Collision warning method and device, automobile and medium

Abstract

The embodiment of the application discloses a collision warning method and device, a car and a medium, and belongs to the technical field of cars. The method comprises the following steps: detecting obstacles in the area where the first car is located to obtain first position information; receiving second position information sent by a second car; in the case that the first car is in a reversing state, determining the distance between the first car and surrounding obstacles based on the first position information and the second position information; and performing collision warning based on the distance between the first car and the surrounding obstacles. The application makes the first car determine the surrounding obstacles of the first car as much as possible, and then determines whether the first car collides with the surrounding obstacles according to the distance between the first car and the surrounding obstacles, and then performs collision warning to avoid the collision of the first car in the reversing process, ensures the accuracy of the collision warning, and then reduces the frequency of the reversing collision accident.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of automobiles, and in particular, to a collision warning method and device, an automobile, and a medium. BACKGROUND

[0002] With the rapid development of the automobile industry, the use of automobiles is becoming higher and higher, and the resulting traffic problems are becoming a major concern. Among them, the frequency of reversing accidents is extremely high. Therefore, the current automobile is equipped with a reversing radar to detect obstacles through the reversing radar to warn of a collision to reduce the occurrence of reversing accidents. However, the current collision warning method is still not accurate enough, resulting in a high frequency of reversing collision accidents. SUMMARY

[0003] Embodiments of the present application provide a collision warning method, device, automobile, and medium, which can improve the accuracy of collision warning. The technical solution is as follows:

[0004] On the one hand, a collision warning method is provided, which is executed by a first automobile, and the method comprises:

[0005] detecting obstacles in the area where the first automobile is located to obtain first position information, the first position information indicating the position of the first automobile and the position of the obstacles detected by the first automobile;

[0006] receiving second position information sent by a second automobile, the second automobile being an automobile with a distance from the first automobile not greater than a threshold, the second position information indicating the position of the second automobile and the position of the obstacles detected by the second automobile;

[0007] in a case where the first automobile is in a reversing state, determining the distance between the first automobile and the surrounding obstacles based on the first position information and the second position information;

[0008] warning of a collision based on the distance between the first automobile and the surrounding obstacles.

[0009] On the other hand, a collision warning device is provided, which is configured in a first automobile, and the device comprises:

[0010] a detection module configured to detect obstacles in the area where the first automobile is located to obtain first position information, the first position information indicating the position of the first automobile and the position of the obstacles detected by the first automobile;

[0011] receive a second location information sent by a second vehicle, the second vehicle being a vehicle with a distance to the first vehicle not greater than a threshold, the second location information indicating a position of the second vehicle and a position of an obstacle detected by the second vehicle;

[0012] determine a distance between the first vehicle and a surrounding obstacle based on the first location information and the second location information, in a case that the first vehicle is in a reverse state;

[0013] warn of a collision based on the distance between the first vehicle and the surrounding obstacle.

[0014] In a possible implementation, the detection module is configured to, in a case that the first vehicle has started, detect an obstacle in a region where the first vehicle is located to obtain the first location information; or, in response to a state of the first vehicle being switched to the reverse state, detect an obstacle in the region where the first vehicle is located to obtain the first location information.

[0015] In another possible implementation, the receiving module is configured to, in a case that the first vehicle is in the reverse state, receive the second location information sent by the second vehicle; or, in a case that the first vehicle has started, receive the second location information sent by the second vehicle.

[0016] In another possible implementation, the receiving module is configured to, in a case that a distance between the first vehicle and the second vehicle is not greater than a threshold, establish a communication connection between the first vehicle and the second vehicle; and based on the communication connection, receive the second location information sent by the second vehicle.

[0017] In another possible implementation, the receiving module is configured to, in a case that the first vehicle is in a target region, in response to a state of the first vehicle being switched to the reverse state, query a binding relationship of the first vehicle, the binding relationship indicating a vehicle that has been bound to the first vehicle; based on the binding relationship, send an information acquisition request to the second vehicle that has been bound, the information acquisition request being used to request location information detected by the second vehicle; and receive the second location information sent by the second vehicle.

[0018] In another possible implementation, the apparatus further includes:

[0019] The detection module is further configured to detect communication data broadcast by a vehicle surrounding the first vehicle, the communication data being used to communicate with the vehicle broadcasting the communication data.

[0020] The broadcast module is configured to, in response to a relationship binding operation for target communication data, send a relationship binding request to a target vehicle broadcasting the target communication data, the target communication data being any communication data detected by the first vehicle, the relationship binding request being used to request to establish a binding relationship with the target vehicle.

[0021] The generation module is configured to, in response to receiving the consent notification returned by the target vehicle, generate the binding relationship between the first vehicle and the target vehicle.

[0022] In another possible implementation, the information acquisition request instructs the second vehicle to perform obstacle detection and return detected position information, and the second vehicle is configured to, in response to the information acquisition request, perform obstacle detection on an area where the second vehicle is located to obtain the second position information, in a case where the first vehicle has a binding relationship with the second vehicle.

[0023] In another possible implementation, the distance between the first vehicle and the surrounding obstacle includes a distance between a door of the first vehicle and the surrounding obstacle, and the device further includes:

[0024] The output module is configured to output target early warning information in a case where the distance between the door of the first vehicle and any obstacle is less than a target distance, the target distance being a distance required for the door to be opened, and the target early warning information indicating that the distance between the door and the surrounding obstacle is less than the target distance.

[0025] In another possible implementation, the door is a door of the first vehicle that is opposite to a driver seat, and the obstacle includes a third vehicle, and the output module is configured to, in a case where the distance between the door and the third vehicle is less than the target distance, query locally-stored travel data, the travel data including a travel time of the first vehicle and a travel time of the third vehicle, and output the target early warning information in a case where the travel time of the first vehicle is later than the travel time of the third vehicle.

[0026] In still another aspect, a vehicle is provided, and the vehicle includes a processor and a memory, the memory storing at least one computer program, the at least one computer program being loaded and executed by the processor to implement operations performed by the collision early warning method in the above aspect.

[0027] In still another aspect, a computer-readable storage medium is provided, and the computer-readable storage medium stores at least one computer program, the at least one computer program being loaded and executed by a processor to implement operations performed by the collision early warning method in the above aspect.

[0028] The scheme provided by the embodiments of the present application can be used in the reversing scene. The first vehicle can detect the obstacles in the area where the first vehicle is located to obtain position information. Considering that there may be a blind area when the first vehicle detects the obstacles around the first vehicle, which results in the existence of obstacles around the first vehicle that are not detected by the first vehicle, and the distance between the second vehicle and the first vehicle is not greater than a threshold value, which indicates that the second vehicle is close to the first vehicle, when the second vehicle detects the obstacles in the area where the second vehicle is located, the second vehicle may detect the obstacles around the first vehicle that are not detected by the first vehicle. Therefore, the first vehicle receives the second position information sent by the second vehicle, which enriches the obtained position information, realizes the information sharing between different vehicles, makes the first vehicle determine the obstacles around the first vehicle as much as possible, and further determines whether the first vehicle collides with the obstacles around the first vehicle according to the distance between the first vehicle and the obstacles around the first vehicle, and further performs a collision warning to avoid the collision of the first vehicle in the reversing process, ensures the accuracy of the collision warning, and further reduces the frequency of the reversing collision accidents. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0030] Figure 1 is a flowchart of a collision warning method provided by the embodiments of the present application;

[0031] Figure 2 is a flowchart of another collision warning method provided by the embodiments of the present application;

[0032] Figure 3 is a flowchart of another collision warning method provided by the embodiments of the present application;

[0033] Figure 4 is a structural schematic diagram of a vehicle provided by the embodiments of the present application;

[0034] Figure 5 is a schematic diagram of communication between vehicles provided by the embodiments of the present application;

[0035] Figure 6 is a structural schematic diagram of a collision warning module provided by the embodiments of the present application;

[0036] Figure 7 is a structural schematic diagram of another collision warning module provided by the embodiments of the present application. DETAILED DESCRIPTION

[0037] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the following further describes the embodiments of the present application in conjunction with the drawings.

[0038] The terms "first", "second", and the like as used herein can be used to describe various concepts, but unless specifically stated, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another concept. For example, a first car can be referred to as a second car without departing from the scope of the present application, and similarly, a second car can be referred to as a first car.

[0039] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data for analysis, stored data, displayed data, etc.) and signals involved in the present application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards of relevant countries and regions. For example, the location information involved in the present application is obtained under sufficient authorization.

[0040] Figure 1 is a flowchart of a collision warning method provided by an embodiment of the present application, which is executed by a first car, as shown in Figure 1 The method comprises the following steps.

[0041] 101. The first car detects obstacles in the area where the first car is located to obtain first position information, the first position information indicating the position of the first car and the position of the obstacles detected by the first car.

[0042] In the embodiments of the present application, in the reversing scenario, considering that the obstacles in the area where the first car is located may collide with the first car, the area where the first car is located is detected for obstacles to determine the positions of the obstacles around the first car, so that the first car can subsequently perform collision warning based on the positions of the obstacles around the first car to avoid collision of the first car during reversing.

[0043] The obstacles can be any type of obstacles, for example, the obstacles are buildings, roadblocks or other cars, etc. The area where the first car is located can be any type of area, for example, the area where the first car is located is a circular area centered on the position where the first car is located, or a sector area with the position where the first car is located as the apex.

[0044] 102. The first car receives second position information sent by a second car, the second car being a car with a distance from the first car not greater than a threshold, the second position information indicating the position of the second car and the position of the obstacles detected by the second car.

[0045] In the embodiment of the present application, the second vehicle can also detect the obstacles in the area where the second vehicle is located to obtain the second position information. Considering that the first vehicle may have a blind area when detecting the surrounding obstacles, resulting in the existence of obstacles around the first vehicle that are not detected by the first vehicle, and the distance between the second vehicle and the first vehicle is not greater than the threshold value, indicating that the second vehicle is close to the first vehicle, the second vehicle can detect the obstacles around the first vehicle that are not detected by the first vehicle. Therefore, the second position information sent by the second vehicle is received, and information sharing between different vehicles is realized, so that the first vehicle can accurately determine the positions of the obstacles around the first vehicle in the future.

[0046] The threshold value is an arbitrary numerical value, for example, the threshold value is a detection distance corresponding to a reversing radar on the vehicle, and the vehicle detects obstacles through the reversing radar. For another example, the vehicles communicate in a short-distance communication manner, and the threshold value is the maximum distance of the short-distance communication.

[0047] It should be noted that the manner in which the second vehicle obtains the second position information is the same as the manner in which the first vehicle obtains the first position information in the present application, and will not be described here.

[0048] 103. The first vehicle determines the distance between the first vehicle and the surrounding obstacles based on the first position information and the second position information when the first vehicle is in a reversing state.

[0049] In the embodiment of the present application, the first vehicle is in a reversing state, indicating that the first vehicle is reversing, and the distance between the first vehicle and the surrounding obstacles is determined based on the first position information and the second position information, so that whether the first vehicle will collide with the surrounding obstacles during the reversing process can be determined in the future.

[0050] The surrounding obstacles refer to the obstacles around the first vehicle, for example, the surrounding obstacles of the first vehicle include the second vehicle, the obstacles detected by the first vehicle, and the obstacles detected by the second vehicle.

[0051] 104. The first vehicle performs collision warning based on the distance between the first vehicle and the surrounding obstacles.

[0052] In the embodiment of the present application, when the first vehicle is in a reversing state, whether the first vehicle will collide with the surrounding obstacles can be determined based on the distance between the first vehicle and the surrounding obstacles, and collision warning is performed to avoid the collision of the first vehicle during the reversing process.

[0053] The scheme provided in the embodiments of the present application can be used in the reversing scene. The first vehicle can detect the obstacles in the area where the first vehicle is located, and obtain the position information. Considering that there may be a blind area when the first vehicle detects the obstacles around the first vehicle, which results in the existence of obstacles around the first vehicle that are not detected by the first vehicle, and the distance between the second vehicle and the first vehicle is not greater than a threshold value, which indicates that the second vehicle is close to the first vehicle, when the second vehicle detects the obstacles in the area where the second vehicle is located, the second vehicle may detect the obstacles around the first vehicle that are not detected by the first vehicle. Therefore, the first vehicle receives the second position information sent by the second vehicle, which enriches the obtained position information, realizes the information sharing between different vehicles, makes the first vehicle determine the obstacles around the first vehicle as much as possible, and further determines whether the first vehicle collides with the obstacles around the first vehicle according to the distance between the first vehicle and the obstacles around the first vehicle, and further performs collision warning to avoid the collision of the first vehicle in the reversing process, ensures the accuracy of the collision warning, and further reduces the frequency of the reversing collision accidents.

[0054] On the basis of the embodiments shown in the above Figure 1 The embodiments of the present application can also detect the obstacles in the area where the vehicle is located when the vehicle starts, and can receive the position information shared by other vehicles, so as to perform collision warning when the vehicle reverses. The specific process is shown in the following embodiments.

[0055] Figure 2 FIG. 1 is a flowchart of a collision warning method provided by the embodiments of the present application. The method is performed by a first vehicle. As shown in FIG. 1, the method comprises the following steps. Figure 2

[0056] 201. The first vehicle detects the obstacles in the area where the first vehicle is located when the first vehicle has started, and obtains first position information. The first position information indicates the position of the first vehicle and the position of the obstacles detected by the first vehicle.

[0057] In the embodiments of the present application, when the first vehicle has started, the first vehicle can detect the obstacles in the area where the first vehicle is located, to determine the position of the first vehicle and the position of the obstacles around the first vehicle, so as to timely use the detected position information to perform collision warning when the first vehicle reverses later, and ensure the real-time performance of the collision warning.

[0058] In a possible implementation manner, the first position information indicates the position of the first vehicle, the moving speed of the first vehicle, the moving direction of the first vehicle, the position of the obstacles detected by the first vehicle, the moving direction of the position of the obstacles detected by the first vehicle, and the moving speed of the obstacles detected by the first vehicle.

[0059] ​The obstacle detected by the first automobile can be moving or not moving. For the obstacle not moving, the moving direction of the obstacle not moving is null, and the moving speed of the obstacle not moving is 0.

[0060] In a possible implementation, the first automobile is provided with a reversing radar, and the obstacle detection process includes: when the first automobile is started, the first automobile detects the area where the first automobile is located by using the reversing radar.

[0061] The reversing radar can be any type of sensor, for example, an ultrasonic radar sensor, a millimeter wave radar sensor, an infrared sensor, etc. The millimeter wave radar has higher accuracy and a longer detection range.

[0062] In the embodiment, the first automobile is provided with one or more reversing radars, and different reversing radars can detect different areas. For example, the parking space of the first automobile is provided with a reversing radar, and the reversing radar can detect the area behind the parking space of the first automobile. When the first automobile is started, the reversing radar is powered on, and the reversing radar can be used to detect the obstacle, so as to ensure the accuracy of the obstacle detection.

[0063] It should be noted that the embodiment is described by taking the first automobile detecting the area where the first automobile is located as an example. In another embodiment, the step 201 is not performed, and other ways are used to detect the area where the first automobile is located to obtain the first position information. In a possible implementation, the process of obtaining the first position information includes: in response to the state of the first automobile being switched to a reversing state, detecting the area where the first automobile is located to obtain the first position information.

[0064] In the embodiment, the position of the obstacle around the first automobile is obtained only when the first automobile is in the reversing state. Therefore, the area where the first automobile is located is detected only when the first automobile is in the reversing state, and the first automobile does not need to detect the area where the first automobile is located in real time, so that the detection frequency of the first automobile is reduced, and the loss of the first automobile in the obstacle detection is saved.

[0065] 202. When the first automobile is started, the first automobile receives second position information sent by a second automobile, the second automobile is an automobile with a distance from the first automobile not greater than a threshold, and the second position information indicates the position of the second automobile and the position of an obstacle detected by the second automobile.

[0066] In the embodiment of the present application, the first vehicle can not only detect the obstacles in the area where the first vehicle is located, but also receive the position information sent by other vehicles in the vicinity, so that the detected position information can be used for collision warning in a timely manner when the first vehicle backs up, and the real-time performance of the collision warning is ensured.

[0067] In a possible implementation, the process of receiving the second position information sent by the second vehicle includes: the second vehicle broadcasts the second position information to the surroundings when the second position information is obtained, and the first vehicle receives the second position information broadcast by the second vehicle when the first vehicle enters the broadcast range of the second vehicle.

[0068] In the embodiment of the present application, each vehicle can detect the obstacles in the area where the vehicle is located, and can broadcast the detected position information to the surroundings, so that the detected position information can be shared with other vehicles in the vicinity. In addition, the broadcast range of each vehicle is the range in which the position information broadcast by the vehicle can be received, that is, the first vehicle can only receive the position information broadcast by the second vehicle when the first vehicle is in the broadcast range of the second vehicle. Therefore, once the first vehicle enters the broadcast range of the second vehicle, the second position information broadcast by the second vehicle can be received, and an information sharing mode is realized, and the convenience of information sharing is ensured.

[0069] In a possible implementation, the process of receiving the second position information sent by the second vehicle includes: establishing a communication connection between the first vehicle and the second vehicle when the distance between the first vehicle and the second vehicle is not greater than a threshold value; and receiving the second position information sent by the second vehicle based on the communication connection.

[0070] In the embodiment of the present application, the threshold value corresponds to the maximum distance at which a communication connection can be established between two vehicles. Once the distance between the first vehicle and the second vehicle is not greater than the threshold value, the first vehicle can establish a communication connection with the second vehicle, and interact with the second vehicle after the communication connection is established to obtain the second position information sent by the second vehicle. An information sharing mode is realized, and the maximum distance at which a communication connection is established is set. In this way, the information sharing between vehicles is ensured, and only vehicles that are close enough to each other can share information, so as to avoid the situation that the obstacles indicated by the position information shared by vehicles that are far away from each other have no effect on the first vehicle during the backing-up process of the first vehicle, and to reduce the transmission of position information and ensure the accuracy of position information acquisition.

[0071] Optionally, the process of establishing the communication connection includes: the second vehicle broadcasts a signal to the surroundings, and the first vehicle automatically establishes the communication connection with the second vehicle when the first vehicle receives the signal broadcast by the second vehicle.

[0072] In the embodiment of the present application, each car can broadcast a signal to the surroundings, so that any other car receiving the signal can automatically establish a communication connection with the car broadcasting the signal.

[0073] It should be noted that the embodiment of the present application takes the first car receiving the second position information in the started state as an example for illustration, and in another embodiment, the above step 202 need not be performed, and other ways are adopted to receive the second position information sent by the second car. In a possible implementation manner, the process of receiving the second position information sent by the second car includes: receiving the second position information sent by the second car in the case that the first car is in the reversing state.

[0074] In the embodiment of the present application, since the first car needs to determine the position of the surrounding obstacle only in the reversing state, the second position information sent by the second car is received only in the case that the first car is in the reversing state, and the first car need not receive the position information sent by other cars in real time, thereby reducing the communication loss.

[0075] It should be noted that the embodiment of the present application takes the first car receiving the second position information sent by the second car as an example for illustration, and in another embodiment, the first car can receive the position information sent by each car whose distance from the first car is not greater than a threshold, and the position information sent by each car indicates the position of the car and the position of the obstacle detected by the car.

[0076] It should be noted that the embodiment of the present application takes the first car receiving the second position information sent by the second car as an example for illustration, and in another embodiment, each car that has been started can detect the obstacle in the area where the car is located to obtain position information, and can adopt a broadcasting manner to synchronize the position information to the nearby cars, so as to realize the sharing of the position information between different cars.

[0077] 203. The first car determines the distance between the first car and the surrounding obstacle based on the first position information and the second position information in the case that the first car is in the reversing state.

[0078] In a possible implementation manner, the step 203 includes: the first car constructs a virtual map based on the first position information and the second position information in the case that the first car is in the reversing state, the virtual map including the first car and the obstacle around the first car, and the distance between the first car and the surrounding obstacle is determined based on the virtual map.

[0079] In the embodiment of the present application, the first position information indicates the position of the first vehicle and the position of the obstacle detected by the first vehicle, and the second position information indicates the position of the second vehicle and the position of the obstacle detected by the second vehicle. Therefore, the virtual map is constructed based on the first position information and the second position information, so that the surrounding obstacle of the first vehicle can be more accurately indicated based on the virtual map, thereby ensuring the accuracy of subsequent collision warning.

[0080] Optionally, the first vehicle displays the virtual map. In the embodiment of the present application, the first vehicle displays the virtual map, so that the driver can view the virtual map and know the obstacle around the first vehicle, thereby controlling the vehicle to avoid the obstacle during reversing.

[0081] 204. The first vehicle performs collision warning based on the distance between the first vehicle and the surrounding obstacle.

[0082] In a possible implementation, the step 204 includes: determining a first distance based on the distance between the first vehicle and the surrounding obstacle, the first distance being the minimum distance among the distances between the first vehicle and the surrounding obstacle; determining a target distance interval containing the first distance from a plurality of distance intervals; and outputting collision warning information corresponding to the target distance interval.

[0083] In the embodiment of the present application, different distance intervals correspond to different collision warning information, and different distance intervals can reflect the collision risk level of the first vehicle. The smaller the distance contained in the distance interval, the higher the collision risk level of the vehicle. The larger the distance contained in the distance interval, the lower the collision risk level of the vehicle. Then, the corresponding collision warning information is outputted, so as to realize collision warning of different collision risks.

[0084] The collision warning information can be represented in any form, for example, in the form of sound, or in the form of image, or in the form of vibration.

[0085] For example, during reversing of the vehicle, the distance between the vehicle and the obstacle is different, and the vehicle outputs different degrees of collision warning, so that the driver can know the distance between the vehicle and the obstacle through the collision warning outputted by the vehicle, thereby ensuring the convenience of providing reversing assistance for the driver.

[0086] In a possible implementation, the position information further indicates the moving speed and moving direction of the car and the obstacle, and the process of the collision warning comprises: the first car, in the case of being in the reversing state, determines the distance between the first car and the surrounding obstacle, the moving speed and moving direction of the first car, and the moving speed and moving direction of the surrounding obstacle in real time based on the first position information and the second position information; and the collision warning is performed based on the distance between the first car and the surrounding obstacle, the moving speed and moving direction of the first car, and the moving speed and moving direction of the surrounding obstacle.

[0087] In the embodiment of the application, whether the first car collides with the obstacle during the reversing process is related to not only the distance between the first car and the obstacle, but also the moving speed and moving direction of the first car and the moving speed and moving direction of the surrounding obstacle. For example, the first car is reversing, there is a moving car behind the first car, the first car is reversing at a slow speed, the car behind the first car is moving at a fast speed, and the moving direction of the first car is perpendicular to the moving direction of the car behind the first car. It is predicted that when the first car moves to the position of the car behind the first car, the car behind the first car may have moved away from the first car. Therefore, it can be determined that the first car does not collide with the car behind the first car, and the collision warning is not performed.

[0088] The scheme provided in the embodiment of the application enables the first car to detect the obstacles in the region where the first car is located and obtain the position information in the reversing scenario. It is considered that there may be a blind area when the first car detects the surrounding obstacles, resulting in the existence of an obstacle around the first car that is not detected by the first car. The distance between the second car and the first car is not greater than the threshold value, indicating that the second car is close to the first car. Therefore, when the second car detects the obstacles in the region where the second car is located, the second car may detect the obstacle around the first car that is not detected by the first car. Therefore, the first car receives the second position information sent by the second car, enriches the obtained position information, realizes the information sharing between different cars, enables the first car to determine the surrounding obstacles of the first car as much as possible, and further determines whether the first car collides with the surrounding obstacles according to the distance between the first car and the surrounding obstacles, and further performs the collision warning to avoid the collision of the first car during the reversing process, ensures the accuracy of the collision warning, and further reduces the frequency of the reversing collision accidents.

[0089] On the basis of the embodiment shown in the above Figure 1 On the basis of the embodiment shown in the above

[0090] Figure 3 is a flowchart of a collision warning method provided in the embodiment of the application. The method is performed by a first car, as shown in Figure 3 The method comprises the following steps.

[0091] 301. The first vehicle performs obstacle detection on a region where the first vehicle is located, to obtain first position information, the first position information indicating a position of the first vehicle and a position of an obstacle detected by the first vehicle.

[0092] The step 301 is the same as the step 101 described above, and thus will not be described here.

[0093] 302. In a case where the first vehicle is in a target region, the first vehicle queries a binding relationship of the first vehicle in response to a state of the first vehicle being switched to a reversing state, the binding relationship indicating a vehicle that has been bound to the first vehicle.

[0094] In the embodiments of the present application, the vehicle can only request position information from a vehicle having a binding relationship, and thus, the target region is a region set by the first vehicle, vehicles in the target region have stability, and since the first vehicle only needs to obtain position information detected by other vehicles in a case of reversing, the binding relationship of the first vehicle is queried only in a case where the first vehicle is in the target region in response to the state of the first vehicle being switched to the reversing state, so as to determine which vehicle has been bound, and it is not necessary to query the binding relationship in each region, so as to ensure efficiency of obtaining position information.

[0095] The target region is any region, for example, the target region is a region set by the first vehicle. For example, the target region is a parking lot of any cell, and vehicles parked in the parking lot are usually vehicles of drivers in the cell. The binding relationship can be represented in any form, for example, the binding relationship is represented in the form of text. Alternatively, the binding relationship includes a vehicle identifier of a vehicle that has been bound to the first vehicle.

[0096] In a possible implementation manner, a process of generating the binding relationship includes: detecting communication data broadcast by a vehicle around the first vehicle, the communication data being used for communication with the vehicle broadcasting the communication data; in response to a relationship binding operation on target communication data, sending a relationship binding request to a target vehicle broadcasting the target communication data, the target communication data being any communication data detected by the first vehicle, the relationship binding request being used for requesting to establish a binding relationship with the target vehicle; and in response to receiving a consent notification returned by the target vehicle, generating the binding relationship between the first vehicle and the target vehicle.

[0097] In the embodiment of the present application, each car can broadcast communication data around in the case of starting, so that other cars receive the communication data and establish a communication connection with the car. In the case that the first car detects the communication data broadcasted by the surrounding car, the first car can initiate a relationship binding request for any communication data, so as to generate a binding relationship in the case that the other car agrees, thereby ensuring that the binding relationship is generated in the case that both drivers agree, so as to ensure the accuracy and safety of the binding relationship, and further ensure the safety of subsequent information transmission.

[0098] The communication data can be in any form, for example, the communication data includes a car identifier of the car.

[0099] For example, the first car detects the communication data broadcasted by the surrounding car, and displays the detected communication data. The driver can view the communication data displayed by the first car. Each communication data represents a car. The driver can trigger a binding relationship request for any communication data through the first car. For example, the driver initiates a relationship binding request for target communication data and a target car. The target car can display the binding relationship request, so that the driver of the target car can trigger a corresponding operation on the binding relationship request through the target car, such as displaying the binding relationship request and displaying an agree option and a reject option. The driver triggers a trigger operation on the agree option through the target car. The target car sends an agree notification to the first car. The first car generates a binding relationship between the first car and the target car and stores it. Meanwhile, the target car generates a binding relationship with the first car and stores it. The driver triggers a trigger operation on the reject option through the target car. The target car sends a reject notification to the first car. The first car displays the reject notification, so that the driver can know that the other party disagrees. The first car no longer generates a binding relationship with the target car.

[0100] 303. The first car sends an information acquisition request to the bound second car based on the binding relationship. The information acquisition request is used to request position information detected by the second car. The second car is a car whose distance from the first car is not greater than a threshold.

[0101] In the embodiment of the present application, the first car sends an information acquisition request to the second car with a binding relationship to acquire position information detected by the second car, so as to assist the first car in reversing by using the acquired position information.

[0102] 304. The first car receives second position information sent by the second car. The second position information indicates a position of the second car and a position of an obstacle detected by the second car.

[0103] In a possible implementation, the information acquisition request instructs the second vehicle to perform obstacle detection and return the detected position information, and the process in which the second vehicle returns the second position information includes: the second vehicle, in response to the information acquisition request, performs obstacle detection on a region where the second vehicle is located to obtain the second position information in a case where the first vehicle and the second vehicle have a binding relationship, and sends the second position information to the first vehicle.

[0104] In the embodiment of the application, when the first vehicle sends the information acquisition request to the second vehicle, the second vehicle may not have performed obstacle detection on the region where the second vehicle is located. Therefore, the information acquisition request sent by the first vehicle to the second vehicle is equivalent to a request for the second vehicle to perform obstacle detection and return the detected position information, so that the first vehicle controls the second vehicle to perform obstacle detection, and the second vehicle only needs to perform obstacle detection when position information is needed, so as to save resources consumed by the second vehicle in acquiring the position information.

[0105] In the embodiment of the application, the second vehicle can query the locally stored binding relationship in a case where the information acquisition request is received, so as to verify the information acquisition request, so that the second vehicle responds to the information acquisition request only in a case where the verification is passed, so as to ensure the security of information interaction.

[0106] Optionally, the communication module is installed in each of the first vehicle and the second vehicle, and in a case where the first vehicle or the second vehicle is not started, the communication module is in a standby state and can receive information sent by another communication module. The process in which the second vehicle acquires the second position information includes: in a case where the second vehicle is not started, the communication module of the second vehicle receives the information acquisition request sent by the first vehicle, and in a case where the first vehicle and the second vehicle have a binding relationship, the back-up radar of the second vehicle is activated, and the region where the second vehicle is located is detected by the back-up radar to obtain the second position information.

[0107] In the embodiment of the application, the vehicle can interact with the communication module in another vehicle through the communication module in a case where the vehicle is not started, and the back-up radar of the vehicle can be activated in a case where the vehicle is not started, so that the back-up radar is powered on and the position information is acquired, so as to provide assistance for the vehicle to back up, so that the vehicle controls another vehicle, and the feasibility of information sharing is ensured.

[0108] It should be noted that the embodiment of the application is described by taking the first vehicle as an example to request position information from the second vehicle having a binding relationship, and in another embodiment, the steps 302-303 are not performed, and the second position information sent by the second vehicle is received in another way.

[0109] 305、the first vehicle determines a distance between the first vehicle and the surrounding obstacle based on the first position information and the second position information in a case that the first vehicle is in a reversing state.

[0110] 306、the first vehicle performs a collision warning based on the distance between the first vehicle and the surrounding obstacle.

[0111] The steps 305-306 are the same as the steps 203-204 described above, and thus are not described herein again.

[0112] The scheme provided in the embodiments of the present application can be used for the first vehicle to detect the obstacles in the region where the first vehicle is located to obtain position information. Considering that there may be a blind area when the first vehicle detects the surrounding obstacles, which leads to the existence of obstacles around the first vehicle that are not detected by the first vehicle, and the distance between the second vehicle and the first vehicle is not greater than the threshold value, which indicates that the second vehicle is close to the first vehicle, and thus the second vehicle may detect the obstacles around the first vehicle that are not detected by the first vehicle when the second vehicle detects the obstacles in the region where the second vehicle is located. Therefore, the second position information sent by the second vehicle is received, which enriches the obtained position information, so as to determine the surrounding obstacles of the first vehicle as much as possible, and then determine whether the first vehicle collides with the surrounding obstacles according to the distance between the first vehicle and the surrounding obstacles, and then perform a collision warning, so as to avoid the collision of the first vehicle in the reversing process, ensure the accuracy of the collision warning, and thus reduce the frequency of reversing collision accidents.

[0113] On the basis of the embodiments shown in the above Figure 2 to Figure 3 The embodiments of the present application can also warn the distance between the door and the obstacle to avoid the situation that the door cannot be opened due to too small distance. That is, the process of the first vehicle performing the door opening warning includes: outputting target warning information in a case that the distance between the door of the first vehicle and any obstacle is less than a target distance, the target distance being the distance required for the door to be opened, and the target warning information indicating that the distance between the door and the surrounding obstacle is less than the target distance.

[0114] In the embodiments of the present application, considering that the distance between the door and the surrounding obstacle of the vehicle in the reversing process is too close, which leads to the situation that the door cannot be opened, therefore, the first vehicle determines the distance between the door and the surrounding obstacle in the reversing process, so as to timely output the target warning information in a case that the distance between the door and the surrounding obstacle is less than the distance required for the door to be opened, so as to remind the driver that the current distance cannot open the door, so that the driver can timely adjust the position of the vehicle to avoid the situation that the door cannot be opened after reversing, and improve the driver experience.

[0115] The target distance can be any distance. Optionally, the target distance is a distance required for the door of the first vehicle to be opened. In the embodiments of the present application, it is considered that the distance required for the door of different vehicles to be opened can be different, and thus the target distance corresponding to each vehicle is the distance required for the door of the vehicle itself to be opened. The target warning information can be in any form, for example, the target warning information can be in the form of sound, or in the form of image, or in the form of vibration.

[0116] For example, if the distance between the door of the first vehicle and any obstacle is less than the target distance during the reversing process of the first vehicle, the first vehicle can play a sound to remind the driver that the door cannot be opened at present, or the first vehicle can display a graphic to remind the driver that the door cannot be opened at present, or the first vehicle can vibrate to remind the driver that the door cannot be opened at present.

[0117] In a possible implementation, during the reversing process of the first vehicle, for each door of the first vehicle, if the distance between the door and any obstacle is less than the target distance, the target warning information is output.

[0118] In the embodiments of the present application, since the first vehicle has multiple doors, during the reversing process of the first vehicle, the distance between each door and the surrounding obstacle is detected, and when the distance between any door and the obstacle is less than the target distance, the target warning information for the door is output to indicate that the distance between the door and the obstacle is too close to cause the door to be unable to be opened, so that the driver can obtain the target warning information and adjust the first vehicle in time to ensure that each door of the first vehicle can be opened after the reversing of the first vehicle is stopped.

[0119] In a possible implementation, taking the door of the first vehicle opposite to the driver's seat and the obstacle around the door as an example, and taking the third vehicle as an example, the process of outputting the target warning information includes: if the distance between the door and the third vehicle is less than the target distance, querying the locally stored travel data, the travel data including the travel time of the first vehicle and the travel time of the third vehicle; and if the travel time of the first vehicle is later than the travel time of the third vehicle, outputting the target warning information.

[0120] In the embodiment of the present application, the first vehicle has multiple doors, at least one door on the driver side, and at least one door on the opposite side of the driver side, for example, the first vehicle includes 4 doors, 2 doors on the driver side of the first vehicle, the opposite side of the driver side is equivalent to the co-driver side, and 2 doors on the co-driver side of the first vehicle. Since the distance between the door on the co-driver side and the adjacent vehicle is too close, the door on the driver side of the adjacent vehicle cannot be opened, thereby causing the adjacent vehicle to be unable to be moved. Taking the door on the co-driver side of the first vehicle adjacent to the third vehicle as an example, the first vehicle detects the distance between the door on the co-driver side of the first vehicle and the third vehicle during reversing, and in the case that the distance between the door on the co-driver side of the first vehicle and the third vehicle is less than the target distance, the local stored travel data is queried so as to be able to know whether the travel time of the third vehicle is earlier than the travel time of the first vehicle; if the travel time of the third vehicle is later than the travel time of the first vehicle, even if the distance between the door on the co-driver side of the first vehicle and the third vehicle is less than the target distance after the first vehicle is parked, the first vehicle will travel first, which will not affect the travel of the third vehicle, and therefore, the driver can not need to adjust. Therefore, in the case that the distance between the door on the co-driver side of the first vehicle and the third vehicle is less than the target distance and the travel time of the first vehicle is earlier than the travel time of the third vehicle, the target warning information does not need to be output; and in the case that the distance between the door on the co-driver side and the third vehicle is less than the target distance and the travel time of the first vehicle is later than the travel time of the third vehicle, the target warning information is output to remind the driver that the first vehicle will affect the travel of the third vehicle after the first vehicle is parked during reversing, so as to enable the driver to adjust the parking position of the first vehicle.

[0121] Optionally, the travel data is input by the driver of the first vehicle.

[0122] For example, the target area is the underground parking lot of the community where the driver lives, the cars in the underground parking lot of the community have stability, the driver of the first car can learn the travel time of the third car every day by negotiating with the driver of the third car, so that the driver of the first car inputs the travel time of the third car into the first car and inputs the travel time of the driver into the first car; The distance between the door of the first car and the adjacent car can be determined when the first car is parked, so that when the door on the side of the copilot of the first car is too close to the adjacent car during the reversing process of the first car, the target warning information will be output according to the travel time, and the distance between the door on the side of the copilot of the first car and the third car is less than the target distance, and the travel time of the first car is earlier than the travel time of the third car. No need to output target warning information; and in the case that the distance between the door on the side of the copilot and the third car is less than the target distance, and the travel time of the first car is later than the travel time of the third car, the target warning information is output to remind the driver that the first car will affect the travel of the third car after reversing and parking, so that the driver adjusts the parking position of the first car.

[0123] Based on the above-mentioned embodiments, in the embodiments of the present application, a reversing radar system is provided in the car. The reversing radar system is a kind of car auxiliary safety technology, which aims to help the driver avoid collision with obstacles when reversing. The reversing radar system is composed of a reversing radar and a display device. The reversing radar is used to detect obstacles around the car, such as walls, other cars, roadblocks, etc. The reversing radar sends the detected position information to the data processing unit, and the data processing unit calculates the distance and direction of the obstacles and whether the car will collide with the obstacles. The display device is located in the driver's room of the car and is installed on the instrument panel or the rearview mirror of the car. When the reversing radar detects obstacles nearby, the display device will give different levels of visual or sound warning to the driver.

[0124] The structure schematic diagram of the car provided by the embodiments of the present application is shown in Figure 4 As shown, the car includes a communication module 401, a data processing unit 402 and a warning prompt system 403, and a wired or wireless communication connection is established between the communication module 401, the data processing unit 402 and the warning prompt system 403. The car provides assistance for car reversing through the communication module 401, the data processing unit 402 and the warning prompt system 403.

[0125] The communication module 401 is based on IEEE 802.11p / WAVE (a wireless communication standard specifically for vehicle-to-vehicle communication) technology to achieve real-time data exchange and communication between vehicles. The communication module 401 is based on Wi-Fi technology and establishes a communication network called a Vehicle-to-Vehicle Network (VANET) between vehicles. The data processing unit 402 receives and processes the location information acquired by the reversing radar, and simultaneously receives location information from other vehicles, fusing and analyzing the location information. The warning system 403, based on the processing results of the data processing unit 402, issues warnings such as sound, images, or vibrations when a collision risk is detected, to attract the driver's attention.

[0126] In this embodiment, the first vehicle and other vehicles surrounding it are equipped with communication modules, data processing units, and warning systems. Each vehicle, upon startup, uses its reversing radar to detect obstacles in its area and obtain location information. It then broadcasts this location information to its surroundings via its own communication module. Each vehicle establishes a communication connection with the communication modules of nearby vehicles and can receive location information broadcast by these vehicles through its own communication module. The communication range of each module is greater than the reversing distance, sufficient to cover the vehicles in the reversing scenario, ensuring that it can share location information with surrounding vehicles and also receive location information shared by surrounding vehicles.

[0127] Taking FAW as an example, such as Figure 5 As shown, the first vehicle establishes a communication connection with the communication modules of surrounding second vehicles through its own communication module. The first vehicle can receive second location information sent by the second vehicle through its own communication module. The first vehicle, through its data processing unit, fuses and analyzes the first location information it detects and the received second location information to obtain a processing result. This processing result indicates the location of obstacles around the first vehicle. The first vehicle transmits the fused data to the reversing assistance system through its communication module, providing the driver with more comprehensive and accurate reversing environment information. Similarly, the first vehicle can share its first location information with the second vehicle. When reversing, the second vehicle processes the first and second location information and uses the processing result to provide the second vehicle's reversing assistance system with more comprehensive and accurate reversing environment information for the driver.

[0128] Through the communication module, the first vehicle and other vehicles can share real-time location information, including the positions of the vehicles relative to each other, the speeds of the vehicles, the positions of obstacles around the vehicles, and the speeds of the obstacles, so as to cooperatively deal with complex reversing environments and avoid potential collision risks. Based on the shared information, the reversing assistance system of the first vehicle can issue intelligent warnings and prompts to the driver, helping the driver to more safely complete the reversing process.

[0129] Vehicle-to-vehicle communication system integration: The communication module, data processing unit, warning and prompting system, and other components are integrated into the vehicle to ensure their coordination and effective operation, enabling information sharing between vehicles. Through the communication module, real-time information sharing between vehicles is achieved, and based on the shared information, vehicles can make collaborative decisions to avoid potential collision risks and improve reversing safety, enabling the driver to quickly respond and avoid accidents. The embodiments of the present application fully test and verify the entire intelligent vehicle reversing radar system and communication method to ensure reliability and performance in actual scenarios.

[0130] The embodiments of the present application provide an intelligent vehicle reversing radar system and a vehicle-to-vehicle communication method. The vehicle's surroundings are sensed by the reversing radar sensor, and information sharing and collaboration between vehicles are achieved through vehicle communication technology, so that the driver can more accurately reverse into position and avoid collision accidents, improving reversing safety. With the help of vehicle communication technology, the sensing range of the reversing radar can be effectively expanded, avoiding blind spots and thus improving reversing safety.

[0131] Figure 6 is a structural schematic diagram of a collision warning device provided by the embodiments of the present application, which is configured in a first vehicle, as shown in Figure 6 The device includes:

[0132] The detection module 601 is configured to detect obstacles in the area where the first vehicle is located to obtain first position information, which indicates the position of the first vehicle and the positions of the obstacles detected by the first vehicle.

[0133] The receiving module 602 is configured to receive second position information sent by a second vehicle, the second vehicle being a vehicle with a distance from the first vehicle not greater than a threshold, and the second position information indicating the position of the second vehicle and the positions of the obstacles detected by the second vehicle.

[0134] The determination module 603 is configured to, in a case where the first vehicle is in a reversing state, determine the distances between the first vehicle and the surrounding obstacles based on the first position information and the second position information.

[0135] The warning module 604 is configured to perform collision warning based on the distances between the first vehicle and the surrounding obstacles.

[0136] In a possible implementation, the detection module 601 is configured to, in a case where the first automobile has started, perform obstacle detection on an area where the first automobile is located to obtain first position information; or, in response to a state of the first automobile being switched to a reversing state, perform obstacle detection on the area where the first automobile is located to obtain the first position information.

[0137] In another possible implementation, the receiving module 602 is configured to, in a case where the first automobile is in the reversing state, receive second position information sent by a second automobile; or, in a case where the first automobile has started, receive the second position information sent by the second automobile.

[0138] In another possible implementation, the receiving module 602 is configured to, in a case where a distance between the first automobile and the second automobile is not greater than a threshold value, establish a communication connection between the first automobile and the second automobile; and based on the communication connection, receive the second position information sent by the second automobile.

[0139] In another possible implementation, the receiving module 602 is configured to, in a case where the first automobile is in a target area, in response to the state of the first automobile being switched to the reversing state, query a binding relationship of the first automobile, the binding relationship indicating automobiles that are bound to the first automobile; based on the binding relationship, send an information acquisition request to the bound second automobile, the information acquisition request being used to request position information detected by the second automobile; and receive the second position information sent by the second automobile.

[0140] In another possible implementation, as shown in Figure 7 the apparatus further includes:

[0141] The detection module 601 is further configured to detect communication data broadcasted by automobiles around the first automobile, the communication data being used to perform communication with the automobiles that broadcast the communication data.

[0142] The broadcast module 605 is configured to, in response to a relationship binding operation on target communication data, send a relationship binding request to a target automobile that broadcasts the target communication data, the target communication data being any communication data detected by the first automobile, the relationship binding request being used to request to establish a binding relationship with the target automobile.

[0143] The generation module 606 is configured to, in response to receiving an agreement notification returned by the target automobile, generate the binding relationship between the first automobile and the target automobile.

[0144] In another possible implementation, the information acquisition request indicates that the second automobile performs obstacle detection and returns detected position information, and the second automobile is configured to, in response to the information acquisition request, in a case where the first automobile and the second automobile have the binding relationship, perform obstacle detection on an area where the second automobile is located to obtain second position information.

[0145] In another possible implementation, the distance between the first vehicle and the surrounding obstacle includes a distance between a door of the first vehicle and the surrounding obstacle; as Figure 7 As shown in the figure, the apparatus further includes:

[0146] The output module 607 is configured to output target early warning information in a case where the distance between the door of the first vehicle and any obstacle is less than a target distance, the target distance being a distance required for the door to be opened, and the target early warning information indicating that the distance between the door and the surrounding obstacle is less than the target distance.

[0147] In another possible implementation, the door is a door of the first vehicle that is opposite to the driver seat, and the obstacle includes a third vehicle; the output module 607 is configured to query locally-stored travel data in a case where the distance between the door and the third vehicle is less than the target distance, the travel data including a travel time of the first vehicle and a travel time of the third vehicle; and output the target early warning information in a case where the travel time of the first vehicle is later than the travel time of the third vehicle.

[0148] The embodiments of the present application further provide a vehicle, which includes a processor and a memory, and the memory stores at least one computer program, the at least one computer program is loaded and executed by the processor to implement the operations performed by the collision early warning method of the above-mentioned embodiments.

[0149] The embodiments of the present application further provide a computer readable storage medium, which stores at least one computer program, the at least one computer program is loaded and executed by the processor to implement the operations performed by the collision early warning method of the above-mentioned embodiments.

[0150] Those skilled in the art can understand that all or part of the steps of the above-mentioned embodiments can be completed by hardware, or by program instructing relevant hardware to complete, and the program can be stored in a computer readable storage medium, and the storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk.

[0151] The above is only optional embodiments of the embodiments of the present application, and does not limit the embodiments of the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the embodiments of the present application shall be included in the protection scope of the present application.

Claims

1. A collision warning method characterized by, The method is executed by a first vehicle, and comprises: obstacle detection is performed on an area where the first vehicle is located to obtain first position information, the first position information indicating a position of the first vehicle and positions of obstacles detected by the first vehicle; second position information transmitted by a second vehicle is received, the second vehicle being a vehicle with a distance from the first vehicle not greater than a threshold, the second position information indicating a position where the second vehicle is located and positions of obstacles detected by the second vehicle; in a case where the first vehicle is in a reverse state, distances between the first vehicle and surrounding obstacles are determined based on the first position information and the second position information; collision warning is performed based on the distances between the first vehicle and the surrounding obstacles; the receiving of the second position information transmitted by the second vehicle comprises: in a case where the first vehicle is in a target area, a binding relationship of the first vehicle is queried in response to a state of the first vehicle being switched to the reverse state, the binding relationship indicating vehicles that have been bound by the first vehicle; based on the binding relationship, an information acquisition request is sent to the second vehicle that has been bound, the information acquisition request being used to request position information detected by the second vehicle; the second position information transmitted by the second vehicle is received.

2. The method of claim 1, wherein, the obstacle detection performed on the area where the first vehicle is located to obtain the first position information comprises: in a case where the first vehicle has been started, obstacle detection is performed on the area where the first vehicle is located to obtain the first position information; or in response to the state of the first vehicle being switched to the reverse state, obstacle detection is performed on the area where the first vehicle is located to obtain the first position information.

3. The method of claim 1, wherein, the receiving of the second position information transmitted by the second vehicle comprises: in a case where the first vehicle is in the reverse state, the second position information transmitted by the second vehicle is received; or in a case where the first vehicle has been started, the second position information transmitted by the second vehicle is received.

4. The method of claim 1, wherein, the receiving of the second position information transmitted by the second vehicle comprises: in a case where a distance between the first vehicle and the second vehicle is not greater than a threshold, a communication connection between the first vehicle and the second vehicle is established; based on the communication connection, the second position information transmitted by the second vehicle is received.

5. The method of claim 1, wherein, before the querying of the binding relationship of the first vehicle in the case where the first vehicle is in the target area in response to the state of the first vehicle being switched to the reverse state, the method further comprises: communication data broadcast by vehicles around the first vehicle is detected, the communication data being used to communicate with vehicles broadcasting the communication data; in response to a relationship binding operation on target communication data, a relationship binding request is sent to a target vehicle broadcasting the target communication data, the target communication data being any communication data detected by the first vehicle, the relationship binding request being used to request establishment of a binding relationship with the target vehicle; In response to receiving the consent notification returned by the target vehicle, a binding relationship between the first vehicle and the target vehicle is generated.

6. The method of claim 1, wherein, The information acquisition request instructs the second vehicle to perform obstacle detection and return detected position information, and the second vehicle is configured to perform obstacle detection on a region where the second vehicle is located to obtain the second position information, in response to the information acquisition request, in a case where the first vehicle and the second vehicle have a binding relationship.

7. A collision warning device characterized by comprising: The device is configured in the first vehicle, and the device comprises: a detection module configured to perform obstacle detection on a region where the first vehicle is located to obtain first position information, the first position information indicating a position of the first vehicle and a position of an obstacle detected by the first vehicle; a receiving module configured to receive second position information sent by a second vehicle, the second vehicle being a vehicle having a distance from the first vehicle not greater than a threshold, the second position information indicating a position where the second vehicle is located and a position of an obstacle detected by the second vehicle; a determination module configured to, in a case where the first vehicle is in a reversing state, determine a distance between the first vehicle and a surrounding obstacle based on the first position information and the second position information; a pre-warning module configured to perform collision pre-warning based on the distance between the first vehicle and the surrounding obstacle; The receiving module is configured to, in a case where the first vehicle is in a target region, in response to a state of the first vehicle being switched to the reversing state, query a binding relationship of the first vehicle, the binding relationship indicating a vehicle that has been bound by the first vehicle; based on the binding relationship, send an information acquisition request to the second vehicle that has been bound, the information acquisition request being used to request position information detected by the second vehicle; and receive the second position information sent by the second vehicle.

8. An automobile characterized by comprising: The vehicle comprises a processor and a memory, and the memory stores at least one computer program, the at least one computer program is loaded and executed by the processor to implement the operations performed by the collision pre-warning method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores at least one computer program, and the at least one computer program is loaded and executed by the processor to implement the operations performed by the collision pre-warning method according to any one of claims 1 to 6.

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