Car following reminding method and device, vehicle and medium

Abstract

The application relates to the technical field of vehicles, in particular to a following vehicle reminding method and device, a vehicle and a medium, wherein the following vehicle reminding method comprises the following steps: acquiring sensing data of a current vehicle; determining whether a followed vehicle exceeds the sensing range of the current vehicle according to the sensing data; if the followed vehicle exceeds the sensing range of the current vehicle, establishing a communication connection between the current vehicle and the followed vehicle, acquiring synchronization information of the followed vehicle; and reminding following based on the synchronization information and the position of the current vehicle. Therefore, the problems that the prior art is limited by the sensor detection range, is only applicable to short-term reminding and control in the starting stage or low-speed driving, and lacks comprehensiveness and intelligence are solved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a following vehicle warning method, device, vehicle, and medium. Background Technology

[0002] Traditional vehicle following alert methods, while contributing to driving convenience and safety, have significant limitations. They primarily rely on sensors to detect the movement of the vehicle ahead; however, due to the limited detection range of these sensors, they are typically only effective during initial acceleration or low-speed driving. As vehicle speed increases or the driving environment becomes more complex, their effectiveness and control capabilities significantly decrease, failing to provide continuous and reliable assistance to the driver.

[0003] Specifically, traditional following-car reminder methods mainly rely on simple devices such as buzzers for audible alerts. While this method may be effective in simple environments, its effectiveness can be greatly reduced in complex driving environments, and it may even be ignored by the driver. Similarly, while following-car start control can provide convenience for the driver during the initial stage, its control capabilities and adaptability are clearly insufficient in complex situations such as high-speed driving or frequent lane changes. Summary of the Invention

[0004] This application provides a following warning method, device, vehicle, and medium to solve the problems of existing technologies being limited by the sensor detection range, only applicable to brief warnings and controls during the starting phase or low-speed driving, and lacking comprehensiveness and intelligence.

[0005] The first aspect of this application provides a following alert method, comprising the following steps: acquiring perception data of the current vehicle; determining, based on the perception data, whether the vehicle being followed has exceeded the perception range of the current vehicle; if the vehicle being followed has exceeded the perception range of the current vehicle, establishing a communication connection between the current vehicle and the vehicle being followed, and acquiring synchronization information of the vehicle being followed; and providing a following alert based on the synchronization information and the position of the current vehicle.

[0006] Optionally, the following reminder based on the synchronization information and the current vehicle's location information includes: identifying the location of the vehicle being followed and the planned route in the synchronization information; generating the planned route of the current vehicle based on the current vehicle's location, the location of the vehicle being followed, and the planned route, wherein the planned route of the current vehicle and the planned route of the location of the vehicle being followed have a merging area; and providing a following reminder to the current vehicle based on the merging area.

[0007] Optionally, the step of providing following reminders to the current vehicle based on the merging area includes: identifying whether the current vehicle is located within the merging area; if the current vehicle is located within the merging area, then controlling the current vehicle to perform a first reminder action.

[0008] Optionally, after controlling the current vehicle to perform the first reminder action, the method further includes: following the vehicle being followed based on the perception data and the characteristic data of the vehicle being followed, and after successfully following the vehicle being followed, controlling the current vehicle to perform the second reminder action.

[0009] Optionally, determining whether the followed vehicle exceeds the current vehicle's perception range based on the perception data includes: determining whether the followed vehicle exceeds the current vehicle's perception range based on the perception data and the feature data of the followed vehicle, wherein if the perception data matches the feature data, it is determined that the followed vehicle has not exceeded the current vehicle's perception range; otherwise, it is determined that the followed vehicle has exceeded the current vehicle's perception range.

[0010] Optionally, after determining that the vehicle being followed has exceeded the perception range of the current vehicle, the method further includes: controlling the current vehicle to perform a third reminder action.

[0011] Optionally, before issuing a following reminder based on the synchronization information and the current vehicle's location, the method further includes: identifying whether the following reminder function of the current vehicle is enabled; if the following reminder function is enabled, controlling the current vehicle to perform a fourth reminder action.

[0012] A second aspect of this application provides a following warning device, comprising: an acquisition module for acquiring perception data of a current vehicle; a determination module for determining, based on the perception data, whether a vehicle being followed has exceeded the perception range of the current vehicle; a communication module for establishing a communication connection between the current vehicle and the vehicle being followed, and acquiring synchronization information of the vehicle being followed, if the vehicle being followed exceeds the perception range of the current vehicle; and a warning module for providing a following warning based on the synchronization information and the position of the current vehicle.

[0013] A third aspect of this application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the following vehicle alert method as described in the above embodiments.

[0014] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the following vehicle alert method as described in the above embodiments.

[0015] Therefore, this application has the following beneficial effects:

[0016] This application's embodiments, by sensing the surrounding environment of the current vehicle in real time, can respond promptly to changes and provide the driver with accurate following guidance. When the vehicle being followed exceeds the current vehicle's sensing range, it can proactively establish a communication connection to obtain the synchronization information of the vehicle being followed, effectively expanding the sensing range and freeing following alerts and control from the limitations of sensor detection distance. Based on the acquired synchronization information and the current vehicle's position, it provides precise following alerts, helping the driver maintain an appropriate following distance and speed, improving driving safety and comfort. Thus, it solves the technical problems of existing technologies that are limited by sensor detection range, only applicable to brief alerts and controls during the initial stage or low-speed driving, and lack comprehensiveness and intelligence.

[0017] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0018] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0019] Figure 1 This is a schematic diagram of a following vehicle alert system provided according to an embodiment of this application;

[0020] Figure 2 This is a flowchart of the following vehicle reminder method provided according to an embodiment of this application;

[0021] Figure 3 This is a flowchart of a following vehicle alert method according to an embodiment of this application;

[0022] Figure 4 This is an example diagram of a following vehicle warning device provided according to an embodiment of this application;

[0023] Figure 5 This is a structural schematic diagram of a vehicle according to an embodiment of this application. Detailed Implementation

[0024] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0025] The following description, with reference to the accompanying drawings, outlines a following alert method, apparatus, vehicle, system, and medium according to embodiments of this application. Addressing the issue mentioned in the background art that following alerts are not applicable to everyday use scenarios, this application provides a following alert method. This method, by real-time sensing of the vehicle's surrounding environment, can respond promptly to changes and provide the driver with accurate following guidance. When the followed vehicle exceeds the current vehicle's sensing range, it can proactively establish a communication connection to obtain the followed vehicle's synchronization information, effectively expanding the sensing range and freeing following alerts and control from the limitations of sensor detection distance. Based on the acquired synchronization information and the current vehicle's position, it provides precise following alerts, helping the driver maintain an appropriate following distance and speed, improving driving safety and comfort. This solves the problems of existing technologies being limited by sensor detection range, only applicable to brief alerts and control during start-up or low-speed driving, and lacking comprehensiveness and intelligence.

[0026] Before elaborating on the following vehicle alert method, it is necessary to analyze the key components involved in the process, such as... Figure 1 As shown, the following vehicle alert system mainly consists of a camera, radar, controller, memory, 4G / 5G, vehicle infotainment system, and buzzer.

[0027] The main function of the camera is to identify the vehicle in front. It can collect relevant information about the vehicle in front, such as vehicle model information and license plate information, through visual learning. The main function of the radar is to perform fusion judgment for identifying the vehicle in front, as well as to detect the distance to the vehicle, and to provide reminders and status transition services.

[0028] The controller integrates logic judgment and alert algorithms, intelligently adjusting the system's operating status based on the learning progress and the driver's operational choices. Specifically, when the vehicle is far away and beyond the direct sensing range of the sensors, the system uses 4G / 5G networks to achieve real-time updates and synchronization of the vehicle's location, ensuring accurate route reminders even during long-distance travel.

[0029] As a human-machine interface, the vehicle's infotainment system not only provides button operation and voice prompts, but also plans and reminds users of routes, and informs them of the status of following the vehicle in front in real time through color changes and voice prompts.

[0030] The memory serves as the system's data storage center, storing the learned data of the vehicle ahead and supporting real-time retrieval and comparison. This ensures the system can accurately determine whether a vehicle has successfully followed another vehicle and provides necessary mutual alerts. The buzzer is used for status alerts; whether there is a system malfunction or a function has been successfully activated, it will promptly inform the driver through sound, alleviating any user concerns.

[0031] 4G / 5G communication technology provides an efficient way for vehicles to share location information, enabling real-time mutual location sharing and providing accurate services for navigation guidance and target positioning, further improving the convenience and safety of driving.

[0032] Specifically, Figure 2 This is a flowchart illustrating a following reminder method provided in an embodiment of this application.

[0033] like Figure 2 As shown, this following vehicle reminder method includes the following steps:

[0034] In step S101, the perception data of the current vehicle is acquired.

[0035] The perception data can be information about the vehicle's surrounding environment, its own state, or other related objects collected by onboard sensors or devices.

[0036] It is understood that the embodiments of this application acquire the current vehicle's perception data in real time to facilitate accurate following reminders in the future.

[0037] In step S102, it is determined whether the vehicle being followed exceeds the current vehicle's perception range based on the perception data.

[0038] The vehicle being followed can be another vehicle being followed by the current vehicle in a following scenario; the perception range can be the distance and range of the surrounding environment or objects that the current vehicle can detect through its sensors.

[0039] It is understood that the embodiments of this application, by sensing and determining in real time whether the vehicle being followed exceeds the sensing range, can promptly remind the driver to adjust the following distance or speed, thereby avoiding potential safety hazards. This not only improves driving safety but also enhances the intelligence of driving assistance and optimizes the following experience.

[0040] In this embodiment of the application, determining whether the followed vehicle exceeds the current vehicle's perception range based on perception data includes: determining whether the followed vehicle exceeds the current vehicle's perception range based on perception data and feature data of the followed vehicle, wherein if the perception data and feature data match, it is determined that the followed vehicle has not exceeded the current vehicle's perception range; otherwise, it is determined that the followed vehicle has exceeded the current vehicle's perception range.

[0041] The characteristic data of the followed vehicle can include vehicle model, license plate number, vehicle identification number, etc.

[0042] It is understood that this application embodiment determines whether the followed vehicle has exceeded the current vehicle's perception range by combining the current vehicle's perception data with the feature data of the followed vehicle. If the perception data and feature data match, the followed vehicle is considered to still be within the perception range; if they do not match, the followed vehicle is determined to have exceeded the current vehicle's perception range. This matching process is based not only on the vehicle's physical position and distance but also considers some specific feature information of the vehicle, making the judgment more accurate and reliable.

[0043] In this embodiment of the application, after determining that the vehicle being followed has exceeded the current vehicle's perception range, the method further includes: controlling the current vehicle to perform a third reminder action.

[0044] The third reminder action can be determined based on the actual scenario.

[0045] It is understood that by controlling the current vehicle to perform a third reminder action, the embodiments of this application can promptly notify the driver of changes in the following status, thereby helping the driver to better understand the driving situation and take corresponding driving strategies.

[0046] In step S103, if the vehicle being followed exceeds the current vehicle's perception range, a communication connection is established between the current vehicle and the vehicle being followed to obtain the synchronization information of the vehicle being followed.

[0047] The communication connection can be wireless, such as through in-vehicle wireless, Bluetooth, 4G / 5G networks or other dedicated communication protocols.

[0048] It is understood that, in this embodiment of the application, when the followed vehicle is detected to have exceeded the current vehicle's perception range, a communication connection is established between the current vehicle and the followed vehicle, and the synchronization information of the followed vehicle is obtained. This embodiment of the application improves the safety and stability of the following process through real-time data exchange, while optimizing the driver's driving experience and enhancing intelligence and adaptability.

[0049] In step S104, a following reminder is given based on the synchronization information and the current location of the vehicle.

[0050] The synchronization information can be the real-time status information of the vehicle being followed, such as its location, speed, and acceleration. The current location of the vehicle can be the specific location of the following vehicle on the map or on the actual road.

[0051] It is understood that the following reminder based on synchronization information and the current vehicle location in this application can significantly improve the safety and stability of the following process. At the same time, the intelligent following reminder method can also optimize the driver's driving experience, reduce driving stress, and improve driving comfort and convenience.

[0052] In this embodiment of the application, following reminders based on synchronization information and the current vehicle's location include: identifying the location of the vehicle being followed and the planned route in the synchronization information; generating the planned route of the current vehicle based on the current vehicle's location, the location of the vehicle being followed, and the planned route, wherein the planned route of the current vehicle and the planned route of the location of the vehicle being followed have a merging area; and providing following reminders to the current vehicle based on the merging area.

[0053] The location of the vehicle being followed can be the specific location of the vehicle currently on the map or on the actual road. The planned route can be the route that the vehicle is expected or planned to travel. The planned route of the current vehicle can be the expected travel route generated based on the current vehicle's location and destination. The merging area can be the area where the planned route of the current vehicle intersects or is close to the planned route of the vehicle being followed.

[0054] It is understood that the embodiments of this application can identify the position and planned route of the vehicle being followed in the synchronization information, and generate the planned route of the current vehicle based on this information and the current vehicle's position. This planned route will take into account the merging area with the planned route of the vehicle being followed, so as to provide advance warning in case of possible encounters or parallel driving, which can help the driver to more accurately grasp the relative position and driving trajectory of the two vehicles, and improve the safety and convenience of the following process.

[0055] In this embodiment of the application, the following reminder for the current vehicle based on the merging area includes: identifying whether the current vehicle is located in the merging area; if the current vehicle is located in the merging area, controlling the current vehicle to perform a first reminder action.

[0056] The first alert action may include an audible warning, a visual cue on the dashboard, a vibration of the seat, or a slight vibration of the steering wheel.

[0057] It is understood that the embodiments of this application, by detecting in real time whether the current vehicle is in the merging area where it intersects with the planned route of the vehicle being followed, and triggering a first reminder action when entering the area, help the driver to react in time, maintain a safe distance and driving speed, thereby enhancing the safety of following other vehicles and reducing potential accident risks.

[0058] In this embodiment of the application, after controlling the current vehicle to perform the first reminder action, the method further includes: following the vehicle being followed based on the perception data and the characteristic data of the vehicle being followed, and after successfully following the vehicle being followed, controlling the current vehicle to perform the second reminder action.

[0059] The second reminder action could be to confirm the following status to the driver or to provide further safety reminders.

[0060] It is understood that the embodiments of this application, by accurately sensing and analyzing the environment around the vehicle and the characteristic data of the vehicle being followed, can automatically and accurately achieve following operations. After successfully following the vehicle being followed, a second reminder action can be executed to promptly inform the driver of the current following status, thereby enhancing driving safety and convenience.

[0061] In this embodiment of the application, before providing a following reminder based on synchronization information and the current vehicle's location, the method further includes: identifying whether the following reminder function of the current vehicle is enabled; if the following reminder function is enabled, controlling the current vehicle to perform the fourth reminder action.

[0062] Among them, the following reminder function can provide the driver with reminders about the following status or following behavior, and the fourth reminder action can be determined according to the actual situation.

[0063] It is understood that, by verifying the activation status of the following vehicle alert function, the embodiments of this application can accurately control the current vehicle to perform the fourth alert action. This fourth alert action can flexibly employ sound, visual, or tactile cues to effectively convey the current following vehicle status or potential driving risks to the driver, helping the driver to react and adjust quickly.

[0064] The following warning method proposed in this application, by sensing the surrounding environment of the current vehicle in real time, can respond promptly to changes and provide the driver with accurate following guidance. When the followed vehicle exceeds the current vehicle's sensing range, it can actively establish a communication connection to obtain the synchronization information of the followed vehicle, effectively expanding the sensing range and making following warnings and control no longer limited by the sensor detection distance. Based on the acquired synchronization information and the current vehicle's position, it provides accurate following warnings, helping the driver maintain an appropriate following distance and speed, improving driving safety and comfort. Therefore, it solves the problems of existing technologies that are limited by sensor detection range, only applicable to brief warnings and control during the initial stage or low-speed driving, and lack comprehensiveness and intelligence.

[0065] The following will combine Figure 3 The following is a detailed explanation of the following vehicle following reminder method:

[0066] Step S1: Vehicle identification and detection, usually achieved through onboard cameras and radar sensors;

[0067] Step S2: Match the vehicle being followed with the current vehicle. If the match is successful, perform an environment check; otherwise, do not execute the step.

[0068] Step S3: Confirm whether the following vehicle alert function of the current vehicle is enabled. If the following vehicle alert function is enabled, proceed to step S4; otherwise, no alert operation will be performed.

[0069] Step S4: After confirming that the following vehicle reminder function is enabled, control the current vehicle to perform a vehicle reminder action to remind the driver of the current following vehicle status or potential risks, so as to more accurately grasp the current following vehicle situation and make corresponding driving decisions and adjustments accordingly.

[0070] In summary, this embodiment systematically learns the information of the vehicle in front and records the learned data in the system. The vehicle owner can enable, disable, and pair the system through the vehicle's infotainment system. Real-time information exchange is achieved through network interconnection, while close-range sensors provide judgment and status alerts. This fully considers the mutual reminder methods in real-world convoy scenarios and enables real-time trajectory navigation tracking, making it very user-friendly, convenient, and safe.

[0071] Next, the following vehicle reminder device according to the embodiments of this application is described with reference to the accompanying drawings.

[0072] Figure 4 This is a block diagram of the following vehicle reminder device according to an embodiment of this application.

[0073] like Figure 4 As shown, the following vehicle reminder device 10 includes: an acquisition module 100, a determination module 200, a communication module 300, and a reminder module 400.

[0074] The acquisition module 100 is used to acquire the perception data of the current vehicle; the determination module 200 is used to determine whether the vehicle being followed has exceeded the perception range of the current vehicle based on the perception data; the communication module 300 is used to establish a communication connection between the current vehicle and the vehicle being followed if the vehicle being followed exceeds the perception range of the current vehicle, and to acquire the synchronization information of the vehicle being followed; the reminder module 400 is used to provide a following reminder based on the synchronization information and the current vehicle's position.

[0075] It should be noted that the foregoing explanation of the following vehicle reminder method embodiment also applies to the following vehicle reminder device of this embodiment, and will not be repeated here.

[0076] The following warning device proposed in this application, by sensing the surrounding environment of the current vehicle in real time, can respond promptly to changes and provide the driver with accurate following guidance. When the followed vehicle exceeds the current vehicle's sensing range, it can actively establish a communication connection to obtain the synchronization information of the followed vehicle, effectively expanding the sensing range and making following warnings and control no longer limited by the sensor detection distance. Based on the acquired synchronization information and the current vehicle's position, it provides accurate following warnings, helping the driver maintain an appropriate following distance and speed, improving driving safety and comfort. Therefore, it solves the problems of existing technologies that are limited by sensor detection range, only applicable to brief warnings and control during the initial stage or low-speed driving, and lack comprehensiveness and intelligence.

[0077] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0078] The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0079] When processor 502 executes the program, it implements the following vehicle reminder method provided in the above embodiments.

[0080] Furthermore, the vehicle also includes:

[0081] Communication interface 503 is used for communication between memory 501 and processor 502.

[0082] The memory 501 is used to store computer programs that can run on the processor 502.

[0083] The memory 501 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0084] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0085] Optionally, in a specific implementation, if the memory 501, processor 502, and communication interface 503 are integrated on a single chip, then the memory 501, processor 502, and communication interface 503 can communicate with each other through an internal interface.

[0086] Processor 502 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of this application.

[0087] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described following vehicle reminder method.

[0088] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0089] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0090] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0091] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any of the following techniques known in the art, or a combination thereof: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0092] Those skilled in the art will understand that all or part of the steps of the methods implementing the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0093] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for following vehicle alerts, characterized in that, Includes the following steps: Acquire the current vehicle's perception data; Based on the perception data, determine whether the vehicle being followed has exceeded the perception range of the current vehicle; If the vehicle being followed exceeds the perception range of the current vehicle, a communication connection is established between the current vehicle and the vehicle being followed to obtain the synchronization information of the vehicle being followed. Based on the synchronization information and the current location of the vehicle, a following reminder is provided; The following reminder based on the synchronization information and the current vehicle location information includes: Identify the location of the followed vehicle and the planned route in the synchronization information; The planned route of the current vehicle is generated based on the current vehicle's location, the location of the vehicle being followed, and the planned route, wherein the planned route of the current vehicle and the planned route of the location of the vehicle being followed have a merging area. Based on the convergence area, a following reminder is given to the current vehicle.

2. The following vehicle reminder method according to claim 1, characterized in that, The following reminder based on the merging area includes: Identify whether the current vehicle's location is within the merging area; If the current vehicle is located within the merging area, then the current vehicle is controlled to perform a first reminder action.

3. The following vehicle reminder method according to claim 1, characterized in that, After controlling the current vehicle to perform the first reminder action, the process also includes: Based on the perception data and the characteristic data of the followed vehicle, the vehicle follows the followed vehicle, and after successfully following the followed vehicle, the current vehicle is controlled to perform a second reminder action.

4. The following vehicle reminder method according to claim 1, characterized in that, Determining whether the followed vehicle exceeds the current vehicle's perception range based on the perception data includes: Based on the perception data and the feature data of the followed vehicle, it is determined whether the followed vehicle exceeds the perception range of the current vehicle. If the perception data matches the feature data, it is determined that the followed vehicle has not exceeded the perception range of the current vehicle; otherwise, it is determined that the followed vehicle has exceeded the perception range of the current vehicle.

5. The following vehicle reminder method according to claim 4, characterized in that, After determining that the followed vehicle has exceeded the perception range of the current vehicle, the process also includes: Control the current vehicle to perform the third reminder action.

6. The following vehicle reminder method according to claim 1, characterized in that, Before issuing a following alert based on the synchronization information and the current vehicle's location, the following steps are also included: Identify whether the following alert function of the current vehicle is enabled; If the following vehicle reminder function is enabled, the current vehicle is controlled to perform the fourth reminder action.

7. A following vehicle reminder device, characterized in that, The following vehicle alert device is used to implement the following vehicle alert method as described in any one of claims 1-6, wherein the following vehicle alert device comprises: The acquisition module is used to acquire the perception data of the current vehicle; The determination module is used to determine, based on the perception data, whether the vehicle being followed exceeds the perception range of the current vehicle; The communication module is used to establish a communication connection between the current vehicle and the vehicle being followed if the vehicle being followed exceeds the perception range of the current vehicle, and to obtain the synchronization information of the vehicle being followed. The reminder module is used to provide following reminders based on the synchronization information and the current location of the vehicle.

8. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the following vehicle alert method according to any one of claims 1-6.

9. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instructions are executed, they implement the following vehicle reminder method according to any one of claims 1-6.

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