A method of alerting a vehicle and a vehicle

Abstract

The application embodiment provides a reminding method of a vehicle and the vehicle, which can control the vehicle to start the in-vehicle reminding and the out-vehicle reminding respectively when the relative distance between the vehicle and the movable object continuously decreases, so that the specific object can be reminded at different relative distances, the timeliness of the reminding is improved, and the driving safety of the vehicle is improved. The reminding method of the vehicle comprises the following steps: if a movable object is detected during the driving of the vehicle, the relative distance between the vehicle and the movable object is determined in real time; if it is determined that the relative distance has a decreasing trend, the in-vehicle reminding and the out-vehicle reminding are started based on a preset priority during the decreasing of the relative distance, the preset priority is determined according to a target triggering object which actively triggers the decreasing of the relative distance, and the target triggering object is the vehicle or the movable object.

Description

[Technical Field]

[0001] This application relates to the field of vehicle technology, and more particularly to a vehicle reminder method and a vehicle. [Background Technology]

[0002] Currently, vehicles are often equipped with two types of alerts to ensure driving safety: the first is to alert the driver during driving, i.e., in-vehicle alerts; the second is to alert external moving objects during driving, i.e., external alerts.

[0003] In related technologies, in-vehicle and external alerts are often activated simultaneously only when the vehicle is close to a moving object. This results in poor timeliness of the alerts, making it difficult for the driver or the moving object to respond in a timely manner. [Summary of the Invention]

[0004] This application proposes a vehicle reminder method and a vehicle, which can control the vehicle to activate in-vehicle and external reminders when it is at different relative distances as the relative distance between the vehicle and a movable object continues to decrease. This improves the timeliness of the reminders and allows for targeted reminders to specific objects at different relative distances, while also enhancing vehicle driving safety.

[0005] In a first aspect, embodiments of this application provide a vehicle reminder method, applied to a vehicle, the method comprising:

[0006] If a movable object is detected while the vehicle is in motion, the relative distance between the vehicle and the movable object is determined in real time.

[0007] If it is determined that the relative distance is decreasing, then during the process of the relative distance decreasing, in-vehicle and out-of-vehicle reminders are given based on a preset priority. The preset priority is determined according to the target triggering object that actively triggers the reduction of the relative distance. The target triggering object is the vehicle or the movable object.

[0008] In this embodiment, when the vehicle detects a movable object and determines that the relative distance between the vehicle and the movable object is gradually decreasing, the priority of in-vehicle and external alerts can be determined based on the target triggering the decrease in relative distance. That is, different target triggering objects will result in different priority levels for the alerts. In-vehicle and external alerts are then activated according to the determined priority. In other words, in a specific scenario where the relative distance between the vehicle and the movable object gradually decreases due to changes in the vehicle's or the movable object's movement, in-vehicle and external alerts are activated at different relative distances. This allows for targeted alerts to specific objects in the scenario at different relative distances, without waiting for the relative distance to decrease, improving the timeliness of alerts and enhancing driving safety.

[0009] Optionally, if it is determined that the relative distance is decreasing, then during the process of the relative distance decreasing, in-vehicle and out-of-vehicle alerts are performed based on a preset priority, including:

[0010] If it is determined that the relative distance is decreasing, and the decrease in relative distance is actively triggered by the movable object, then during the process of the relative distance decreasing, the in-vehicle reminder and the external reminder are performed sequentially.

[0011] In this embodiment, if the relative distance between the current vehicle and the movable object gradually decreases due to a change in the movement state of the movable object, then during the process of the relative distance gradually decreasing, an in-vehicle alert can be given first, so that the driver of the current vehicle can be aware of the changes in the movement state of the surrounding movable objects in advance when the relative distance is large, so that the driver can better respond to the changes in the movement state of the movable objects. That is, when the movement state of the external movable objects changes, the timeliness of the alert to the driver inside the vehicle is improved. Secondly, an external alert can be given so that when the relative distance is small, the movable object can be alerted in time to avoid traffic accidents due to the close relative distance.

[0012] Optionally, if it is determined that the relative distance is decreasing, and the decrease in relative distance is actively triggered by the movable object, then during the process of the relative distance decreasing, the in-vehicle reminder and the external reminder are performed sequentially, including:

[0013] If it is determined that the relative distance is decreasing, and the decrease in relative distance is actively triggered by the movable object, then the in-vehicle reminder is issued when the relative distance is not greater than a first preset threshold.

[0014] The external warning is triggered when the relative distance is not greater than a second preset threshold, where the second preset threshold is less than the first preset threshold.

[0015] In this embodiment, if a change in the movement state of a movable object triggers a gradual decrease in the relative distance between the current vehicle and the movable object, two thresholds can be set: a first threshold and a second threshold, with the second threshold being less than the first threshold. When the relative distance is no greater than the first threshold, an in-vehicle alert is issued; when the relative distance is no greater than the second threshold, an external alert is issued. This allows for targeted alerts to specific objects at different relative distances, improving the timeliness of the alerts and enhancing vehicle driving safety.

[0016] Optionally, after issuing the external warning when the relative distance is not greater than a second preset threshold, the method further includes:

[0017] If it is determined that the relative distance is increasing and the relative distance is not less than a third preset threshold, the in-vehicle alert and the external alert will be stopped.

[0018] In this embodiment of the application, when both in-vehicle and external alerts are enabled, if it is determined that the relative distance between the current vehicle and the movable object gradually increases to a third preset threshold, it can be considered that the change in the movement state of the movable object will no longer pose a safety hazard to the current vehicle, and at this time, the in-vehicle and external alerts can be stopped.

[0019] Optionally, when the relative distance shows a decreasing trend, the movable object performs a lane change operation; if it is determined that the relative distance shows an increasing trend, and the relative distance is not less than a third preset threshold, the in-vehicle alert and the external alert are stopped, including:

[0020] If it is determined that the relative distance is increasing, the relative distance is not less than the third preset threshold, and the vehicle and the movable object are located in different lanes, the in-vehicle alert and the external alert will be stopped.

[0021] In this embodiment, if a movable object changes lanes, causing a decrease in the relative distance between the current vehicle and the movable object, then if, with both in-vehicle and external alerts enabled, it is determined that the relative distance between the current vehicle and the movable object has increased to a level not less than a third preset threshold, and the current vehicle and the movable object are in different lanes, then it can be considered that the movable object has completed its lane change. At this point, the movable object will no longer pose a safety hazard to the current vehicle, and the in-vehicle and external alerts can be stopped.

[0022] Optionally, if it is determined that the relative distance is decreasing, then during the process of the relative distance decreasing, in-vehicle and out-of-vehicle alerts are performed based on a preset priority, including:

[0023] If it is determined that the relative distance is decreasing, and the decrease in relative distance is actively triggered by the vehicle, then during the process of the relative distance decreasing, the external reminder and the internal reminder are performed sequentially.

[0024] In this embodiment, if the relative distance between the current vehicle and the movable object gradually decreases due to a change in the current vehicle's movement status, then during the process of the relative distance gradually decreasing, an external warning can be given first, so that the movable object can be aware of the change in the current vehicle's movement status in advance when it is far away from the current vehicle, so that the movable object can better cope with the change in the current vehicle's movement status. That is, when the current vehicle's movement status changes, the timeliness of the warning to the external movable object is improved. Secondly, an in-vehicle warning can be given so that when the relative distance is small, the driver operating the current vehicle can be promptly reminded to avoid traffic accidents caused by the close relative distance.

[0025] Optionally, if it is determined that the relative distance is decreasing, and the decrease in relative distance is actively triggered by the vehicle, then during the process of the relative distance decreasing, the external alert and the internal alert are performed sequentially, including:

[0026] If it is determined that the relative distance is decreasing, and the decrease in relative distance is actively triggered by the vehicle, then the external warning is issued when the relative distance is not greater than a first preset threshold.

[0027] The in-vehicle reminder is triggered when the relative distance is not greater than a second preset threshold, where the second preset threshold is less than the first preset threshold.

[0028] In this embodiment, if a change in the current vehicle's movement state causes the relative distance between the current vehicle and a movable object to gradually decrease, two thresholds can be set: a first threshold and a second threshold, with the second threshold being less than the first threshold. When the relative distance is no greater than the first threshold, an external warning is issued; when the relative distance is no greater than the second threshold, an internal warning is issued. This allows for targeted warnings to specific objects at different relative distances, improving the timeliness of the warnings and enhancing vehicle driving safety.

[0029] Optionally, after issuing an in-vehicle reminder when the relative distance is not greater than a second preset threshold, the method further includes:

[0030] If it is determined that the relative distance is increasing and the relative distance is not less than a third preset threshold, the in-vehicle alert and the external alert will be stopped.

[0031] In this embodiment of the application, when both in-vehicle and external vehicle alerts are enabled, if it is determined that the relative distance between the current vehicle and the movable object gradually increases to a third preset threshold, it can be considered that the change in the movement state of the current vehicle will no longer pose a safety hazard to the movable object, and at this time, the in-vehicle and external vehicle alerts can be stopped.

[0032] Optionally, when the relative distance shows a decreasing trend, the vehicle performs a steering operation; if it is determined that the relative distance shows an increasing trend, and the relative distance is not less than a third preset threshold, the in-vehicle alert and the external alert are stopped, including:

[0033] If it is determined that the relative distance is increasing, the relative distance is not less than the third preset threshold, and the direction of movement of the vehicle is not the same as the direction of movement of the movable object, then the in-vehicle alert and the external alert shall be stopped.

[0034] In this embodiment of the application, if the relative distance between the current vehicle and the movable object decreases due to the current vehicle's turning operation, then if it is determined that the relative distance between the current vehicle and the movable object increases to not less than a third preset threshold when both in-vehicle and external warnings are enabled, and the current vehicle and the movable object are moving in different directions, then it can be considered that the current vehicle has completed its turning operation. At this time, the current vehicle will no longer pose a safety hazard to the movable object, and the in-vehicle and external warnings can be stopped.

[0035] Optionally, the in-vehicle reminders include voice reminders, visual reminders, and text reminders based on the in-vehicle infotainment system.

[0036] In this embodiment of the application, if the in-vehicle reminders include multiple forms of reminders, such as voice reminders, visual reminders, and text reminders, it can ensure that the driver in the current vehicle can pay attention to at least one of the above reminders, thereby ensuring the driver's driving safety.

[0037] Optionally, the display screen for the on-screen notification is smaller than the display screen of the in-vehicle infotainment system.

[0038] In this embodiment of the application, when a visual reminder is displayed, the display screen used for the visual reminder is smaller than the display screen, thereby ensuring that the driver can view the visual reminder without affecting the driver's operation of other functions on the display screen.

[0039] Optionally, the method further includes:

[0040] If it is determined that the driver of the vehicle is not paying attention to the in-vehicle alerts, then some of the in-vehicle alerts will be deactivated.

[0041] In this embodiment, if it is determined that the driver is not paying attention to the in-vehicle reminders when the vehicle is providing in-vehicle reminders, then some in-vehicle reminders will be stopped, thereby avoiding frequent reminders to the driver and improving the driver's user experience.

[0042] Optionally, if it is determined that the driver of the vehicle is not paying attention to the in-vehicle alerts, some of the in-vehicle alerts may be disabled, including:

[0043] If it is determined that the driver of the vehicle is not paying attention to the in-vehicle alerts, the voice alerts and the visual alerts will be stopped.

[0044] In this embodiment of the application, if the in-vehicle reminders include multiple forms of reminders, such as voice reminders, visual reminders, and text reminders, then if it is determined that the driver is not paying attention to the above-mentioned in-vehicle reminders, some in-vehicle reminders can be stopped. For example, voice reminders and visual reminders that are more disruptive to the driver can be stopped, while text reminders that are less disruptive to the driver can be retained. This avoids interference with the driver while retaining the basic reminder function.

[0045] Optionally, the external alert can be provided via an external display screen.

[0046] In this embodiment, an external display screen can be used as a medium for external vehicle reminders, thereby enabling personalized reminders for movable objects.

[0047] Secondly, embodiments of this application provide a vehicle, the vehicle comprising: a detection unit, a processing unit, and a reminder unit connected in sequence;

[0048] The detection unit is used to detect external environment data in the external environment and send the external environment data to the computing unit;

[0049] The computing unit is used to detect movable objects in the external environment based on the external environment data; determine the relative distance between the vehicle and the movable object in real time, and determine whether the relative distance is decreasing; if the relative distance is determined to be decreasing, during the process of the relative distance decreasing, send an in-vehicle reminder activation command and an out-of-vehicle reminder activation command to the reminder unit based on a preset priority, wherein the preset priority is determined based on the target triggering object that actively triggers the reduction of the relative distance, and the target triggering object is the vehicle or the movable object;

[0050] The reminder unit is used to provide in-vehicle reminders in response to the in-vehicle reminder activation command, and to provide out-of-vehicle reminders in response to the out-of-vehicle reminder activation command.

[0051] Optionally, the arithmetic unit is specifically used for:

[0052] If it is determined that the relative distance is decreasing, and the decrease in relative distance is actively triggered by the movable object, then during the process of the relative distance decreasing, the in-vehicle reminder activation command and the out-of-vehicle reminder activation command are sent to the reminder unit in sequence;

[0053] The reminder unit is specifically used for:

[0054] The system sequentially responds to the in-vehicle reminder activation command to provide in-vehicle reminders; and responds to the out-of-vehicle reminder activation command to provide out-of-vehicle reminders.

[0055] Optionally, the arithmetic unit is specifically used for:

[0056] If it is determined that the relative distance is decreasing, and the decrease in relative distance is actively triggered by the movable object, then when the relative distance is not greater than a first preset threshold, a vehicle reminder activation command is sent to the reminder unit; when the relative distance is not greater than a second preset threshold, an external reminder activation command is sent to the reminder unit.

[0057] Optionally, the arithmetic unit is further configured to:

[0058] If it is determined that the relative distance is increasing and the relative distance is not less than a third preset threshold, an in-vehicle reminder deactivation command and an out-of-vehicle reminder deactivation command are sent to the reminder unit.

[0059] The reminder unit is also used for:

[0060] The in-vehicle reminder is turned off in response to the in-vehicle reminder turn-off command;

[0061] The external alert is turned off in response to the external alert turn-off command.

[0062] Optionally, when the relative distance shows a decreasing trend, the movable object performs a lane-changing operation, and the calculation unit is specifically used for:

[0063] If it is determined that the relative distance is increasing, the relative distance is not less than the third preset threshold, and the vehicle and the movable object are located in different lanes, the in-vehicle reminder closing command and the out-of-vehicle reminder closing command are sent to the reminder unit.

[0064] Optionally, the arithmetic unit is specifically used for:

[0065] If it is determined that the relative distance is decreasing, and the decrease in relative distance is actively triggered by the vehicle, then during the process of the relative distance decreasing, the external reminder activation command and the internal reminder activation command are sent to the reminder unit in sequence.

[0066] The reminder unit is specifically used for:

[0067] The system sequentially responds to the external alert activation command to provide an external alert; and responds to the internal alert activation command to provide an internal alert.

[0068] Optionally, the arithmetic unit is specifically used for:

[0069] If it is determined that the relative distance is decreasing, and the decrease in relative distance is actively triggered by the vehicle, then when the relative distance is not greater than the first preset threshold, the external reminder activation command is sent to the reminder unit.

[0070] When the relative distance is not greater than a second preset threshold, a vehicle reminder activation command is sent to the reminder unit, wherein the second preset threshold is less than the first preset threshold.

[0071] Optionally, the arithmetic unit is further configured to:

[0072] If it is determined that the relative distance is increasing and the relative distance is not less than a third preset threshold, an in-vehicle reminder deactivation command and an out-of-vehicle reminder deactivation command are sent to the reminder unit.

[0073] The reminder unit is also used for:

[0074] The in-vehicle reminder is stopped in response to the in-vehicle reminder turn-off command;

[0075] The external alert is stopped in response to the external alert disabling command.

[0076] Optionally, when the relative distance shows a decreasing trend, the vehicle performs a steering operation, and the computing unit is specifically used for:

[0077] If it is determined that the relative distance is increasing, the relative distance is not less than the third preset threshold, and the direction of movement of the vehicle is not the same as the direction of movement of the movable object, then the in-vehicle reminder closing command and the out-of-vehicle reminder closing command are sent to the reminder unit.

[0078] Optionally, the in-vehicle reminders include voice reminders, visual reminders, and text reminders based on the in-vehicle infotainment system.

[0079] Optionally, the display screen for the on-screen notification is smaller than the display screen of the in-vehicle infotainment system.

[0080] Optionally, the arithmetic unit is further configured to:

[0081] If it is determined that the driver of the vehicle is not paying attention to the in-vehicle reminder, a command to partially turn off the in-vehicle reminder is sent to the reminder unit;

[0082] The reminder unit is also used for:

[0083] In response to the command to turn off the in-vehicle alerts, some of the in-vehicle alerts are stopped.

[0084] Optionally, the arithmetic unit is specifically used for:

[0085] If it is determined that the driver of the vehicle is not paying attention to the in-vehicle reminder, a voice reminder turning-off command and a video reminder turning-off command are sent to the reminder unit;

[0086] The reminder unit is specifically used for:

[0087] The voice reminder is stopped in response to the voice reminder turn-off command;

[0088] The on-screen notification is stopped in response to the on-screen notification close command.

[0089] Optionally, the external alert can be provided via an external display screen.

[0090] Thirdly, embodiments of this application provide a computer-readable storage medium for storing computer instructions that, when the computer is run, cause the computer to perform the steps of the method as described in any embodiment of the first aspect.

[0091] It should be understood that the second and third aspects of the embodiments of this application are consistent with the technical solutions of the first aspect of the embodiments of this application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation are similar, and will not be described again. [Attached Image Description]

[0092] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0093] Figure 1 A flowchart illustrating a vehicle alert method provided in an embodiment of this application;

[0094] Figure 2 This is a flowchart illustrating a method for providing in-vehicle and external alerts according to preset priorities, as provided in an embodiment of this application.

[0095] Figure 3 This is a flowchart illustrating a method for providing in-vehicle and external alerts according to preset priorities, as provided in an embodiment of this application.

[0096] Figure 4 This is a flowchart illustrating a method for providing external and internal vehicle alerts according to preset priorities, as provided in an embodiment of this application.

[0097] Figure 5 This is a flowchart illustrating a method for providing external and internal vehicle alerts according to preset priorities, as provided in an embodiment of this application.

[0098] Figure 6 (a)-6(c) are schematic diagrams illustrating a change in in-vehicle reminders provided in an embodiment of this application;

[0099] Figure 7 A schematic diagram illustrating a movable object actively changing lanes, provided in an embodiment of this application;

[0100] Figure 8 This is a schematic diagram of active steering of a current vehicle provided in an embodiment of this application;

[0101] Figure 9 This is a structural schematic diagram of a vehicle provided in an embodiment of this application.

Detailed Implementation Methods

[0102] To better understand the technical solutions in this specification, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0103] It should be understood that the described embodiments are merely some, not all, of the embodiments in this specification. All other embodiments obtained by those skilled in the art based on the embodiments in this specification without inventive effort are within the scope of protection of this specification.

[0104] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this specification. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0105] Currently, vehicles are often equipped with two types of alerts to ensure driving safety: the first is to alert the driver during driving, i.e., in-vehicle alerts; the second is to alert external moving objects during driving, i.e., external alerts.

[0106] In related technologies, in-vehicle and external alerts are often activated simultaneously only when the vehicle is close to a moving object. This results in poor timeliness of the alerts, making it difficult for the driver or the moving object to respond in a timely manner.

[0107] In view of this, this application provides a vehicle reminder method. In a specific scenario where the relative distance between the current vehicle and the movable object gradually decreases due to changes in the current vehicle's movement state or the movement state of the movable object, in-vehicle and external reminders are activated with preset priorities at different relative distances. This allows for targeted reminders to specific objects in the aforementioned specific scenario at different relative distances, without waiting for the relative distance to become closer before activating the reminder, thus improving the timeliness of the reminder and enhancing vehicle driving safety.

[0108] The technical solutions provided in the embodiments of this application will now be described in conjunction with the accompanying drawings.

[0109] Please see Figure 1 The above is a flowchart illustrating a vehicle alert method provided in an embodiment of this application. This method can be applied to vehicles, and the flowchart is described as follows:

[0110] Step 10: If a moving object is detected while the vehicle is in motion, determine the relative distance between the vehicle and the moving object in real time.

[0111] In this embodiment, during vehicle operation, image data of the surrounding environment is acquired using surround-view cameras (such as monocular, binocular, or RGB-D cameras). After acquiring the image data, the surround-view cameras can transmit the image data to the vehicle's infotainment system. The infotainment system can perform preprocessing operations such as denoising, distortion correction, and grayscale conversion on the image data to improve the efficiency and accuracy of subsequent processing. Based on this, the infotainment system can extract key points (feature points) and descriptors from the preprocessed images and perform feature matching between different images. Using the matched feature points, the camera motion (position and pose) is estimated by minimizing reprojection error or photometric error. Then, using visual odometry results at different times, combined with loop closure detection information, the camera pose and map points are globally optimized to improve the accuracy and robustness of the SLAM system. Commonly used optimization methods include extended Kalman filtering (EKF) and nonlinear optimization. Finally, a map of the environment is constructed based on the estimated camera trajectory and feature point positions. The map can be sparse (containing only feature points) or dense (containing more environmental details).

[0112] In the aforementioned local map constructed based on Simultaneous Localization and Mapping (SLAM), object detection algorithms (such as deep learning-based algorithms) are used to identify surrounding objects. These algorithms can identify predefined categories of movable objects, such as pedestrians and vehicles. Of course, the vehicle's infotainment system can also transmit features extracted from image data to the cloud, thereby utilizing the cloud's higher computing power and more advanced algorithms to construct SLAM-based local maps and determine movable objects; this application does not impose any particular limitations on this.

[0113] If the vehicle detects a moving object, it can be assumed that the relative distance between the vehicle and the moving object has reached the wake-up threshold. Based on this, the vehicle can use the configured ranging radar to detect the relative distance between itself and the moving object in real time and transmit the real-time detected relative distance to the vehicle's infotainment system.

[0114] Step 20: If it is determined that the relative distance is decreasing, then during the process of the relative distance decreasing, provide in-vehicle and external reminders based on preset priorities.

[0115] In this embodiment, if the vehicle-mounted system determines that the relative distance between the current vehicle and surrounding movable objects in the constructed SLAM-based local map shows a decreasing trend over time, it can determine the priority of in-vehicle and external alerts based on the target trigger object actively triggered by the decreasing relative distance. That is, different target trigger objects with decreasing relative distances result in different priority levels for the determined alert methods. In-vehicle and external alerts are then performed according to the determined priority order. Here, determining that the relative distance between the current vehicle and movable objects shows a decreasing trend can be done by the vehicle-mounted system, or it can be determined first by the cloud and then notified to the vehicle-mounted system; this application does not impose any particular limitation on this.

[0116] It should be understood that the aforementioned target trigger object can be the current vehicle or a detected movable object. In a specific scenario where the relative distance between the current vehicle and the movable object gradually decreases due to changes in the movement state of the current vehicle or the movable object, in-vehicle and external alerts will be activated at different relative distances. This allows for targeted alerts to specific objects within the specific scenario at different relative distances, without waiting for the relative distance to narrow, improving the timeliness of alerts and enhancing driving safety.

[0117] It is worth noting that in-vehicle reminders include, but are not limited to, voice reminders, visual reminders, and text reminders based on the in-vehicle infotainment system. Voice reminders can be output through the audio output device of the in-vehicle infotainment system, while visual and text reminders can be output through the central control display screen of the in-vehicle infotainment system. The specific reminder content is determined according to the actual scenario, and this application does not impose any particular restrictions on it. Furthermore, to ensure that the driver's use of other functions on the central control display screen is not affected when viewing the aforementioned visual reminders, the display screen of the visual reminder should be smaller than the display screen of the central control display screen. For example, the display screen of the visual reminder may be half, a quarter, or an eighth of the display screen of the central control display screen. The display screen size of the visual reminder can be specifically set according to the size of the central control display screen, and this application does not impose any particular restrictions on it. External warnings can be displayed on an external screen, such as a light-emitting diode (LED) screen, an organic light-emitting diode (OLED) screen, or an LCD screen. The external screen can be located at the rear of the vehicle or in other positions. This application does not impose any particular restrictions on the type or installation location of the external screen. Alternatively, external warnings can also be provided via pedestrian alarms. For example, if the movable object is a pedestrian, a pedestrian alarm can also be used to provide external warnings.

[0118] The following provides a detailed explanation of how in-vehicle and external alerts are triggered according to different preset priorities when different targets are involved.

[0119] Case 1: The target triggering object is a movable object.

[0120] Please see Figure 2 This is a flowchart illustrating a method for providing in-vehicle and out-of-vehicle alerts according to preset priorities, as provided in an embodiment of this application. Step 20 can be specifically implemented by executing sub-step 201:

[0121] Step 201: If it is determined that the relative distance is decreasing and the decrease in relative distance is actively triggered by the movable object, then during the process of the relative distance decreasing, in-vehicle reminders and out-of-vehicle reminders are issued in sequence.

[0122] In this embodiment, if the relative distance between the current vehicle and the movable object gradually decreases due to a change in the movement state of the movable object, then during the process of the relative distance gradually decreasing, an in-vehicle alert can be given first, so that the driver of the current vehicle can be aware of the change in the movement state of the surrounding movable object in advance when the relative distance is large, so that the driver can better respond to the change in the movement state of the movable object; secondly, an external alert can be given, so that when the relative distance is small, the movable object can be alerted in time to avoid traffic accidents due to the close relative distance.

[0123] In some embodiments, when providing in-vehicle and out-of-vehicle reminders according to preset priorities, the timing of the reminders can be associated with the aforementioned relative distance to further enhance the targeted nature of the reminders.

[0124] Please see Figure 3 This is a flowchart illustrating a method for providing in-vehicle and out-of-vehicle alerts according to preset priorities, as provided in an embodiment of this application. Step 201 can be achieved by executing sub-steps 2011 to 2012:

[0125] Step 2011: If it is determined that the relative distance is decreasing and the decrease in relative distance is actively triggered by a movable object, then when the relative distance is not greater than the first set threshold, an in-vehicle reminder is issued.

[0126] Step 2012: When the relative distance is not greater than the second set threshold, issue an external warning.

[0127] In this embodiment, if the relative distance between the current vehicle and the movable object gradually decreases due to a change in the movement state of the movable object, two thresholds can be set: a first threshold and a second threshold, where the second threshold is less than the first threshold. The specific values ​​of the first and second thresholds can be determined based on the actual scenario, and this application does not impose any particular restrictions. When the relative distance is not greater than the first threshold, an in-vehicle alert is issued; when the relative distance is not greater than the second threshold, an external alert is issued. This allows for targeted alerts to specific objects at different relative distances, avoiding the need to activate both alert methods only when the relative distance is small. This improves the timeliness of alerts and enhances driving safety.

[0128] In some embodiments, when both in-vehicle and external alerts are enabled, if it is determined that the relative distance between the current vehicle and the movable object is increasing and the relative distance is not less than a third preset threshold, it can be considered that the change in the movement state of the movable object will no longer pose a safety hazard to the current vehicle, and in this case, both in-vehicle and external alerts can be stopped.

[0129] Furthermore, if a lane-changing operation by a movable object triggers a decrease in the relative distance between the current vehicle and the movable object, then with both in-vehicle and external alerts enabled, if it is determined that the relative distance between the current vehicle and the movable object is increasing, and the relative distance is not less than the third preset threshold, and the current vehicle and the movable object are in different lanes, then it can be considered that the movable object has completed its lane-changing operation. At this point, the movable object will no longer pose a safety hazard to the current vehicle, and the in-vehicle and external alerts can be stopped.

[0130] Scenario 2: The target trigger object is the current vehicle.

[0131] Please see Figure 4 This is a flowchart illustrating a method for providing external and internal vehicle alerts according to preset priorities, as provided in an embodiment of this application. Step 20 can be specifically implemented by executing sub-step 202:

[0132] Step 202: If it is determined that the relative distance is decreasing and the decrease in relative distance is actively triggered by the vehicle, then during the process of the relative distance decreasing, external reminders and internal reminders are issued sequentially.

[0133] In this embodiment, if the relative distance between the current vehicle and the movable object gradually decreases due to a change in the current vehicle's movement status, then during the process of the relative distance gradually decreasing, an external warning can be given first, so that the movable object can be aware of the change in the current vehicle's movement status in advance when it is far away from the current vehicle, so that the movable object can better cope with the change in the current vehicle's movement status; secondly, an in-vehicle warning can be given, so that when the relative distance is small, the driver operating the current vehicle can be promptly reminded to avoid traffic accidents caused by the close relative distance.

[0134] In some embodiments, when providing external and internal vehicle alerts according to preset priorities, the timing of the alerts can be correlated with the aforementioned relative distance to further enhance the targeted nature of the alerts.

[0135] Please see Figure 5 This is a flowchart illustrating a method for providing external and internal vehicle alerts according to preset priorities, as provided in an embodiment of this application. Step 202 can be achieved by executing sub-steps 2021 to 2022:

[0136] Step 2021: If it is determined that the relative distance is decreasing and the decrease in relative distance is actively triggered by the vehicle, then when the relative distance is not greater than the first set threshold, an external warning is issued.

[0137] Step 2022: When the relative distance is not greater than the second set threshold, issue an in-vehicle reminder.

[0138] In this embodiment, if a change in the vehicle's current movement state causes the relative distance between the vehicle and a movable object to gradually decrease, two thresholds can be set: a first threshold and a second threshold, where the second threshold is less than the first threshold. The specific values ​​of the first and second thresholds can be determined based on the actual scenario, and this application does not impose any particular restrictions. When the relative distance is not greater than the first threshold, an external warning is issued; when the relative distance is not greater than the second threshold, an internal warning is issued. This allows for targeted warnings to specific objects at different relative distances, avoiding the need to activate both warning methods only when the relative distance is small. This improves the timeliness of the warnings and enhances driving safety.

[0139] In some embodiments, when both in-vehicle and external vehicle alerts are enabled, if it is determined that the relative distance between the current vehicle and the movable object is increasing and the relative distance is not less than a third preset threshold, it can be considered that the change in the current vehicle's movement status will no longer pose a safety hazard to the movable object, and in this case, both in-vehicle and external vehicle alerts can be stopped.

[0140] Furthermore, if the current vehicle's turning operation triggers a decrease in the relative distance between the current vehicle and the movable object, then with both in-vehicle and external alerts enabled, if it is determined that the relative distance between the current vehicle and the movable object is increasing, the current relative distance is not less than the third preset threshold, and the current vehicle and the movable object are moving in different directions, then it can be considered that the current vehicle has completed its turn. At this point, the current vehicle will no longer pose a safety hazard to the movable object, and the in-vehicle and external alerts can be stopped.

[0141] In some embodiments, whether it is situation 1 or situation 2 above, after the in-vehicle reminder is turned on, the driver may not pay much attention to the in-vehicle reminder. Therefore, in this embodiment of the application, after the in-vehicle reminder is turned on, if it is detected that the user is not paying attention to the in-vehicle reminder, some in-vehicle reminders can be stopped, thereby avoiding frequent reminders to the driver and improving the driver's user experience.

[0142] As one possible implementation, if it is determined that the driver is not paying attention to the above-mentioned in-vehicle reminders, some in-vehicle reminders can be stopped. For example, voice reminders and visual reminders that are more disruptive to the driver can be stopped, while text reminders that are less disruptive to the driver can be retained. This avoids interference with the driver while retaining the basic reminder function.

[0143] It should be understood that the driver monitoring system (DMS) can be used to detect whether the driver is paying attention to the center console screen or whether there are touch operations on the center console screen to determine whether the driver is paying attention to the in-vehicle reminders.

[0144] Please see Figure 6 This is a schematic diagram illustrating a change in in-vehicle alerts provided in an embodiment of this application. Taking an example of a movable object actively changing lanes behind the current vehicle, the movable object is a following vehicle relative to the current vehicle. Figure 6 As shown in (a), if the relative distance between the current vehicle and the movable object is not greater than the wake-up threshold but greater than the first set threshold, the in-vehicle reminder is not activated. In this case, no visual or text reminders are displayed on the central control screen, and the audio output device will not output voice reminders. Figure 6 As shown in (b), if the relative distance between the current vehicle and the movable object is not greater than the first preset threshold but greater than the second preset threshold, the current vehicle activates an in-vehicle alert. At this time, the central control display screen can provide a visual alert through a small window located in the upper left corner of the navigation interface, displaying the message "Real-time video of the following vehicle changing lanes," and a text alert is displayed in the status bar, displaying the message "The following vehicle is changing lanes." Simultaneously, the audio output device can output a corresponding voice alert. Figure 6 As shown in (c), if it is detected that the driver is not paying attention to the above in-vehicle reminder, the window displaying the following vehicle lane change screen will be closed, and only the text reminder in the status bar will be retained. At the same time, a preset warning symbol will be displayed in the status bar, for example, the warning symbol is a combination of a triangle and an exclamation mark.

[0145] It should be understood that when the current vehicle's movement status changes, the process of the in-vehicle notification changes is similar to that of the movement status changes of movable objects, and will not be elaborated here.

[0146] The following section describes the proposed solution in a specific scenario.

[0147] Scenario 1: A movable object changing lanes.

[0148] Please see Figure 7 This is a schematic diagram illustrating a movable object actively changing lanes, provided in an embodiment of this application. Figure 7As shown, vehicle A is the current vehicle. If vehicle A detects vehicle B at position 1 while driving, it can be considered that the relative distance between vehicle A and vehicle B at position 1 has reached the wake-up threshold. Based on this, vehicle A will continuously acquire the relative distance with vehicle B. If vehicle A determines that the relative distance is decreasing, then when the relative distance between vehicle A and vehicle B decreases to no greater than a first preset threshold, for example, when vehicle B is at position 2, the relative distance between vehicle A and vehicle B decreases to no greater than the first preset threshold. Since the decrease in relative distance is caused by vehicle B changing lanes, vehicle A will first issue an in-vehicle alert, for example, by voice prompting the driver of vehicle A that vehicle B is changing lanes behind and entering the lane where vehicle A is located. At the same time, the central control display screen of vehicle A will also display a visual prompt and text prompt about vehicle B changing lanes. If the relative distance between vehicle A and vehicle B further decreases to no greater than the second preset threshold (for example, when vehicle B is at position 3, the relative distance between vehicle A and vehicle B decreases to no greater than the second preset threshold), then vehicle A will receive an external warning, such as displaying text or images like "Driving too close, be careful" on an external LED display to remind vehicles behind to maintain a safe distance. After both in-vehicle and external warnings are issued, if it is determined that the relative distance between vehicle A and vehicle B is increasing, then during the process of increasing relative distance, if the relative distance between vehicle A and vehicle B is not less than the third preset threshold, and vehicle A and vehicle B are in different lanes (for example, when vehicle B is at position 4, the relative distance between vehicle A and vehicle B increases to not less than the third preset threshold, and vehicle A and vehicle B are in different lanes), then it can be considered that the lane change operation actively triggered by vehicle B will no longer pose a safety hazard to vehicle A. In this case, vehicle A can turn off both in-vehicle and external warnings.

[0149] Scenario 2: Current vehicle turning scenario.

[0150] Please see Figure 8 This is a schematic diagram illustrating active steering of a vehicle according to an embodiment of this application. Figure 8As shown, vehicle A is the current vehicle. If vehicle A detects vehicle B at position 1 while driving, it can be considered that the relative distance between vehicle A and vehicle B at position 1 has reached the wake-up threshold. Based on this, vehicle A will continuously acquire the relative distance with vehicle B. If vehicle A determines that the relative distance is decreasing, then when the relative distance between vehicle A and vehicle B decreases to no greater than a first preset threshold, for example, when vehicle A is at position 2, the relative distance between vehicle A and vehicle B decreases to no greater than the first preset threshold, since the decrease in relative distance is caused by vehicle A actively turning, vehicle A will first issue an external warning, for example, by displaying text or images such as "Vehicle turning, be careful" on an external LED display to remind surrounding vehicles to pay attention. If the relative distance between vehicle A and vehicle B further decreases to no greater than the second preset threshold, for example, when vehicle A is in position 3, the relative distance between vehicle A and vehicle B decreases to no greater than the second preset threshold. At this time, vehicle A will receive an in-vehicle alert, for example, by voice reminding the driver of vehicle A, "The turning radius is too large, be careful of colliding with surrounding vehicles." At the same time, the control display screen of vehicle A will briefly pop up a picture of the direction of movement to prompt the driver to control the distance. After issuing in-vehicle and external alerts respectively, if it is determined that the relative distance between vehicle A and vehicle B is increasing, then during the process of increasing relative distance, if the relative distance between vehicle A and vehicle B is not less than the third preset threshold, and the directions of movement of vehicle A and vehicle B are different, for example, when vehicle A is in position 4, the relative distance between vehicle A and vehicle B increases to not less than the third preset threshold, and vehicle A and vehicle B have different directions of movement, then it can be considered that the steering operation actively triggered by vehicle A will no longer pose a safety hazard to vehicle B. In this case, vehicle A can turn off the in-vehicle and external alerts.

[0151] Please see Figure 9 Based on the same inventive concept, this application provides a vehicle, which includes: a detection unit 301, a calculation unit 302 and an alert unit 303 connected in sequence;

[0152] The detection unit 301 is used to detect external environment data in the external environment and send the external environment data to the calculation unit 302;

[0153] The processing unit 302 is used to detect movable objects in the external environment based on external environment data; determine the relative distance between the vehicle and the movable object in real time, and determine whether the relative distance is decreasing; if it is determined that the relative distance is decreasing, during the process of the relative distance decreasing, it sends an in-vehicle reminder activation command and an out-of-vehicle reminder activation command to the reminder unit 303 based on a preset priority. The preset priority is determined according to the target triggering object that actively triggers the decrease in relative distance. The target triggering object is a vehicle or a movable object.

[0154] The reminder unit 303 is used to provide in-vehicle reminders in response to an in-vehicle reminder activation command, and to provide external reminders in response to an external reminder activation command.

[0155] Optionally, the arithmetic unit 302 is specifically used for:

[0156] If it is determined that the relative distance is decreasing, and the decrease in relative distance is actively triggered by the movable object, then during the process of the relative distance decreasing, the in-vehicle reminder activation command and the out-of-vehicle reminder activation command are sent to the reminder unit 303 in sequence;

[0157] The reminder unit 303 is specifically used for:

[0158] It sequentially responds to the in-vehicle reminder activation command to provide in-vehicle reminders; and responds to the external reminder activation command to provide external reminders.

[0159] Optionally, the arithmetic unit 302 is specifically used for:

[0160] If it is determined that the relative distance is decreasing, and the decrease in relative distance is actively triggered by a movable object, then when the relative distance is not greater than the first set threshold, an in-vehicle reminder activation command is sent to the reminder unit 303; when the relative distance is not greater than the second set threshold, an out-of-vehicle reminder activation command is sent to the reminder unit, where the second set threshold is less than the first set threshold.

[0161] Optionally, the arithmetic unit 302 is also used for:

[0162] If it is determined that the relative distance is increasing and the relative distance is not less than the third preset threshold, send an in-vehicle reminder closing command and an out-of-vehicle reminder closing command to the reminder unit 303;

[0163] The reminder unit 303 is also used for:

[0164] Turn off in-vehicle alerts in response to an in-vehicle alert turn-off command;

[0165] Responding to the command to turn off external vehicle alerts, turn off external vehicle alerts.

[0166] Optionally, when the relative distance shows a decreasing trend, the movable object performs a lane-changing operation, and the arithmetic unit 302 is specifically used for:

[0167] If it is determined that the relative distance is increasing, the relative distance is not less than the third preset threshold, and the vehicle and the movable object are located in different lanes, an in-vehicle reminder closing command and an out-of-vehicle reminder closing command are sent to the reminder unit 303.

[0168] Optionally, the arithmetic unit 302 is specifically used for:

[0169] If it is determined that the relative distance is decreasing, and the decrease in relative distance is actively triggered by the vehicle, then during the process of the relative distance decreasing, the external reminder activation command and the internal reminder activation command are sent to the reminder unit 303 in sequence.

[0170] The reminder unit 303 is specifically used for:

[0171] It sequentially responds to external alert activation commands to provide external alerts; and responds to internal alert activation commands to provide internal alerts.

[0172] Optionally, the arithmetic unit 302 is specifically used for:

[0173] If it is determined that the relative distance is decreasing and the decrease in relative distance is actively triggered by the vehicle, then when the relative distance is not greater than the first set threshold, an external reminder activation command is sent to the reminder unit 303.

[0174] When the relative distance is not greater than the second set threshold, an in-vehicle reminder activation command is sent to the reminder unit 303, where the second set threshold is less than the first set threshold.

[0175] Optionally, the arithmetic unit 302 is also used for:

[0176] If it is determined that the relative distance is increasing and the relative distance is not less than the third preset threshold, send an in-vehicle reminder closing command and an out-of-vehicle reminder closing command to the reminder unit 303;

[0177] The reminder unit 303 is also used for:

[0178] In response to a command to turn off in-vehicle alerts, stop the in-vehicle alerts;

[0179] The external alert will be stopped in response to the command to turn off external alerts.

[0180] Optionally, when the relative distance shows a decreasing trend, the vehicle performs a steering operation, and the computing unit 302 is specifically used for:

[0181] If it is determined that the relative distance is increasing, the relative distance is not less than the third preset threshold, and the direction of movement of the vehicle is different from the direction of movement of the movable object, an in-vehicle reminder closing command and an out-of-vehicle reminder closing command are sent to the reminder unit 303.

[0182] Optionally, in-vehicle alerts include voice alerts, visual alerts, and text alerts based on the in-vehicle infotainment system.

[0183] Optionally, the display screen for the visual alert may be smaller than the display screen in the in-vehicle infotainment system.

[0184] Optionally, the arithmetic unit 302 is also used for:

[0185] If it is determined that the driver of the vehicle is not paying attention to the in-vehicle reminders, a command to turn off the in-vehicle reminders is sent to the reminder unit 303;

[0186] The reminder unit 303 is also used for:

[0187] In response to a command to turn off some in-vehicle alerts, some in-vehicle alerts are disabled.

[0188] Optionally, the arithmetic unit 302 is specifically used for:

[0189] If it is determined that the driver of the vehicle is not paying attention to the in-vehicle reminders, a voice reminder and a visual reminder to be turned off are sent to the reminder unit 303;

[0190] The reminder unit 303 is specifically used for:

[0191] The voice reminder stops in response to the voice reminder turn-off command;

[0192] Stop the on-screen notification in response to the on-screen notification close command.

[0193] Optionally, the external warning can be displayed on an external screen.

[0194] It is worth noting that in the above embodiments, the detection unit 301 may include a surround-view camera (monocular camera, binocular camera, RGB-D camera, etc.) and a LiDAR; the computing unit 302 may be any one or more combinations of a central processing unit (CPU), graphics processing unit (GPU), neural network processing unit (NPU), and field programmable gate array (FPGA) in the vehicle system; the reminder unit 303 includes an in-vehicle reminder subunit and an external reminder subunit, wherein the in-vehicle reminder subunit may include an audio output device (e.g., a speaker) and a central control display screen; the external reminder subunit may include an external display screen located at the rear of the vehicle, for example, the external display screen may be an LED display screen, an OLED display screen, or a liquid crystal display screen, etc. This application does not impose any particular limitation on the number or size of the external display screens. It should be understood that the computing unit 302 and the reminder unit 303 may communicate through a gateway (not shown in the figure).

[0195] This application embodiment also provides a computer storage medium, wherein the computer storage medium stores computer instructions, which, when executed on a computer, cause the computer to perform actions such as... Figure 1-5 The method.

[0196] The above description is merely a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

Claims

1. A reminding method of a vehicle, characterized by, The method is applied to a vehicle and comprises: if a movable object is detected during driving of the vehicle, determining a relative distance between the vehicle and the movable object in real time; if it is determined that the relative distance has a decreasing trend, performing in-vehicle and out-of-vehicle reminders based on a preset priority during the decrease of the relative distance, the preset priority being determined according to a target triggering object that actively triggers the decrease of the relative distance, the target triggering object being the vehicle or the movable object; if it is determined that the relative distance has a decreasing trend, performing in-vehicle and out-of-vehicle reminders based on a preset priority during the decrease of the relative distance, comprising: if it is determined that the relative distance has a decreasing trend and the decrease of the relative distance is actively triggered by the movable object, sequentially performing the in-vehicle and out-of-vehicle reminders during the decrease of the relative distance; if it is determined that the relative distance has a decreasing trend and the decrease of the relative distance is actively triggered by the vehicle, sequentially performing the out-of-vehicle and in-vehicle reminders during the decrease of the relative distance.

2. The method of claim 1, wherein, if it is determined that the relative distance has a decreasing trend and the decrease of the relative distance is actively triggered by the movable object, sequentially performing the in-vehicle and out-of-vehicle reminders during the decrease of the relative distance, comprising: if it is determined that the relative distance has a decreasing trend and the decrease of the relative distance is actively triggered by the movable object, performing the in-vehicle reminder when the relative distance is not greater than a first set threshold; performing the out-of-vehicle reminder when the relative distance is not greater than a second set threshold, the second set threshold being smaller than the first set threshold.

3. The method of claim 2, wherein, after performing the out-of-vehicle reminder when the relative distance is not greater than the second set threshold, the method further comprises: if it is determined that the relative distance has an increasing trend and the relative distance is not smaller than a third set threshold, stopping the in-vehicle and out-of-vehicle reminders.

4. The method of claim 3, wherein, if it is determined that the relative distance has a decreasing trend and the movable object performs a lane change operation, and if it is determined that the relative distance has an increasing trend and the relative distance is not smaller than the third set threshold, stopping the in-vehicle and out-of-vehicle reminders, comprising: if it is determined that the relative distance has an increasing trend, the relative distance is not smaller than the third set threshold, and the vehicle and the movable object are located in different lanes, stopping the in-vehicle and out-of-vehicle reminders.

5. The method of claim 1, wherein, if it is determined that the relative distance has a decreasing trend and the decrease of the relative distance is actively triggered by the vehicle, sequentially performing the out-of-vehicle and in-vehicle reminders during the decrease of the relative distance, comprising: if it is determined that the relative distance has a decreasing trend and the decrease of the relative distance is actively triggered by the vehicle, performing the out-of-vehicle reminder when the relative distance is not greater than a first set threshold; performing the in-vehicle reminder when the relative distance is not greater than a second set threshold, the second set threshold being smaller than the first set threshold.

6. The method of claim 5, wherein, after performing the in-vehicle reminder when the relative distance is not greater than the second set threshold, the method further comprises: if it is determined that the relative distance has an increasing trend and the relative distance is not smaller than a third set threshold, stopping the in-vehicle and out-of-vehicle reminders. If it is determined that the relative distance has a trend of increasing and the relative distance is not less than a third set threshold, the in-vehicle reminding and the out-vehicle reminding are stopped.

7. The method of claim 6, wherein, If it is determined that the relative distance has a trend of increasing and the relative distance is not less than a third set threshold, the in-vehicle reminding and the out-vehicle reminding are stopped. If it is determined that the relative distance has a trend of increasing, the relative distance is not less than the third set threshold, and the moving direction of the vehicle is different from the moving direction of the movable object, the in-vehicle reminding and the out-vehicle reminding are stopped.

8. The method according to any one of claims 1 to 7, characterized in that, The in-vehicle reminding includes a voice reminding, a picture reminding and a text reminding based on a vehicle information entertainment system.

9. The method of claim 8, wherein, The display screen of the picture reminding is smaller than the display screen of the display screen of the vehicle information entertainment system.

10. The method of claim 9, wherein, The method further includes: If it is determined that the driver of the vehicle does not pay attention to the in-vehicle reminding, part of the in-vehicle reminding is stopped.

11. The method of claim 10, wherein, If it is determined that the driver of the vehicle does not pay attention to the in-vehicle reminding, part of the in-vehicle reminding is stopped. If it is determined that the driver of the vehicle does not pay attention to the in-vehicle reminding, the voice reminding and the picture reminding are stopped.

12. The method of any one of claims 1-7, wherein, The out-vehicle reminding is a reminding through an external display screen.

13. A vehicle characterized by comprising: The vehicle includes a detection unit, an operation unit and a reminding unit connected in sequence. The detection unit is configured to detect external environment data in an external environment and send the external environment data to the operation unit. The operation unit is configured to detect a movable object existing in the external environment according to the external environment data, determine a relative distance between the vehicle and the movable object in real time, and determine whether the relative distance has a trend of decreasing. If it is determined that the relative distance has a trend of decreasing, the operation unit sends an in-vehicle reminding start instruction and an out-vehicle reminding start instruction to the reminding unit based on a preset priority during the decreasing of the relative distance, the preset priority is determined according to a target triggering object which actively triggers the decreasing of the relative distance, and the target triggering object is the vehicle or the movable object. The reminding unit is configured to perform in-vehicle reminding in response to the in-vehicle reminding start instruction, and perform out-vehicle reminding in response to the out-vehicle reminding start instruction. The operation unit is specifically configured to: If it is determined that the relative distance has a trend of decreasing and the decreasing of the relative distance is actively triggered by the movable object, the operation unit sends the in-vehicle reminding start instruction and the out-vehicle reminding start instruction to the reminding unit in sequence during the decreasing of the relative distance. The reminding unit is specifically configured to: The reminding unit performs in-vehicle reminding in response to the in-vehicle reminding start instruction in sequence, and performs out-vehicle reminding in response to the out-vehicle reminding start instruction; or The operation unit is specifically configured to: If it is determined that the relative distance has a trend of decreasing and the decreasing of the relative distance is actively triggered by the vehicle, the operation unit sends the out-vehicle reminding start instruction and the in-vehicle reminding start instruction to the reminding unit in sequence during the decreasing of the relative distance. The reminding unit is specifically configured to: in response to the outside vehicle prompting opening instruction, prompting outside the vehicle; and in response to the inside vehicle prompting opening instruction, prompting inside the vehicle.

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