehicle's front radar. By using different alarm strategies, when a vehicle ahead is present, interference signals from the vehicle ahead in the same lane are avoided, thereby improving the reliability of the vehicle's collision avoidance alarm.

[0009] In conjunction with the first aspect and the above-described implementations, in some implementations of the first aspect, the method further includes: sending detection information of the vehicle's front radar to the vehicle ahead so that the vehicle ahead can issue an alarm based on the detection information of the vehicle's front radar.

[0010] In the embodiments of this application, if a vehicle is detected in the same lane ahead, the detection information of the front radar in the vehicle ahead will be sent to the vehicle ahead. The vehicle ahead can issue an alarm based on the sent front radar detection information, so that if the vehicle ahead does not have a rear radar or has its rear radar turned off, it can issue a collision alarm based on the received front radar detection information of the vehicle ahead, thereby avoiding a collision with the vehicle ahead.

[0011] In conjunction with the first aspect and the above implementation methods, in some implementation methods of the first aspect, the method further includes: if there is a vehicle behind and the radar configuration information of the vehicle behind indicates that the vehicle behind is not equipped with a front radar, determining that the alarm strategy of the vehicle is to issue the alarm through the rear radar of the vehicle; if there is a vehicle behind and the radar configuration information of the vehicle behind indicates that the vehicle behind is equipped with a front radar, determining that the alarm strategy of the vehicle is to issue the alarm by receiving the detection information of the front radar in the vehicle behind and turning off the rear radar of the vehicle; or, if there is a vehicle behind and the radar configuration information of the vehicle behind indicates that the vehicle behind is equipped with a front radar, determining that the alarm strategy of the vehicle is to issue the alarm through the rear radar of the vehicle and sending a second prompt message to the vehicle behind, the second prompt message being used to prompt the vehicle behind to turn off the front radar in the vehicle behind.

[0012] In the embodiments of this application, if a vehicle is detected behind, the vehicle's alarm strategy is determined based on whether the rear vehicle is equipped with front radar. If the rear vehicle is not equipped with front radar, the alarm strategy is determined to be to issue a collision warning via the vehicle's rear radar. If the rear vehicle is equipped with front radar, the alarm strategy is determined to be to disable the rear radar and request the rear vehicle to activate its front radar, issuing an alarm based on the detection information from the rear vehicle's front radar, or to issue an alarm based on the rear radar and send a prompt message to the rear vehicle requesting it to disable its front radar. By using different alarm strategies, interference signals from vehicles in the same lane can be avoided when a vehicle is behind, thus improving the reliability of the vehicle's collision avoidance alarm.

[0013] In conjunction with the first aspect and the above-described implementations, in some implementations of the first aspect, the method further includes: sending detection information of the rear radar of the vehicle to the vehicle behind, so that the vehicle behind can issue an alarm based on the detection information of the rear radar of the vehicle.

[0014] In the embodiments of this application, if a vehicle is detected behind in the same lane and no front radar is configured behind it, the detection information of the rear radar in the vehicle will be sent to the vehicle behind. This allows the vehicle behind, which does not have a rear radar, to issue a collision warning based on the received rear radar detection information of the vehicle behind, thereby preventing a collision with the vehicle behind.

[0015] In conjunction with the first aspect and the above implementation methods, in some implementation methods of the first aspect, the method further includes: if there is no vehicle in front, determining that the alarm strategy of the vehicle is to issue the alarm through the front radar of the vehicle; if there is no vehicle behind, determining that the alarm strategy of the vehicle is to issue the alarm through the rear radar of the vehicle.

[0016] In the embodiments of this application, if no vehicle is detected ahead in the same lane, that is, there is no vehicle ahead in the same lane where the vehicle is located, it means that there is no interference signal from the vehicle's front radar in front of the vehicle, and the vehicle's alarm strategy is determined to be to issue an alarm through the vehicle's front radar; if no vehicle is detected behind in the same lane, that is, there is no vehicle behind in the same lane where the vehicle is located, it means that there is no interference signal from the vehicle's rear radar in front of the vehicle, and the vehicle's alarm strategy is determined to be to issue an alarm through the vehicle's rear radar.

[0017] In conjunction with the first aspect and the above implementation methods, in some implementation methods of the first aspect, the method further includes: if there is a vehicle in front and / or a vehicle behind, obtaining the radar configuration information of the vehicle in front and / or the vehicle behind through a target communication method, wherein the target communication method includes a vehicle-to-everything (V2X) communication method or a Bluetooth communication method.

[0018] In the embodiments of this application, when there are vehicles in front and / or behind in the same lane, the radar configuration information of the vehicles in front and / or behind can be obtained through target communication methods. Target communication methods include, but are not limited to, vehicle-to-everything (V2X) communication methods or Bluetooth communication methods. For the vehicle, the target communication method can ensure that the vehicle obtains the radar configuration information of the vehicles in front and / or behind.

[0019] In conjunction with the first aspect and the above implementation methods, in some implementation methods of the first aspect, the method further includes: if the vehicle detects a traffic light, determining that the vehicle is located at the traffic light intersection; if the vehicle detects that the navigation data includes congested intersection information, determining that the vehicle is located at the congested intersection.

[0020] In the embodiments of this application, it can be determined whether a vehicle is located at a traffic light intersection by whether a traffic light sign is detected; it can be determined whether a vehicle is located at a congested intersection by whether the navigation data includes congested intersection information; and thus, when a vehicle is detected to be located at a congested intersection or a traffic light intersection, an alarm strategy for the vehicle can be determined.

[0021] Secondly, a vehicle alarm device is provided, comprising: a determining module, configured to determine whether there are vehicles in front and behind the vehicle in the same lane if the vehicle is detected to be located at a congested intersection or a traffic light intersection; a first communication module, configured to acquire radar configuration information of the vehicles in front and / or behind if the vehicles in front and / or behind are present; a processing module, configured to determine an alarm strategy for the vehicle based on the radar configuration information, wherein the alarm strategy includes issuing an alarm via the vehicle's front radar, issuing an alarm via the vehicle's rear radar, issuing an alarm upon receiving detection information from the rear radar of the vehicle in front, or issuing an alarm upon receiving detection information from the front radar of the vehicle behind; and a second communication module, configured to output alarm information when a collision risk is detected in the vehicle according to the alarm strategy.

[0022] Thirdly, a vehicle is provided, including a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, causing the vehicle to perform the methods described in the first aspect or any possible implementation thereof.

[0023] Fourthly, a computer program product is provided, comprising: computer program code, which, when run on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof.

[0024] Fifthly, a computer-readable storage medium is provided that stores computer program code, which, when executed on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof. Attached Figure Description

[0025] Figure 1 This is a radar detection diagram of a vehicle alarm provided in an embodiment of this application;

[0026] Figure 2 This is a schematic diagram illustrating the principle of radar alarm provided in the embodiments of this application;

[0027] Figure 3 This is a schematic diagram of a vehicle located at a traffic light intersection, as provided in an embodiment of this application.

[0028] Figure 4 This is a schematic diagram of a vehicle located at a congested intersection, as provided in an embodiment of this application.

[0029] Figure 5 This is a flowchart illustrating a vehicle alarm method provided in an embodiment of this application;

[0030] Figure 6 This is a schematic diagram of the vehicle alarm system provided in the embodiments of this application;

[0031] Figure 7 This is a schematic flowchart illustrating another vehicle alarm method provided in an embodiment of this application;

[0032] Figure 8 This is a schematic diagram of the structure of a vehicle alarm device provided in an embodiment of this application;

[0033] Figure 9 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0034] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0035] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0036] Figure 1 This is a schematic diagram of radar detection for vehicle alarms provided in an embodiment of this application.

[0037] For example, vehicle 100 includes a body 110, a front radar 120, a rear radar 130, a front parking radar 140, and a rear parking radar 150.

[0038] Among them, the vehicle body 110 is the main area of ​​the vehicle; the front radar 120 is used to detect whether there are obstacles in front of the vehicle; the rear radar 130 is used to detect whether there are obstacles behind the vehicle; the front parking radar 140 is used to detect whether there are obstacles on both sides in front of the vehicle; and the rear parking radar 150 is used to detect whether there are obstacles on both sides behind the vehicle.

[0039] For example, there are two common types of ultrasonic radar: one is the Ultrasonic Parking Assistant (UPA), which is mounted on the vehicle bumper and used to measure the distance between the vehicle and obstacles in front of / behind the vehicle; the other is the Automatic Parking Assistant (APA), which is mounted on the side of the vehicle and used to measure the distance between the vehicle and obstacles on the side of the vehicle. Figure 1 As shown, the vehicle is equipped with a total of 8 UPAs and 4 APAs; the 8 UPAs include 4 front radars 120 and 4 rear radars 130; the 4 APAs include 2 front parking radars 140 and 2 rear parking radars 150.

[0040] For example, during the slow movement of the vehicle body 110, the aforementioned radar in the vehicle can detect obstacles; if the distance between the vehicle and the obstacle is detected to be close, a prompt message will be displayed in the vehicle to remind the driver in the vehicle 100 to avoid a collision with the obstacle.

[0041] Figure 2 This is a schematic diagram illustrating the principle of radar alarm provided in the embodiments of this application.

[0042] For example, such as Figure 2 The diagram includes a vehicle 100, a rear radar 130, ultrasonic signals 211 and 212, and an obstacle 220. When the vehicle 100 detects an obstacle, it can send ultrasonic signals 211 to the obstacle 220 via the rear radar 130, and receive ultrasonic signals 212 reflected from the obstacle 220. The distance between the vehicle 100 and the obstacle 220 is predicted based on the time difference between sending and receiving ultrasonic signals 211 and 212.

[0043] For example, when vehicle 100 is reversing, the rear radar 130 can send an ultrasonic signal 211 of a certain frequency (e.g., 40kHz). When the ultrasonic signal 211 reaches the obstacle 220, since it cannot pass through the obstacle, the ultrasonic signal 211 will be reflected back to the rear radar 130. At this time, the ultrasonic signal reflected back to the vehicle sensor is 212. When the rear radar 130 of vehicle 100 receives the reflected ultrasonic signal 212, the CPU in the control unit of vehicle 100 will calculate the distance from vehicle 100 to obstacle 220 based on the time difference between the ultrasonic signal 211 emitted and the ultrasonic signal 212 received by the rear radar 130. Different prompts and displays will then be issued according to the distances set by the system.

[0044] It should be understood that ultrasonic signal 211 and ultrasonic signal 212 are the same ultrasonic beam, the difference being that ultrasonic signal 211 and ultrasonic signal 212 are emitted in different directions. The distance between vehicle 100 and obstacle 220 = (T(received ultrasonic wave) - T(transmitted ultrasonic wave)) * speed of sound / 2.

[0045] It should be noted that when a vehicle is at an intersection, due to the large number of vehicles and their slow speed, all vehicles on the road will usually activate their radar warning systems to issue collision warnings. However, vehicles in front of and / or behind the vehicle in the same lane may send ultrasonic signals at the same or higher frequencies as the vehicle's radar after activating their collision avoidance radars. These ultrasonic signals can interfere with the vehicle's radar warning system, resulting in low reliability of the system.

[0046] Figure 3 This is a schematic diagram of a vehicle located at a traffic light intersection, as provided in an embodiment of this application.

[0047] For example, such as Figure 3 As shown, scenario 300 includes vehicle 100 (e.g., a bicycle), vehicle 310 in front of vehicle 100, vehicle 320 behind vehicle 100, and traffic lights 330.

[0048] In one implementation, when vehicle 100 is at a traffic light intersection, there is a vehicle 310 in front and a vehicle 320 behind in the same lane. In order to avoid a collision with vehicle 310 and vehicle 320, vehicle 100 will activate the collision avoidance radar warning system. If vehicle 310 and vehicle 320 activate their collision avoidance radar warning systems at the same time, the ultrasonic signals emitted by vehicle 310 and vehicle 320 will interfere with the radar warning system emitted by vehicle 100.

[0049] For example, if vehicle 100 emits an ultrasonic signal at time t1, and there is no interference signal, the actual time at which it receives the ultrasonic signal reflected back from the obstacle is t2. Since both the vehicle in front 310 and the vehicle behind 320 have their radar warning systems activated, vehicle 100 may receive the ultrasonic signals from both vehicles at time t3. This causes vehicle 100 to calculate the distance between itself and the obstacle based on the time difference between t1 and t3 when detecting the obstacle, resulting in a lower accuracy in predicting the distance between vehicle 100 and the obstacle. The lower accuracy in predicting the distance to the obstacle leads to a lower reliability of vehicle 100's radar warning system.

[0050] Figure 4 This is a schematic diagram of a vehicle located at a congested intersection, as provided in an embodiment of this application.

[0051] For example, the scenario includes vehicle 100 (e.g., a self-driving car), a vehicle 410 in front of vehicle 100 in the same lane as vehicle 100, a vehicle 420 in the same lane as vehicle 100 behind vehicle 100, and vehicles 430, 431, and 432 in different lanes from vehicle 100.

[0052] For example, when vehicle 100 is at a congested intersection, vehicle 410 will activate its collision avoidance radar warning system to avoid colliding with vehicle 410 in front and vehicle 420 behind. However, if vehicle 410 in front and vehicle 420 behind activate their collision avoidance radar warning systems at the same time, the ultrasonic signals emitted by vehicle 410 in front and vehicle 420 behind will interfere with the radar warning system emitted by vehicle 100. Figure 4 It also exists with Figure 3 For interference signals in the same scenario, see Figure 3 The relevant descriptions will not be repeated here. Due to the presence of interference signals, the distance between vehicle 100 and vehicle 410 in front, and between vehicle 100 and vehicle 420 behind, cannot be accurately calculated, resulting in low reliability of vehicle 100's radar warning system.

[0053] like Figure 3 and Figure 4 As shown, when a vehicle is located at an intersection, ultrasonic signals emitted by other vehicles can interfere with the vehicle's radar alarm system, resulting in low reliability of the system. Therefore, this application proposes a vehicle alarm method, apparatus, and vehicle; through the embodiments of this application, the impact of interference signals can be reduced, and the reliability of the vehicle collision avoidance alarm can be improved.

[0054] The following is combined with Figures 5 to 7 The vehicle alarm method provided in the embodiments of this application will be described in detail.

[0055] Figure 5 This is a flowchart illustrating a vehicle alarm method provided in an embodiment of this application.

[0056] For example, Figure 5 The method shown can be derived from Figures 1 to 4 The vehicle 100 shown is executing; or, by Figures 1 to 4 The on-board terminal in the vehicle 100 shown is responsible for execution; or, by... Figures 1 to 4 The processor or chip in the vehicle 100 shown executes the commands.

[0057] S510: If a vehicle is detected at a congested intersection or a traffic light intersection, determine whether there are vehicles in front of and / or behind the vehicle in the same lane.

[0058] For example, when a vehicle's intelligent driving sensors detect a traffic light, it indicates that the vehicle is at a traffic light intersection; such as Figure 3 As shown, vehicle 100 is located at a traffic light intersection.

[0059] For example, when the vehicle's navigation data displays information related to congested intersections, it indicates that the vehicle is located at a congested intersection; such as Figure 4 As shown, vehicle 100 is located at a congested intersection.

[0060] In the solution of this application, when it is determined that the vehicle is located at a traffic light intersection or a congested intersection, it is then determined whether there are vehicles in front and / or behind the vehicle in the same lane.

[0061] It should be understood that when a vehicle is at a congested intersection or a traffic light intersection, there are many vehicles around it, and the vehicles are moving slowly. In order to avoid collisions, the vehicle will activate its collision avoidance radar. If there are vehicles in front of and / or behind the vehicle in the same lane, the simultaneous activation of the collision avoidance radar by the vehicles in front of and / or behind the vehicle can easily cause signal interference to the vehicle, resulting in low reliability of the collision avoidance radar. Therefore, in the embodiments of this application, when a vehicle is detected to be at a traffic light intersection or a congested intersection, the vehicle alarm strategy determined by S520 to S530 is executed to reduce the influence of interference signals from other vehicles and improve the reliability of the vehicle collision avoidance alarm.

[0062] S520: If there are vehicles ahead and / or behind, obtain the radar configuration information of the vehicles ahead and / or behind.

[0063] For example, if a vehicle is detected to have a vehicle in front and / or behind it, the radar configuration information of the vehicle in front and / or behind it is obtained; for example, if a vehicle is in the same lane as a vehicle in front, the radar configuration information of the vehicle in front is obtained; if a vehicle is in the same lane as a vehicle behind it, the radar configuration information of the vehicle behind it is obtained; if a vehicle has both a vehicle in front and a vehicle behind it in the same lane, the configuration information of both the vehicle in front and the vehicle behind it is obtained; wherein, the radar configuration information includes whether the vehicle is equipped with a radar warning device, and the location of the radar warning device; for example, the radar warning device is a front radar or a rear radar.

[0064] For example, radar configuration information of vehicles ahead and / or vehicles behind can be obtained through target communication methods; wherein, target communication methods include: vehicle-to-everything (V2X) communication methods, or Bluetooth communication methods.

[0065] Among them, the Internet of Vehicles (IoV) communication method uses moving vehicles as the information sensing objects. With the help of next-generation information and communication technologies, it realizes network connection between vehicles and X (i.e., vehicles, people, roads, and service platforms), improves the overall intelligent driving level of vehicles, and provides users with a safe, comfortable, intelligent, and efficient driving experience and traffic services. At the same time, it improves traffic operation efficiency and enhances the intelligence level of social traffic services. In addition, the Internet of Vehicles uses sensing technology to perceive vehicle status information and, with the help of wireless communication networks and modern intelligent information processing technologies, can realize intelligent traffic management, intelligent decision-making for traffic information services, and intelligent vehicle control.

[0066] Bluetooth, as a short-range wireless connectivity technology, enables convenient, fast, flexible, secure, low-cost, and low-power data and voice communication between devices. Its connection to other networks opens up a wider range of applications. It is a cutting-edge, open wireless communication technology that allows various digital devices to communicate wirelessly and is a type of wireless network transmission technology.

[0067] S530 determines the vehicle's alarm strategy based on the radar configuration information of the vehicles ahead and / or behind.

[0068] The alarm strategies include issuing alarms via the vehicle's front radar, issuing alarms via the vehicle's rear radar, issuing alarms upon receiving detection information from the rear radar of a vehicle ahead, or issuing alarms upon receiving detection information from the front radar of a vehicle behind.

[0069] In one implementation, if there is a vehicle ahead in the same lane and the radar configuration information of the vehicle ahead indicates that the vehicle ahead is not equipped with a rear radar, the vehicle's alarm strategy is determined to be to issue an alarm through the vehicle's front radar and send the vehicle's front radar detection information to the vehicle ahead.

[0070] In the embodiments of this application, since the vehicle in front is not equipped with a rear radar, it will not interfere with the signal of the vehicle's front radar. The alarm strategy is determined to be to issue an alarm through the vehicle's front radar, which can ensure the reliability of the vehicle's collision avoidance radar. At the same time, sending the front radar detection information to the vehicle in front can prevent the risk of collision between the vehicle in front and the vehicle behind it when the vehicle in front is not equipped with a rear radar.

[0071] In one implementation, if there is a vehicle ahead in the same lane and the radar configuration information of the vehicle ahead indicates that the vehicle ahead is equipped with a rear radar, the alarm strategy of the vehicle is determined to be to issue an alarm through the vehicle's front radar, and a first prompt message is sent to the vehicle ahead. The first prompt message is used to prompt the vehicle ahead to turn off the rear radar and to send the vehicle's front radar detection information to the vehicle ahead.

[0072] In the embodiments of this application, since the vehicle in front is equipped with a rear radar, the vehicle in front may cause signal interference to the vehicle's front radar. The alarm strategy is determined to be to activate the vehicle's front radar to issue an alarm, request the vehicle in front to turn off its rear radar, and send front radar detection information to the vehicle in front. This can eliminate the signal interference of the vehicle in front's rear radar to the vehicle's front radar, ensuring the reliability of the vehicle's collision avoidance radar. At the same time, sending the vehicle's front radar detection information to the vehicle in front can prevent the risk of collision between the vehicle in front and the vehicle behind it when the vehicle in front turns off its rear radar.

[0073] In one implementation, if there is a vehicle ahead in the same lane and the radar configuration information of the vehicle ahead indicates that the vehicle ahead is equipped with a rear radar, the vehicle's alarm strategy can also be to issue an alarm upon receiving the detection information of the rear radar of the vehicle ahead and to turn off the vehicle's front radar.

[0074] In the embodiments of this application, since the vehicle in front is equipped with a rear radar, the vehicle in front may cause signal interference to the vehicle's front radar. The alarm strategy is to receive the detection information of the rear radar of the vehicle in front to issue an alarm and turn off the vehicle's front radar. This can eliminate the signal interference of the vehicle's front radar to the rear radar of the vehicle in front. At the same time, receiving the detection information of the rear radar of the vehicle in front can prevent the risk of collision between the vehicle and the vehicle in front when the front radar is turned off.

[0075] In one implementation, if there is a vehicle behind in the same lane and the radar configuration information of the vehicle behind indicates that the vehicle behind is not equipped with a front radar, the alarm strategy of the vehicle is determined to be to issue an alarm through the vehicle's rear radar.

[0076] In the embodiments of this application, since the vehicle behind is not equipped with a front radar, the vehicle behind will not cause signal interference to the vehicle's rear radar. Determining the alarm strategy to issue an alarm through the vehicle's rear radar can ensure the reliability of the vehicle's collision avoidance radar. At the same time, sending rear radar detection information can prevent the risk of collision between the vehicle behind and the vehicle behind when the vehicle behind is not equipped with a front radar.

[0077] In one implementation, if there is a vehicle behind in the same lane and the radar configuration information of the vehicle behind indicates that the vehicle behind is equipped with a front radar, the alarm strategy of the vehicle is determined to be to issue an alarm through the front radar of the vehicle behind, the rear radar of the vehicle is turned off, and the detection information of the front radar of the vehicle behind is received.

[0078] In the embodiments of this application, since the rear vehicle is equipped with a front radar, the rear vehicle may cause signal interference to the rear radar of the vehicle. The alarm strategy is to turn off the rear radar of the vehicle and receive the detection information of the front radar of the rear vehicle. This can eliminate the signal interference of the rear radar of the vehicle to the front radar of the rear vehicle, ensure the reliability of the detection information of the front radar of the rear vehicle received by the vehicle. In addition, when the rear radar of the vehicle is turned off, there is no risk of collision between the vehicle and the rear vehicle.

[0079] In one implementation, if there is a vehicle behind in the same lane and the radar configuration information of the vehicle behind indicates that the vehicle behind is equipped with a front radar, the alarm strategy for determining the vehicle can also be to issue an alarm through the vehicle's rear radar, sending a second prompt message to the vehicle behind, wherein the second prompt message is used to prompt the vehicle behind to turn off the vehicle behind's front radar and to send the vehicle's rear radar detection information to the vehicle behind.

[0080] In the embodiments of this application, since the vehicle behind is equipped with a front radar, the vehicle behind may cause signal interference to the vehicle's rear radar. The alarm strategy is to request the vehicle behind to turn off its front radar. The alarm is issued and detection information is sent through the vehicle's rear radar. This can eliminate the signal interference of the vehicle behind's front radar to the vehicle's rear radar, ensure the reliability of the detection information of the vehicle's rear radar, and prevent the risk of collision between the two vehicles when the vehicle behind turns off its front radar.

[0081] Optionally, in one possible implementation, if there are no vehicles ahead in the same lane, the vehicle's alarm strategy is to issue an alarm via the vehicle's front radar.

[0082] In the embodiments of this application, since there is no vehicle in front, there is no interference from the radar configuration of the vehicle in front to the vehicle's front radar. Determining the alarm strategy to issue an alarm through the vehicle's front radar can ensure the reliability of the vehicle's collision avoidance radar.

[0083] Optionally, in one possible implementation, if there are no vehicles behind in the same lane, the vehicle's alarm strategy is determined to be to issue the alarm via the vehicle's rear radar.

[0084] In the embodiments of this application, since there are no vehicles behind, there is no interference from the rear vehicle radar configuration to the vehicle's rear radar signal. Determining the alarm strategy as issuing an alarm through the vehicle's rear radar ensures the reliability of the vehicle's collision avoidance radar.

[0085] For example, the vehicle-determined alarm strategy can be implemented as shown in Table 1.

[0086] Table 1

[0087]

[0088]

[0089] As shown in Table 1, in the process of determining the intelligent driving of a vehicle, if it is determined that the vehicle is located at a traffic light intersection or a congested intersection, firstly, it checks whether there are vehicles in front or behind the vehicle at the headlights of the vehicle; secondly, it determines the intelligent driving strategy of the vehicle.

[0090] Example 1: When there is a vehicle in front of the vehicle and the vehicle in front is not equipped with a rear radar, the intelligent driving strategy adopted is to activate the front radar normally to provide an alarm prompt through the vehicle's human-machine interface (HMI), and use the V2X link to send the alarm prompt information of the vehicle's front radar to the vehicle in front for alarm prompt.

[0091] Example 2: When there is a vehicle in front of the vehicle and the vehicle in front is equipped with rear radar, the intelligent driving strategy adopted is to activate the front radar normally to provide a warning prompt to the vehicle's HMI, use the V2X link to request the vehicle in front to turn off the rear radar alarm, suppress the rear radar of the vehicle in front from emitting waves, and use the V2X link to send the vehicle's front radar alarm information to the vehicle in front for warning prompt.

[0092] Optionally, when there is a vehicle in front of the vehicle and the vehicle in front is equipped with rear radar, the intelligent driving strategy can also be to suppress the vehicle's front radar from emitting alarm signals, use V2X to request the vehicle in front to turn on its rear radar, and receive the detection information from the vehicle in front's rear radar to issue an alarm.

[0093] Example 3: When there are no vehicles ahead, the vehicle's intelligent driving strategy is to activate the vehicle's front radar and provide HMI prompts as normal.

[0094] Example 4: When there is a vehicle behind the vehicle and the vehicle behind is not equipped with front radar, the intelligent driving strategy adopted is to activate the vehicle's rear radar alarm normally to prompt the vehicle's HMI, and use the V2X link to send the vehicle's rear radar alarm information to the vehicle behind for alarm prompt.

[0095] Example 5: When there is a vehicle behind the vehicle and the vehicle behind is equipped with front radar, the intelligent driving strategy adopted is to suppress the rear radar of the vehicle to emit alarms, use V2X to request the vehicle behind to turn on its front radar, and receive the alarm prompts from the front radar of the vehicle behind.

[0096] Optionally, when there is a vehicle behind the vehicle, and the vehicle behind is equipped with front radar, the intelligent driving strategy can also be to activate the vehicle's rear radar normally to issue an alarm, use the V2X link to request the vehicle behind to turn off the front radar alarm, and send the vehicle's front radar alarm information to the vehicle behind for alarm notification.

[0097] Example 6: When there are no vehicles behind, the vehicle's intelligent driving strategy is to activate the rear radar and provide HMI prompts as normal.

[0098] S540 outputs alarm information when a collision risk is detected in a vehicle, according to the alarm strategy.

[0099] For example, after determining the vehicle's alarm strategy, when the vehicle detects a collision risk according to the alarm strategy, it outputs alarm information; wherein, the alarm information is used to alert the driver that the vehicle is at risk of colliding with other vehicles.

[0100] In the embodiments of this application, when a vehicle is at a congested intersection or a traffic light intersection, the system can detect whether there are vehicles in front and / or behind in the same lane as the vehicle (e.g., a car). Based on the radar configuration information of the vehicles in front and / or behind, the system determines the vehicle's alarm strategy. Since there are many vehicles at congested intersections or traffic light intersections, resulting in significant signal interference, the system can determine the vehicle's alarm strategy based on the radar configuration information of the vehicles in front and / or behind, thereby reducing interference signals from the vehicles in front and / or behind and improving the reliability of the vehicle's collision avoidance alarm.

[0101] Figure 6 This is a schematic diagram of the vehicle alarm system provided in the embodiments of this application.

[0102] For example, a vehicle alarm system includes the vehicle itself 610 and the vehicle in front 620.

[0103] The vehicle 610 includes: an intelligent driving long-range sensor 611, an intelligent driving short-range sensor 612, an external communication facility 613, an intelligent driving controller 614, a vehicle infotainment controller 615, and an HMI alarm module 616. The vehicle in front 620 includes an external communication facility 621; the external communication facility 621 is used to communicate with the vehicle (vehicle 610).

[0104] For example, the intelligent driving long-range sensor 611 is used to identify the distant environment of the vehicle that is greater than a preset distance threshold (e.g., 5m); for example, the intelligent driving long-range sensor 611 may include: LiDAR, front camera, millimeter-wave radar, rear-view camera, side-view camera, etc.

[0105] For example, the environmental information that the intelligent driving long-range sensor 611 can identify includes, but is not limited to, whether there are traffic light signs, and whether there are vehicles in front and / or behind the vehicle.

[0106] For example, the intelligent driving proximity sensor 612 is used to identify the vehicle's proximity environment and receive instructions for the operation of the collision avoidance radar; for example, the intelligent driving proximity sensor 611 may include: a 360-degree surround view camera and ultrasonic radar.

[0107] For example, the vehicle external communication facility 613 is used to enable communication with the vehicle itself or with the vehicle in front; for example, the vehicle external communication facility 611 may include: a vehicle-to-everything (V2X) communication device, or a Bluetooth device, etc.

[0108] It should be understood that, on the one hand, the external communication facility 613 in the vehicle 610 can communicate with the intelligent driving controller 614 in the vehicle 610; on the other hand, the external communication facility 613 in the vehicle can communicate with the external communication facility 621 in the vehicle ahead 620.

[0109] For example, the intelligent driving controller 614 is used to determine the alarm strategy of the vehicle. For instance, the intelligent driving controller 614 can receive environmental information identified by the intelligent driving long-range sensor 611 and the intelligent driving short-range sensor 612, and can receive relevant information about surrounding vehicles obtained by the vehicle's external communication facility 613. Based on the received information, it determines an appropriate alarm strategy and sends relevant instructions and information. When there is a risk of collision between the vehicle and the vehicle in front, the intelligent driving controller 614 will send alarm information to the vehicle's infotainment controller 615. At the same time, the intelligent driving controller 614 will send collision avoidance radar alarm information to the external communication facility 621 of the vehicle in front through the vehicle's external communication facility 613.

[0110] For example, the vehicle infotainment controller 615 is used to issue an alarm notification; for instance, after receiving the HMI alarm information sent by the intelligent driving controller 614, the HMI alarm module 616 will send a notification to the vehicle based on the received HMI alarm information; the notification information includes, but is not limited to, a notification sound, a notification screen, etc.; after seeing the notification issued by the HMI alarm module 616, the driver can adjust the vehicle's driving, thereby avoiding a collision.

[0111] For example, through the communication connection between the external communication facility 621 of the vehicle in front and the external communication facility 613 of the vehicle itself, it is possible to obtain relevant information about the vehicle in front, including the radar configuration information of the vehicle in front, and also to transmit alarm information. When requesting the vehicle in front to turn off its radar, the vehicle can send the alarm information detected by the vehicle's radar device to the external communication facility 621 of the vehicle in front through the external communication facility 613 of the vehicle itself. When the vehicle turns off its radar, the vehicle can use the external communication facility 613 of the vehicle itself to receive the alarm information sent by the vehicle in front.

[0112] It should be understood that Figure 6The example includes a vehicle 610 and a vehicle 620 in front; optionally, the system may also include a vehicle behind; the vehicle behind may include external communication facilities for the vehicle behind, and the functions of the external communication facilities for the vehicle behind can be found in the relevant description of the external communication facilities for the vehicle in front, which will not be repeated here.

[0113] Figure 7 This is a schematic flowchart illustrating another vehicle alarm method provided in an embodiment of this application.

[0114] For example, Figure 7 The method shown can be derived from Figures 1 to 4 The vehicle 100 shown is executing; or, by Figures 1 to 4 The on-board terminal in the vehicle 100 shown is responsible for execution; or, by... Figures 1 to 4 The processor or chip in the vehicle 100 shown executes the commands.

[0115] For example, such as Figure 7 As shown, the method 700 includes the following implementation process:

[0116] S701, obtains vehicle driving environment information.

[0117] The driving environment information includes traffic light signs around the vehicle and the vehicle's current navigation information. For example, driving environment information can be obtained through the vehicle's intelligent driving sensors and data from in-vehicle navigation systems.

[0118] For example, it can be done through, as Figure 6 The intelligent driving long-range sensor 611 and intelligent driving short-range sensor 612 shown acquire vehicle driving environment information.

[0119] S702, determine whether it is a congested intersection or a traffic light intersection.

[0120] For example, according to such Figure 6 The intelligent driving long-range sensor 611 and intelligent driving short-range sensor 612 obtain driving environment information to determine whether the vehicle is located at a congested intersection or a traffic light intersection.

[0121] For example, if the vehicle's intelligent driving sensors detect a traffic light, it indicates that the vehicle is at a traffic light intersection; if the vehicle's navigation information shows that the road segment where the vehicle is located is congested, it indicates that the vehicle is at a congested intersection.

[0122] It should be understood that in such scenarios, the vehicle's collision avoidance radar may be affected by radar interference signals from vehicles in front and / or behind, thus implementing different alarm strategies; if such driving scenarios are not met, the vehicle can normally activate the front and rear radars to provide alarm prompts; this application does not impose any limitations.

[0123] S703, determine if there is a vehicle ahead in the same lane; if yes, proceed to S704; if no, proceed to S719.

[0124] For example, according to Figure 6 The intelligent driving long-range sensor 611 and intelligent driving short-range sensor 612 determine whether there is a vehicle in front of the vehicle. When there is a vehicle in front of the vehicle, because the distance between the two vehicles is close, it is easy to cause signal interference when both vehicles in front activate their radar alarms at the same time.

[0125] S704, obtains the distance between the vehicle and the vehicle in front.

[0126] For example, it can be done through, as Figure 6 The intelligent driving long-range sensor 611 and intelligent driving short-range sensor 612 shown detect the distance between the vehicle and the vehicle in front.

[0127] S705, determine if the distance is less than the first distance threshold; if yes, execute S706; if no, execute S704.

[0128] It should be noted that the first distance threshold can be preset by the user; the timing for obtaining the radar configuration information of the vehicle ahead is determined based on the distance threshold.

[0129] S706, obtains radar configuration information of the vehicle ahead.

[0130] For example, it can be done through, as Figure 6 The vehicle's external communication facility 613 shown acquires radar configuration information of the vehicle in front.

[0131] For example, obtaining radar configuration information of the vehicle in front includes whether the vehicle in front is equipped with radar, and whether the radar is the front radar or the rear radar of the vehicle in front.

[0132] S707: Determine if the vehicle in front is equipped with a rear radar; if yes, proceed to S708; if no, proceed to S709.

[0133] For example, radar configuration information includes the radar configuration of the vehicle in front; such as the number of radars, radar locations, radar types, etc.; based on the radar configuration information of the vehicle in front, it is determined whether the vehicle in front is equipped with rear radar.

[0134] S708 requests the vehicle in front to turn off its rear radar and turn on its front radar to issue a collision warning, sending front radar detection information to the vehicle in front, or turning off its front radar and receiving detection information from the rear radar of the vehicle in front.

[0135] For example, when the vehicle in front has a rear radar, the vehicle executes S708. If the vehicle directly turns on the front radar, the rear radar of the vehicle in front will cause signal interference to the vehicle's front radar. Therefore, the vehicle will first send a prompt message to the vehicle in front requesting the vehicle in front to turn off its rear radar, or turn off the vehicle's front radar and receive the detection information from the rear radar of the vehicle in front. At this time, there is no signal interference problem, and there is no risk of collision between the vehicle and the vehicle in front.

[0136] S709: The vehicle activates the front radar to issue a collision warning and sends front radar detection information to the vehicle in front.

[0137] For example, when the vehicle in front is not equipped with a rear radar, the vehicle executes step S709; since the vehicle in front is not equipped with a rear radar, it will not interfere with the vehicle's radar alarm device; therefore, the vehicle's front radar can be directly activated to issue an alarm and send front radar alarm information to the vehicle in front.

[0138] S710, the vehicle's front radar is activated to trigger a collision warning.

[0139] For example, if there is no vehicle ahead in the same lane, S710 is executed; that is, the vehicle activates the front radar to issue a collision warning.

[0140] S711, determine if there is a vehicle behind in the same lane; if yes, proceed to S712; otherwise, proceed to S718.

[0141] For example, according to Figure 6 The intelligent driving long-range sensor 611 and intelligent driving short-range sensor 612 determine whether there are vehicles behind the vehicle. When there are vehicles behind the vehicle, because the distance between the vehicles behind is close, when the radar alarms of the vehicles behind are activated at the same time, it is easy to cause signal interference.

[0142] S712, obtains the distance between the vehicle and the vehicle behind it.

[0143] For example, it can be done through, as Figure 6 The intelligent driving long-range sensor 611 and intelligent driving short-range sensor 612 shown detect the distance between the vehicle and the vehicle behind.

[0144] S713, determine whether the distance is less than the first distance threshold; if yes, execute S714; if no, execute S712.

[0145] S714 obtains radar configuration information of vehicles behind.

[0146] For example, it can be done through, as Figure 6 The external communication facility 613 shown in the diagram obtains radar configuration information of the vehicle behind.

[0147] S715: Determine whether the vehicle behind is equipped with a front radar; if yes, proceed to S716; if no, proceed to S717.

[0148] For example, radar configuration information includes the radar configuration of the vehicle behind; such as the number of radars, radar location, radar type, etc.; based on the radar configuration information of the vehicle behind, it is determined whether the vehicle behind is equipped with a front radar.

[0149] S716: Turn off the rear radar of the vehicle and request the vehicle behind to turn on the front radar to issue a collision warning, and receive the front radar detection information of the vehicle behind. Alternatively, issue a warning through the rear radar of the vehicle and request the vehicle behind to turn off the front radar.

[0150] For example, if the vehicle behind is equipped with a front radar, the vehicle executes step S716, at which time the vehicle's rear radar is turned off, and the vehicle requests the vehicle behind to turn on its front radar and receives the front radar detection information from the vehicle behind, or it issues an alarm through the vehicle's rear radar and requests the vehicle behind to turn off its front radar. At this time, there is no signal interference problem, and there is no risk of collision between the vehicle and the vehicle in front.

[0151] S717: When the vehicle is turned on, the rear radar will issue a collision warning and send rear radar detection information to vehicles behind.

[0152] For example, when the vehicle behind does not have a front radar, the vehicle executes step S717. Since the vehicle behind does not have a front radar, it will not interfere with the vehicle's radar alarm device. Therefore, the vehicle's rear radar can be directly activated to issue an alarm and send rear radar alarm information to the vehicle behind.

[0153] S718, the radar will issue a collision warning after the vehicle is turned on.

[0154] For example, when there are no vehicles behind the vehicle, there is no interference from vehicles behind the vehicle to the rear radar, and the vehicle will activate the rear radar to issue a collision warning.

[0155] S719 outputs alarm information.

[0156] For example, after the corresponding alarm policy is executed, alarm information will be output. Specifically, the alarm information refers to the distance between the vehicle and the vehicle in front, the vehicle behind, or the vehicle and the obstacle.

[0157] Optionally, S703 and S711 can be executed simultaneously, and this application does not impose any restrictions on this.

[0158] The following is combined with Figure 8 and Figure 9 The vehicle alarm device provided in the embodiments of this application will be described in detail.

[0159] Figure 8 This is a schematic diagram of the structure of a vehicle alarm device provided in an embodiment of this application.

[0160] For example, such as Figure 8 As shown, the device includes:

[0161] Determining module 810: If a vehicle is detected to be located at a congested intersection or a traffic light intersection, it is used to determine whether there are vehicles in front and behind the vehicle in the same lane.

[0162] First communication module 820: used to obtain radar configuration information of the vehicles in front and / or behind if there are vehicles in front and / or behind.

[0163] Processing module 830: Used to determine the alarm strategy of the vehicle based on the radar configuration information of the vehicle in front and / or the vehicle behind, wherein the alarm strategy includes alarming through the front radar of the vehicle, alarming through the rear radar of the vehicle, alarming by receiving detection information from the rear radar of the vehicle in front, or alarming by receiving detection information from the front radar of the vehicle behind.

[0164] The second communication module 840 is used to output alarm information when a collision risk is detected in a vehicle, according to the alarm strategy.

[0165] In one possible implementation, the determining module 810 is used to determine that the vehicle is located at a traffic light intersection when a traffic light sign is detected, and to determine that the vehicle is located at a congested intersection when the vehicle's navigation data includes congested intersection information.

[0166] In one possible implementation, the determining module 810 is further used to detect whether there are vehicles in front and behind the vehicle in the same lane as the vehicle; in one case, if vehicles in front and / or behind are detected, the radar configuration information of the vehicles in front and / or behind is further obtained, and an appropriate alarm strategy is determined based on the radar configuration information of the vehicles in front and / or behind. If no vehicles in front and / or behind are detected, there is no radar signal interference, and the vehicle's radar alarm device can be used normally to issue an alarm.

[0167] In one possible implementation, the first communication mode 820 is used to acquire radar configuration information of the vehicle in front and / or the vehicle behind, such as the number of radars, radar locations, radar types, etc.; based on the radar configuration information of the vehicle in front, it is determined whether the vehicle in front is equipped with a rear radar, and based on the radar configuration information of the vehicle behind, it is determined whether the vehicle behind is equipped with a front radar.

[0168] In one possible implementation, the first communication module 820 is further used to determine the time for acquiring the position information of the vehicles in front and / or behind. The user presets a distance value in advance. When the actual distance is less than or equal to the preset distance value, the first communication module starts to acquire the radar configuration of the vehicles in front and / or behind.

[0169] In one possible implementation, the communication method adopted by the first communication module 820 to obtain the radar configuration information of the vehicle in front and / or the vehicle behind includes vehicle-to-everything (V2X) communication or Bluetooth protocol.

[0170] In one possible implementation, the processing module 830 determines the vehicle's alarm strategy based on the radar configuration information of the vehicle in front and / or the vehicle behind, specifically including: when there is a vehicle in front and the vehicle in front is not equipped with a rear radar, the alarm strategy is to issue an alarm through the vehicle's front radar and send front radar detection information to the vehicle in front; when there is a vehicle in front and the vehicle in front is equipped with a rear radar, the alarm strategy is to issue an alarm through the vehicle's front radar, request the vehicle in front to turn off its rear radar, and send a prompt message to the vehicle in front, or turn off the vehicle's front radar and receive the detection information from the rear radar of the vehicle in front to issue an alarm; when there is a vehicle behind and the vehicle behind is not equipped with a front radar, the alarm strategy is to issue an alarm through the vehicle's rear radar and send the vehicle's rear radar detection information to the vehicle behind; when there is a vehicle behind and the vehicle behind is equipped with a front radar, the alarm strategy is to turn off the vehicle's rear radar, request the vehicle behind to turn on its front radar, and receive the detection information from the front radar of the vehicle behind, or issue an alarm through the vehicle's rear radar and request the vehicle behind to turn off its front radar. When there is no vehicle in front of the vehicle, the alarm strategy is to issue an alarm via the vehicle's front radar; when there is no rear radar, the alarm strategy is to issue an alarm via the vehicle's rear radar.

[0171] In one possible implementation, the alarm information output by the second communication module 840 includes the distance values ​​between the vehicle and the vehicles in front of and / or behind the vehicle. If there are pedestrians or bicycles among the vehicles in front of and / or behind the vehicle, the alarm information output also includes the distance between the pedestrians, bicycles, and vehicles.

[0172] It should be noted that the vehicle control device provided in the above embodiments is only illustrated by the division of the above functional modules when executing the vehicle control method. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0173] Furthermore, the vehicle control device and vehicle control method embodiments provided in the above embodiments belong to the same concept. Therefore, for details not disclosed in the device embodiments of this specification, please refer to the vehicle control method embodiments described above in this specification, which will not be repeated here.

[0174] Figure 9 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0175] For example, vehicle 900 includes processor 910, memory 920 and executable program code 930.

[0176] For example, vehicle 900 and Figures 1 to 4 In this context, vehicle 100 represents the same vehicle.

[0177] For example, memory 920 is used to store executable program code; processor 910 is used to call and execute the executable program code; executable program code 930 is used to implement a method for vehicle alarm.

[0178] This application can divide the vehicle into functional modules based on the above method example. For example, each module can correspond to a separate function module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0179] When each functional module is divided according to its corresponding function, the vehicle may include: a first acquisition module, a detection module, a second acquisition module, and a control module, etc. It should be noted that all relevant content of each step involved in the above method embodiments can be referenced from the functional descriptions of the corresponding functional modules, and will not be repeated here.

[0180] The vehicle provided in this application is used to execute the vehicle control method described above, and thus can achieve the same effect as the above implementation method.

[0181] When using integrated units, the vehicle may include a processing module and a storage module. The processing module is used to control and manage the vehicle's actions. The storage module is used to support the vehicle in executing program code and data.

[0182] The processing module may be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits as disclosed in this application. The processor may also be a combination of functions that implement computing capabilities, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc., and the storage module may be a memory.

[0183] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods described in the foregoing embodiments. The computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, Digital Video Discs (DVDs), Compact Disc Read-Only Memory (CD-ROMs), microdrives, as well as magneto-optical disks, read-only memory (ROMs), random access memory (RAMs), erasable programmable read-only memory (EPROMs), electrically erasable programmable read-only memory (EEPROMs), dynamic random access memory (DRAMs), video random access memory (VRAMs), flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0184] This application also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to implement a vehicle control method as described in the above embodiments.

[0185] In addition, the vehicle provided in the embodiments of this application may specifically be a chip, component or module. The vehicle may include a connected processor and a memory. The memory is used to store instructions. When the vehicle is running, the processor may call and execute the instructions to make the chip execute a vehicle control method in the above embodiments.

[0186] The vehicle, computer-readable storage medium, computer program product or chip provided in this application are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can be referred to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0187] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0188] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0189] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for vehicle alarm, characterized in that, The method includes: If a vehicle is detected at a congested intersection or a traffic light intersection, determine whether there are any vehicles in front of and / or behind the vehicle in the same lane as the vehicle. If there are vehicles in front and / or behind, obtain the radar configuration information of the vehicles in front and / or behind. Based on the radar configuration information, the alarm strategy of the vehicle is determined, wherein the alarm strategy includes alarming through the front radar of the vehicle, alarming through the rear radar of the vehicle, alarming upon receiving detection information from the rear radar of the vehicle in front, or alarming upon receiving detection information from the front radar of the vehicle behind. According to the alarm strategy, when a collision risk is detected in the vehicle, an alarm message is output; The step of determining the vehicle's alarm strategy based on the radar configuration information includes: If the vehicle ahead is present and the radar configuration information of the vehicle ahead indicates that the vehicle ahead is not equipped with a rear radar, the alarm strategy of the vehicle is determined to be to issue the alarm through the front radar of the vehicle. If the vehicle ahead is present and its radar configuration information indicates that it is equipped with a rear radar, the alarm strategy for the vehicle is determined to be to issue the alarm via the vehicle's front radar, and a first prompt message is sent to the vehicle ahead; wherein the first prompt message is used to prompt the vehicle ahead to turn off its rear radar; or, if the vehicle ahead is present and its radar configuration information indicates that it is equipped with a rear radar, the alarm strategy for the vehicle is determined to be to issue the alarm upon receiving detection information from the rear radar of the vehicle ahead, and to turn off the vehicle's front radar.

2. The method according to claim 1, characterized in that, If the vehicle ahead exists and its radar configuration information indicates that it is not equipped with a rear radar, the system further includes: The detection information of the vehicle's front radar is sent to the vehicle ahead so that the vehicle ahead can issue an alarm based on the detection information of the vehicle's front radar.

3. The method according to claim 1, characterized in that, The step of determining the vehicle's alarm strategy based on the radar configuration information includes: If there is a vehicle behind and the radar configuration information of the vehicle behind indicates that the vehicle behind is not equipped with a front radar, the alarm strategy of the vehicle is determined to be to issue the alarm through the rear radar of the vehicle. If there is a vehicle behind and the radar configuration information of the vehicle behind indicates that the vehicle behind is equipped with a front radar, the alarm strategy of the vehicle is determined to be to receive the detection information of the front radar of the vehicle behind to issue the alarm, and to turn off the rear radar of the vehicle; or, if there is a vehicle behind and the radar configuration information of the vehicle behind indicates that the vehicle behind is equipped with a front radar, the alarm strategy of the vehicle is determined to be to issue the alarm through the rear radar of the vehicle, and to send a second prompt message to the vehicle behind, the second prompt message being used to prompt the vehicle behind to turn off the front radar of the vehicle behind.

4. The method according to claim 3, characterized in that, If the vehicle behind is present and its radar configuration information indicates that it is not equipped with a front radar, the system further includes: The vehicle's rear radar detection information is sent to the vehicle behind it, so that the vehicle behind it can issue an alarm based on the detection information of the vehicle's rear radar.

5. The method according to claim 1, characterized in that, Also includes: If there is no vehicle ahead, the alarm strategy for the vehicle is determined to be to issue the alarm via the vehicle's front radar; If there is no vehicle behind, the alarm strategy for that vehicle is determined to be to issue the alarm via the vehicle's rear radar.

6. The method according to any one of claims 1 to 5, characterized in that, The presence of the vehicle in front and / or the vehicle behind, and the acquisition of the radar configuration information of the vehicle in front and / or the vehicle behind, includes: If there are vehicles ahead and / or vehicles behind, the radar configuration information of the vehicles ahead and / or vehicles behind is obtained through target communication methods, including vehicle-to-everything (V2X) communication or Bluetooth communication.

7. The method according to any one of claims 1 to 5, characterized in that, Also includes: If the vehicle detects a traffic light, it is determined that the vehicle is located at the traffic light intersection; If the vehicle detects that the navigation data includes information about a congested intersection, it determines that the vehicle is located at the congested intersection.

8. A vehicle alarm device, characterized in that, The device includes: The determination module is used to determine whether there are vehicles in front and behind the vehicle in the same lane if the vehicle is detected to be located at a congested intersection or a traffic light intersection. The first communication module is used to acquire the radar configuration information of the vehicle in front and / or the vehicle behind if there is a vehicle in front and / or a vehicle behind. The processing module is used to determine the alarm strategy of the vehicle based on the radar configuration information. The alarm strategy includes alarming through the front radar of the vehicle, alarming through the rear radar of the vehicle, alarming by receiving detection information from the rear radar of the vehicle in front, or alarming by receiving detection information from the front radar of the vehicle behind. The second communication module is used to output alarm information when the vehicle is detected to have a collision risk, according to the alarm strategy. The processing module is specifically configured to: if there is a vehicle ahead and the radar configuration information of the vehicle ahead indicates that the vehicle ahead is not equipped with a rear radar, determine that the alarm strategy of the vehicle is to issue the alarm through the front radar of the vehicle; if there is a vehicle ahead and the radar configuration information of the vehicle ahead indicates that the vehicle ahead is equipped with a rear radar, determine that the alarm strategy of the vehicle is to issue the alarm through the front radar of the vehicle, and send a first prompt message to the vehicle ahead; wherein, the first prompt message is used to prompt the vehicle ahead to turn off the rear radar of the vehicle ahead; or, if there is a vehicle ahead and the radar configuration information of the vehicle ahead indicates that the vehicle ahead is equipped with a rear radar, determine that the alarm strategy of the vehicle is to receive the detection information of the rear radar of the vehicle ahead to issue the alarm, and turn off the front radar of the vehicle.

9. A vehicle, characterized in that, The vehicles include: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the vehicle to perform the method as described in any one of claims 1 to 7.

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