A vehicle warning method, system, vehicle and storage medium

Abstract

The embodiment of the application discloses a kind of vehicle early warning method, system, vehicle and storage medium, involve vehicle safety technical field.Vehicle is equipped with independent power supply key detection module and sensing device, sensing device includes radar, image acquisition equipment and infrared sensor, method includes: in the case where vehicle is in stationary state, if current key detected by key detection module meets vehicle power-on condition, vehicle is powered on, and obstacle detection function is started;Obtain the sensing information obtained by using sensing device to collect the preset area of vehicle;In the case where radar and / or infrared sensor detect that there is obstacle, according to the environmental image collected by image acquisition equipment, determine the target obstacle information that impedes the passage of vehicle;Target obstacle information includes the type and location of target obstacle;According to the location of target obstacle, the early warning strategy corresponding to the type of target obstacle is output, to make user avoid obstacle driving according to early warning strategy.

Description

Technical Field

[0001] This application relates to, but is not limited to, the field of vehicle safety technology, and in particular to a vehicle warning method, system, vehicle, and storage medium. Background Technology

[0002] As people's living standards improve, automobiles are becoming increasingly user-friendly and personalized. People have higher expectations for comfort and intelligence in their vehicles, and similarly, they are paying more attention to safety. In particular, users often neglect to check for obstacles around their vehicles before starting and driving off. It's important to note that while there are many vehicles on the road, parking in garages is relatively rare. Most parking is in open areas or on city streets, where pets and children often play or linger. Therefore, starting the car without checking the surroundings and ignoring blind spots can easily lead to accidents.

[0003] To address the aforementioned issues, related technologies employ a sentry mode, which acquires vehicle vibration information when the sentry mode is activated. It then determines the reporting conditions based on the vehicle's status information. If the vehicle's status information meets the reporting conditions, it actively wakes up the network and executes corresponding monitoring measures based on the vehicle's current vibration level after the network is activated. However, the above method has at least one drawback: the sentry mode cannot provide timely reminders when the vehicle is first started, thus failing to fully guarantee the safety of the vehicle during startup. Summary of the Invention

[0004] One of the purposes of this application is to provide a vehicle warning method, system, vehicle, and storage medium to solve the problem that existing technologies can easily cause severe pressure on drivers or passengers, affect the driving experience, and easily lead to safety accidents.

[0005] To solve the above problems, the technical solution of this application embodiment is implemented as follows:

[0006] In a first aspect, embodiments of this application provide a vehicle early warning method, wherein the vehicle is equipped with an independently powered key detection module and a sensing device, the sensing device including radar, an image acquisition device, and an infrared sensor, and the method includes:

[0007] When the vehicle is stationary, if the current key detected by the key detection module meets the vehicle power-on conditions, the vehicle is powered on and the obstacle detection function is activated.

[0008] Obtain sensing information collected by the sensing device on a preset area of ​​the vehicle; wherein the preset area includes the area around the vehicle body and the bottom of the vehicle chassis;

[0009] When the radar and / or the infrared sensor detects an obstacle, the target obstacle information that obstructs the vehicle's passage is determined based on the environmental image acquired by the image acquisition device; wherein, the perception information includes the environmental image, the information that the radar and / or the infrared sensor detects an obstacle, and the target obstacle information includes the type and location of the target obstacle;

[0010] Based on the location of the target obstacle, a warning strategy corresponding to the type of the target obstacle is output so that the user can drive to avoid obstacles according to the warning strategy.

[0011] Based on the aforementioned technical means, this embodiment of the application can, in a vehicle starting scenario, detect through the key detection module that the current key meets the vehicle power-on conditions, power on the vehicle, and activate the obstacle detection function. Then, when the radar and / or infrared sensors in the sensing device detect obstacles within a preset area of ​​the vehicle, the environmental image of the preset area acquired by the image acquisition device in the sensing device is analyzed and processed to obtain the type and location of the target obstacle obstructing vehicle passage. Based on the location of the target obstacle, a warning strategy corresponding to the type of target obstacle is output, enabling the user to avoid obstacles while driving. In this way, obstacles around the vehicle can be detected before starting. When an obstacle exists within the preset area, a warning signal alerts the driver to avoid running over the obstacle after starting the vehicle, thus effectively improving the safety of starting the vehicle and increasing the convenience for the user to start and drive.

[0012] Furthermore, the step of detecting whether the current key meets the vehicle power-on conditions through the key detection module includes: detecting the key signal emitted by the current key, the signal duration of the detected key signal, and obtaining the identifier of the target key corresponding to the vehicle through the key detection module; wherein, the key signal carries the identifier of the current key; determining whether the current key is close to the vehicle based on the signal strength of the key signal; if the signal duration is greater than a preset duration, the current key is close to the vehicle, and the identifier of the current key is consistent with the identifier of the target key, it is determined that the current key meets the vehicle power-on conditions.

[0013] Based on the above technical means, the embodiments of this application can determine the obstacle detection function of the vehicle automatically after powering on the vehicle when the conditions are met, thereby avoiding power loss of the low-voltage battery and avoiding additional power loss of the whole vehicle due to false triggering of the system when pedestrians pass by.

[0014] Further, determining the target obstacle information that obstructs the vehicle's passage based on the environmental image acquired by the image acquisition device includes: inputting the environmental image into an obstacle recognition model to obtain obstacle information in the environmental image, the obstacle information including the type, position, and height of each obstacle; calculating the target distance between the vehicle and each obstacle based on the position of each obstacle and the obtained vehicle position; wherein the target distance includes at least one of the lateral distance, longitudinal distance, and vertical distance between the vehicle and the obstacle; comparing the target distance with a preset distance threshold corresponding to the type of obstacle, wherein the preset distance threshold includes the height of the obstacle; determining obstacles whose target distance is less than or equal to the preset distance threshold corresponding to the type of obstacle as the target obstacle, and determining the obstacle information of the target obstacle as the target obstacle information.

[0015] According to the above technical means, in this embodiment of the application, since there are multiple obstacles in the preset area of ​​the vehicle, at least one of the lateral distance, longitudinal distance and vertical distance between the vehicle and each obstacle is determined for the position of different obstacles. The target distance is then compared with a preset distance threshold corresponding to the type of obstacle to determine whether the obstacle will hinder the vehicle's driving. This enables the identification of the target obstacle that has a greater impact on the vehicle's start from among multiple obstacles, so as to output a warning strategy corresponding to the target obstacle that has a greater impact on the vehicle's start, to warn the user, so as to avoid the vehicle running over the obstacle after starting and causing an accident. This effectively improves the safety of starting the vehicle and also improves the convenience of the user starting the vehicle.

[0016] Further, comparing the target distance with a preset distance threshold corresponding to the obstacle type includes: if the obstacle type is a stationary obstacle that may scrape the vehicle body, comparing the target distance with a first preset distance threshold; and / or, if the obstacle type is a stationary obstacle that may scrape the vehicle chassis, comparing the target distance with the height of the obstacle; and / or, if the obstacle type is a moving obstacle, comparing the target distance with a second preset distance threshold; wherein the first preset distance threshold is greater than the height of the obstacle, and the first preset distance threshold is less than the second preset distance threshold.

[0017] Based on the above technical means, in this embodiment of the application, since there are multiple obstacles in the preset area of ​​the vehicle, different distance thresholds are set according to the type of obstacle. By using different distance thresholds, it is determined whether the obstacle will hinder the vehicle's driving. Thus, the target obstacle that has a greater impact on the vehicle's start is identified from among the multiple obstacles. In order to output the warning strategy corresponding to the target obstacle that has a greater impact on the vehicle's start, the user is alerted to avoid the vehicle running over the obstacle after starting, which could cause an accident. This effectively improves the safety of starting the vehicle and also improves the convenience for the user to start and drive the vehicle.

[0018] Furthermore, the step of outputting a warning strategy corresponding to the type of the target obstacle based on its location includes: if the target obstacle is a stationary obstacle that may scrape the vehicle chassis and / or the vehicle body, generating a radar scan warning image containing the location of the target obstacle, issuing a voice broadcast, displaying a warning image of the vehicle chassis and / or the vehicle body acquired in real time by the image acquisition device, and displaying the radar scan warning image; if the target obstacle is a moving obstacle, generating a radar scan warning image containing the real-time location of the target obstacle, issuing a voice broadcast, displaying a warning image of the target obstacle acquired in real time by the image acquisition device, displaying the radar scan warning image, controlling a buzzer to sound at a preset sounding frequency, and controlling the turn signals to flash at a preset flashing frequency.

[0019] Based on the above technical means, the embodiments of this application can set different warning strategies for different types of obstacles, which can effectively avoid driving accidents caused by undetected obstacles in the vehicle's blind spot, improve the driver's success rate in avoiding obstacles, and thus improve the user's vehicle safety when starting the vehicle.

[0020] Furthermore, the method also includes: after the vehicle has started moving, obtaining the vehicle's speed; if the speed is greater than or equal to a preset speed, disabling the obstacle detection function.

[0021] Based on the above technical means, in this application embodiment, when the vehicle's driving speed is greater than or equal to the preset driving speed, since the vehicle has successfully started and is driving relatively fast, it is not very helpful to provide warnings to the driver and pedestrians or animals around the vehicle. At this time, the vehicle's obstacle detection function can be turned off, thereby reducing the vehicle's power consumption and computing efficiency.

[0022] Furthermore, the step of powering on the vehicle and activating the obstacle detection function includes: powering on the vehicle, waking up the vehicle network to start the vehicle's infotainment system, and detecting whether the infotainment system has started normally; if the infotainment system starts normally, activating the obstacle detection function to output the warning strategy on the display interface of the infotainment system; if the infotainment system does not start, sending an infotainment system fault prompt message to the terminal device connected to the vehicle.

[0023] Based on the above technical means, the embodiments of this application can activate the obstacle detection function when the vehicle infotainment system is started normally, thereby outputting a warning strategy on the display interface of the vehicle infotainment system; when the vehicle infotainment system is not started, it sends vehicle infotainment system fault prompt information to the terminal device connected to the vehicle, thereby enabling the user to perform fault detection and repair on the vehicle infotainment system.

[0024] Secondly, embodiments of this application provide a vehicle warning system, the device comprising:

[0025] The key detection module is used to detect whether the current key meets the vehicle's power-on requirements when the vehicle is stationary.

[0026] The control module is used to power on the vehicle and activate the obstacle detection function;

[0027] A sensing device is used to collect sensing information from a preset area of ​​the vehicle; wherein the preset area includes the area around the vehicle body and the bottom of the vehicle chassis, and the sensing device includes radar, image acquisition equipment and infrared sensor.

[0028] The processing module is configured to, when the radar and / or the infrared sensor detects an obstacle, determine the target obstacle information that obstructs the passage of the vehicle based on the environmental image acquired by the image acquisition device; wherein the perception information includes the environmental image, the information that the radar and / or the infrared sensor detects an obstacle, and the target obstacle information includes the type and location of the target obstacle;

[0029] The output module is used to output a warning strategy corresponding to the type of the target obstacle based on the location of the target obstacle, so that the user can drive to avoid obstacles according to the warning strategy.

[0030] Thirdly, embodiments of this application provide a vehicle, the vehicle including a controller, wherein...

[0031] The controller is configured to operate the vehicle to implement the vehicle warning method described above.

[0032] Fourthly, embodiments of this application provide a storage medium storing one or more computer programs, which can be executed by one or more processors to implement some or all of the steps in the above-described vehicle warning method. Attached Figure Description

[0033] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the technical solutions of this application.

[0034] Figure 1 A schematic flowchart of an optional vehicle warning method provided in an embodiment of this application;

[0035] Figure 2 A schematic flowchart of an optional vehicle warning method provided in an embodiment of this application;

[0036] Figure 3 A schematic flowchart of an optional vehicle warning method provided in an embodiment of this application;

[0037] Figure 4 A schematic diagram of an optional radar scan alarm image provided for an embodiment of this application;

[0038] Figure 5 A flowchart illustrating an optional vehicle warning method provided in an embodiment of this application;

[0039] Figure 6 A schematic diagram illustrating an optional obstacle detection system application provided in an embodiment of this application;

[0040] Figure 7 A schematic diagram of an optional vehicle warning system provided in an embodiment of this application;

[0041] Figure 8 This is a structural schematic diagram of a vehicle provided in an embodiment of this application. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application are further described in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0043] In the following description, references to "some embodiments" refer to a subset of all possible embodiments. It is understood that "some embodiments" may be the same or different subsets of all possible embodiments and may be combined with each other without conflict. The terms "first / second / third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first / second / third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used herein is for descriptive purposes only and is not intended to be limiting of this application.

[0045] Reference Figure 1 , Figure 1 This is a schematic diagram illustrating the implementation process of a vehicle warning method provided in an embodiment of this application. The method can be executed by the vehicle's controller. The vehicle is equipped with an independently powered key detection module and sensing devices. Here, it will be combined with... Figure 1 The steps shown are explained below:

[0046] Step 101: When the vehicle is stationary, if the current key detected by the key detection module meets the vehicle power-on conditions, power on the vehicle and activate the obstacle detection function.

[0047] In this embodiment of the application, a vehicle in a stationary state can be understood as a parked, stopped, and locked vehicle.

[0048] In this embodiment, the key detection module may include a connected signal receiver and a processor. The signal receiver can send the received key signal to the processor for processing. For example, in one embodiment, the processor can determine whether the key is near the vehicle based on the strength of the key signal. In another embodiment, the signal emitted by the key can carry the key's location information. The processor can calculate the distance between the key and the vehicle at different times based on the key's location information and the vehicle's location information, and then determine whether the key is near the vehicle based on the distance at different times. The vehicle's location information can be obtained based on a positioning device with independent power supply mounted on the vehicle.

[0049] In this embodiment of the application, the vehicle power-on conditions include the detection of a key signal of the vehicle key with a signal duration greater than a preset duration, the vehicle key being close to the vehicle, and the vehicle key's identifier being consistent with the key identifier of the corresponding vehicle.

[0050] In this embodiment of the application, the obstacle detection function is used to detect whether there are obstacles around the vehicle body and under the vehicle chassis that would impede the passage of the vehicle.

[0051] In this embodiment of the application, when the key detection module detects that the current key meets the vehicle power-on conditions, it powers on the vehicle and activates the obstacle detection function.

[0052] Vehicle power-on can be divided into low-voltage system power-on and high-voltage system power-on. Low-voltage system power-on includes powering on the vehicle's overall controller, interactive devices, sensing devices, and various sensors. High-voltage system power-on includes powering on the power unit. Therefore, as an example, when a trigger condition is met, the low-voltage system can be powered on, allowing the sensing devices to quickly power on and be used.

[0053] In some embodiments, the process of detecting whether the current key meets the vehicle power-on conditions by the key detection module in step 101 is combined with Figure 2 To explain,

[0054] Step 111: Detect the key signal emitted by the current key, the signal duration of the detected key signal, and obtain the identifier of the target key corresponding to the vehicle through the key detection module; wherein, the key signal carries the identifier of the current key.

[0055] In this embodiment, "vehicle" refers to the vehicle currently undergoing key matching. The vehicle type includes, but is not limited to, cars, light trucks, large trucks, minibuses, medium-sized buses, and large buses; the type of vehicle is not limited here. Key matching refers to matching the key with a specific controller of the vehicle. Once matching is successful, the key can be used to control the locking and unlocking of the vehicle doors. This controller can be the vehicle's body controller, vehicle controller, or a controller that controls the vehicle's power supply, etc. The specific controller can be determined based on the vehicle's design logic.

[0056] In this embodiment, the current key refers to the key that currently needs to be matched with the vehicle. The key in this embodiment can be a mechanical key or a remote key.

[0057] In this embodiment, the key signal is the key signal emitted by the current key, and the current key matches the vehicle by emitting the signal.

[0058] In this embodiment, the signal duration of the key signal can be understood as the signal duration of the key signal emitted by the current key detected by the key detection module within a preset range.

[0059] In this embodiment of the application, the identifier of the current key can be information that can uniquely identify the current key, such as the part number, serial number, or production batch number of the current key.

[0060] In this embodiment, the target key refers to the key that the current vehicle should match or is expected to match; in other words, the target key is the correct key that the current vehicle should match. The identifier of the target key can be information that can uniquely identify the target key, such as its part number or serial number.

[0061] Step 112: Determine whether the key is close to the vehicle based on the signal strength of the key signal.

[0062] In this embodiment, the current key emits a key signal carrying the key's location information. The key detection module calculates the distance between the key and the vehicle at different times based on the key's location information and the vehicle's location information. Furthermore, the key detection module determines whether the distance has decreased as time progresses, thereby determining whether the key is approaching the vehicle.

[0063] Step 113: If the signal duration is greater than the preset duration, the current key is close to the vehicle, and the identifier of the current key matches the identifier of the target key, then the current key meets the vehicle power-on conditions.

[0064] In this embodiment of the application, if the signal duration of the key signal of the current key is longer than the preset duration, it indicates that the user intends to get into the vehicle; if the current key is close to the vehicle, it indicates that the user is not just passing by the vehicle but intends to get in; if the identifier of the current key is consistent with the identifier of the target key, it indicates that the current key is the key corresponding to the vehicle, that is, the current key matches the vehicle.

[0065] In this embodiment, the key detection module detects the key signal emitted by the current key, the duration of the detected key signal, and obtains the identifier of the target key corresponding to the vehicle. Based on the signal strength of the key signal, it determines whether the current key is near the vehicle. If multiple conditions are met—namely, the signal duration exceeding a preset duration, the current key being near the vehicle, and the identifier of the current key matching the identifier of the target key—then the current key is deemed to meet the vehicle's power-on conditions. Thus, this embodiment uses multiple condition checks to ensure that the vehicle's obstacle detection function is automatically activated only after power is supplied, avoiding power loss to the low-voltage battery and preventing accidental system triggering when pedestrians pass by, which would increase overall vehicle power consumption.

[0066] In some embodiments, powering on the vehicle and activating the obstacle detection function in step 101 can also be achieved through the following steps: powering on the vehicle, waking up the vehicle network to start the vehicle infotainment system, and detecting whether the vehicle infotainment system has started normally; if the vehicle infotainment system starts normally, activating the obstacle detection function to output a warning strategy on the vehicle infotainment system's display interface; if the vehicle infotainment system has not started, sending a vehicle infotainment system fault prompt message to the terminal device connected to the vehicle.

[0067] In this embodiment, when the vehicle is stationary, if the current key detected by the key detection module meets the vehicle power-on conditions, the vehicle network is activated to wake up the vehicle's infotainment system after powering on the vehicle. Further, the system checks whether the infotainment system has started normally. If the system starts normally, the obstacle detection function is activated, thereby outputting a warning strategy on the infotainment system's display interface. If the system does not start, a fault message is sent to the terminal device connected to the vehicle, enabling the user to perform fault detection and repair on the infotainment system.

[0068] Step 102: Obtain the sensing information collected by the sensing device on a preset area of ​​the vehicle; wherein, the preset area includes the area around the vehicle body and the bottom of the vehicle chassis.

[0069] In this embodiment, the sensing device can be radar, image acquisition device, or infrared sensor. The sensing information includes, but is not limited to, information acquired by radar, environmental images acquired by the image acquisition device, and information detected by the infrared sensor.

[0070] Among them, radar can detect the area in front of the vehicle, the area behind the vehicle, and the area under the vehicle. The radar at the front and rear can also be used as radar while the vehicle is in motion. For example, the radar at the rear of the vehicle can be used as a reversing radar. In this way, by reusing radar, costs can be effectively reduced.

[0071] Among them, infrared sensors can detect moving objects and their radiation, thus accurately detecting living objects such as children or small animals. The results of the infrared sensor detection are used to trigger an alarm signal, which can further accurately detect the presence of small animals or children, thereby preventing accidents from happening.

[0072] The image acquisition device can be a camera, video recorder or other device with image acquisition function. The environmental image of the vehicle can be a monitoring video collected in real time based on the current position of the stationary vehicle. The environmental image frame can be the latest frame in the monitoring video. The environmental image of the vehicle can be obtained in real time using real-time monitoring video.

[0073] In this embodiment, the preset area includes the area around the vehicle body and the bottom of the vehicle chassis. The area around the vehicle body includes the front, rear, and sides of the vehicle. For example, the area around the vehicle body includes a preset distance area in front of the vehicle, a preset distance area in rear of the vehicle, and a preset distance area in sides of the vehicle.

[0074] In this embodiment, sensing devices are respectively installed at the front, rear, and bottom sides of the vehicle. The sensing device at the front of the vehicle is used to sense the area within a preset distance in front of the vehicle, the sensing device at the rear of the vehicle is used to sense the area within a preset distance behind the vehicle, and the sensing devices on both sides of the bottom of the vehicle are used to sense the area within a preset distance to the sides of the vehicle and the bottom of the vehicle, respectively. This enables omnidirectional sensing of the area where the vehicle is located, accurately detecting obstacles and preventing small animals or children from being run over by the vehicle. To accurately sense the bottom of the vehicle, multiple sensing devices can be installed on the bottom, and the sensing angle and the distribution of the sensing area can be set according to the actual size of the vehicle. This application does not impose specific limitations on these aspects.

[0075] Step 103: When an obstacle is detected by radar and / or infrared sensors, determine the target obstacle information that obstructs vehicle passage based on the environmental image acquired by the image acquisition device; wherein, the perception information includes the environmental image, the information that the radar and / or infrared sensors detect an obstacle, and the target obstacle information includes the type and location of the target obstacle.

[0076] In this embodiment, the obstacle is an object that can block the vehicle's movement, or it can be an object with a volume larger than a preset volume. When the obstacle's volume is larger than the preset volume, it could be a small animal, a stone, a large object, or even a child. The preset area is the area around the vehicle body and the vehicle chassis, such as the front, rear, sides, and bottom of the vehicle. By detecting the area under and around the vehicle, objects affecting the vehicle's movement can be accurately detected, or children, small animals, etc., playing around or under the vehicle can be detected.

[0077] In this application embodiment, obstacle information includes, but is not limited to, obstacle type, obstacle location, and obstacle height. The obstacle type includes stationary obstacles and moving obstacles; stationary obstacles are fixed obstacles, such as traffic bollards, curbs, road railings, green belts, buildings, and roadside traffic booths; moving obstacles can be obstacles that travel along a pre-set planned path over time, such as pedestrians and animals, etc., which are not specifically limited in this application.

[0078] In this embodiment of the application, when an obstacle is detected by radar and / or infrared sensors, an environmental image is acquired by an image acquisition device, and the environmental image is analyzed and processed to obtain information about the target obstacle that obstructs the passage of vehicles.

[0079] Step 104: Based on the location of the target obstacle, output a warning strategy corresponding to the type of the target obstacle, so that the user can drive to avoid obstacles according to the warning strategy.

[0080] In this embodiment, different types of obstacles correspond to different warning strategies. When radar and / or infrared sensors detect an obstacle, the target obstacle information that obstructs vehicle passage is determined based on the environmental image collected by the image acquisition device. The perception information includes the environmental image, the information of the obstacle detected by the radar and / or infrared sensors, and the target obstacle information includes the type and location of the target obstacle. Based on the location of the target obstacle, a warning strategy corresponding to the type of the target obstacle is output so that the user can drive to avoid obstacles according to the warning strategy.

[0081] Reference Figure 3 , Figure 3 This is a schematic diagram illustrating the implementation process of a vehicle warning method provided in an embodiment of this application. The method can be executed by the vehicle's controller. The vehicle is equipped with an independently powered key detection module and sensing devices. Here, it will be combined with... Figure 3 The steps shown are explained below:

[0082] Step 201: When the vehicle is stationary, if the current key detected by the key detection module meets the vehicle power-on conditions, power on the vehicle and activate the obstacle detection function.

[0083] Step 202: Obtain the sensing information collected by the sensing device on a preset area of ​​the vehicle; wherein, the preset area includes the area around the vehicle body and the bottom of the vehicle chassis.

[0084] Step 203: Input the environmental image into the obstacle recognition model to obtain obstacle information in the environmental image. The obstacle information includes the type of each obstacle, the location of the obstacle, and the height of the obstacle.

[0085] In this embodiment, obstacle information can be obstacle feature information, such as the sharpness, size, category name, location, and height of the obstacle. When an obstacle obstructs passage, the environmental image of the vehicle captured by the image acquisition device can be input into the obstacle recognition model. The output of the obstacle recognition model can be the probability of determining the obstacle category. Based on the probability of the obstacle category, the category of the object in the vehicle's environmental image can be obtained. The obstacle category can be tree branches, wires, and barbed wire, or it can be a moving vehicle, person, or animal. For example, the probabilities of the obstacle's category can be compared to determine the category with the highest probability, the obstacle's location, and its height. This obstacle recognition model can be a deep neural network model, which can be pre-trained.

[0086] Step 204: Calculate the target distance between the vehicle and each obstacle based on the position of each obstacle and the obtained position of the vehicle; wherein the target distance includes at least one of the lateral distance, longitudinal distance and vertical distance between the vehicle and the obstacle.

[0087] In this embodiment, if the obstacle is a stationary obstacle that may scrape the vehicle chassis, the target distance includes the vertical distance in the Z-axis direction; if the obstacle is a stationary obstacle that may scrape the vehicle body, the target distance includes the longitudinal distance in the X-axis direction and the lateral distance in the Y-axis direction; if the obstacle is a moving obstacle, the target distance includes the longitudinal distance in the X-axis direction, the lateral distance in the Y-axis direction, and the vertical distance in the Z-axis direction. A spatial rectangular coordinate system is established with the vehicle center as the origin, the direction of the vehicle's front as the X-axis direction, the direction perpendicular to the front of the vehicle (to the left) as the Y-axis, and the direction perpendicular to the front of the vehicle (upward) as the Z-axis.

[0088] In this embodiment of the application, after inputting the environmental image into the obstacle recognition model to obtain obstacle information including the type, position and height of each obstacle in the environmental image, the target distance between the vehicle and each obstacle is calculated based on the position of each obstacle and the obtained position of the vehicle.

[0089] Step 205: Compare the target distance with a preset distance threshold corresponding to the type of obstacle, wherein the preset distance threshold includes the height of the obstacle.

[0090] In this embodiment of the application, different types of obstacles correspond to different preset distance thresholds. Comparing the target distance with the preset distance threshold corresponding to the type of obstacle can be understood as:

[0091] If the obstacle is a stationary obstacle that may scrape the vehicle body, compare the target distance with a first preset distance threshold; and / or,

[0092] If the obstacle is a stationary obstacle that may scrape the vehicle chassis, compare the target distance with the obstacle's height; and / or,

[0093] If the obstacle is a moving obstacle, the target distance is compared with a second preset distance threshold; wherein the first preset distance threshold is greater than the height of the obstacle and less than the second preset distance threshold.

[0094] In this embodiment of the application, if the type of obstacle is a stationary obstacle that may scrape the vehicle body, it indicates that the obstacle is located next to the vehicle and there is a possibility that it may scrape the vehicle body. The target distance, such as the lateral distance, is compared with the first preset distance threshold. If the target distance, such as the lateral distance or the longitudinal distance, is greater than the first preset distance threshold, it indicates that the obstacle will not scrape the vehicle body within the vehicle's pre-planned safe driving range.

[0095] In this embodiment of the application, if the type of obstacle is a stationary obstacle that may scrape the chassis of the vehicle, it indicates that the obstacle is located at the bottom of the vehicle and there is a possibility of scraping the chassis of the vehicle. The target distance, such as the vertical distance, is compared with the height of the obstacle. If the target distance, such as the vertical distance, is greater than the height of the obstacle, it indicates that the height of the obstacle is low, lower than the height of a typical vehicle chassis, and will not scrape the chassis of the vehicle within the pre-planned safe driving range.

[0096] In this embodiment, if the obstacle is a movable obstacle, it indicates that the obstacle may be relatively close to the vehicle. The target distance, such as lateral or longitudinal distance, is compared with a second preset distance threshold. If the target distance, such as lateral or longitudinal distance, is greater than the second preset distance threshold, it indicates that the obstacle is within the vehicle's pre-planned safe driving range and will not affect the vehicle's movement. It should be noted that because the vehicle's chassis is relatively low, movable obstacles have a higher priority. Therefore, the second preset distance threshold corresponding to the movable obstacle type must be greater than the first preset distance threshold, and the first preset distance threshold must be greater than the height of the obstacle.

[0097] Step 206: Determine the obstacles whose target distance is less than or equal to the preset distance threshold corresponding to the type of obstacle as target obstacles, and determine the obstacle information of the target obstacles as target obstacle information.

[0098] In this embodiment of the application, if the type of obstacle is a stationary obstacle that may scrape the vehicle body, it indicates that the obstacle is located next to the vehicle and there is a possibility that it may scrape the vehicle body. The target distance, such as the lateral distance, is compared with a first preset distance threshold. If the target distance, such as the lateral distance or the longitudinal distance, is less than or equal to the first preset distance threshold, it indicates that the obstacle will scrape the vehicle body. At this time, the obstacle is determined to be a target obstacle, and the target obstacle information of the target obstacle is obtained.

[0099] In this embodiment of the application, if the type of obstacle is a stationary obstacle that may scrape the chassis of the vehicle, it indicates that the obstacle is located at the bottom of the vehicle and there is a possibility of scraping the chassis of the vehicle. The target distance, such as the vertical distance, is compared with the height of the obstacle. If the target distance, such as the vertical distance, is less than or equal to the height of the obstacle, it indicates that the obstacle will scrape the chassis of the vehicle. At this time, the obstacle is determined to be the target obstacle, and the target obstacle information of the target obstacle is obtained.

[0100] In this embodiment of the application, if the obstacle is a moving obstacle, it indicates that the obstacle may be close to the vehicle. The target distance, such as the lateral distance or the longitudinal distance, is compared with a second preset distance threshold. If the target distance, such as the lateral distance or the longitudinal distance, is less than or equal to the second preset distance threshold, it indicates that the obstacle will affect the vehicle's driving. At this time, the obstacle is determined to be a target obstacle, and the target obstacle information of the target obstacle is obtained.

[0101] As described above, since there are multiple obstacles within the vehicle's preset area, at least one of the lateral, longitudinal, and vertical distances between the vehicle and each obstacle is determined based on the location of different obstacles. Then, different distance thresholds are set for different obstacle types, thereby comparing the target distance with the distance threshold corresponding to the obstacle type to determine whether the obstacle will hinder the vehicle's movement. This process identifies the target obstacle that has a significant impact on the vehicle's start from among multiple obstacles, and outputs a warning strategy corresponding to the target obstacle that has a significant impact on the vehicle's start to alert the user and prevent the vehicle from running over the obstacle after starting, thus effectively improving the safety of starting the vehicle and increasing the convenience for the user to start and drive the vehicle.

[0102] Step 207: Based on the location of the target obstacle, output a warning strategy corresponding to the type of the target obstacle, so that the user can drive to avoid obstacles according to the warning strategy.

[0103] In this embodiment, outputting a warning strategy corresponding to the type of the target obstacle based on its location can be achieved in the following way.

[0104] If the target obstacle is a stationary obstacle that may scrape the vehicle chassis and / or vehicle body, generate a radar scan alarm image containing the location of the target obstacle, and broadcast the alarm image of the vehicle chassis and / or vehicle body collected in real time by the image acquisition device, as well as display the radar scan alarm image.

[0105] If the target obstacle is a moving obstacle, a radar scan alarm image containing the real-time location of the target obstacle is generated. Then, voice broadcast, display of the alarm image containing the target obstacle collected in real time by the image acquisition device, display of the radar scan alarm image, control of the buzzer to sound at a preset sounding frequency, and control of the turn signal to flash at a preset flashing frequency are performed.

[0106] In one feasible scenario, if the target obstacle is a stationary obstacle that may scrape the vehicle chassis and / or vehicle body, a radar scan warning image containing the location of the target obstacle is generated, a voice announcement is made, and the real-time collected warning image of the vehicle chassis and / or vehicle body, as well as the radar scan warning image, are displayed on the vehicle's central control screen. Simultaneously, the obstacle is marked with a red box in the warning image. Exemplarily, this application embodiment provides a radar scan warning image containing the location of the target obstacle, referring to... Figure 4 As shown. If the target obstacle is a moving obstacle, a radar scan alarm image containing the real-time location of the target obstacle is generated. Simultaneously, while broadcasting voice alerts, displaying the alarm image containing the target obstacle acquired in real-time by the image acquisition device, and displaying the radar scan alarm image, a buzzer is controlled to sound at a preset frequency, and the turn signals are controlled to flash at a preset flashing frequency. The buzzer sounds at a frequency of 0.5 Hz, and the turn signals flash at a frequency of 180 milliseconds on and 180 milliseconds off. Because moving obstacles are considered to be mobile, the warning level is the highest. Thus, this embodiment of the application can set different warning strategies for different obstacle types, effectively avoiding traffic accidents caused by undetected obstacles in the vehicle's blind spots, improving the driver's success rate in avoiding obstacles, and thereby improving user safety when starting the vehicle.

[0107] In some embodiments, images and videos captured by the image acquisition device can also be saved as evidence for easy viewing by users.

[0108] Step 208: After the vehicle has started moving, obtain the vehicle's speed. If the speed is greater than or equal to the preset speed, turn off the obstacle detection function.

[0109] In this embodiment of the application, the preset driving speed is used to determine whether to turn off the obstacle detection function. For example, the preset driving speed can be any value between 6 and 10 kilometers per hour (km / h).

[0110] In this embodiment, the vehicle warning method provided is applied in a vehicle starting scenario. After the vehicle starts moving, to avoid power consumption, the vehicle's speed is compared with a preset speed. If the vehicle's speed is less than the preset speed, it indicates that the vehicle has started successfully but is moving slowly. In this case, the vehicle warning method provided can still alert the driver and pedestrians or animals around the vehicle. If the vehicle's speed is greater than or equal to the preset speed, it indicates that the vehicle has started successfully and is moving quickly. In this case, the vehicle warning method provided can not effectively alert the driver and pedestrians or animals around the vehicle. In this situation, the vehicle's obstacle detection function can be turned off to reduce power consumption and computational efficiency.

[0111] To better understand this application, the technical solutions of the above embodiments of this application will be further described in detail below with reference to a specific application example.

[0112] This application provides a vehicle warning method, referring to... Figure 5 As shown, this vehicle warning method can be implemented through the following steps:

[0113] Step 501: After bringing the vehicle key close to the vehicle, determine whether the key is the correct one for the vehicle.

[0114] Here, if it is determined that the vehicle key is the correct one for this vehicle, then proceed to step 502; if it is determined that the vehicle key is not the correct one for this vehicle, then no action is taken.

[0115] Here, when a vehicle key is detected approaching the vehicle, and the key detection duration exceeds a certain threshold, and the key identifier matches the vehicle's corresponding key identifier, the vehicle key is determined to be the vehicle's key, and the owner is deemed to have the intention to enter the vehicle. In this embodiment, the obstacle detection system is activated only after the vehicle detects the key, avoiding power loss to the low-voltage battery. To prevent false triggering of the system by pedestrians and additional power loss to the vehicle, the system needs to be preset based on the vehicle's key detection range. The system is activated only after a certain period of key detection to determine the owner's intention to enter the vehicle.

[0116] Step 502: If the vehicle key is confirmed to be the vehicle key, power on the vehicle to wake up the vehicle network and start the vehicle's infotainment system.

[0117] Step 503: Check if the vehicle's infotainment system starts normally.

[0118] If the vehicle's infotainment system fails to start normally, proceed to step 504; if the system starts normally, proceed to step 505.

[0119] Step 504: The vehicle sends information about the malfunction of the vehicle's infotainment system to the mobile phone via the cloud. The mobile phone screen displays a message indicating that the vehicle's infotainment system has a malfunction and requires manual inspection.

[0120] Step 505: Activate the obstacle detection system and detect obstacles around the vehicle.

[0121] Here, with the vehicle's infotainment system running normally, the obstacle detection system is activated. This system collects and processes perception information about obstacles around the vehicle. It should be noted that if the obstacle detection system fails to activate, the vehicle will send a malfunction message to the user's mobile phone via the cloud. The phone will then display a message indicating a malfunction in the vehicle's obstacle detection system and requesting manual inspection.

[0122] Here, the obstacle detection system detects obstacles around the vehicle by using a camera to capture images of the surrounding environment, performing logical judgments, and then alerting the driver based on the results. The warning status is divided into several states, with different warning prompts given in different scenarios.

[0123] When a vehicle detects a static obstacle in its vicinity, it determines whether the obstacle will obstruct the vehicle's movement, such as whether the obstacle is too close to the vehicle or whether there is a risk of scraping the chassis, and issues a routine warning.

[0124] When the vehicle detects dynamic obstacles around it, it needs to classify the obstacles roughly (such as animals, children, etc.). When it receives a signal from the car key, it determines that the owner is in the car, and issues an audio and text warning on the instrument panel, while also coordinating with the lighting system to alert the outside of the vehicle.

[0125] Step 506: If an obstacle is detected, output the warning information corresponding to the obstacle.

[0126] Here, when the vehicle detects a static obstacle that obstructs its movement, it issues a voice warning and displays a real-time image of the obstacle on the vehicle's infotainment system to alert the driver. When the vehicle detects a dynamic obstacle that obstructs its movement, it issues a voice warning, displays a real-time image of the obstacle on the vehicle's infotainment system, and alerts the driver and surrounding obstacles via flashing lights and a horn.

[0127] Step 507: When the vehicle's speed exceeds the preset speed, turn off the obstacle detection system.

[0128] Step 508: Preserve video evidence of obstacles with warning information.

[0129] Furthermore, embodiments of this application provide an obstacle detection system, which includes a sensing device, an in-vehicle terminal, and a video coaxial cable. The sensing device includes a surround-view camera and radar. For example, refer to... Figure 6 As shown, surround view cameras 601 and 602 are connected to the vehicle terminal 604 via video coaxial cable 603. Surround view cameras 601 and 602 collect image information of the environment around the vehicle, and then transmit the video to the vehicle terminal 604 via video coaxial cable 603. The vehicle terminal 604 uses image recognition to determine whether there are obstacles around the vehicle that may affect driving. If it determines that the obstacle is a person, animal or other obstacle, the vehicle terminal 604 sends a prompt that there is an obstacle around the vehicle to the mobile APP and the vehicle display screen, and provides a prompt to the driver when the vehicle is started.

[0130] As can be seen from the above, the obstacle detection system and vehicle warning method provided in this application embodiment are implemented by collecting camera images in the vehicle start-up scenario and then judging by the algorithm, so as to avoid driving accidents caused by the failure to detect obstacles in the vehicle's blind spot and improve the user's vehicle safety performance.

[0131] This application provides a vehicle warning system, referring to... Figure 7 As shown, Figure 7 This is a schematic diagram of a vehicle warning system provided in an embodiment of this application. The vehicle warning system 7 includes, wherein;

[0132] The key detection module 701 is used to detect whether the current key meets the vehicle power-on conditions when the vehicle is stationary. The control module 702 is used to power on the vehicle and start the obstacle detection function.

[0133] The sensing device 703 is used to collect sensing information from a preset area of ​​the vehicle; wherein the preset area includes the area around the vehicle body and the bottom of the vehicle chassis, and the sensing device includes radar, image acquisition equipment and infrared sensor.

[0134] The processing module 704 is used to determine the target obstacle information that obstructs the passage of a vehicle based on the environmental image acquired by the image acquisition device when the radar and / or infrared sensor detects an obstacle; wherein, the perception information includes the environmental image, the information that the radar and / or infrared sensor detects an obstacle, and the target obstacle information includes the type and location of the target obstacle.

[0135] The output module 705 is used to output a warning strategy corresponding to the type of the target obstacle based on the location of the target obstacle, so that the user can drive to avoid obstacles according to the warning strategy.

[0136] This application provides a vehicle, referring to... Figure 8As shown, the vehicle 8 includes a controller 801, which is configured to operate the vehicle according to the following method:

[0137] When the vehicle is stationary, if the current key detected by the key detection module meets the vehicle power-on conditions, the vehicle is powered on and the obstacle detection function is activated.

[0138] Obtain sensing information collected by sensing devices on a preset area of ​​the vehicle; wherein the preset area includes the area around the vehicle body and the bottom of the vehicle chassis.

[0139] When an obstacle is detected by radar and / or infrared sensors, the target obstacle information that obstructs vehicle passage is determined based on the environmental image acquired by the image acquisition device; wherein, the perception information includes the environmental image, the information of the obstacle detected by radar and / or infrared sensors, and the target obstacle information includes the type and location of the target obstacle.

[0140] Based on the location of the target obstacle, a warning strategy corresponding to the type of the target obstacle is output so that the user can drive to avoid obstacles according to the warning strategy.

[0141] This application provides a storage medium that stores one or more computer programs, which can be executed by one or more processors to implement some or all of the steps in the above-described method. The storage medium can be transient or non-transient.

[0142] This application provides a computer program including computer-readable code, wherein when the computer-readable code is executed in a computer device, a processor in the computer device performs some or all of the steps in the above-described method.

[0143] This application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program. When the computer program is read and executed by a computer, it implements some or all of the steps in the above-described method. This computer program product can be implemented specifically through hardware, software, or a combination thereof. In some embodiments, the computer program product is specifically embodied as a computer storage medium; in other embodiments, the computer program product is specifically embodied as a software product, such as a software development kit (SDK), etc.

[0144] It should be noted that the descriptions of the various embodiments above tend to emphasize the differences between them, while their similarities or commonalities can be referred to interchangeably. The descriptions of the above embodiments of the device, storage medium, computer program, and computer program product are similar to the descriptions of the above method embodiments and have similar beneficial effects. For technical details not disclosed in the embodiments of the device, storage medium, computer program, and computer program product of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0145] It should be noted that the descriptions of the storage medium and device embodiments above are similar to the descriptions of the method embodiments above, and have similar beneficial effects. For technical details not disclosed in the storage medium and device embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0146] The aforementioned processor can be at least one of the following: Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), Central Processing Unit (CPU), Controller, Microcontroller, and Microprocessor. It is understood that other electronic devices can also implement the functions of the aforementioned processor, and this application does not specifically limit the specific implementation.

[0147] The aforementioned computer storage media / memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM), etc.; or it can be various terminals that include one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0148] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this application, the sequence numbers of the above steps / processes do not imply a sequential order of execution; the execution order of each step / process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above embodiments of this application are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0149] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0150] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0151] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0152] In addition, each functional unit in the various embodiments of this application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0153] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0154] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence or the part that contributes to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an in-vehicle terminal (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, magnetic disks, or optical disks.

[0155] The above description is merely an embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes 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.

Claims

1. A vehicle early warning method, characterized in that, The vehicle is equipped with an independently powered key detection module and sensing devices, the sensing devices including radar, image acquisition equipment, and infrared sensors, and the method includes: When the vehicle is stationary and locked, if the current key detected by the key detection module meets the vehicle power-on conditions, the low-voltage system of the vehicle is powered on and the obstacle detection function is activated. Obtain sensing information collected by the sensing device on a preset area of ​​the vehicle; wherein the preset area includes the area around the vehicle body and the bottom of the vehicle chassis; When the radar and / or the infrared sensor detects an obstacle, the environmental image acquired by the image acquisition device is input into the obstacle recognition model to obtain obstacle information in the environmental image; wherein, the obstacle information includes various obstacle types, obstacle positions and obstacle heights, the obstacle types include stationary obstacles and moving obstacles, the stationary obstacles include a first stationary obstacle that may scrape the vehicle body and a second stationary obstacle that may scrape the vehicle chassis, and the perception information includes the environmental image and the information that the radar and / or the infrared sensor detects an obstacle; Based on the obtained vehicle position and the positions of each obstacle, the distance between the vehicle and each obstacle is calculated to obtain the target distance between the vehicle and each obstacle. The target distance includes at least one of the following: the lateral distance and longitudinal distance between the vehicle and the first stationary obstacle, the vertical distance between the vehicle and the second stationary obstacle, and the longitudinal distance, lateral distance and vertical distance between the vehicle and the moving obstacle. Obstacles whose target distance is less than or equal to a preset distance threshold corresponding to the obstacle type are identified as target obstacles; wherein, different obstacle types correspond to different preset distance thresholds; Based on the location of the target obstacle, a warning strategy corresponding to the type of the target obstacle is output so that the user can drive to avoid obstacles according to the warning strategy; wherein, the warning strategy configured for the moving obstacle is higher than the warning strategy configured for the stationary obstacle, and both the warning strategy configured for the moving obstacle and the warning strategy configured for the stationary obstacle include voice broadcast, display of warning images of the vehicle chassis and / or the vehicle body collected in real time by the image acquisition device, and display of the radar scan warning image.

2. The method according to claim 1, characterized in that, The step of detecting whether the current key meets the vehicle power-on conditions through the key detection module includes: The key detection module detects the key signal emitted by the current key, the duration of the detected key signal, and obtains the identifier of the target key corresponding to the vehicle; wherein the key signal carries the identifier of the current key. Determine whether the current key is near the vehicle based on the signal strength of the key signal; If the signal duration is greater than a preset duration, the current key is close to the vehicle, and the identifier of the current key matches the identifier of the target key, then the current key is determined to meet the vehicle's power-on conditions.

3. The method according to claim 1, characterized in that, The step of comparing the target distance with a preset distance threshold corresponding to the obstacle type includes: If the obstacle is a first stationary obstacle, the target distance is compared with a first preset distance threshold; and / or, If the obstacle is a second stationary obstacle, compare the target distance with the height of the obstacle; and / or, If the obstacle is a moving obstacle, the target distance is compared with a second preset distance threshold; wherein the first preset distance threshold is greater than the height of the obstacle and the first preset distance threshold is less than the second preset distance threshold.

4. The method according to any one of claims 1 to 3, characterized in that, The warning strategy for moving obstacles also includes: controlling the buzzer to sound at a preset sounding frequency, and controlling the turn signals to flash at a preset flashing frequency.

5. The method according to any one of claims 1 to 3, characterized in that, The method further includes: After the vehicle has started moving, its speed is obtained. If the speed is greater than or equal to a preset speed, the obstacle detection function is turned off.

6. The method according to any one of claims 1 to 3, characterized in that, The step of powering on the vehicle's low-voltage system and activating the obstacle detection function includes: Power on the low-voltage system of the vehicle to wake up the vehicle network for vehicle startup and check whether the vehicle startup is normal. If the vehicle system starts normally, the obstacle detection function is activated to output the warning strategy on the display interface of the vehicle system; If the vehicle infotainment system fails to start, a vehicle infotainment system fault message is sent to the terminal device connected to the vehicle.

7. A vehicle warning system, characterized in that, The system includes: The key detection module is used to detect whether the current key meets the vehicle's power-on requirements when the vehicle is stationary and locked. The control module is used to power on the low-voltage system of the vehicle and activate the obstacle detection function; A sensing device is used to collect sensing information from a preset area of ​​the vehicle; wherein the preset area includes the area around the vehicle body and the bottom of the vehicle chassis, and the sensing device includes radar, image acquisition equipment and infrared sensor. The processing module is configured to, when the radar and / or the infrared sensor detects an obstacle, input the environmental image acquired by the image acquisition device into the obstacle recognition model to obtain obstacle information in the environmental image; wherein, the obstacle information includes various obstacle types, obstacle positions, and obstacle heights; the obstacle types include stationary obstacles and moving obstacles; the stationary obstacles include a first stationary obstacle that may scrape the vehicle body and a second stationary obstacle that may scrape the vehicle chassis; the perception information includes the environmental image and information on the obstacles detected by the radar and / or the infrared sensor; according to The obtained vehicle position and obstacle positions are used to calculate the distance between the vehicle and each obstacle, resulting in a target distance between the vehicle and each obstacle. The target distance includes at least one of the following: the lateral and longitudinal distances between the vehicle and a first stationary obstacle, the vertical distance between the vehicle and a second stationary obstacle, and the longitudinal, lateral, and vertical distances between the vehicle and a moving obstacle. Obstacles whose target distance is less than or equal to a preset distance threshold corresponding to their obstacle type are identified as target obstacles. The preset distance thresholds differ for different obstacle types. The output module is used to output a warning strategy corresponding to the type of the target obstacle based on the location of the target obstacle, so that the user can drive to avoid obstacles according to the warning strategy; wherein, the warning strategy configured for the moving obstacle is higher than the warning strategy configured for the stationary obstacle, and both the warning strategy configured for the moving obstacle and the warning strategy configured for the stationary obstacle include voice broadcast, display of warning images of the vehicle chassis and / or the vehicle body collected in real time by the image acquisition device, and display of the radar scan warning image.

8. A vehicle, characterized in that, The vehicle includes a controller; wherein... The controller is configured to operate the vehicle in accordance with the vehicle warning method as described in any one of claims 1 to 6.

9. A storage medium, characterized in that, The storage medium stores one or more computer programs, which can be executed by one or more processors to implement the vehicle warning method as described in any one of claims 1 to 6.

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